JP2021510777A - 把持部を用いて布片を把持し、移動させかつ解放するための方法および把持部 - Google Patents
把持部を用いて布片を把持し、移動させかつ解放するための方法および把持部 Download PDFInfo
- Publication number
- JP2021510777A JP2021510777A JP2020558679A JP2020558679A JP2021510777A JP 2021510777 A JP2021510777 A JP 2021510777A JP 2020558679 A JP2020558679 A JP 2020558679A JP 2020558679 A JP2020558679 A JP 2020558679A JP 2021510777 A JP2021510777 A JP 2021510777A
- Authority
- JP
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- Prior art keywords
- cloth
- piece
- grip
- conveyor belt
- roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000004744 fabric Substances 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title abstract description 10
- 230000009975 flexible effect Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009877 rendering Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 229920001084 poly(chloroprene) Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
- B65H5/14—Details of grippers; Actuating-mechanisms therefor
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
- A41H43/00—Other methods, machines or appliances
- A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2404/00—Parts for transporting or guiding the handled material
- B65H2404/20—Belts
- B65H2404/26—Particular arrangement of belt, or belts
- B65H2404/261—Arrangement of belts, or belt(s) / roller(s) facing each other for forming a transport nip
- B65H2404/2614—Means for engaging or disengaging belts into or out of contact with opposite belts, rollers or balls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2404/00—Parts for transporting or guiding the handled material
- B65H2404/20—Belts
- B65H2404/26—Particular arrangement of belt, or belts
- B65H2404/261—Arrangement of belts, or belt(s) / roller(s) facing each other for forming a transport nip
- B65H2404/2615—Arrangement of belts, or belt(s) / roller(s) facing each other for forming a transport nip arranged on a movable frame, e.g. pivoting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/174—Textile, fibre
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Treatment Of Fiber Materials (AREA)
- Manipulator (AREA)
Abstract
Description
2 布片
3 表面部分
4 積み重ね
5 コンベヤ機構
6 コンベヤベルト
7 相対するブロック
8 ホイール
9 矢印
10 矢印
11 共通フレーム
12 後縁
13 前縁
14 プランジャおよびシリンダ対
15 2つの上側ホイール
16 歯車
17 モータ
18 2つの下側ホイール
19 単一のローラ
20 下側端部
21 隙間
22 固定地点
23 ローブ
24 直線の接触ライン
25 合流地点
26 ロボットアーム
27 中心点
28 2つのアーム
29 波エネルギー光線
30 センサ対のためのハウジング
31 中間ホイール対
32 V字型
33 旋回部材
34 ねじりばね
35 旋回ピン
36 延長アーム
37 延長アーム
38 追加のフレーム部材
39 旋回矢印
Claims (2)
- 布片(2)を把持し、保持し、かつ解放するよう構成された把持部(1)であって、
2つの相対するコンベヤベルト(6)のループの形態の密着するフレキシブルな可動の表面部分(3)を備えるフレーム部材(11)を備えており、
前記コンベヤベルト(6)間にニップが画定され、前記コンベヤベルト(6)が第1の方向に移動する場合に前記表面部分(3)と接触した前記布片が前記ニップに引き込まれ、
前記コンベヤベルト(6)のうち第1のコンベヤベルト(6)が、第1のローラ対(8)の周りで牽引され、前記コンベヤベルト(6)のうち第2のコンベヤベルト(6)が、第2のローラ対(8)の周りで牽引され、
前記第1のローラ対(8)のうちの第1のローラと前記第2のローラ対(8)のうちの第1のローラとは、歯車(16)によって、それぞれの回転軸線周りでこれら第1のローラ(8)を回転させるために、相互接続されており、
前記歯車(16)の少なくとも1つは、時計回りおよび反時計回りの回転のためにモータ(17)によって駆動されており、
前記第2のローラ対(8)のうちの第2のローラを備えるさらなるフレーム部材(33)が、前記第2のローラ対(8)のうちの前記第1のローラの回転軸線周りで前記フレーム部材(11)に対して転回するよう、旋回可能に取り付けられており、
ばね(34)が、前記さらなるフレーム部材(33)を、前記第2のローラ対(8)のうちの第2のローラと前記第1のローラ対(8)のうちの第2のローラとが互いに近接する第1のポジションへ付勢することを特徴とする把持部。 - 前記布片(2)を解放するための反対の第2の方向に前記コンベアベルト(6)を動かすことによって前記布片(2)を引き継ぐために、コンベア機構に対して前記把持部(1)を3次元空間内で移動させるようロボットアーム(26)の端部に取り付けられていることを特徴とする請求項1に記載の把持部。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DKPA201870026 | 2018-01-15 | ||
DKPA201870026 | 2018-01-15 | ||
DKPA201870517 | 2018-08-07 | ||
DKPA201870517 | 2018-08-07 | ||
PCT/DK2018/050411 WO2019137585A1 (en) | 2018-01-15 | 2018-12-20 | Method for gripping, moving and releasing a piece of cloth with a gripper, and a gripper |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021510777A true JP2021510777A (ja) | 2021-04-30 |
JP7248704B2 JP7248704B2 (ja) | 2023-03-29 |
Family
ID=67219406
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020558679A Active JP7248704B2 (ja) | 2018-01-15 | 2018-12-20 | 把持部を用いて布片を把持し、移動させかつ解放するための方法および把持部 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11370126B2 (ja) |
EP (1) | EP3740094A4 (ja) |
JP (1) | JP7248704B2 (ja) |
WO (1) | WO2019137585A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022534842A (ja) * | 2019-10-25 | 2022-08-04 | インワテック アペエス | 洗濯物送達装置および洗濯物を送達するための方法 |
