NL2018654B1 - System for picking up a textile item - Google Patents

System for picking up a textile item Download PDF

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Publication number
NL2018654B1
NL2018654B1 NL2018654A NL2018654A NL2018654B1 NL 2018654 B1 NL2018654 B1 NL 2018654B1 NL 2018654 A NL2018654 A NL 2018654A NL 2018654 A NL2018654 A NL 2018654A NL 2018654 B1 NL2018654 B1 NL 2018654B1
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NL
Netherlands
Prior art keywords
gripper
textile
textile object
control
suction
Prior art date
Application number
NL2018654A
Other languages
Dutch (nl)
Inventor
Wilhelmus Kuijk Reinardus
Original Assignee
Koning & Hartman B V
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Koning & Hartman B V filed Critical Koning & Hartman B V
Priority to NL2018654A priority Critical patent/NL2018654B1/en
Application granted granted Critical
Publication of NL2018654B1 publication Critical patent/NL2018654B1/en

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Classifications

    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F95/00—Laundry systems or arrangements of apparatus or machines; Mobile laundries 

Abstract

The present invention relates to a system and method for picking up textile item. The present invention further relates to a gripper to be used in such a system. The system according to the invention uses a combination of suction force exerted through a suction nozzle and a pair of moveably mounted gripping blades. The textile item is gripped at the position of wrinkle in the textile item that is created using the applied suction force.

