EP4219825A1 - Method and device for gripping rectangular textile articles - Google Patents

Abstract

The automatic gripping of items of laundry (10) to be fed to a feeding machine (26), for example, requires several handling processes that must be coordinated for reliable automation. The invention provides for the respective item of laundry (10) to be automatically gripped at one point and to pull apart. The item of laundry (10) is then reoriented in such a way that it can be gripped in a way that is favorable for the subsequent steps. After the item of laundry (10) has been gripped in the area of an edge, the item of laundry (10) is fed lengthwise or crosswise depending on which edge has been gripped and with what orientation the item of laundry (10) is to be fed to the input machine (24). drawn up onto a conveyor (21) transporting it to the input machine (24).

Description

The invention relates to a method for gripping a rectangular textile object according to the preamble of claim 1 or 7. The invention also relates to a device for gripping rectangular textile objects according to the preamble of claim 10.

Textile objects, in particular items of laundry to be washed and/or washed, with a rectangular shape must be gripped in such a way that they can be fed to a treatment device. This applies both to rectangular textile objects which have edges of equal or unequal length running at right angles to one another.

From the EP 0 751 251 A1 it is known to take rectangular textile objects automatically. In this case, a respective textile object is held at diagonally opposite corners in each case by a clamp. Another clamp then grasps the garment hanging from the diagonally opposite corner holding clamps at an edge between a held corner and a free corner associated with the edge. The item of laundry held in this way by two clamps is then placed on the folding belts of a folding machine.

From the EP 3 029 195 A1 it turns out to hold a textile rectangular object by initially two clamps at diagonally opposite corners and one thereby forming lower edge of the item of laundry to be detected near its adjacent corners by two other clamps, with which the item of laundry can then be automatically fed to an input machine in front of a mangle.

The EP 2 930 264 A1 discloses a method for automatically detecting items of laundry. For this purpose, the topography of the item of laundry to be grasped is determined and, based on the determined topography, a point on the item of laundry is determined at which the item of laundry can best be grasped by a grasping means. The detection means is then moved up to this point in a controlled manner and is gripped by the detection means.

Rectangular textile articles are intended to be automatically gripped or automatically fed to treatment devices. However, it has been shown that this has been time-consuming and unreliable to date.

The object of the invention is to create a method and a device for the rapid and reliable automatic gripping of textile objects, which can then be fed automatically to treatment devices.

A method for solving the problem has the measures of claim 1. According to this, it is provided that a textile object held at a corner or a corner area and hanging freely from this corner is first pneumatically gripped at a point at a distance from this corner and, starting from this, the textile object is particularly reoriented for the first time. The textile object is preferably pulled apart starting from the pneumatically gripped, preferably sucked, point. In this case, only one layer of the textile object is held pneumatically, in particular by suction.

The pneumatic grasping or grasping of the textile object is preferably carried out by suction with negative pressure. This preferred embodiment option also applies to the following description, in particular when only pneumatic detection or pneumatic holding is discussed.

After the pneumatically held, sucked textile object is gripped and/or sucked pneumatically for the first time, it is gripped mechanically by a clamp or a gripper, for example. By moving the clamp or the gripper, the textile object is reoriented a second time. It forms at least part of an edge is designed in such a way that the textile object can be automatically gripped at this edge in such a way that it can also be fed automatically to a treatment device.

The method can preferably be developed in such a way that at or near the point at which the textile object is initially gripped pneumatically, preferably by a pneumatic suction device, in order to stretch it out in particular to remove wrinkles, the textile object is held in one layer by the holding means, in particular at least a bracket of the same, is clamped. In this way, only one layer of the item of laundry is held pneumatically in order to at least partially eliminate the fold by pulling it apart and this one layer of the textile object can then be grasped by clamping. This makes it possible to pull the textile object further apart with a greater force and thereby reorient it again, preferably to such an extent that at least part of a preferably vertically hanging edge can form under the corner from which the textile object hangs.

The pneumatic gripping of the textile object takes place in particular with at least one sucker. The respective textile object is preferably only sucked up with one layer by the suction device. If this suction takes place at a point where the textile object has two layers or in the area of a fold where at least two layers of the textile object lie on top of each other, only the one layer of the textile object that has been sucked in, preferably the layer lying against the suction cup, is sucked in and so on held sucker. By further movement of the sucker, the layer of the textile object held by it is taken along and thereby reoriented.

According to a preferred possible embodiment of the method, the textile object is gripped pneumatically by the holding means below and/or diagonally below the held corner from which the textile object hangs. Typically, the fabric article hangs in folds from its supported upper corner. The folds can be pulled apart by pneumatic suction of a layer of the textile object pointing towards the holding means. As a result, a defined position or layer of the textile object is formed at least at the point where the textile object is initially only sucked in pneumatically by the holding means.

It is also conceivable that the textile object held pneumatically at the relevant point is reoriented, preferably pulled apart, by moving the holding means laterally while maintaining the position being held pneumatically, so that it forms a single layer at least at the point held in this way. Preferably, this process takes place on an inclined path that rises in the direction of movement of the holding means. This allows the at least one fold to be easily and reliably removed or pulled apart at least to a sufficient extent and at the same time the intended formation of an edge or at least part of the edge hanging freely from the held corner area or the held corner is supported and/or promoted.