WO2023084882A1 (ja) * | 2021-11-09 | 2023-05-19 | パナソニックIpマネジメント株式会社 | 力検知装置、力検知方法、及び衣類処理装置 |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019008939A1 (de) * | 2019-12-22 | 2021-06-24 | Franka Emika Gmbh | Greifvorrichtung und Roboter sowie Steuerungsverfahren |
DK180733B1 (en) | 2020-05-20 | 2022-02-10 | Teknologisk Inst | Gripping tool |
DK180773B1 (en) | 2020-05-20 | 2022-03-04 | Teknologisk Inst | A gripping tool |
US11866866B2 (en) | 2020-05-27 | 2024-01-09 | Monotony.ai, Inc. | Autonomous laundry washing and drying systems and methods |
CA3183453A1 (en) | 2020-05-28 | 2021-12-02 | Monotony.ai, Inc. | Robotic laundry devices and methods of use |
EP4217533A1 (en) | 2020-09-23 | 2023-08-02 | Inwatec ApS | A cloth processing plant, and an industrial laundry including such a plant |
WO2022112383A1 (en) | 2020-11-25 | 2022-06-02 | Inwatec Aps | A gripper head and a method of operating a gripper head |
MX2021001849A (es) * | 2021-02-15 | 2021-05-20 | Fulcrum & Crafts S A De C V | Efector robotico para sujetar, manipular y transportar lienzos o prendas textiles. |
EP4230357A1 (en) * | 2022-02-21 | 2023-08-23 | sewts GmbH | Machine for handling a limp material, in particular textile articles |
WO2024056831A1 (en) | 2022-09-16 | 2024-03-21 | Inwatec Aps | A method and an apparatus for the processing of laundry items |
Citations (3)
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WO1994027900A1 (en) * | 1993-05-27 | 1994-12-08 | Bjoerkloef Tage | Device for automatical capture of soft flimsy articles |
JP2000024400A (ja) * | 1998-07-07 | 2000-01-25 | Tokai:Kk | 布類折畳み装置 |
US20020113448A1 (en) * | 2000-12-07 | 2002-08-22 | Homayoon Kazerooni | Mechanical grapple for manipulating objects |
Family Cites Families (10)
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US3776584A (en) | 1972-03-07 | 1973-12-04 | Gerven G Van | Apparatus for replacing tubular lamps and the like which are difficult of access |
FR2555558B1 (fr) * | 1983-11-29 | 1986-10-24 | Redoute Catalogue | Dispositif de prehension unitaire d'articles disposes en vrac |
ATE41401T1 (de) | 1985-01-04 | 1989-04-15 | Librawerk Pelz & Nagel Kg | Vorrichtung zum erfassen einzelner flachliegender, vorzugsweise aus kunststoff hergestellter gewebeteile. |
SU1611822A1 (ru) * | 1988-05-04 | 1990-12-07 | Каунасский Политехнический Институт Им.Антанаса Снечкуса | Устройство дл захвата гибких листовых материалов |
US5303910A (en) * | 1992-09-10 | 1994-04-19 | Tice Engineering & Sales, Incorporated | Pick-up means for use with limp sheet material |
US6554337B2 (en) * | 2000-12-07 | 2003-04-29 | Homayoon Kazerooni | Mechanical grapple for grabbing and holding sacks and bags |
US7685938B2 (en) * | 2004-05-03 | 2010-03-30 | Ecrm Inc. | System for interleaf sheet removal in an imaging system |
GB201113298D0 (en) * | 2011-08-02 | 2011-09-14 | Wilson Graham J | Device and method for collection of material from a surface |
MX341585B (es) * | 2013-02-14 | 2016-08-25 | Automatische Technik México S A De C V * | Robot industrial tipo delta. |
CN116945132A (zh) * | 2017-08-02 | 2023-10-27 | 伯克希尔格雷营业股份有限公司 | 用于获取和移动具有复杂的外表面的物体的系统和方法 |
-
2018
- 2018-12-20 JP JP2020558679A patent/JP7248704B2/ja active Active
- 2018-12-20 US US16/961,998 patent/US11370126B2/en active Active
- 2018-12-20 EP EP18899397.6A patent/EP3740094A4/en active Pending
- 2018-12-20 WO PCT/DK2018/050411 patent/WO2019137585A1/en unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1994027900A1 (en) * | 1993-05-27 | 1994-12-08 | Bjoerkloef Tage | Device for automatical capture of soft flimsy articles |
JP2000024400A (ja) * | 1998-07-07 | 2000-01-25 | Tokai:Kk | 布類折畳み装置 |
US20020113448A1 (en) * | 2000-12-07 | 2002-08-22 | Homayoon Kazerooni | Mechanical grapple for manipulating objects |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022534842A (ja) * | 2019-10-25 | 2022-08-04 | インワテック アペエス | 洗濯物送達装置および洗濯物を送達するための方法 |
JP7291803B2 (ja) | 2019-10-25 | 2023-06-15 | インワテック アペエス | 洗濯物送達装置および洗濯物を送達するための方法 |
WO2023084882A1 (ja) * | 2021-11-09 | 2023-05-19 | パナソニックIpマネジメント株式会社 | 力検知装置、力検知方法、及び衣類処理装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2019137585A1 (en) | 2019-07-18 |
US20210078184A1 (en) | 2021-03-18 |
EP3740094A4 (en) | 2021-12-29 |
US11370126B2 (en) | 2022-06-28 |
JP7248704B2 (ja) | 2023-03-29 |
EP3740094A1 (en) | 2020-11-25 |
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