JP2009504931A - Apparatus and method for handling tubular woven articles such as stockings and socks - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an apparatus having a function of accurately directing a tubular product picked up from a randomly arranged container.
【Solution】
An apparatus for handling a tubular woven product having a first end and a second end, wherein the first take-up of the tubular product is operable to alternately engage one of the tubular products. A combination of a member, a second pick-up member (51A, 51B), and detection means for determining the orientation of the first end and the second end of the tubular product; The two take-up members are controlled to alternately engage with the tubular product according to the orientation of the tubular product detected by the detection means.
[Selection] Figure 2

Description

  The present invention relates to a method and apparatus for handling tubular textiles, in particular stockings and socks. However, it is not limited to stockings and socks.

  More specifically, the present invention relates to a method and apparatus having the function of accurately directing a tubular product taken from a randomly placed container.

  In order to manufacture stockings and socks, a semi-finished tubular woven product is usually manufactured on a single or double cylinder circular weaving machine. Semi-finished products delivered from a circular machine have an elastic band at one end and an open toe at the other end. The open toe must be sewn and stitched together to form a closed toe for the finished tubular product. Some machines use devices in combination with cylinder needles and / or machine dials to close the toes. Nevertheless, this requires specially designed weaving machines or existing modified machines.

  On the other hand, when a semi-finished product with its toes open is unloaded from a circular machine, it is necessary to carry out a subsequent processing operation on each product. Processing operations for joining the appropriate ends, ie the ends forming the open toe, into the stitching or sewing machine. These operations are for taking tubular products randomly placed in the container and positioning them on the tubular conveying member or inserting them directly into a sewing or stitching machine. Since it is executed manually, the labor cost is high to obtain a finished product with high connectivity.

  Machines have also been designed to perform these operations automatically.

  For example, US-A-5040475 describes a complex mechanical device that takes each tubular product from a container in which the tubular product is randomly placed. By supplying the product along a special processing path, the detection means first detects the orientation of the tubular product along the supply path and recognizes whether the toe or elastic band of the product is the leading end. At the end of this detection, the tubular product is placed in an intermediate station, from which it is delivered in one or the opposite direction depending on the orientation when the tubular product enters the station.

  This ensures that the tubular product exiting the intermediate station is always in the same direction (ie, the toe is always at the leading end, or the elastic band is always at the leading end) and then the longitudinal It is spread in the direction and inserted onto a conveying tube that transports the tubular product to the sewing machine. This machine is extremely complex and not very reliable.

  JP-A-7468502, JP-A-1272801 describe another electrical device that handles tubular products such as stockings or socks for the purpose of directing them in the proper direction.

  U.S. Pat. No. 6,719,577 describes a device for orienting each tubular product collected from a randomly placed container.

  EP-A-1221502 takes each sock or other tubular product from the container in which it is randomly placed, and also by means of a specific pneumatic path and from the different characteristics of the product's elasticity. A device is described that uses a detection system capable of distinguishing between the elastic band and the toe to position one end always facing forward.

  US-A-5769288 describes a further system for detecting the orientation of tubular textile products by distinguishing between elastic bands and toes.

  US-A-5511501 describes a complex mechanical device that takes each annular product from the container in which it is randomly placed, spreads it, and places each tubular product in a smaller container. Each product is then taken from its smaller container and fed into a specific pneumatic path where the tubular product is always delivered from the pneumatic path in the same orientation.

  U.S. Pat. No. 5,884,822 describes a further apparatus and method for taking up each tubular product from a container.

  U.S. Pat. No. 5,992,712 describes yet another device that takes each tubular woven product and directs them in the appropriate direction.

  Similar problems with the orientation of the tubular product are seen when feeding stockings or socks to the press. For example, in the production of women's stockings, there is a problem of inserting each stocking on the press template with the toe already sewn, but for this purpose each stocking is taken from the container in which it is randomly placed. Must be inserted on top of the mold. Similar problems occur in machines that pack sock products such as knitwear and stockings socks.

  The object of the present invention is to direct tubular sewn products, especially but not limited to stockings and socks, to take them out of the container in which they are randomly placed, and then to further processing, for example (in particular (in a limited way) No) a specially simple, efficient and reliable device for feeding tubular sewing products in the right orientation to machines, devices and equipment that perform toe stitching or stitching, pressing, etc. Is to provide.

  According to another feature, the object of the present invention provides a simple and efficient way to modify the orientation of tubular woven products such as stockings and socks and to pick them up from a container in which they are randomly placed. That is.

In essence, a first feature of the present invention is an apparatus for handling a tubular woven product having a first end and a second end,
A first picking member and a second picking member of the tubular product that can be alternately actuated to engage one of the tubular products;
A combination of detecting means for determining the orientation of the first end and the second end of the tubular product, wherein the first picking member and the second picking member are detected by the detecting means; It is controlled to alternately engage the tubular product according to the orientation of the tubular product.

  With this type of arrangement, the orientation is subsequently performed, so that detection need not be performed on the tubular product moving along the supply path. If necessary, the supply direction is along the transport duct as in the case of conventional devices. In contrast, when the tubular product is unfolded and the end to be engaged in a subsequent handling operation is identified, one or the other of the two pick-up members is selectively activated.

  In a particularly advantageous embodiment of the invention, the take-up member is arranged to engage and open each tubular product at the height of the first end of the tubular product, typically an elastic band. Designed. In other words, the pick-up member can be designed to engage the other end, ie the toe. This choice depends on the handling operation performed on the tubular product in subsequent processing steps. The edge of the tubular product to be engaged is typically elastic when the product is a sock, but the edge is not elastic when it is a component of, for example, women's stockings or pantyhose. It should be understood that it may be. Furthermore, if the function of the device is to supply the product to the sewing or stitching means (in the correct orientation), the opposite end may be an open toe. However, if the product is handled for delivery to a processing operation, this second end may be, for example, a closed toe (sewn or stitched). In general, the device according to the invention is useful each time a tubular product with two structurally different ends is fed in a predetermined direction to a member, means, device or machine device for further processing. The product is picked up from a randomly placed container or, in any case, supplied to the device in random and undefined orientations.

  In a practical embodiment, the device according to the invention comprises an intermediate station in which the tubular product is positioned in a substantially unfolded state, and in the unfolded state, the first end. And the second end are substantially aligned with each other according to the longitudinal length of the tubular product, and the first and second pick-up members are associated with the intermediate station. The detection means is arranged and designed to determine the orientation of the first end and the second end of the tubular product when the tubular product is at an intermediate station.

  The detecting means is arranged and designed to detect whether the first end of the tubular product located in the intermediate station is positioned in the vicinity of the first picking member or the second picking member. Has been. Furthermore, the pick-up member is controlled such that the first end of the tubular product is engaged by the first or second pick-up member at the height at which the first end is located.

  Preferably, the detection means is an optical means capable of distinguishing and distinguishing the two ends of the tubular product from each other based on the shape of the ends. For example, the detection means may use a camera connected to an electronic processor, or in other cases a control unit equipped with image processing software. In a simpler version, the detection means may include an array of photocells such as a linear matrix or array that identifies the shape of the product end interposed between the emitter and receiver of the photocell. Detection can be performed on a stationary product or a moving product based on the order in which the photocells are obstructed by the product, which order is determined by the shape of the product. For example, provide a linear matrix, ie, a linear array of photocells, which can identify in a temporary order that the photocells are ambiguous as the product is gradually sent to the photocells Control by specific software. In fact, this temporary order depends on the product shape, type, and contour that differ between the edges and the toes.

  Regardless of the type of optical detection chosen, the product itself has certain measures, such as products of different colored fabric strips or bands, provided purely to discriminate between the two ends. It is not necessary to use it. In practice, these measures cannot always be realized by the type of mechanical device used to produce the product, and further increase the cost of the product. Furthermore, it is still possible to use the device according to the invention with detection means using the above measures to recognize the two ends.

  Advantageously, the tubular product can be spread longitudinally and a spreading system can be provided to align the first and second ends of the product. Also advantageously, in this case, the two pick-up members can be associated with the two ends of the spring system.

  According to an advantageous embodiment of the device according to the invention, the spreading system is provided with an inlet for the tubular product and an outlet for the spreading product at one of its longitudinal ends, the outlet being at the side. And each spreading product can be delivered in a direction orthogonal to the direction inserted into the spreading member.

  In a possible embodiment of the invention, the conveyor belt is combined with a spreading system so that each tubular product can be removed from the spreading system. This can define the base of the internal volume of the spreading system and the tubular product is inserted into this internal volume.

  According to a possible embodiment, each pick-up member is provided with an opposing engagement element that engages an opposing edge of the textile material forming the associated end of the tubular product. However, they are designed and controlled to move away from each other to open the end.

  According to a possible embodiment of the present invention, each transfer device is associated with each pick member and is arranged and designed to further transfer the tubular product engaged by each pick member to the manipulator member. Has been. These additional manipulator members are designed and arranged to position each tubular product on the tubular transport member either directly or after passing over the tubular turnover member.

  The manipulator member may include a gripper that receives the tubular product from one or the other of the transfer devices. Advantageously, each transfer device is inserted and inserted into the open end of the tubular product, and the extension member is designed and arranged to be supported by a transfer member that moves the extension member to transfer it to another manipulator member. May be included.

  In a possible embodiment, each extension member is actuated in translation and is supported by a respective slide that forms part of each transfer device.