After the pneumatic suction and/or suction of a single layer of the textile object and the subsequent initial reorientation of the textile object held in suction, the textile object is gripped. The textile object is preferably gripped by a clamp or a gripper while it is still being held by the suction cup and the suction cup is then detached from the textile object by interrupting its supply of suction air. The gripping takes place when the textile object is still reliably held pneumatically by moving the suction cup holding a layer by a predetermined distance. This path can be determined empirically. It is also conceivable to additionally determine the path individually as a function of the size of the respective textile object. An imaging device, for example, is then used beforehand to determine how far away the freely hanging lower corner is below the upper corner held by a clamp to reorient the textile object. However, it is also conceivable to assign a dynamometer transducer to the suction cup or the attachment of the suction cup to the holding device, which determines the increasing holding force of the suction cup when the textile object is reoriented and initiates the gripping of the textile object when the defined holding force is reached.

Provision is preferably made for the holding means to be moved further after the individual layer of the textile object formed by previous pneumatic holding and/or suction has been clamped in place, until at least part of the edge of the textile object hanging down from the held corner (or the corner area) is moved trained. By specifically clamping a layer of the item of laundry at or near the relevant point, preferably the point previously held pneumatically and/or sucked in by vacuum, the textile item can be reliably and sufficiently pulled apart by the clamp so that at least part of a freely hanging edge can form on the textile article under all circumstances.

After at least a portion of an edge of the fabric article has formed beneath its supported corner or corner region, a portion of that edge is engaged by a clamp. This is preferably a double clamp with two spaced clamps between which the edge section or at least a part thereof is stretched fixed or an elongate clamp whose length corresponds to the length of the section of the edge of the item of laundry to be gripped.

After the section of the edge hanging freely, preferably in a straight line perpendicularly from the held corner, or at least a part of the edge, has been gripped by the double clamp or the wide or elongated clamp, the textile object of this clamp or double clamp is placed on or over the conveyor to feed the textile article to a treatment device. Preferably, this is done in such a way that the textile article is drawn over the conveyor in an inverted U-shaped configuration. For this purpose the conveyor is narrower than the shorter edge of the textile object. Opposite edge areas of the textile object then hang down from opposite sides of the conveyor, with an intermediate inner section, preferably central section, of the textile object then resting on the upper run of the narrow conveyor.

A further method for solving this problem, which can also be a preferred development of the method described above, has the measures of claim 7 . Accordingly, it is provided that the respective textile object is placed hanging down in front of a wall. The textile object hangs down in front of the wall while being held at a preferably upper corner. Starting from this state, the textile object is reoriented by a holding device that grips the textile object at one point. This is a point on the textile object that is located adjacent to the holding device. The textile object is then reoriented in front of the wall in such a way that at least part of an edge of the textile object hangs freely from its held upper corner or corner area, preferably in a straight line or at least approximately in a straight line and perpendicularly.

A section of the freely hanging edge or part of the edge of the textile object is specifically grasped. The textile object gripped in this way can then be automatically fed to a processing device, for example an input machine.

It is preferably provided that the textile object is reoriented in front of an upright, in particular vertical wall and/or in front of this wall a section of a freely hanging lateral edge or at least a part thereof is grasped.

Furthermore, it is preferably provided that the wall is stationary or at least stands still when the individual gripping processes and the reorientation of the textile object take place in front of the wall.

In a preferred embodiment of the method, it is provided that the wall has a color that differs from the textile object, in particular that is rich in contrast. This allows easier image recognition of a textile object in front of the wall forming a contrast thereto.

The method described above can be further developed according to one or more of claims 1 to 6.

In a preferred development of the method described above, it is provided that before or after gripping a section of an edge of the textile object, it is determined whether the gripped edge is a short or long edge and, depending on the result of this determination, textile object is fed with the gripped section of its edge in a targeted manner transversely or longitudinally to the processing device, preferably pulled onto a conveyor transporting the textile object to a treatment device.

If, for example, the textile object is to be pulled onto the conveyor in such a way that a short edge runs transversely to the transport direction and/or longitudinal direction of the conveyor, an object gripped with a section of its short edge is pulled onto the conveyor lengthwise in the transport direction, while an object with textile article gripped by a portion of a long edge is pulled across the conveyor. It is determined that the rectangular object is a square one Is an object with edges of the same length, this textile object can be mounted on the conveyor lengthwise or crosswise as desired.

The method preferably works with at least one imaging device. With this, the respective textile object can be at least partially measured. For example, it can be derived from an image generated by the imaging device of at least one relevant part of the textile object, preferably the entire textile object, which edge is the shorter or the longer. It can also be determined whether both edges of square textile objects are the same length or at least almost the same length. However, the image data generated by the at least one imaging device can also be used for other or additional purposes, for example in particular to move the clamp or double clamp for detecting an edge section of the respective textile object in a targeted manner to the point of the edge whose section is to be detected.

A device for solving the task mentioned at the outset has the features of claim 10 . Accordingly, a moveable holding device for reorienting the textile object is assigned to the clamp holding a corner or a corner area of the textile object, from which the textile object hangs freely. This makes it possible to at least partially eliminate at least one such fold of the textile object at the place of which the textile object is to be detected in the following. However, the moveable holding device also serves to reorient the textile object at least once in such a way that at least part of a lateral edge of the item of laundry is freely suspended under the clamp, in particular vertically or almost vertically and/or in a straight line or at least almost in a straight line. The textile object can be gripped reliably automatically, preferably controlled by image data from an imaging device, at a section of this freely hanging edge or at least a part thereof.