Description

© 2018654
Octrooicentrum Nederland (21) Aanvraagnummer: 2018654 © Aanvraag ingediend: 5 april 2017 © BI OCTROOI (51) Int. CL:
D06F 95/00 (2017.01)
(4^ Aanvraag ingeschreven: © Octrooihouder(s):
11 oktober 2018 Koning & Hartman B.V. te Amsterdam.
© Aanvraag gepubliceerd:
- © Uitvinder(s):
Reinardus Wilhelmus Kuijk te Zaandam.
© Octrooi verleend:
11 oktober 2018
© Gemachtigde:
© Octrooischrift uitgegeven: ir. P.J. Hylarides c.s. te Den Haag.
14 december 2018
© System for picking up a textile item
Ξ) The present invention relates to a system and method for picking up textile item. The present invention further relates to a gripper to be used in such a system.
The system according to the invention uses a combination of suction force exerted through a suction nozzle and a pair of moveably mounted gripping blades. The textile item is gripped at the position of wrinkle in the textile item that is created using the applied suction force.
NL Bl 2018654
Dit octrooi is verleend ongeacht het bijgevoegde resultaat van het onderzoek naar de stand van de techniek en schriftelijke opinie. Het octrooischrift komt overeen met de oorspronkelijk ingediende stukken.
System for picking up a textile item
The present invention relates to a system and method for picking up a textile item. The present invention further relates to a gripper to be used in such a system.
Within the context of the present invention, textile items may include but are not limited to clothing, bedlinen, or towels.
The present invention is particularly useful when handling a large quantity of textile items. Examples comprise the gripping of a single textile item among a plurality of textile items. This process is commonly known as singulation. Singulation is often required when handling laundry, when recycling textile items or during production of these items.
The singulation of textile items can be a time-consuming and labor-intensive task. This particularly holds when processing large quantities of mixed items, of which some textile items need to be separately processed and/or of which some types of textile items need to be subjected to a different process. As an example, the processing of hospital laundry is noted where the laundry may contain stains that may or may not pose a biological hazard for the person handling the laundry.
Nowadays, the singulation of textile items is usually performed manually. In view of the abovementioned problems, a desire therefore exists to automate this processing. However, it has been found that it is difficult to automate the picking up of individual textile items out of a pile or bulk or continuous flow of textile items. A risk exists in that multiple textile items are picked up, whereas the picking up of a single item was intended. This may pose a problem if the picked up items each require a separate further processing.
It is an object of the present invention to provide a solution to the abovementioned problems.
This object has been achieved with the system as defined in claim 1, which comprises a gripper. This gripper comprises a suction nozzle through which a suction force can be exerted, and a pair of gripping blades, wherein the gripping blades are moveably mounted on opposing sides of the suction nozzle.
The system further comprises a gripping blades actuation unit for moving the gripping blades towards or away from each other, a suction force generator for generating the suction force, a positioning unit for positioning the gripper, and a controller for controlling the gripping blades actuation unit, the suction force generator, and the positioning unit.
According to the invention, the controller is configured to perform a gripping action by, preferably subsequently, a) controlling the positioning unit to position the gripper at a first predefined distance from the textile item, b) controlling the suction force generator such that the suction force is generated in order to create a wrinkle in the textile item that extends towards the suction nozzle, and c) controlling the gripper blade actuation unit for moving the gripping blades towards each other for gripping the textile item at the position of the created wrinkle.
The applicant has found that by using a suction force to generate a wrinkle, textile items that lie on top of each other can be easily separated. More in particular, the textile item that lies on top, will be engaged by the suction force and a wrinkle in this textile item will be created, whereas an underlying textile item will not or hardly change shape. Consequently, at the position of the wrinkle, the textile item can be gripped by the gripping blades without the risk of gripping multiple textile items.
The system may comprise a sensing system for determining whether the textile item is being sucked against the suction nozzle. Furthermore, the sensing system may be configured for detecting a change in air flow through the suction nozzle and/or for detecting a pressure difference over the suction nozzle that exceeds a predefined threshold. If a textile item is being sucked against the suction nozzle, the pressure at a position upward from the suction nozzle will sharply drop. Simultaneously, a drop in air flow will be observed. Detecting these changes may be used to determine that a textile item is being sucked against the suction nozzle.
Further to the above, the controller may be configured to control the positioning unit to move the gripper away from a non-gripped portion of the textile item after it has been determined that the textile item is being sucked against the suction nozzle and before said controlling the gripper blade actuation unit for moving the gripping blades towards each other.
The system may comprise a sensor for determining a separation between the gripping blades, wherein the controller is further configured to determine, a predetermined time after having controlled the gripper blade actuation unit, that the textile item has been gripped if the determined separation is above a predefined threshold, or that the textile item has not been gripped if the determined separation is below or equal to said predefined threshold. The sensor may be embodied in several ways. For example, the displacement of each gripping blade may be monitored individually. When the monitored displacement of the gripping blades exceeds a certain threshold, it can be determined that no textile item is present between the blades.
Alternatively, an optical sensing unit may be arranged on ends of the gripping blades for detecting the presence or absence of a textile item between the gripping blades. Such optical sensing unit may comprise a light emitting element arranged on one gripping blade, e.g. a lightemitting diode (LED), and a light sensitive element arranged on the other gripping blade. The present invention does not exclude other means for detecting the presence or absence of a textile item between the gripping blades.
The controller may be configured to initiate a next gripping action if it has been determined that the textile item has not been gripped.
The controller may additionally or alternatively be configured to control the positioning unit, if it has been determined that the textile item has been gripped, to move the gripper to a delivery position, and to control the gripper blade actuation unit for moving the gripping blades away from each other for releasing the gripped textile item. Hence, if a textile item has been gripped, it may be deposited at some predefined position away from the remaining pieces of textile items. This allows the separation and/or sorting of the textile items.
The controller may be further configured to control the suction force generator to stop generating or to reduce the suction force if it has been determined that the textile item has been gripped or prior to the release of the gripped textile item.