  In an improved embodiment of the invention, the take-up member can be designed to directly perform a transfer to a further manipulator member, such as a gripper, for mounting the annular product on a transport tube or the like.

  In an advantageous embodiment, one common stretching device can be associated with two pick-up members. In this case, each tubular product is conveyed to a common stretching device, which may be a mechanical engagement means, a pneumatic engagement means, or a combination of mechanical and pneumatic engagement means. Next, the tubular product is picked up by actuating one or the other of the picking members and the end thereof is opened by the stretching device (preferably located at an intermediate position between the picking members), thereby bringing the tubular product into the other member Can be transferred to a work station or position.

  The present invention also relates to an apparatus for handling a tubular woven product having a first end and a second end, the apparatus comprising an open position, the open position being an operating position of the tubular product. , Associated with a first picking member and a second picking member that can be alternately actuated to engage one or the other of the two ends of the tubular product.

  The apparatus advantageously comprises detection means for detecting the orientation of the first and second ends of the tubular product, the first picking member and the second picking member being detected by the detecting means. The tubular product is controlled to engage with the tubular product alternately according to the orientation of the tubular product, so that each tubular product is always engaged at the first end regardless of the orientation at the opening position. it can. This detection means is arranged and designed to determine the orientation of the tubular product when in the operating position. By providing a control unit, the operation of one or the other of the first picking member and the second picking member is controlled so as to receive information from the detecting means and according to the information received from the detecting means. To be programmed.

  According to a further feature, the present invention relates to an apparatus for handling tubular woven products, such as stockings and socks, provided with a first end and a second end, the apparatus comprising one or the other end of said product. One of the two ends of the product is provided with two substantially symmetric pick-up members, which can be actuated alternately to engage the other, in combination with detection means for determining the orientation of the product Are always engaged by one or the other of the picking means according to the detection realized by the detecting means. According to a possible embodiment, each pick-up member can include a pair of fingers that can be inserted into a corresponding end of the tubular product. This end engaged by one or the other of the pick-up members may be, for example, an elastic edge of the product.

According to a possible embodiment, the two picking members are one common stretching device, i.e. a member that opens, stretches and widens the end of the tubular product engaged by the picking member. The common stretching device can be provided with a pair of opposing engagement members of mechanical or pneumatic type, or a combination of mechanical and pneumatic type or any other suitable type,
These engaging members are arranged and designed to engage and separate opposing portions of the edge surrounding one or the other end of the product. In a preferred embodiment, the common extension device is arranged at an intermediate position between the standby positions of the pick-up members.

In addition to being controlled to alternately engage the tubular product (depending on the orientation of the product) in order to ensure that the product is always engaged at the same end, the pick-up member is thus It is also possible to design and control the engaged tubular product to be transferred to a further manipulator member, which includes a transfer device, a mounting tube and then a gripper to be transferred to the mounting tube. Manipulators, presses or finishing templates for inserting tubular products onto the examination part, or other operations known in the field of manufacturing stockings, pantyhose, tights, or other sock products are included.

  Tubular products can be made by any known means to the various stations that make up the device, others and air typically one or two spreading stations, readout stations, stations that engage the end. Delivered through. According to a particular and presently preferred embodiment, the transfer places the tubular product laterally on a continuous conveyor, i.e. a conveyor made up of continuous members that move along a closed path, this closed path. These include, for example, mats, belts, tracks, flexible belts or a plurality of thin plates joined together on a chain member.

According to another feature of the invention, a method of handling a tubular product provided with a first end and a second end, the method comprises:
-Picking a randomly placed tubular product from the container;
-Transferring the product to an operating position with its ends approximately aligned according to the longitudinal direction of the tubular product;
-Recognizing which of the two ends of the product is the first end;
Engaging at the first end and moving it away from the operating position.

According to a possible embodiment, the method comprises the steps of: placing a first picking member and a second picking member in the operating position;
-Controlling said members to actuate either said first picking member or said second picking member, in the vicinity of said picking member for engaging with the first end of said tubular product The first end of the tubular product is arranged.

  In a possible embodiment, the first end of the tubular product, typically the elastic band, is engaged by the corresponding pick-up member and thereby opened. In another possible embodiment of the invention, the toes of the product are engaged and the toes can be opened, for example.

According to another feature, the present invention is a method of handling a tubular product provided with a first end and a second end, said method comprising:
-Sequentially placing each tubular product in an operating position;
-Selectively engaging the first end of each tubular product and moving it away from said operating position.

This method is also
-Disposing a first picking member and a second picking member at the first operating position;
-Alternately engaging each tubular product by the first picking member or the second picking member according to the position of the first and second ends.

In an improved embodiment of the invention, the method further comprises:
-Recognizing the position of the first end of the product in the operating position;
-Actuating one or the other of the first and second pick-up members to always engage the first end of the tubular product.

  According to a possible embodiment of the method according to the invention, the first end of the tubular product is engaged by a common stretching device, and depending on the orientation of the product in the work station, one or the other of the at least two pick-up members is Can cooperate with the end.

  The invention further relates to an apparatus for handling a tubular woven product having a first end and a second end, the apparatus comprising an operating position, wherein the operating position includes a first picking member of the tubular product and a second Two take-up members are associated, which can be actuated alternately to engage one or the other of the two ends of the tubular product. According to a possible embodiment, the pick-up member is designed to open the end of the annular product to be engaged by the pick-up member. In a further possible embodiment of the present invention, the first picking member and the second picking member are combined with a common stretching device, which stretches the end of the tubular product to be later engaged by the corresponding picking member. Open or stretch.

  According to an advantageous embodiment of the invention, the first and second pick-up members in the working position are controlled to always engage the first end of each tubular product in the working position. The part may be the edge or toe of a product, for example in the form of stockings or socks. The pick-up member is controlled so that it is always selectively and alternately actuated according to the orientation of the product in the operating position. Thus, in practice, the present invention relates to each tubular being conveyed to the work position or work station by means of at least two pick-up members, regardless of the work position where the product is placed or the orientation it is taking in the work station. It consists of a device that always engages the product at the same end.

  The pick-up member may be a member that also opens the tubular product at the end engaged by the pick-up member. In this case, a system for engaging the tubular product may be associated with each pick member to transfer the product to a different work station. In another embodiment, the pick-up member is comprised of a member that engages the product when the end of the product is extended, for example by a common device, in an intermediate position between the two pick-up members. The pick-up member may comprise a mechanical member that transfers the tubular product to the next station.

  Further advantages of the method and device according to the invention are set forth in the appended dependent claims and will be described in more detail with reference to possible non-limiting examples of the invention.

  The invention will be further understood by the description and the accompanying drawings, which illustrate non-limiting practical embodiments of the invention.

  This device incorporates the present invention, and is equipped with a function of mounting socks having an elastic band and opening toes on a transfer pipe for delivering each sock to a sewing machine. . However, the principles and specific technical solutions described here deal, for example, with a tubular product provided with an inelastic opening band and / or already sewn toe to be mounted on a press template. It should be understood that it can be used in other mechanical devices, packaging machines, and the like.

  FIG. 1 illustrates a container for randomly placing a tubular product therein until it is later picked up, picking means, and directing the product that is initially placed when each tubular product is delivered to the device. FIG. 4 shows a perspective view with a starting portion of a provided pneumatic conveying path.

  In FIG. 1, reference numeral 3 denotes a container for receiving a randomly placed tubular product, for example, sent from a series of circular weaving machines. The container 3 rotates around the vertical axis according to the arrow f3 by means of a motor (not shown). Reference numeral 5 generally indicates a known type of pick-up device, which is vertically at the height of the inlet 7A where the pneumatic conveying duct 7 is located, according to a double arrow f5 along a vertical guide. Moving. Each tubular product picked up by the pick-up device 5 is sucked in a random direction from the inlet 7A into the suction duct 7. The suction duct 7 extends to a spreading member arranged in a subsequent station of the device, which is shown in detail in the subsequent drawings.

  A pneumatic return duct 11 is connected to the pneumatic transport duct 7, and this duct 11 is supplied to the pneumatic transport duct 7 by the picking device 5 picking up two tubular woven products simultaneously due to an operation error, for example. Any tubular product that has been supplied but cannot be handled is transported via the unloading device 13, for example in the case of jamming.

  Reference numerals 105 and 111 denote gate valves or valves used to open and close each branch of the pneumatic path, and in particular, the pneumatic duct 7 and the pneumatic return duct 11. Reference numeral 103 indicates a connection with a suction line (not shown) connected to, for example, a suction fan.

  Next, with reference to FIGS. 2 to 11, members for accurately orienting each tubular woven product supplied into the pneumatic conveyance duct 7 will be described.

  2 and 3, reference numeral 21 denotes an entire assembly of machines, apparatuses, and equipment necessary for directing the tubular product and transferring it to the tubular conveying member 23 or the tubular holding member 25. Tubular transfer member 23 may be part of a more complex machine used to transfer a tubular fabric to a sewing or laying machine, optionally equipped with several stations. The machine incorporating the conveying member 23 and the sewing machine is not shown because it does not form the object of the present invention.

  As will become more apparent below, a tubular retaining member 25 is employed when each tubular product supplied to the assembly of equipment 21 needs to be inverted to flip the finished tubular product.

  Referring specifically to FIGS. 2-5, 7B indicates the end of the pneumatic transfer duct 7 located on the opposite side of the inlet 7A (FIG. 1). The end 7B section is shown as a rectangle, but this shape is not strictly necessary.