The device is preferably developed in such a way that the holding means can be moved along an inclined path and/or the clamp holding the upper corner area of the textile object, from which the textile object hangs with its upper corner, can be moved on a vertical or almost vertical path. On these different webs, the respective textile object can be reoriented at least once, preferably twice or more than twice, regardless of its shape and size, so that it then moves to a section of its after the Reorient trained, freely hanging edge or part thereof can be taken easily and reliably.

According to an advantageous further development option of the device, it is provided that an end of the sloping path of the holding means pointing to the vertical path of the clip lies below the opposite end of the sloping path. As a result, the point of the textile object gripped by the holding means is moved both in the vertical and in the horizontal direction during reorientation. This favors the most precise possible formation of at least part of an edge, starting from the held upper corner, of the textile object held and freely hanging down by the clamp that can be moved along the vertical path.

It is preferably provided that the vertical path of the clamp holding the upper corner of the item of laundry and the inclined path on which the holding means can be moved are in front of or on or in an upright, in particular vertical and/or stationary wall in front of which the respective textile object hanging down from the clamp and/or can be reoriented by the holding means. As a result, the respective textile object is supported by the wall during reorientation and stabilized in front of the wall. This not only promotes grasping and/or gripping around at least one point and/or a section of an edge of the textile object, but also the exact detection of the textile object by an imaging device imaging the textile object in front of the wall.

According to a preferred embodiment of the device, the at least one imaging device is assigned to the wall. This assignment is preferably carried out in such a way that the at least one imaging device is aimed at at least part of the textile object hanging in front of the wall and/or at least such image data can be generated by the imaging device from which it can be derived whether from the upper corner area or a a long edge or a short edge hangs down from the clip holding the upper corner of the textile object, or both edges of the textile object are at least approximately the same length. This configuration of the device enables rapid, reliable and precise automatic gripping, in particular of rectangular textile objects. The precondition is preferably created for the textile objects gripped in this way to be fed fully automatically either directly to a treatment device for the textile objects or to a preferably narrow conveyor in front of a treatment device, preferably pulled up and/or deposited thereon.

The single imaging device or optionally also a separate imaging device can also be used to determine the length of the item of laundry hanging down from the held upper corner. This is preferably the distance between diagonally opposite corners of the item of laundry, specifically the held upper corner and the free lower corner located at the lowest point of the item of laundry hanging down. The length of the item of laundry can roughly be used to determine its size. Accordingly, it can be specified how far along the sloping path to which the holding means is assigned, the sucker of the holding means can be moved without there being the risk of the textile object being held suckingly becoming detached from the sucker.

The imaging device can also be used to observe how the length of the edge of the textile object hanging down from the held upper corner changes when it is reoriented by the holding means, namely the sucker and the gripper of the same. If necessary, the reorientation of the textile object can also be terminated when the imaging device establishes that the edge hanging down, starting from the held upper corner of the textile object, has formed to a sufficient length.

Fig. 1

eine schematische Ansicht der Vorrichtung mit ihr vor- und nachgeordneten Einrichtungen,

Fig. 2

eine perspektivische Ansicht nur der Vorrichtung zum automatischen Ergreifen rechteckiger textiler Gegenstände in einer Ausgangsposition,

Fig. 3

eine Ansicht analog zur Fig. 2 in einer Zwischenstellung der Vorrichtung, bei der ein Sauger an einen textilen Gegenstand herangefahren ist,

Fig. 4

eine Ansicht analog zu den Fig. 2 und 3 in einer weiteren Zwischenstellung der Vorrichtung, bei der der textile Gegenstand von einem Greifer erfasst ist,

Fig. 5

eine Darstellung der Vorrichtung analog zu den Fig. 2 bis 4 in einer Übernahmestellung,

Fig. 6

eine Draufsicht auf die Vorrichtung der Fig. 2,

Fig. 7

eine Draufsicht auf die Vorrichtung der Fig. 3,

Fig. 8

eine Draufsicht auf die Vorrichtung der Fig. 4 bei noch geöffneter Klammer, und

Fig. 9

eine Draufsicht auf die Vorrichtung gemäß der Fig. 5.

A preferred embodiment of the invention is explained in more detail below with reference to the drawing. In this show:

1

a schematic view of the device with upstream and downstream devices,

2

a perspective view of only the device for automatically gripping rectangular textile objects in a starting position,

3

a view analogous to 2 in an intermediate position of the device, in which a suction cup has moved up to a textile object,

4

a view analogous to that 2 and 3 in a further intermediate position of the device, in which the textile object is gripped by a gripper,

figure 5

a representation of the device analogous to that Figures 2 to 4 in a takeover position,

6

a top view of the device 2 ,

7

a top view of the device 3 ,

8

a top view of the device 4 with the parenthesis still open, and

9

a top view of the device according to FIG figure 5 .

The device shown in the figures and the method that can be carried out with it are used to automatically grasp rectangular textile objects and preferably also to automatically feed such textile objects to a treatment device.

In the following description, it is assumed that the textile objects are rectangular items of laundry 10 that have been washed and/or are still to be washed. The items of laundry 10 preferably relate to so-called flat items of laundry, e.g. B. tablecloths, napkins, bed sheets, duvet covers and/or pillowcases. The rectangular items of laundry 10 usually have edges of unequal length, in that two parallel edges are larger than two parallel edges running transversely thereto. However, the laundry item 10 can also be square with four edges of equal length. In the figures, the vertical edges are the longer edges. They are referred to as longitudinal edges 11, while the horizontal edges are the shorter edges referred to as transverse edges 12.