The controller may be configured to control the gripping blades actuation unit to cause the gripping blades to move away from each other, preferably to a predefined position, prior to the application of the suction force. Such position could be indicated as the open position.
The system may further comprise a distance determining unit for determining a distance between the gripper and the textile item, wherein the controller may be configured to control the positioning unit to position the gripper at the first predefined distance from the textile item in dependence of the determined distance. The distance determining unit may be configured to determine the distance as the smallest distance between a fixed point on the gripper, such as the suction nozzle, and the underlying textile item. In this manner, a control loop can be established in which the gripper is moved to a predefined distance from the textile item by monitoring the distance during motion.
The first predefined distance and/or suction force may be used-definable. The first predefined distance determines the effective suction force at the position of the textile item. Some types of textile items may require more or less force for generating a wrinkle. This may for instance depend on the type of textile item, wherein the type refers to the thickness and/or type of the material(s) used in a textile item. By setting the first predefined distance and/or the suction force, the process of generating a wrinkle can be tuned to the type of textile to be picked up.
The grams per square mm and the porosity of the textile item have influence on the process of generating a wrinkle. For example, a heavy quilt would require a distance of 15mm, whereas a tshirt having a medium weight would require a distance of 25mm. A relatively light but highly porous pantyhose could require a distance of 10mm.
The system may further comprise a distance determining unit, such as an optical system, for determining the distance between the gripper and the textile item. The optical system may comprise a vision system such as a 3D vision system, which 3D vision system may refer to a vision system in which depth information can be acquired in addition to light and/or color information.
An example of a 3D vision system is the combination of two optical cameras that are adjacently arranged at a known distance or the combination of a depth camera and a regular optical camera.
The 3D vision system may comprise an edge detecting system for detecting an edge of the textile item, wherein the controller is configured to control the positioning unit to move the gripper above a center area of the textile item that is surrounded by the detected edge prior to controlling the suction unit to generate the suction force.
Picking up textile items at the edges of the material is unwanted. At these positions, the air flow through the suction nozzle may result in the textile items not reaching the gripping blades or may result in the textile items getting partly sucked into the suction nozzle.
The system may comprise an identifying system to determine a type of the textile item using visual data obtained from the optical system. The system may further comprise a first lookup table comprising an association between the type textile item and the first predefined distance and/or suction force to be used for that type, wherein the controller may be configured to control the positioning unit to position the gripper at the first predefined distance that corresponds, via the first look-up table, to the determined type of the textile item, and/or to control the suction force generator to generate the suction force that corresponds, via the first look-up table, to the determined type of the textile item. For example, a light-weight textile item that presents a large resistance to air flow through it, can be picked up using a relatively moderate suction force and/or at a relatively large first predefined distance. The vision system may be configured to identify the textile pieces before picking them up based on color patterns, color or wave patterns.
The identifying system may further be configured for identifying a textile item to be picked up next among a plurality of textile items. In this case, the controller may be configured to control the positioning unit to position the gripper at the first predefined distance relative to the identified textile item. For example, the identifying system may be configured to identify the textile item to be picked up based on visual data, e.g. an optical image, obtained using the vision system.
When processing a plurality of textile items, the identifying system may first determine the type of each of the items visible in an optical image, and then identify a single textile item of a given type to be picked up. Alternatively, the system may first identify a textile item to be picked up, and to then determine the type of this identified item.
The system may be configured to release the gripped textile item at a delivery position that depends on the determined type. For example, several containers may be arranged in correspondence with a respective delivery position for individually collecting a type or a collection of types of textile items.
The system may further comprise a second look-up table comprising an association between the type of textile item and the delivery position at which textile items of this type should be deposited. In this case, the controller may be configured to control the positioning unit to move the gripper to a delivery position that corresponds, via the second look-up table, to the determined type of the textile item. The second look-up table and/or the first look-up table may be stored in a memory that is accessible by the controller.
The controller may be configured to first determine that a wrinkle has been created in response to determining that the distance between the gripper and the textile item has decreased beyond a second threshold, and to control the gripper blades actuation unit for moving the gripping blades towards each other for gripping the textile item at the position of the created wrinkle only if it has been determined that the wrinkle has been created.
When a wrinkle is created, the minimal distance between the gripper and the textile item to be picked up normally decreases as the wrinkle extends towards the suction nozzle. It may then be possible to configure the controller such that it controls the positioning unit to move the gripper towards the textile item only after having determined that a wrinkle has been created. This may be advantageous in situations where the suction nozzle should not contact the textile item. Then, a wrinkle is first created at a distance. After creating the wrinkle, the gripper moves downward such that the gripper blades can grip the textile item at the position of the wrinkle. It may then be advantageous to configure the gripper such that a sufficiently large distance exists between the suction nozzle and the gripping blades in the direction along which the suction force is generated. Furthermore, the controller may be further configured to control the suction force generator to stop applying the suction force prior to moving the gripper towards the textile item. Depending on the type of textile item, the wrinkle will remain even after the suction force is no longer applied.
The system may comprise a gripper frame, wherein the suction nozzle is mounted to the gripper frame and wherein the gripping blades are moveably mounted to the gripper frame. The gripping blades may be pivotally and/or translationally mounted to the gripper frame.