  The end portion 7B of the conveying duct 7 terminates at the first end portion of the spreading device, indicated as a whole by 27, in which each tubular product supplied via the pneumatic duct 7 is The first end (eg elastic band) and the second end (eg toe to be closed) are spread along the length of the tubular product.

  Next, the internal structure of the spreading device 27 and its operation mode will be described in more detail with reference to FIGS. At this point, each tubular product inserted in any direction on the spreading device 27 (i.e., with the first or second end being the leading end relative to the insertion direction) From the side of the spreading device 27 again in a random direction, but as described above, the two ends are fed in alignment with the longitudinal length of the tubular product. The bottom of the spreading device 27 is defined by a conveyor belt 29, which is controlled by a motor 30 and moves in the direction of the arrow f29 (FIG. 3).

  The load endurance structure 31 that supports the spreading device 27 and the conveyor belt 29 further supports a second conveyor belt 33 that moves in a direction substantially 90 ° with respect to the moving direction f29 of the conveyor belt 29 according to a double arrow f33. To do. The motor 35 (FIGS. 2 to 4) moves the conveyor belt 33.

  The conveyor belt 33 is supported by side elements 37 to which a motor 35 is also fixed, and both side elements 37 are moved in the direction of the double arrow f37 for the purpose described below. In relation to the conveyor belt 29, they can move towards and away from each other. The raising and lowering movement of the side element 37 is provided by a pneumatic, hydraulic or similar type of actuator 39 (FIG. 3).

  As each tubular product is delivered by the conveyor bell and 29 from the side of the spreading device 27 to the outside of the spreading device 27, the detection means detects which of the two ends is a toe or an elastic edge, It is transported by movement parallel to the longitudinal length of the tubular product. In practice, each tubular product should be placed at the height of at least one system capable of recognizing and distinguishing its two ends. In the embodiment schematically illustrated here, the detection means includes a camera 41 (shown schematically only in FIG. 4) or other suitable viewing system, which is economical. Provided on only one side of the conveyor belt 29, but can also be provided on opposite sides. The detection means may be of another type that can replace the viewing system such as the camera 41. For example, it is possible to provide a system that can distinguish the color of the elastic band or strip surrounding the open toe of the tubular product, and a system that is different in color from other fabric parts of the tubular product. However, this solution has the disadvantage of increasing the production cost of the product.

  Still further, a system capable of recognizing the presence of a conductive material such as a metal thread inserted in a band surrounding the toe of the tubular product to be closed may be provided as a detection means, alternatively or in combination. it can.

  Still further, a detection means based on recognizing and discriminating the two ends of the tubular product by characteristics of the product's elasticity, thickness or other properties may be provided alternatively or in combination. it can.

  The preferred solution is to use a system of photocells arranged according to an outer shape that can recognize the shape of the product end interposed between the photocell emitter and receiver, alternatively or in combination. It is also possible to distinguish the elastic edge from the toe. Various types of devices with this functionality are known, and those skilled in the art can easily select the detection or recognition device most suitable for a particular application.

  In any case, the number of detection means may be one or two, that is, the detection means can be provided on one side or both sides of the conveyor belt 29. However, it is preferable to provide only one side in consideration of saving.

  When the tubular woven product is fed from the side of the spreading device 27 and positioned on the conveyor belt 29, the tubular woven product is longitudinally positioned so that one end at which the toe or elastic edge has not yet been determined is at the height of the detection means 41. Translated in the direction. The transverse conveyor belt 33 positioned on the conveyor belt 29 translates the tubular product parallel to its longitudinal length according to the arrow f33 and has the product end under the detection means 41 in the position closest to this means. Has a function to go. In order to allow translational movement of this tubular woven product, the coefficient of friction of the surface of the conveyor belt 29 is at least slightly lower than the coefficient of friction of the conveyor bell and 33, so that the conveyor belt 33 goes to its lower branch. Allowing the tubular product to proceed and the motor 35 exerting on the conveyor belt 33 to cause the tubular product to slide on the upper surface of the conveyor belt 29 until it reaches below the detection means 41. To.

  Furthermore, it is also possible to move the detection means 41 while keeping the product stationary.

  As previously described, the purpose of these detection means 41 is to allow the detection means 41 to communicate the effective direction of the tubular product on the conveyor belt 29 to a central control unit (shown schematically in FIG. 4). Recognizing whether the end of the underlying tubular product is a first end (eg, an elastic band) or a second end (eg, a toe).

The spreader 27 and the conveyor belt 29 are always arranged with their one end leading, ie always in the same orientation, when removing the tubular product from the working station or working position or from the intermediate station.

In order to insert each tubular woven product on the tubular turnover member 25 or to always insert it on the tubular conveying member 23 from a precise end, typically from an elastic band, this tubular product is a spreading device. The two groups of essentially symmetrical members 51A, since they must always be removed from the operating station or position where the 27 is installed, or from an intermediate station, with one end always leading, ie always in the same orientation. , 51B are placed on either side of the conveyor belt 29, thereby opening and extending the end of the tubular product and inserting it onto one or the other of the tubular members 23,25. These groups 51A, 51B are take-up and transfer members for tubular products. One of this group or pick-up member 51A, 51B is actuated and the end of the tubular product that is opened and inserted over one or the other of members 23, 25 is positioned at the height of this member. The members and mechanisms forming the two symmetrical groups 51A, 51B are indicated by the same reference numerals followed by the letter A or B.

  Each of the groups 51A, 51B is first provided with suction surfaces 53A, 53B fixed on flat sliding surfaces 55A, 55B positioned along the sides of the conveyor belt 29. Respective take-up members 57A and 57B are arranged on the suction surface 53B, and a vertical movement is given to the means by the actuating devices 59A and 59B. Thereby, the pick-up means 57A, 57B can move toward or away from the corresponding suction surfaces 53A, 53B. The suction surface 53A, 53B and the corresponding pick-up means 57A, 57B equipped with actuating devices 59A, 59B are moved onto the elastic band, ie the suction surface 53A or 53B, and the end product is opened. Means for alternating engagement with the first end of the first.

  Each group 51A, 51B is equipped with an extension device composed of a pair of fingers 61A or 61B in this embodiment. 2, 3, 4, and 5, fingers 61 </ b> A and 61 </ b> B are represented in two different positions, ie, vertical and horizontal, during which they are placed in the operating cycle described in more detail below. These fingers are then supported by each transfer device. This transfer device transfers the product engaged by the stretching device composed of fingers 61A, 61B to further handling means described below.

  FIG. 8 shows fingers 61A, 61B in various possible positions. More specifically, in FIG. 8, fingers 61A are shown vertically and fingers 61B are shown in a horizontal and vertical arrangement, in which the pair of fingers are in two distinct positions at the conveyor. Proceeding along the front of the belt 29, each product can be picked up and transferred to the gripper described below, which then inserts the product onto one or the other of the tubular members 23, 25. To do. By means of the piston / cylinder actuating device, each pair of two fingers 61A, 61B can be brought close to each other or talked to each other. The pair of fingers is supported on a support 65A or 65B equipped with each actuator 61A, 63A, 61B, 63B, on which it is controlled by the actuator 67A or 67B and in the vertical direction according to the double arrow (See particularly FIGS. 5 and 6).

  The piston / cylinder actuator 67A or 67B is supported by sliders 69A and 69B. A rack 71A or 71B is integrally formed with the fingers 61A and 61B, and pinions 73A or 73B are engaged with these racks, and these pinions are fixed to the shafts 75A or 75B by fixing pins. At opposite ends, fingers 61A and 61B are attached together with actuators 63A and 63B that operate to move them closer to or away from each other. In this arrangement, the vertical movement of the support 65B or 65A controlled by the actuator 67B or 67A, and the vertical movement of the fingers 61B and 61A also rotate the shafts 75B and 75A corresponding to the fingers around the axis.

  The two sliders 69A and 69B are supported by corresponding slides 77A and 77B (see particularly FIG. 6). The two sliders 77A and 77B slide along a common guide portion 79, and this operation is controlled by two threaded control bars 81A and 81B rotated by the motors 83A and 83B. The thread cutting bars 81A and 81B are engaged with female screws 85A and 85B integrally formed with the slides 77A and 77B. As a result, the motors 83A and 83B operate one or the other of the extension devices constituted by the pair of fingers 61A and 61B according to the double arrow f61 (FIG. 6). The slide and the slider form a transfer device or means for supporting a pair of fingers to the central zone of the device, in which the tubular product is transferred to the gripper described below, which in turn is the tubular member 23, 25 on one or the other.

  Next, guide portions 87A and 87B on which the sliders 69A and 69B slide are supported by the slides 77A and 77B. The slider is provided with an operation in the direction orthogonal to the guide portion 79 according to the double arrow f69. The operation according to the arrow f69 is given to one or the other of the two sliders 69A and 69B by the cam and tappet mechanism. This mechanism is provided with a track for forming a cam profile 91, and two idle pins 93A and 93B formed integrally with the respective sliders 69A and 69B are engaged with each other. The profile of the channel 91 is substantially directed to the vertical intermediate plane, and one or the other of the sliders 69A, 69B, along with the corresponding slides 77A, 77B, from the position farthest from the intermediate plane to the middle of the device. The slider 69A or 69B moves away from the position of the spreading device 27 by translating in the direction of the arrow f69 to the position closest to the surface.