1 shows a schematic of an automatically operating separator 13. The separator 13 automatically and specifically preferably grabs a single item of laundry 10 from a pile of laundry 14. The targeted automatic grabbing of ideally a single item of laundry 10 takes place - supported by at least one camera 15 or another imaging device - in near the pile of laundry items 14. Based on the at least one recording by the camera 15, an image evaluation device controls a gripper 16 of the automatic separator 13 that can be moved up and down along an ascending path 17 of the separator 13.

If necessary, the supply device 17 performs a final separation of a plurality of items of laundry 10 gripped simultaneously by the gripper 16 and keeps the separated (now single) item of laundry 10 ready for a first corner 18 to be taken over. This takeover is effected by a clamp 19 of the device of the invention which follows in the transport direction 20, namely the laundry flow direction and/or the feed direction. Alternatively, the clip 19 can also grip a corner area of the corner 18 . Even if only the corner 18 is mentioned in the description, this should also include a corner area around the corner 18 .

In the transport direction 20 follows behind the device a conveyor 21 transporting the items of laundry 10 further. In the exemplary embodiment shown, the conveyor 21 is formed from a conveyor cascade 22 . The conveyor cascade 22 consists of a plurality of pairs of belt conveyors 23 arranged directly one above the other in a sandwich-like manner in the transport direction 20. The items of laundry 10 can be transported in the transport direction 20 along the conveyor cascade 22 to one of these subsequent input machines 24 between these belt conveyors 23 arranged one above the other, namely the strand of the same which is directed towards one another . The initial pair of superimposed belt conveyors 23 of the conveyor cascade 22 is of different lengths. The lower belt conveyor 23 is longer than the upper belt conveyor 23 above it. This creates an exposed depositing area 25 for one item of laundry 10 at the beginning of the conveyor cascade 22 on the initial upper run of the lower belt conveyor 23. The respective item of laundry 10 is depending on its orientation in the transport direction 20 drawn up onto the depositing area 25 or pulled across the depositing area 25, after which the respective item of laundry 10 rests in an inverted U-shaped configuration on the depositing area 25 at the start of the conveyor cascade 22. This U-shaped configuration of the item of laundry 10 placed on the depositing area 25 comes about because the belt conveyors 23 are relatively narrow, specifically having a width which, depending on the size of the item of laundry 10, corresponds to one to five tenths of the width thereof. As a result, opposite outer edge areas of the item of laundry 10 in the area of the depositing area 25 hang down from opposite sides of the belt conveyor 23 to form legs of the U-shaped configured item of laundry 10 that are ideally, but not necessarily, of the same length. A central The preferably central area of the item of laundry 10, which connects the opposing legs in a web-like manner, rests on the depositing area 25.

Upper and lower belt conveyors 23 of the conveyor cascade 22 that follow one another in the transport direction 20 are driven at transport speeds that differ from one another and increase equally in the transport direction 20, which means that when the respective item of laundry 10 runs through the conveyor cascade 22, i.e. the further transport of the item of laundry 10 along the conveyor 21 in the transport direction 20 , the item of laundry 10 is stripped out in the transport direction 20, so that at the end of the conveyor 21, i.e. the last belt conveyor 23 of the conveyor cascade 22, the respective item of laundry 10 is at least largely stretched out in the transport direction 20 in an inverted U-shape over the last lower belt conveyor 23 of the conveyor cascade 22 lies.

An alternative exemplary embodiment of the conveyor 21 is also conceivable, in which it is not formed from any conveyor cascade 22 and/or no belt conveyors 23 are arranged one above the other in the manner of a sandwich. In the simplest case, the conveyor 21 then consists of a single continuous conveyor, on which the respective item of laundry 10 is placed or drawn up, preferably also in an inverted U-shaped configuration. If necessary, several shorter lower belt conveyors can follow one another. These can also have different transport speeds, preferably speeds that increase as viewed in the transport direction 20 .

In the transport direction 20, the conveyor 21 is followed by the loading machine 24. The loading machine 24 shown has a loading station, which in the exemplary embodiment shown has a loading conveyor 27, which extends the conveyor cascade 22 of the conveyor 21 in the transport direction 20, and also two belt conveyors 28 arranged one on top of the other in a sandwich-like manner has. The belt conveyors 28 have a width which corresponds to that of the belt conveyors 23 and are therefore also relatively narrow.

In the case of input machines 24 with a plurality of loading stations with, for example, loading conveyors 27, a device according to the invention and/or a subsequent conveyor 21 are assigned at least to each loading station. In the case of an input machine 24 with three adjacent, preferably identical loading stations, three devices and three conveyors 21 are then provided in front of the input machine 24, so that each device and each conveyor is used for loading, namely feeding, items of laundry 10 to a loading station of the input machine 24.

Alternatively, it is also conceivable to transfer the textile object from the device directly to a treatment device, for example the input machine 24, preferably a loading conveyor 27 of the same.

The device has a wall 29 that is vertical in the exemplary embodiment shown. The rectangular wall 29 is preferably arranged in a stationary manner between the supply device 17 of the separator 13 and the conveyor 21 . If necessary, the wall 29 can also be moved. The upright wall 29 has a rectangular base area with upright, longer longitudinal edges 31 and shorter, horizontal transverse edges 32. The base area of the front side 30 of the wall 29 is dimensioned such that the largest laundry items 10 to be processed can hang in front of it.

The wall 29 is assigned a vertical, straight rail 33 running at a small distance parallel to the longitudinal edge 31 on the left in relation to the figures, and a sloping, straight rail 34 . In the exemplary embodiment shown here, the rails 33 and 34 are let into the wall 29 but are open or exposed to the front side 30 of the wall 29 . However, it is also conceivable to attach the rails 33 and 34 to the front side 30 of the wall 29 . The inclined rail 34 has a lower end adjacent to the vertical rail 33 and an opposite end higher. The lower end of the sloping linear rail 34 is about halfway up the vertical rail 33, preferably slightly below. The higher, opposite end of the inclined rail 34 is located in an upper right corner area of the front face 30 of the wall 29. This is the side of the wall 29 opposite the vertical rail 33.

The clamp 19 already mentioned can be moved up and down on a clamp carriage 36 on the vertical rail 33 . The clamp 19 is attached to the clamp carriage 36 pointing transversely to the inclined rail 34 in such a way that the clamp mouth of the clamp 19 can be moved up and down at a small distance in front of the front side 30 of the wall 29 .

A holding means 37 can be moved in opposite directions along the inclined rail 34 . The holding means 37 has two independently working holding means for the item of laundry 10, specifically a suction device 38 working pneumatically with negative pressure and a mechanical gripper 39. The suction device 38 and the gripper 39 are attached together to a carriage 40 that can be moved along the rail 34. This attachment is done in such a way that the suction direction of the sucker 38 and the mouth of the gripper 39 run parallel to the wall 29, at a small distance in front of the front side 30 of the wall 29. Both the sucker 38 and the gripper 39 are oriented parallel to one another in such a way that the suction direction of the sucker 38 and the mouth of the Gripper 39 parallel to the transverse edges 32 of the wall 29 and the front side 30 of the same. It is conceivable to fasten the sucker 38 and/or the gripper 39 on a common support plate 41, which can be rotated freely and/or in a controlled manner about an axis of rotation running perpendicular to the plane of the front side 30 of the wall 29 in order to adapt to the orientation of the Sucker 38 and gripper 39 to be detected area of the item of laundry 10, in particular closely adjacent locations 42 and 43 of the item of laundry.

At least one imaging device is assigned to the device. This association is made in such a way that the imaging device is aimed at the front side 30 of the wall 29 in order to supply an image of at least one part of the item of laundry 10 hanging down in front of the wall 29 and supplying the desired information. The at least one imaging device preferably serves to capture the entire item of laundry 10 or at least a large part of it in front of the wall 29 and to generate at least one image of it. The imaging device is preferably a camera 44. The camera 44 can be embodied as a black-and-white camera or as a color camera that generates two-dimensional or three-dimensional images.

It is also conceivable to provide at least one further imaging device, which can also be designed as a camera, at at least one other point in front of or next to the wall 29 . Such an imaging device can additionally record at least one image from a different viewing direction of the item of laundry 10 hanging down in front of the wall 29 or desired details thereof.

The device also has a clip 45 or such a clip 45 is associated with the device. This clip 45 is designed to grip a portion of the edge hanging freely beneath the clip 19, which may be a longitudinal edge 11 or a transverse edge 12. In the exemplary embodiment shown, the clip 45 grips a section 46 of the left-hand longitudinal edge 11 of the item of laundry 10 that hangs freely from the clip 19. This section 46 lies between two end sections 47 and 48 starting from adjacent corners of the freely hanging longitudinal edge 11.

So that the clip 45 can grip the inner or approximately central section 46 of the edge of the item of laundry 10 hanging down freely from the clip 19, it is designed as a double clip with two spaced-apart single clips 49 in the device shown. The distance between the individual clips 49 corresponds to the length of the section 46 of the vertically hanging edge of the item of laundry 10 to be gripped by the clip 45 extends over the entire section 46 of the vertically hanging edge to be grasped, here the longitudinal edge 11, of the item of laundry 10.

The clamp 45 is arranged at the end of an arm of a handling device. The handling device is designed in such a way that it, in particular its arm, can move the clamp 46 in at least three axes in three-dimensional space. Provision can also be made for the clamp 45 to be arranged at the end of the arm of the handling device so that it can be rotated and/or pivoted in a targeted manner. The handling device transfers the respective item of laundry 10 from the point at which it is gripped by the clamp 45 in front of the wall 29 to the depositing area 25 of the conveyor 21 in front of the input machine 24

In the exemplary embodiment shown, the handling device is designed as a robot 50 . Alternatively, the handling device can also be designed like a crane.

The movements of the handling device, in particular the robot 50, are controlled using the image data recorded by the at least one imaging device, in particular the camera 44. The movements of the sucker 38 and/or the gripper 39 can also be controlled using the image data supplied by the camera 44 or another imaging device. This also applies to the point in time at which the item of laundry 10 is gripped by the gripper 39 and the suction device 38 is deactivated and/or the holding means 37 is moved along the inclined rail 34.

A preferred exemplary embodiment of the method with the device described above, the separator 13, the conveyor 21 and the input machine 24 is described below. It is assumed here that the item of laundry 10 is an item of laundry which has transverse edges 12 that are shorter than the longitudinal edges 11; is raised and the item of laundry 10 hangs down from the clamp 19 with the (longer) longitudinal edge 11 .