  Referring to the example in FIG. 6, a pair of fingers 61A equipped with a member that supports itself is divided into two distinct positions: an outer position (right side in FIG. 6), an intermediate position or an inner position (center in FIG. 6). They are shown at different positions. On the other hand, the finger 61B equipped with each member for supporting and moving itself is shown in the outer position.

  The functions of the various members described here are described below in relation to the overall operation sequence of the apparatus.

  7, 10 and 11 show the configuration of the spreading device 27 in more detail. This configuration includes a box structure 150 provided with a rectangular section, and an end 7B of the pneumatic transfer duct 7 and a suction port 151 are connected to the box structure. The box structure 150 is provided with a side panel 153 attached to a piston cylinder actuator 155 supported by its upper horizontal wall. The actuating device 155 can control the raising and lowering action of the side panel 153 to open and close the box structure 150. The conveyor belt 29 defines the lower surface of the compartment or internal volume along with the rectangular section of the spreading device 27 substantially along the bottom of the box structure 150. The upward movement of the side panel 153 allows the tubular product in the spreading device 27 to be delivered from the side of the spreading device 27 by the conveyor belt 29 or transferred out of the spreading device.

  Within the central zone of the box structure 150, the spreading device is provided with a movable press 161 that is actuated by an actuating device 163 (five in the illustrated example) with a dual function. As described in detail, during the expansion step of the tubular product, the function of reducing the cross-section of the compartment or internal volume of the expansion device 27 and reducing the vertical dimension was also inserted into the expansion device 27 first. This is a function that enables complete and accurate expansion of the above products.

  As shown particularly in FIGS. 10 and 11, a screen 165 for preventing the tubular product passing through the spreading device 27 from being sucked into the suction port 151 between the inside of the spreading device 27 and the suction port 151. Is arranged. In the illustrated example, the screen 165 is tilted to define a wedge-shaped volume, with a holding member 167 controlled by a piston / cylinder actuator 169 (FIG. 11) at its narrow end. The tubular product is arranged to hold the end of the tubular product oriented forward relative to the direction in which it is inserted into the spreading device 27. Depending on the shape of the device, the retaining member 167 engages one product at a time. If two tubular products are accidentally supplied into the box structure 150, the holding member is engaged with one of them and the other is returned to the container 3 by suction. As a result, the device 27 functions not only as a spreading device but also as a separating device.

  Alternatively, the screen 165 can be arranged on the surface substantially perpendicular to the supply direction of the tubular product, and the holding member can be composed of a gripper, for example.

  The box structure 150 is slidably supported in the direction of the double arrow f150, and moves in the moving direction f29 of the conveyor belt 29. This transverse movement according to f150 of the box structure 150 of the spreading device 27 is imparted by the piston-cylinder actuator 171 and this purpose is described below with reference to the operating sequence of the machine.

  At intermediate positions along the front of the conveyor belt 29, tubular members 23, 25 are arranged, which are supported by a fixing structure 26, while the tubular member 23 is for example sewn or Attached to a machine conveyor that unloads the tubular product onto the laminating machine. At the height of the tubular products 23, 25 (overlapping and substantially coaxial), a gripper, generally indicated at 180, is arranged, the function of this gripper being a pair of fingers 61A or Each tubular product picked up from 61B is received, the elastic band is stretched and inserted alternately onto the upper tubular member 25 or the lower tubular member 23.

  The gripper 180 is rotated 180 ° around the vertical axis by means of a piston / cylinder actuator 183 supported by a slide 185 that also supports the gripper assembly 180. The piston / cylinder actuating device 183 controls a rack 187 (see particularly FIG. 16) that meshes with a pinion (invisible) integrally formed with a shaft that supports the gripper 180. This causes the linear motion of the piston / cylinder actuating device 183 to rotate the entire gripper assembly 180 180 degrees about axis AA (FIG. 9). The purpose of this rotation is to allow the gripper to alternately transfer the tubular product with which it is engaged to the tubular member 25 or 23 (the method is described below).

  The slide 185 moves vertically along the vertical guide 188 according to the double arrow f185. This vertical movement is obtained by means of a transmission belt 189 and a motor 190 arranged at the upper end of the guide 188. Operation according to double arrow f 185 allows the gripper to transfer the tubular product to the corresponding end of tubular member 25 or 23.

  The gripper 180 is composed of two flat jaws 201 supported by a bracket 203. Each of the two jaws 201 is used to cooperate externally with a pair of bars 205 that block the elastic band of the tubular product on the jaws 201 as will become apparent below. The movement of the jaw part 201 toward and away from each other is controlled by two piston / cylinder actuators 207 and 209.

  The operation of the entire machine described above will be specifically illustrated with reference to FIGS. 12 to 20. Of these, FIGS. 12 to 15 show the operation function of the spreader 27 in particular, and FIGS. A method of mounting a tubular product, which has been spread out and whose direction has been recognized, on one or the other of the tubular members 23 and 25 is shown. The various components and actuators of the device are controlled to perform the operations described below by a microprocessor or programmable unit schematically indicated by reference numeral 2 in FIG. The possible units are connected to various actuating devices, encoders and other means which are employed in the apparatus to control various operations, but which are not described but are known.

  Each tubular product M is picked up from the rotating container 1 by the pick-up device 5 and sucked into the pneumatic transfer tube 7 leading to the internal compartment of the spreading device 27. Suction for transferring the tubular product from the inlet 7 </ b> A of the pneumatic duct 7 inside the spreading device 27 is added via the suction port 151.

  In FIG. 12, the tubular product M is aspirated from the mouth 151 and enters the component of the spreading device 27, one of its ends (not clear and randomly it can be an elastic band or toe). , Reaching the inclined end screen 165. The movement of the tubular product M according to the arrow F ends by hitting the screen, and the tubular product is clamped by the holding member 167 actuated by the actuating device 169 (FIG. 13). At this point, each press 161 associated with the spreading device 27 is lowered to half of its travel path by the actuating device 163 and placed in the position shown in FIG. The end of the combined tubular product M remains fixed here.

  At this point, the tubular product M is in the unfolding position within the volume of the unfolding device 27. If two tubular products are accidentally fed into the spreading device 27, the second tubular product is engaged by the retaining member 16 because of the particularly narrow configuration of the end zone of the wedge-shaped volume defined by the screen 165. Instead, the device 13 and the unloading duct 11 are unloaded into the container 1 by reversing the suction. In fact, in this step, the suction inside the spreading device 27, a part of the duct 7 and the pneumatic duct 11 are manufactured through the suction port 103, the gate valve 111 is opened and closed, and the gate valve 105 is closed.

  When the tubular product M reaches the unfolded position in the contents 150, the unfolding box structure is translated to the left (in the figure) by means of the piston / cylinder actuator 171 and placed in the position in FIG. . In this way, the entire tubular product M is positioned on the conveyor belt 29 which in particular defines the bottom of the inner compartment of the spreading device 27. In a subsequent operation step (FIG. 15), the press 161 closest to the end of the product M that has finally entered the internal compartment of the spreading device 27 is lowered to press the product M against the conveyor belt 29 below it. To do. Since the tubular product M located in the container 1 is substantially all facing the same direction, i.e. of the same size, which of the five presses 161 is closest to this end of the tubular product M. It is known preferentially whether it is positioned. Thereby, an accurate press machine can be operated by the control unit 28. Alternatively, an optical sensor can be installed inside the spreading device 27 so that the position of the end of the tubular product M that has finally entered the internal compartment of the opening device 27 can be identified. Another press 161 located on the left side of the lowered press 161 (i.e., opposite the end where the screen 165 is located) can also be moved downwards, thereby again drawing the suction through the screen 151. When operating, it is possible to prevent an arbitrary part of the product M slightly protruding from the press machine from being folded on itself.

  With the tubular product M thus engaged against the upper surface of the conveyor belt 29, the box structure 150 of the spreading device 27 can be translated again from the left side (in the figure) to the right side to return to the position in FIG. Is possible. In this step, suction is applied to the suction port 151 in order to accurately widen the end of the tubular product M, which is previously engaged by the holding member 167 and may not be perfectly aligned with the longitudinal extension of the tubular product M. It can be actuated again via

  At the end of these operations, the actuating device 155 raises the side panel 153 of the box structure 150 of the spreader 27 and the conveyor belt 29 is actuated to unfold the tubular product from the interior compartment of the spreader 27.

  In a subsequent step, not shown, the tubular product M is finally located under the camera 41 or other detection means installed at one end on either side of the conveyor belt 29, with its ends entering the spreading device 27. By the conveyor belt 29, it is translated in a direction transverse to the feeding direction of the conveyor belt. Whether the end of the underlying product (i.e., the end that last entered the spreader 27) is a toe or an elastic band, i.e. the second end of the product. It can be distinguished whether it is an end.

  In accordance with the detection performed by the camera detection means 41 or another equivalent device, the product M must engage with the pick-up means 53B, 57B or 53A, 57A at the height of its elastic band, so that the unit 28 Control the operation of the conveyor belts 33, 29 adjusted to pick up at the height of the pick-up means, with the tubular product M at the elastic edge and in particular with the elastic band placed on the suction surface 53A or 53B. .

  Obviously, the tubular product M will follow the random position of the elastic band when the tubular product is picked up from the container 1 in the above-described mechanism in line with the unfolding system 51 or above the unfolding system 510. , From one or the other of the symmetrical groups 51A, 51B.

  Obviously, the tubular product M is transported in this way from one or the other of the symmetrical groups 51A, 51B according to the position of the elastic band, which is in a random position. Random as well as taken from 1.