An item of laundry 10 separated by the separator 13 is held ready by the delivery device 17 of the separator 13 for acceptance by the clamp 19 of the device, or the item of laundry 10 is transferred from the delivery device 17 to the clamp 19 . The item of laundry 10 is accepted or transferred to the clamp 19 in such a way that the clamp 19 of the device holds the item of laundry in a corner region, in particular a first corner 18 . When the item of laundry 10 is taken over or transferred to the device, the clip 19 can assume a position on the straight vertical rail 33 which allows or promotes the transfer or takeover of the corner 18 of the item of laundry 10 from the clip 19 . If necessary, after taking over the first corner 18 of the item of laundry 10 , the clamp 19 is raised along the straight vertical rail 34 so far that the item of laundry 10 hangs freely from the first corner 18 held in the clamp 19 . Provision is preferably made for the first clamp 19 to be raised to the upper end of the vertical rail 33 in order to take over the item of laundry 10 . In the case of relatively small items of laundry 10, it is expedient to only move the clamp on the rail 33 so far that the lower free end of the sloping rail 34 is in the center of the item of laundry 10, preferably at about half the length of the length of the clamp 19 hanging longitudinal edge 11 of the item of laundry 10.

After the item of laundry 10 has been gripped by the clamp 19 and hangs freely under the same, the item of laundry 10 still creases. Then the longitudinal edge 11 is not yet formed under the clamp 19 or not yet to a sufficient extent under the clamp 19 . In order to bring about this, the item of laundry 10 held by the first corner 18 in the clamp 19 and hanging down from it is reoriented. This reorientation is carried out by the holding means 37, which can be moved on the inclined rail 34, initially with the suction cup 38 and then with the gripper 39.

As long as the item of laundry 10 is still hanging freely from the clamp 19, a fold forms on the longitudinal edge 11 opposite the longitudinal edge 11 emanating from the clamp 19, or the outer longitudinal edge 11 pointing away from the clamp 19 is folded over. As a result, the item of laundry 10 is in two layers here. As a result of this two-layer structure, the reorientation of the item of laundry 10 is at least considerably more difficult, but in most cases made impossible. For this reason, the holding means 37 also has the suction cup 38 in addition to the gripper 39.

In preparation for the reorientation of the item 10 of laundry, the holding means 37 is moved diagonally downwards along the sloping rail 34 until the suction device 38 has moved up to the item 10 of laundry. The suction device 38 then grasps the item of laundry 10 at a point 42. This can be any point 42. In particular, the location 42 need not be located at any corner of the item 10 of laundry. The suction cup 38 only generates such a negative pressure or is designed accordingly so that it only sucks in and fixes one layer 51 of the item of laundry 30, but not the adjacent second or possibly further layer in the area of a fold or the like of the item of laundry 10.

By subsequently moving the holding means 37 with the suction cup 38 and the gripper 39 in the opposite direction, i.e. obliquely upwards along the sloping rail 34, the single or preferably outer layer 51 of the item of laundry 10 held by the suction cup 38 is moved along with it and a first Reorientation of the item of laundry 10 made, in particular at least one fold of the item of laundry 10 at least partially eliminated. Thereafter, a layer 51 of the item of laundry 10 is gripped by the gripper 39 and then the suction device 38 is deactivated, ie its supply of suction air is shut off. The item of laundry 10 is now only held in a clamping manner by the gripper 39 at the point 42 previously sucked in by the suction device 38, preferably at a point 43 adjacent thereto. Since the clamping force of the gripper 39 is greater than the suction force of the suction cup 38, the item of laundry 10 is now further reoriented and preferably pulled apart by moving the holding means 37 with the gripper 39 upwards at an angle along the inclined rail 34 until the clip 19 holding the first corner 18 of the item of laundry 10, the longitudinal edge 11 of the item of laundry 10 is formed in such a way that it hangs down at least for the most part, preferably completely, from the clip 19 perpendicularly and parallel to or in front of the vertical rail 33. This course is ideally straight, but will have a slightly serpentine course, particularly in the case of items of laundry 10 made of stiff fabric. In the middle, the longitudinal edge 11 runs in a straight line, starting from the clip 19, perpendicular and parallel to the longitudinal edge 31 of the wall 29.

The points 42 and 43, at which first the suction cup 38 and then the gripper 39 of the holding means 37 grasp the item of laundry 10, are located at a distance from the first corner 18. It is preferably provided that the holding means 37 and thus the suction cup 38 and the gripper 39 grips the item of laundry 10 at locations 42 and 43, respectively, in the vicinity of a second corner 52, which is an adjacent second corner 52 of the upper transverse edge 12 of the item of laundry 10, opposite the first corner 18. However, it is not necessary for the points 42 and 43, at which first the suction device 38 and then the gripper 39 fix the item of laundry 10 for reorientation, to be located exactly at the second corner 52; rather, it is sufficient if the sucker 38 and the gripper 39 grasp the item of laundry 10 in the vicinity of the second corner 52 in order to be able to reorient it in the manner described above.

The camera 44 aimed at the item of laundry 10 in front of the wall 29 provides images that can be used to control the travel path of the clamp 19 and the holding means 37 . Alternatively or additionally, the images or image data from the camera 44 can also be used to control the opening and closing of the clamp 19 and/or the sucker 38 and the gripper 39 of the holding means 37 . In particular, this can be used to control when the gripper 39 grips the point 43 of the item of laundry 10 and when the sucker 38 releases the point 42 of the item of laundry 10 that it has gripped.