  FIG. 16 shows a subsequent step in which the tubular product M has already been positioned by the coordinated movement of the conveyor belts 29, 33 with the elastic band B positioned at the height of the group 51A. Obviously, in this example, the elastic band is directed forward and the toe P representing the second end of the tubular product is downstream from the elastic band B relative to the supply direction of the tubular product M within the pneumatic conveying duct 7. In this state, the tubular product M is in the spreading device 27.

  When the tubular product M enters the suction duct 7 in the opposite direction, that is, with the elastic edge B positioned at the rear and the toe P positioned at the front, the tubular product M has the elastic band B at the height of the group 51B. It is transported in the position. In the illustrated example, subsequent steps are performed on the elastic band B by the group 51A. If the tubular product M is facing in the opposite direction, the group 51B is used instead to perform subsequent operations.

  According to the layout in FIG. 16, the tubular product M is engaged with pick-up means 53A and 57A that reciprocate toward each other together with the elastic band of the product interposed therebetween. The elastic band B of the product is formed by actuating suction through the suction surface 53A, actuating the pick-up means 57A and then moving the two elements away from each other by means of the actuating device 59A. Opposite edges are slightly further away. In FIG. 16, the fingers 61 </ b> A shown apart from each other approach each other and are inserted into the opening elastic band B. Thereafter, the fingers are separated again to elastically stretch the band B.

  When the extension fingers 61A engage the band B by means of the handle member specifically described with reference to FIG. 6, these fingers translate from the side position to the intermediate position (see FIG. 6 for these two positions). Show). The finger 61A also rotates 90 ° rightward to assume a vertical position.

  As shown in the layout in FIG. 17, the finger 61 </ b> A is disposed on the gripper 180 in the intermediate position. Tubular product M still remains engaged with elastic band B by separated fingers 61A. When the jaws 201 of the gripper 180 are moved toward each other, the fingers 61A and the gripper are in a state where the fingers 61A are under the central bracket 203 that supports the plate forming the jaws 201 of the gripper 180. A relative vertical movement between 180 brings these members to their relative positions in FIG. The jaws 201 move relative to each other and the fingers 61A move relative to the jaws that are lowered until they are under the bracket 203, so that the tubular product M is moved from the fingers 61A to the jaws 201 by this relative movement. The gripper 180 is arranged around the jaw part as the elastic band B is transferred and the elastic band B is shown in FIG.

  When this position is reached, as shown in the perspective view of FIG. 19, the jaws of the gripper 180 open to stretch the elastic band B of the product M until it has the square cross section shown in FIG. Can do. The end of the tubular product M constituted by the elastic band B expands in this way sufficient for the gripper 180 to transfer the annular product onto one or the other of the two tubular members 23 or 25.

  The mouth of the tubular product can be positioned towards the lower tubular member 23 (position in FIG. 20) or towards the upper tubular member 25 by a 180 degree rollover action that the gripper 180 can perform by means of the actuating device 183. Become.

  Tubular product M is already inverted when fed from a double cylinder circular weaving machine. That is, the inner surface is directed outward. In this case, the tubular product M is inserted directly onto the lower tubular transfer member 23. On the other hand, when the product M is supplied from a single cylinder circular machine, it is necessary to turn over the product M, which is normally inside, to the outside before sewing. For this purpose, when the gripper 180 is rotated 180 ° around the horizontal axis and the elastic edge B of the product is inserted over the upper tubular reversing member 25, the upper tubular reversing member causes the tubular product to move in a known manner, Turn over by means of an additional member not shown. Next, the inverted annular product is transferred to the lower tubular conveying member 23.

  The following functions can be performed in parallel, as will be apparent from the structure and structure of the various components of the machine described above.

-Function of spreading and separating inside the device 27;
The function of detecting the end of the product on the conveyor belt 29;
-Function to open the edge of the end.

  Therefore, there may always be three separate tubular products in the machine where the above operations are performed in succession.

Embodiment of FIGS. 21 to 43 FIGS. 21 to 43 show another embodiment of the device according to the invention. In the drawings, the same reference numerals represent the same or related parts. In this embodiment, the device is combined with a tubular product container, which is associated with a means for picking up each product of substantially the same configuration as shown in FIG. 1 above. The container for collecting the product may be one with a handle, and the product pick-up member may be different from that shown in FIG. 1, and is known in the state of the art, or It can also be designed according to other criteria within the abilities of those skilled in the art. The only relevant fact is that preferably products already spread one after another are supplied to the device for directing the products.

  FIGS. 21 to 42 show members that spread the tubular product in the vertical direction, detect the direction of the product, and pick up the handling end of the product. This will be described in detail later, and then the operation of these members will be described with reference to FIGS. 43A to 43Q. The overall dimensions can be reduced by positioning the tubular product at least partially overlapping the container shown in FIG.

  Suction duct 7 (FIG. 1) supplies the respective tubular product to the device, which is shown generally in FIGS. 21 to 23 and is generally designated 501. This apparatus is provided with a conveyor 503 for moving each product stepwise forward in the direction of arrow F. The vane-equipped conveyor 503 is constituted by each thin plate 503A constrained by a flexible member such as one or a plurality of chains. The strips 503B are secured to several of the sheets 503A and define respective pedestals for products that are moved forward along the path of the device.

  As shown in the embodiment shown in FIGS. 1 to 20, in the apparatus 501, the individual products supplied to the apparatus are first spread in the vertical direction, but each product is relative to the supply direction F of the conveyor member 503. It is understood that the product is spread in the longitudinal direction of the product, facing in the lateral direction. In order to spread each product, the device 501 is equipped with a double station, a double spreading system, or a device described below. In FIG. 23, reference numerals 507 and 509 represent the whole of two stations or positions where two spreading members for performing longitudinal spreading of each product are arranged. More specifically, the first spreading system 510 to which the suction duct 7 is connected in FIG. 7B is installed in the station 507. The first spreading system 510 and its structure will be described later with reference to FIGS. 29 will be described in detail.

  The connector 7B continues into a compartment having a rectangular cross-section 513, and a shutter 515 is provided on the opposite side of the compartment to the connector 7B, and this shutter 515 is the structure of the section of the passage defined by the compartment 512. Is provided, and a function for regulating this in a specific operation phase is provided. The shutter 515 is provided with a shutter element 515A that is controlled to translate according to a double arrow f515 orthogonal to the longitudinal axis of the compartment 513 by means of a piston / cylinder actuator or other suitable actuator as indicated at 517. Yes. As can be seen in particular in FIG. 27, the shutter 515 has a semi-circular lower edge, or more generally a curved or convex cross section, which is the end of the suction compartment 513. It is substantially the same shape as the semicircular cross-sectional shape of 513A. When the shutter element 515A of the shutter 515 is in the position shown in FIGS. 24 and 27, it provides a narrow molded cross-section that facilitates flattening of the tubular product (as described below) and extends approximately semicircularly. The inner wall of the portion 513A of the closed compartment 513 is defined.

  A suction port 521 is integrally formed in the spreading system 510, and a suction duct 523 is connected to the suction port, but only the first part of the suction duct is shown in the drawing.

  The unfolding system 510 cooperates with a mechanism 525 for picking up the tubular product sucked into the unfolding system 510, which further includes an inner wall of the end portion 513A of the compartment 513, and the shutter element 515A described above. The function of withdrawing each tubular product from the passage section defined by.

  The mechanism 525 is supported by a slide 527 and can move along a guide 529 according to a double arrow f525. The movement of the slide 527 is controlled by a belt 531, which is operated by a motor 533 and pulled around two pulleys. The mechanism 525 is restrained to the slide 527 by means of a piston / cylinder actuating device 535 that controls the vertical movement in the vertical direction according to the double arrow f525X of the mechanism 525. The raising / lowering operation of the mechanism 525 provides a function of positioning the mechanism in line with the spreading system 510 or positioning on the spreading system 510.

  The mechanism 525 includes a substantially box-shaped component 539, through which a vacuum is created by suction means through a hole 541 connected to the tubular connector 543 via a suction box 543A. The tubular connector 543 can be connected to the suction port 521 of the spreading system 510 by moving the mechanism 525 along the connector 543 along the arrow f525 toward the suction port 521. This pneumatic connection causes mechanism 525 to move along its connector 543 along arrow f525 to suction port 521 and then to spreading system 510I so that elements 510 and 525 are in the reciprocating position shown in FIG. Is achieved. In this worship, the suction realized through the suction duct 523 causes suction through the box compartment 539, the suction compartment 513, and the ducts 7 and 7B. Inside the box compartment 539 is a grid 545 made up of a series of teeth 545A with a front edge (ie, oriented toward the spreading system 510) that is inclined relative to the horizontal. Associated with this grid formed by teeth 545A is a retaining pawl 547 whose operation according to double arrow f547 is controlled by a piston cylinder actuator 549 supported by mechanism 525. The grid 545 formed by the teeth 545A and the pawls 547 is combined with a press machine 551 that performs a vertical operation according to a double arrow f551 controlled by the piston cylinder actuator 553. This press machine 551 is provided with an opening in a C shape toward the lattice 545. Its purpose is to hold the tubular product while acting on a sufficiently wide surface against the tubular product during the spreading or flattening phase in order to prevent product damage.

  The operation of the spreading system and associated mechanism 525 described above will be described hereinafter with reference to a detailed description of the operating cycle of the apparatus.