It is conceivable to control the sucker 38 and the gripper 39 of the holding means 37 using image data recorded by a separate camera in the vicinity of the holding means 37 or even in the carriage 40 of the holding means 37 .

The images of the item of laundry 10 recorded at least by the camera 44 directed at the item of laundry 10 and the wall 29, in particular image data of the images, are preferably also used to determine whether the edge of the item of laundry 10 hanging down from the clamp 19 is a longitudinal edge 11 (as assumed in the description above and below) or a transverse edge 12. In order to determine the longitudinal edge 11 and the transverse edge 12, it is not necessary to exactly determine the length dimensions of the same. It is sufficient to carry out a qualitative measurement which makes it possible to distinguish between the longitudinal edge 11 and the transverse edge 12 or to determine whether both edges of square items of laundry 10 are of the same length. It is conceivable to provide the front side 30 of the wall 29 with a grid, in particular a chessboard-like grid, whereby the length dimensions of the longitudinal edge 11 and the transverse edge 12 can be determined and, if necessary, the size of the respective item of laundry 10 can also be calculated therefrom.

The robot 50 or a comparable handling device for moving the clamp 45 is used at least for gripping the inner, preferably central, Section 46 of the longitudinal edge 11 hanging down from the clamp 19 is controlled based on the images taken by the camera 44 and/or their image data. The opening and closing of the clip 45 can also be controlled. The controller of the robot 50 and the clamp 45 is supplied with the images or image data recorded by the camera 44 . The robot 50 then moves the clamp 45 to the inner or central section 46 of the longitudinal edge 11 of the item of laundry 10 hanging down vertically. After the section 46 is then gripped by the clip 45, in particular its spaced individual clips 49, the first corner 18 is released by opening the clip 19 and the opposite second corner 52 is also preferably released from the gripper 39 of the holding means 37. The item of laundry 10 then hangs down on the clamp 45 designed as a double clamp or wide clamp, with the central section 46 of the longitudinal edge 11 being held stretched out between the individual clamps 49 of the clamp 45 or a wide clamp.

The clamp 45 with the item of laundry 10 hanging from it is then transferred by the robot 50 or some other handling device to the conveyor 21 in front of the input machine 24 .

Because in the exemplary embodiment shown, the clamp 45 holds a central, in particular middle, section 46 of the longitudinal edge 11 of the item of laundry 10, when the item of laundry 10 is fed in, as assumed here, with the transverse edge 12 running transversely to the direction of transport 20, the item of laundry 10 is picked up by the robot 50 transversely to the direction of transport 20 via the Deposit area 25 of the conveyor 21 pulled, namely on the exposed here upper run of the lower front belt conveyor 28 of the same. For this purpose, the clamp 45 is designed so wide that the section 46 it holds is slightly larger than the width of the belt conveyor 28 in the depositing area 25.

If the clamp 45 has gripped an inner section of a transverse edge 12 of the item of laundry 10, the robot 50 would move the clamp 45 in such a way that the item of laundry 10 is pulled onto the depositing area 25 of the conveyor 21 in the transport direction 20, with the clamp 45 moving with the her held portion 46 of the transverse edge 12 of the laundry item 10 is moved centrally in the transport direction 20 over the deposit area 25.

The procedure is the reverse of the procedure described above if the item of laundry 10 is to be fed to the input machine 24 with the longitudinal edge 11 running transversely to the transport direction 20 . Then when taken by the bracket 45 Longitudinal edge 11 pulls the item of laundry 10 onto the depositing area 25 in the transport direction 20 and pulls the item of laundry 10 transversely to the transporting direction 20 over the depositing area 25 when the transverse edge 12 is gripped by the clamp 45 .

Due to the above-described pulling up and pulling of the item of laundry 10 onto or over the depositing area 25 of the conveyor 21, the item of laundry 10 hangs in an inverted U-shaped configuration in the depositing area 25 above the front, lower belt conveyor due to the relatively narrow belt conveyors 28 for forming the conveyor 21 28. At least the inner, preferably middle, section 46 of the item of laundry 10 originally held by the clamp 19 extends over the depositing area 25 of the loading conveyor 27, while edge sections of the item of laundry 10 adjoining section 46 on both sides on both sides of the depositing area 25 of the conveyor 21 hang down.

After the respective item of laundry 10 has been pulled onto the depositing area 25 of the conveyor 21 in the manner described above, the item of laundry 10 is transported by the conveyor 21, in particular its belt conveyors 28, in the transport direction 20 to the input machine 24 and is preferably stretched out in the transport direction 20, see above that the item of laundry 10, which is wrinkle-free or at least almost wrinkle-free as seen at least in the transport direction 20, can be transferred from the conveyor 21 to the respective loading conveyor 27 of the input machine 24, specifically in the now extended but still inverted U-shaped configuration.

Alternatively, it is conceivable to transfer the item of laundry 10 or another textile object directly from the clamp 19 to a treatment machine, for example to the input machine 24. This can be done by using the clamp 19 to pull the respective textile object onto a loading conveyor 27 of the input machine 24 happen. <b>List of reference characters:</b> 10 laundry item 44 camera 11 long edge 45 bracket 12 cross border 46 Section 13 separator 47 end section 14 pile of laundry 48 end section 15 camera 49 single bracket 16 gripper 50 robot 17 provisioning facility 51 Position 18 first corner 52 second corner 19 bracket 20 transport direction 21 sponsor 22 conveyor cascade 23 belt conveyor 24 input machine 25 drop area 27 loading conveyor 28 belt conveyor 29 Wall 30 front 31 long edge 32 transverse edge 33 rail 34 rail 36 clamp carriage 37 holding means 38 Mammal 39 gripper 40 trolley 41 support plate 42 Job 43 Job

Claims (12)

Method for gripping a rectangular textile object, wherein the isolated textile object is gripped at a corner (18), the textile object hangs freely from this corner (18), forming areas in which the textile object overlaps in a double layer and the textile object is reoriented by a holding means (37) to form at least a part of a free edge of the textile object starting from the held corner (18), characterized in that at a distance from the held corner (18) the textile object is held by a holding means (37) is gripped pneumatically and/or with suction at a point (42), the textile object is initially pulled apart by the holding means (37) taking with it the point (42) gripped pneumatically and/or with suction, then the textile object is gripped by the holding means (37) or in the vicinity of the pneumatically detected point (42) and by further moving the holding means (37) while maintaining the clamping hold, the textile object is pulled apart further until at least part of an edge of the textile object is under the held corner (18). Object trains. Method according to Claim 1, characterized in that the point (42) which is initially gripped pneumatically by the holding means (37) is preferably sucked in with negative pressure by a pneumatic suction device (38) of the holding means (37), is subsequently gripped by the holding means (37) mechanically and/or by clamping, preferably by a gripper (39) of the holding means (37). Method according to Claim 1 or 2, characterized in that the suction force of the sucker (38) of the holding means (37) is selected such that in the area in which the textile object hangs down from the corner (18) in a multi-layer overlapping manner, in particular in the area of a double-layer fold, only one layer (51) of the textile object pointing to the sucker (38) is sucked in and held pneumatically. Method according to one of the preceding claims, characterized in that the suction device (38) of the holding means (37) grasps the textile object below or slightly obliquely below the textile object hanging down at the corner (18) and/or by lateral displacement, preferably on on a sloping path, taking with it the point (42) held by the sucker (38), the textile object is pulled apart in such a way that at the pneumatically held point (42) and preferably an area surrounding it, the pneumatically fixed layer (51) of the textile Item is exposed by not being overlapped by any adjacent layer. Method according to one of the preceding claims, characterized in that after the textile object has been pulled apart at the point (42) held by the suction device (38) of the holding means (37) or at an adjacent point (43), the textile object is picked up by the gripper (39) of the holding means (37) is gripped mechanically and preferably thereafter the sucker (38) is detached from the textile object and/or the holding means (37) is moved further after the textile object has been gripped by the gripper (39) until at least a part of the edge of the textile article hanging down from the corner (18). Method according to one of the preceding claims, characterized in that a section (46) of the edge of the textile object formed under the corner (18) is covered by a clip (45), in particular a double clip or a clip with a width that corresponds to the length of the section (46), is gripped and/or the textile object is pulled by this clamp (45) onto or over a conveyor (21) or a loading conveyor (27) which transports the textile object to a subsequent laundry treatment machine, in particular an input machine ( 24), transported. Method for gripping a rectangular textile object, wherein the textile object hanging down from a clip (18) holding a corner (18) is reoriented to form at least a part of a freely hanging edge of the textile object, starting from the held corner (18), characterized that the textile object is reoriented from its held corner (18) in the state hanging down in front of a wall (29) by a holding means (37) grasping at least one point (42), (43) of the textile object and a method of the same for forming at least part of an edge of the fabric hanging in front of the wall (29) extending from the corner (18) and gripping a portion (46) of the edge of the fabric hanging in front of the wall (29). Method according to Claim 7, characterized in that the textile object is reoriented in front of the upright or vertical wall (29), preferably the wall (29) stands still when the textile object is reoriented and/or the wall (29) is one of the same colour and/or has a color that deviates from the pattern of the textile object, in particular that is rich in contrast. Method according to Claim 7 or 8, characterized by a further development according to one or more of Claims 1 to 6. Device for gripping rectangular textile objects, with a clamp (19) for holding a corner (18) of the textile object and a clamp (45) for gripping a section of at least part of an edge of the textile object hanging down freely from the corner (18), characterized in that the clamp (19) holding the corner (18) of the textile object is assigned a movable holding means (37) for reorienting the textile object. Device according to Claim 10, characterized in that the holding means (37) can be moved along an inclined path, the holding means (37) preferably having a sucker (38) and a gripper (39) and/or the corner (18) holding The clamp (19) can be moved on a vertical path, with an end of the inclined path of the holding means (37) pointing towards the vertical path of the clamp (19) preferably lying below an opposite end of the inclined path and/or the vertical path of the clamp (19 ) and the inclined path of the holding means (37) in front of or on or in the upright, in particular vertical and/or stationary, wall (29), in front of which the respective textile object hangs down from the clamp (19) and/or the textile object can be reoriented by the holding means (37). Device according to Claim 10 or 11, characterized in that the wall (29) is assigned at least one imaging device, preferably such that the at least one imaging device is directed at at least part of the textile object in front of the wall (29) and/or image data can be generated by the at least one imaging device, from which it can be determined whether a short or a long edge of the textile object is hanging down from the clip (19).

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