  In the station 509, another spreading system 510 is provided, and this spreading system is provided with a member equivalent to that described with reference to the spreading system 510, and the letter X is added to this symbol in the figure. It is shown. The suction compartment 513X provided with a rectangular section is connected to the suction duct indicated by reference numeral 8B and the related suction duct 7B. As opposed to a mechanism similar to that represented by reference numeral 525, the spreading system 510X disposed in the station 509 cooperates with a simple conveyor belt or mat 563, which conveys the support structure 565 of the device. And is provided by the action emitted by the motor 565, which is indicated by reference numeral f563. The conveyor belt 563 drives around the rollers, but the rollers are moved by a side panel 567 that moves vertically by means of a piston cylinder actuator 569 so that the conveyor belt 563 can move toward or away from the conveyor 503. Supported with motor 565 and other members that direct operation to conveyor belt 563. When a shutter element equivalent to shutter element 515A is in a substantially closed position and suction is continued through a gap that is kept open by suction, each tubular product in unfolding system 510X is taken and unfolded. To phase out from the system 510X, the conveyor belt 563 moves each product in the longitudinal direction, i.e., transverse to the feed direction F of the conveyor belt 503, parallel to the product extension.

  A station 570 for detecting the end of the tubular product is installed downstream of the second spreading station 509 (with respect to the product supply direction F by the conveyor 503). A press 571 is provided in this station, and this press presses a double arrow f571 to press against the thin plate 503A forming the continuous conveyor 503 or to lift it from the thin plate. Accordingly, a vertical lift operation is provided. The raising and lowering operation of the press machine 571 is controlled by an operating device 573 (FIG. 30) supported by a slide 575 restrained by a belt 577. Therefore, the press machine 571 is provided with two operations, a vertical operation according to f571 and a horizontal operation according to f575, which is directed in a direction transverse to the supply direction F of the conveyor 503.

  The press 571 is positioned between two inclined outer portions 581A and 581B extending in a direction transverse to the product supply direction F, that is, parallel to the thin plate 503 of the conveyor 503. The outer parts 581A, 581B are supported by a cross member 583, which in turn is supported by a fixed structure 565 piston / cylinder actuator 585 with a fixed structure 565 interposed therebetween. The cross member 583 supports the operating device and the guide system at the end thereof, and the outer portions 581A and 581B are constrained thereto, and a function of giving an operation to the outer portions 581A and 581B according to the double arrow f581. It has. These outer portions provide a function of centering each of the products between them.

  Station 570, located on the side of conveyor 503, is a detection device, which is equipped with a camera, a series of photocells, or other means, and the camera image is obtained by suitable image recognition software. The other means processed and generally include means suitable for recognizing or distinguishing the two ends of each tubular product inserted into the device. This detection system is indicated generally by the reference numeral 590 in the figure and can be supported by a C-shaped profile. This C-shaped outer shape can support, for example, a series of photoemitters or a series of opposed photoreceivers, between which the end of each product closest to the sensor or detection device 590 is inserted. The

  The aforementioned presser 571 is provided to carry the product so that its end is under the sensing element, and the presser 571 is lowered for this purpose to press the product against the conveyor 503 and then Then, it translates in the horizontal direction (arrow f575) to reach the desired position. This is made possible by the low coefficient of friction of the thin plates 503A forming the conveyor 503.

  Instead of a photocell, camera, or other optical readout system, the detection device 590 can use other devices. For example, it is possible to make both ends of each product recognizable and distinguishable by inserting a special material into only one end of each product. For example, metal threads, magnetic threads, etc. can be inserted into one of the ends (if the product being handled is stockings or socks, it is preferred to sew the toes). Recognition of these yarns can be performed by a capacitive sensor, a magnetic sensor, or other suitable mechanism.

In general, the present invention is not limited to a mechanism for recognizing and distinguishing each of the two ends of each product. However, also preferably, with these systems where an optical system is used that can recognize and distinguish the two ends based on their geometry, the use of special materials during the manufacture of the product Thereby avoiding the need for special treatment in upstream manufacturing steps, thus allowing the device according to the invention to be used more generally and reducing the production costs of the product become able to.

  As can be seen particularly in FIG. 33, the sheet 503A of the conveyor 503 in a particular area is provided with a series of holes 503C. In the drawing, these holes are shown in only a few thin plates 503A for simplification of illustration, but actually, a group of perforations, gaps, and the like are seen along the entire length of the conveyor 503. In other words, each of the thin plates 503A is provided with an open range, through which a subsequent read operation can be performed to position the product laterally, which will be described in detail below. Subsequent handling at 600 is possible. More specifically, each thin plate is provided with a suction hole, which is a perforation range 503C of the thin plate 503A for positioning the tubular product at both ends perforated for this range of suction. Two holes for the associated photocell or other optical readout located underneath. Instead of an optical readout device, other suitable sensor means can be used.

  In this arrangement, the product is moved under a sensor or other detection member 590, and the electronic control system of the device 501 is under the detection system 590 with horizontal movement in one or the other direction of the press 571. After checking whether the positioned end is the first end or the second end, the product is translated laterally with respect to the supply direction F, and the desired end is moved to the aperture or thin plate 503C. Can be made. This is the position to be taken for the product to be processed in the subsequent station 600, in this case with the means of the engaging member of the station 600 engaged in the opening at the product end.

  In practice, the operation of the processor 571 is controlled so that the end of the product that is subsequently engaged by the pick-up means is always located on the aperture 503C. The sock must always be engaged at the elastic edge, but if the product being handled is a sock, the operation of the press 571 is controlled to move the elastic edge to the drilling area 503C. If the elastic edge is the end recognized by the detection system 590, the press 571 is moved away from the detection system 590. If the end identified by the detection system 590 is a toe, the opposite is true, i.e. the opposite end is moved to the drilling area 503C so that the press 571 moves in the opposite direction towards the detection system 590. Moving. If necessary, the press 571 can perform several repetitive movements ascending from the product between one and the next movement, thereby avoiding moving in the wrong direction. When the end of the product reaches a desired position above the perforation area 503, suction can be activated to hold the product in place during the next forward movement of the conveyor 503.

  The first member seen at station 600 is a stretching device 601 (FIG. 33). The stretching device 601 is supported by a plate 603 that rotates about a vertical axis X by means of a belt 605 controlled by a motor 507. The support portions of the motor 607 and the rotating plate 603 are supported by a fixing structure 565 of the apparatus. A piston / cylinder actuating device 609 is provided between the plate 603 and the stretching device 601 to provide the lifting device with a lifting operation according to f601. This stretching device is associated with a suction system (not shown), and the suction system is disposed in an intermediate range between the upper branch portion and the lower branch portion of the conveyor 503, and is connected through an aperture, a thin plate, and the like denoted by reference numeral 503C. Aspirate. Each separate product is opened by lowering the member 601 with its end positioned on the stretching device 601, which member 601 engages the side of the associated end of the product, Thus, the opposite side of the material is held on the conveyor 503 by suction. The device 601 can be oriented around the vertical axis to accurately handle “low cut” impacts.

  Also fixed to the structure 565 in the station 600 is a mechanism and apparatus that forms two pickup members that are actuated alternately according to the orientation of the tubular product, so that the same end of the tubular product is always on one or the other side of the pick-up member. To engage. If this is, for example, a sock, a pick member that is precisely positioned to engage the elastic edge of the sock is actuated while forming an end that has been previously stretched or opened by the stretcher 601. Since the stretching device is disposed between the two picking members, it becomes a common stretching device or member that cooperates alternately with one or the other of the two picking members. The edge opening is oriented towards one side or the other side of the conveyor 503 (with the toes or edges facing forward) according to the orientation in which the product is transferred from the suction duct 7.

  34-42 show the mechanical elements forming the first and second pick-up members and the associated actuating device, but in this case another machine of the device 501 not related to the action of the pick-up member Members are omitted.

  At station 600, the motor 611 is constrained to a fixed structure 565, and the motor provides motion to the spline bar 615 to which the pulley 617 is coupled by means of a belt 613. These pulleys are in torsional engagement with the spline bar 615 but can slide longitudinally along their axes. The pulley 617 provides motion to a corresponding belt 619 that runs around the pulley 617 and around the further idler pulley 621. The pulley 621 is supported by a slide 623, is integrally formed with the load-bearing structure 565, and is guided along a guide portion 624 that extends in parallel with the spline bar 615.

  The slide 623 can slide according to a double arrow f623. These are further restrained by a support pulley 625 to a drive pulley 617 to which a spline bar 615 is torsionally engaged. Therefore, finally, the two belts 619 can operate while approaching or moving away from each other, and further, independently of each other, follow the double arrow f623 and go straight with the product supply direction F on the conveyor 503. Move in the direction.

  The operation of each slide 623 is controlled independently for each slide by a piston / cylinder actuator 627. Each actuating device 627 is constrained to a load bearing structure 565. In these actuating devices, reference numeral 627X denotes a rod that is firmly bound to each slide 623.

  Reference numeral 631 indicates two product picking members, each of which is supported by a slide 633 that slides along a guide 635 constrained by a corresponding slide 623. Therefore, each of the slides 623 that translate substantially perpendicularly to the supply direction F of the product and the conveyor supports one of the two product pickup members denoted by reference numeral 631 and moves parallel to the supply direction F. Is possible. The movement of the take-up member 631 along the guide portion 635 is depicted by a double arrow f631 in the drawing.

  Each of the rate raising members 631 is provided with a pair of brackets 637, each of which pivots around each horizontal axis 637A. Each arm 639A, 639B is integrally formed with each bracket 637. The pivoting movement of the bracket 637 is controlled by a piston / cylinder actuator 641 arranged in an intermediate piston between the two support side panels. The lower ends of the arms 639A and 639B are hinged around the pivots and fingers 653A and 653B. The turning motion of the fingers 643A and 643B is controlled by each piston / cylinder 645A and 645B.

  Combining the vibrating motion of the arms 639A, 639B with the vibrating motion of the fingers 643A, 643B allows a pair of fingers 643A, 643B to be inserted into the open end of the tubular product, as described below, It is engaged by the finger at the end of the subsequent product. The movement of each pair of fingers away from each other occurs by stretching the end of the tubular product laterally.

  A bracket 651 that supports the piston / cylinder actuating device 653 is firmly connected to each slide 633 that supports each pick-up member 631. The piston / cylinder actuating device 653 controls the vibration operation according to the double arrow f655 around the horizontal axis of the unit 655 that supports the tubular product with which one or the other of the pick-up members 631 is engaged. More specifically, unit 655 is constrained to one slide 633 cooperating with unit 631 constrained to the opposite slide 633, which will become more apparent from the description of the complete operating cycle of the device. Become.

  A gripper member 657 is provided at the end of the unit 655, the function of which is to take up the pick-up member 631 that engages the first end by holding the tubular product within an intermediate range between the two ends. For example, when the product is transferred to a pair of jaws 201 of a subsequent manipulator member, for example, to insert each tubular product onto a transfer tube or the like, the tubular product interferes with other mechanical members. Is to prevent it. The jaw portion 201 is shown only schematically and separately from the other parts in the drawings described herein, and is substantially identical to the jaw portion 201 described with reference to FIGS. The same function may be provided.

  Having described the main components of the device so far, the complete operating cycle will now be described with reference to the order of drawings 43A-43Q.

  FIG. 43A shows a schematic longitudinal cross section of the spreading system and picker 525 in a coupled state. A tubular product M such as stockings or socks is sucked by the duct 7 and passes through the connector 7B into the compartment 513 having a rectangular cross section. Next, when the connector 543 is connected to the suction port 521 and the suction duct 523 through the tubular connector 543 and the suction box 543A, suction is performed through the aperture 541 and the grid 545. The product M moves forward according to the arrow fM by suction until it collides with the grid 545 (FIG. 43B). Here, product M is engaged by retaining teeth or pawls 547 (FIG. 43B). In this example, the product M enters the suction duct 7 and then enters the spreading system 510 with the elastic edge B facing forward and the toe P facing backward. This orientation is completely random and follows the way the product is picked up from the container 1.

  In order to spread the product M, at this point the suction in the duct 7 is reversed and the product is again sucked into the duct. If two products accidentally enter the compartment 513 simultaneously, the retaining pawl 547 is dimensioned so that it cannot hold the two products M and one of them is returned to the container 1. FIG. 43C shows product M extending into duct 7 but held by pawl 547. In order to perform the flattening and unfolding of the product M, at this point the shutter element 515A takes a closed position where it defines a narrow and elongated section of the passage. At the same time, the press 511 is lowered to improve the holding of the product M (FIG. 43D). Holding mechanism 525 pulls product M away from the cross section defined by shutter element 515A and pressed (FIG. 43E, arrow f525). At this stage, suction is started through the duct 7 so that the product contracts in the duct. The effect of this action is to spread the product not only in the vertical direction, but especially in the horizontal direction, because of the elongated shape of the passage cross section defined by the shutter element 515A.

  As schematically illustrated in FIG. 43F, after moving the product forward along the conveyor 503 in the direction of arrow F, in one step, against the opposite end of the product in station 509 (In this case, edge B), a process similar to that described above is performed.

  At station 570 (FIG. 43G), press machine 571 lowered for engagement purposes engages tubular product M (FIGS. 43G-43H) and is then translated under detection system 590 (FIG. 431). ). The detection system 590 recognizes which of the two ends is facing the detection system, which is an elastic edge B in the illustrated example. The subsequent operation purpose is to finally take the product M at the elastic edge B and insert it onto the pair of jaws 201. For this purpose, this end (elastic edge B) is first positioned at the height of the hole 503C, then (in the figure) moved from the left side to the right side by a press 571 taking the position shown in FIG. 43J. The above operation needs to be executed again. As schematically indicated by reference numeral 504 in FIGS. 43J to 43O, the outer portions 581A and 581B accurately center the product with respect to the suction range formed by the hole 503C, and below this suction range. The suction port is positioned. By starting suction at this stage, the subsequent supply from the station 570 to the station 600 does not cause a relative movement between the edge B of the product M and the conveyor 503.

  In FIG. 43K, the edge B of the product M is positioned under the stretching device 601 and the stretching device is lowered to engage the side of the edge B opposite the side that is held on the conveyor 503 by suction. To do. Next (FIG. 43L), the stretching device 601 is lifted to stretch the edge, and one of the two pick-up members 631 is inserted into the edge of the fingers 653A, 653B. In this example shown, the left (in the drawing) pick-up member 631 is actuated. When the product M is directed in the opposite direction, the right side (in the drawing) pick-up member is actuated because the direction of the opening of the edge B is different.

  FIG. 43M shows that FIGS. 643A and 643B are inserted into edge B, then opened (FIG. 43N), respectively, to open the edge horizontally and then released from both suction hole 503C and extension device 601. Indicates.

  In order to facilitate the subsequent mounting operation on the jaw part 201, the gripper member 657 on the right side (in the drawing) is engaged with the middle point of the longitudinal length of the product M. If product M was facing in the opposite direction, gripper member 657 on the opposite side would have been actuated.

  Finally, the fingers 653A and 653B are swung from the horizontal position to the vertical position (FIGS. 43O to 43P), and the pick-up member 631 supporting these fingers translates in accordance with the arrow f631 (FIG. 43Q), so that the edge of the product M B is positioned on the jaw part 201. By the subsequent lowering operation, the edge B is inserted on the jaw part 201. Subsequent handling operations may include the mounting operation on the transfer tube already described with reference to the embodiment of FIGS.

  The drawings show only examples as practical embodiments of the invention, and the form and arrangement may be changed without departing from the scope of the concept on which the invention is based. Any numerals appearing in the appended claims are provided to facilitate the reading of the claims with reference to the description and drawings and are not intended to limit the scope of protection indicated by the claims. Absent.

Fig. 4 shows a perspective view of a container for a tubular woven product and means for picking up each product from the container for delivery along a pneumatic path. Figure 2 shows a perspective view of means and apparatus for performing orientation of a tubular product. Figure 2 shows a perspective view of means and apparatus for performing orientation of a tubular product. The top view of the apparatus in FIG. 2, FIG. 3 is shown. It is a side view along VV in FIG. FIG. 4 is a perspective view showing the lower part of the device in FIGS. 2 and 3 with the parts removed. 1 shows a perspective view of a tubular product spreading device. FIG. FIG. 6 is a perspective view according to different angles and different positions of the tubular product transfer device and the various members of the gripper for inserting a properly oriented tubular product into the transfer tube. FIG. 6 is a perspective view according to different angles and different positions of the tubular product transfer device and the various members of the gripper for inserting a properly oriented tubular product into the transfer tube. It is a longitudinal cross-sectional view of a spreading member. The detailed enlarged view in FIG. 10 is shown. The operation sequence of the spreading device is shown. The operation sequence of the spreading device is shown. The operation sequence of the spreading device is shown. The operation sequence of the spreading device is shown. One of the transfer devices transfers the tubular product to the gripper and shows a transfer sequence of operations that allows transfer to the next tubular transfer or flipping member. One of the transfer devices transfers the tubular product to the gripper and shows a transfer sequence of operations that allows transfer to the next tubular transfer or flipping member. One of the transfer devices transfers the tubular product to the gripper and shows a transfer sequence of operations that allows transfer to the next tubular transfer or flipping member. One of the transfer devices transfers the tubular product to the gripper and shows a transfer sequence of operations that allows transfer to the next tubular transfer or flipping member. One of the transfer devices transfers the tubular product to the gripper and shows a transfer sequence of operations that allows transfer to the next tubular transfer or flipping member. FIG. 6 is an axonometric view with two different angles of different embodiments of the present invention. FIG. 6 is an axonometric view with two different angles of different embodiments of the present invention. The side view according to XXIII-XXIII in FIG. 22 is shown. FIG. 24 shows a longitudinal section through a spreading system for spreading the product and the associated product pick-up mechanism in the embodiment according to FIGS. The perspective view of the picking-up mechanism in FIG. 24 is shown. FIG. 26 shows a front view of the take-up mechanism in FIG. 25. FIG. 25 is an axonometric view of the spreading system and picking mechanism in FIG. 24 at two different angles, with the picking mechanism separated from the spreading system. FIG. 25 is an axonometric view of the spreading system and picking mechanism in FIG. 24 at two different angles, with the picking mechanism separated from the spreading system. FIG. 28 shows an axonometric view similar to that of FIG. 27 but with the unfolding system and the pick-up mechanism in combination. FIG. 24 shows an axonometric view of the apparatus in FIGS. 21 to 23, where the machine of all stations, except for the part of the station that reads or detects the orientation of the product limited to the member that moves the product. Parts have been removed. Fig. 3 shows the member moving a product in two different positions. Fig. 3 shows the member moving a product in two different positions. FIG. 4 shows a perspective view of an extension member opening an end of a tubular product. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 4 is an axonometric view of the actuator and associated mechanical elements at various operating positions of the pick-up member. FIG. 42 shows a front view of the take-up member according to line XL-XL in FIG. 41. It is a top view according to XLI-XLI in FIG. The side view according to XLII-XLII in FIG. 41 is shown. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS. 43 shows a schematic diagram representing the operating cycle of the apparatus shown in FIGS.

Claims (54)

An apparatus for handling a tubular woven product having a first end and a second end,
-A first picking member and a second picking member of the tubular product, which can be alternately actuated to engage one of the tubular products;
-Comprising a combination of detecting means for determining the orientation of the first end and the second end of the tubular product, wherein the first picking member and the second picking member are detected by the detecting means; An apparatus controlled to alternately engage a tubular product according to the orientation of the tubular product.   The apparatus of claim 1, wherein the pick member is arranged and configured to engage each tubular product at a height of a first end of the tubular product.   Preferably, the first end is an opening band of a tubular woven product, the second end is a toe of the tubular woven product, and the tubular woven product is a sock or stocking. The apparatus according to claim 1 or 2.   An intermediate station, in which the tubular product is positioned in a substantially unfolded state, wherein in the unfolded state, the first and second ends are elongated in the tubular product. 4. An apparatus according to any one of claims 1, 2 and 3, characterized in that the first and second pick-up members are associated with the intermediate station and are substantially aligned with each other.   5. The detection means is arranged and designed to determine the orientation of the first and second ends of the tubular product when the tubular product is at an intermediate station. The device described.   The detecting means is arranged and designed to detect whether the first end of the tubular product located in the intermediate station is positioned in the vicinity of the first picking member or the second picking member. And the picking member is controlled such that the first end of the tubular product is engaged by the first or second picking member at a height at which the first end is located. 6. An apparatus according to any one of claims 4 or 5, characterized in that   A spreading system for spreading the tubular product in the longitudinal direction and aligning the first end and the second end of the product in the longitudinal direction, wherein the spreading system has two longitudinal ends; An apparatus according to one or more of the preceding claims.   The spreading system includes two stations, each of which includes a spreading element that provides a molded passage section, through which at least a portion of the tubular woven product is flattened, 8. The apparatus of claim 7, wherein the station further includes a product tension member.   9. An apparatus according to claim 8, wherein each of the spreading elements is connected to a suction duct to pull the tubular product as it passes through the molded part of the passage.   Apparatus according to one or more of the preceding claims, wherein each of the pick-up members comprises at least one pair of fingers that can be inserted into a corresponding end of the tubular product.   One of the preceding claims, characterized in that the two pick-up members are associated with a common stretching device for stretching the end of the tubular product into which the pick-up member is inserted. Or a device described in a plurality.   The common stretching device has a pair of opposing engagement members that are designed and controlled to engage and disengage from each other, and opposite opposite sides of the fabric material to open the ends, 9. An apparatus according to claim 8, characterized in that it forms ends associated with the sides of the tubular product.   13. The device according to claim 11, wherein the common stretching device is arranged at an intermediate position between the standby positions of the two pick-up members.   14. A device according to any one of claims 11 to 13, wherein the two pick-up members are operative to transfer the tubular product to a manipulator member.   15. The apparatus of claim 14, wherein the manipulator member is designed and controlled to transfer each tubular product onto a transfer tube.   The respective transfer device is associated with each picking member and is arranged and designed to transfer the tubular product with which the respective picking member is engaged to a further handling member. The apparatus of any one of 1-10.   17. A device according to claim 15 or 16, wherein the further handling member is constructed and arranged to position each tubular product on a tubular transport member.   18. The apparatus of claim 17, wherein the handling member includes a gripper that receives a tubular product from one or the other of the transfer devices.   19. Each of the transfer devices includes an extension member designed and arranged for insertion into an open end of the tubular product. Equipment.   Apparatus according to one or more of the preceding claims, wherein the detection means comprises optical means.   21. The apparatus of claim 20, wherein the detection means includes at least one camera.   A conveyor for transferring individual tubular products from a range in which the products are spread longitudinally to a station having the first and second pick-up members. Apparatus according to one or more of the claims.   23. The apparatus of claim 22, wherein a common telescopic device is positioned in the station comprising the first picking member and the second picking member.   The apparatus according to any one of claims 22 and 23, wherein the detection means is disposed along a path of the conveyor.   A translation device is associated with the detection means, wherein the end of each tubular product of the detection means is moved by translating each of the tubular products in a direction perpendicular to the feeding direction of the conveyor. 25. An apparatus according to any one of claims 22 or 24.   26. An apparatus according to any one of claims 22, 23, 24, 25, wherein the conveyor is formed of a continuous member that moves in a direction substantially perpendicular to the orientation of the tubular product. A method of handling a tubular product provided with a first end and a second end,
-Picking a randomly placed tubular product from the container;
-Transferring the product to an operating position with its ends approximately aligned according to the longitudinal direction of the tubular product;
-Recognizing which of the two ends of the product is the first end;
Engaging the first end and moving it away from the operating position. -Disposing a first picking member and a second picking member at the operating position;
-Controlling these members to actuate either the first picking member or the second picking member;
28. The method of claim 27, wherein a first end of the tubular product is disposed proximate to the pick-up member to engage a first end of the tubular product.   29. A method according to claim 27 or 28, wherein the first end of the tubular product is engaged and opened by a respective pick-up member.   30. A method according to any one of claims 27 to 29, wherein the first end of the tubular product is engaged by a transfer device.   31. The method of claim 30, wherein first and second transfer devices are associated with the first and second pick-up members.   32. A method according to any one of claims 27 to 31, wherein the tubular product is inserted over a tubular member with a first end facing forward.   28. The method of claim 27, wherein the first end is engaged and opened by a stretching device.   The first end is engaged and opened by an extension device common to the first and second pick-up members, and the first and second pick-up members according to the orientation of the first and second ends. 29. The method of claim 28, wherein the method is selectively engaged by one or the other.   35. A method according to claim 34, wherein the tubular product is transferred from the pick-up member engaging the first end onto a further manipulator member.   36. A method according to one or more of claims 27 to 35, wherein the tubular product is spread longitudinally.   The product is expanded with the first and second ends generally aligned with each other in the longitudinal direction, and when the product is expanded, which of the two ends of the product is the first end is determined. 37. A method according to any one of claims 27 to 36, wherein detection is performed for identification.   The first end is an open band of a tubular woven product, the second end is a toe of the tubular woven product, and the tubular woven product is a sock or stocking. The method according to any one of 27 to 37.   An apparatus for handling a tubular woven product having a first end and a second end, the apparatus comprising an operating position, wherein the operating position is associated with a first picking member and a second picking member of the tubular product. And the member can be actuated alternately to engage one or the other of the two ends of the tubular product.   Detection means is provided for detecting the orientation of the first and second end portions of the tubular product, and the first picking member and the second picking member are the orientations of the tubular product detected by the detecting means. According to claim 1, wherein each tubular product can always be engaged at the first end irrespective of the orientation at the opening position. Item 40. The apparatus according to Item 39.   41. The apparatus of claim 40, wherein the detection means is arranged and designed to determine the orientation of the tubular product when in the operating position.   A control unit for receiving information from the detecting means and for controlling the operation of one or the other of the first picking member and the second picking member according to the information received from the detecting means; 42. Apparatus according to any one of claims 40 or 41, programmed to:   A common stretching device is associated with the first picking member and the second picking member to extend the end of the tubular product into which the picking member is inserted. The apparatus according to any one of 39 to 42.   The common stretching device is a pair of opposing engagements designed and controlled to engage and disengage opposite sides of the fabric material forming the associated end of the tubular product. 44. The apparatus of claim 43, comprising a member.   45. The device according to claim 43 or 44, wherein the common extension device is arranged at an intermediate position between the standby positions of the two pick-up members.   46. Apparatus according to one or more of claims 39 to 45, wherein the two pick-up members move to transfer the annular product to a manipulator member.   The apparatus of claim 46, wherein the manipulator member is manufactured and controlled to transfer each tubular product onto a transport tube.   To engage the first end of the tubular product, the pick-up member and / or the extension device are oriented at an angle, and the first end of the tubular product is 48. Device according to one or more of claims 39 to 47, characterized in that it has an opening variably inclined with respect to the main direction of the longitudinal length.   The first picking member and the second picking member are controlled to be selectively actuated and always the first end of the tubular product regardless of the orientation of the tubular product in the operating position. 49. Apparatus according to one or more of claims 39 to 48, characterized in that the apparatus engages. A method of handling a tubular product provided with a first end and a second end, the method comprising:
-Sequentially placing each tubular product in an operating position;
-Selectively engaging the first end of each tubular product and releasing it from said operating position. -Disposing a first picking member and a second picking member at the first operating position;
51. alternately engaging each tubular product with the first picking member or the second picking member according to the position of the first and second ends. the method of. -Recognizing the position of the first end of the product in the operating position;
52. The method of claim 51, comprising actuating one or the other of the first and second pick-up members to always engage the first end of the tubular product.   53. The method of claim 52, wherein the first end is opened by a common stretching device and then selectively engaged by the first or second pick-up member.   54. A method according to one or more of claims 50 to 53, wherein the pick-up member engaged by the first end transfers the tubular product to a further manipulator device.

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