The mounting of the gripping blades may be such that the gripping blades, when moving towards each other and when no textile item is present in between the blades, are allowed to touch at a position underneath the suction nozzle. The position at which the gripping blades touch preferably lies on a line along which the suction force is applied. Advantageously, the suction force is generated along a line that is perpendicular to the suction nozzle. The gripping blades preferably touch at a position that lies on this line, and/or the gripping blades touch along a line that crosses the aforementioned line.
The suction force generator may also be mounted to the gripper frame. It may comprise a pump that is configured to create an under pressure at the suction nozzle. This pump may be configured to create the under pressure using the Venturi effect. In such pumps, a restriction in the flow of a pressurized fluid, such as pressurized gas, is used to create an under pressure.
The positioning unit may comprise a robotic arm. The system may also comprise a conveying system for conveying a plurality of textile items, w'herein the system is configured to pick up and/or sort the textile items in the manner described above.
According to a second aspect, the invention also provides a gripper for picking up a textile item wherein the gripper is configured as defined above.
According to a third aspect, the invention also provides a method for picking up a textile item, comprising applying a suction force through a suction nozzle at a first predefined distance from the textile item to create a wrinkle in the textile item that extends towards the suction nozzle, and moving gripping blades, which are arranged on opposite sides of the suction nozzle, towards each other for gripping the textile item at the position of the created wrinkle.
The method may comprise detecting that a textile item is being sucked against the suction nozzle after having applied the suction force, and moving the gripper away from a non-gripped portion of the textile item after it has been determined that the textile item is being sucked against the suction nozzle and before moving the gripping blades towards each other.
The method may also comprise setting the first predefined distance and/or suction force in dependence of a type of the textile item. Furthermore, the method may comprise, prior to applying the suction force, identifying a type of the textile item using a visual inspecting system, and obtaining a first predefined distance and/or suction force using a previously stored look-up table that comprises an association between the first predefined distance and/or suction force and the type of the textile item. The first predefined distance at which the suction force will be applied as well as the magnitude of the suction force that will be applied may then correspond to the obtained first predefined distance and/or suction force.
Next, the invention will be described in more detail, referring to the applied drawings, wherein:
Figure 1 illustrates an embodiment of the system in accordance with the invention;
Figure 2 illustrates the gripping of a textile item in accordance with the invention;
Figure 3 illustrates an example of a method in accordance with the invention.
The embodiment of the system depicted in figure 1 comprises a gripper 1, which comprises a suction nozzle 2, and a pair of gripping blades 3. A suction force, generated by suction force generator 4, can be applied to a textile item 5. Gripper I may comprise a gripper frame (not shown) to which suction nozzle 2 and gripping blades 3 are mounted. In figure I, gripping blades 3 are able to perform a translational movement, as indicated by arrow 6 in order to grip a textile item.
The suction force is applied in the direction indicated by arrow 7. As indicated, the positioning of gripping blades 3 is such that they can close roughly below suction nozzle 2.
In figure 1, a conveying system 8 is shown that is able to transport textile items in the directions indicated by arrow 9. In addition, figure 1 illustrates that another textile item 5’ is positioned underneath piece 5. Alternatively, a static bulk of textile items may be processed that are held in a container.
Due to the application of the suction force, a wrinkle 10 is created in the textile item 5. This wrinkle 10 functions as a gripping region where the textile item 5 can be gripped by gripping blades 3.
Suction force generator 4 may be realized as a pump that generates an under pressure in a pressure chamber to which suction nozzle 2 is connected. Such pump may operate based on the Venturi principle, wherein the under pressure is generated using pressurized air. Such pump may also be mounted to the gripper frame.
The system further comprises a gripping blades actuation unit 11 for moving gripping blades 3. A gripper positioning unit 12, in the form of a robotic arm, is used to move gripper 1 relative to conveying system 8.
Suction force generator 4, gripper positioning unit 12, and gripping blades actuation unit are controlled by controller 13.
The system may comprise a sensor 14 that senses a separation between gripping blades 3. This allows controller 13 to determine whether a textile item has been gripped or not. Alternatively, an optical system may be used to determine whether a textile item is present between the gripping blades.
A 3D vision system 15 is configured to visually inspect the textile items that are carried by conveying system 8. To this end, it records optical images. These optical images are fed to an identifying system 16. This latter system identifies a textile item to be picked up next and preferably also a textile item type of this textile item. Determination of the textile item type can be based on the size of the textile item, the color, the fabric, the fabric density, and the intended use of the textile item. Based on the textile item type, the settings used for gripping such piece, e.g. the suction power and/or distance at which the suction nozzle will be arranged prior to applying the suction force can be set. To this end, a memory 17 can be used in which a look-up table is stored. An example of the contents of such look-up table are indicated below.
Type Suction force Distance
Bedlinen 100% 5 cm
Cotton Trousers 75% 7 cm
Similarly, memory 17 may store another look-up table in which a correlation is made between the type of textile item and the delivery position at which the picked up textile item of this type should be deposited. As an example, the robotic arm could be configured to move the gripper over one of several containers, wherein each container is intended for a particular type or types.
It should be noted that the 3D vision system can also be used to determine the presence of a textile item between the gripping blades.
Figure 2 illustrates the gripping of a textile item in accordance with the invention. The corresponding steps are illustrated in figure 3. In figure 2, suction force generator is illustrated as a cylindrical pump 4.
As a first step, the gripper will be positioned at a first predefined distance in step S1. This situation is indicated as “A” in figure 2. Next, in case gripping blades 3 are not opened, they are opened in step S2. This situation is indicated as “B” in figure 2. Then, a suction force is applied through the suction nozzle in step S3. This situation is indicated as “C” in figure 2. Due to the application of the suction force, a wrinkle is generated. This situation is indicated as “D” in figure
2. Here, the textile item 5 is sucked against the suction nozzle. Consequently, the flow of air through the suction nozzle and the exhaust of pump 4 will decrease. This allows the detection that a textile item is being sucked against the suction nozzle. After a predetermined amount of time or having determined that a textile item is being sucked against the suction nozzle, gripping blades 3 will move towards each other for gripping the textile item 5 in step S4. This is indicated as “E” in figure 2. At substantially the same time, at step S5, the suction force will no longer be applied so that the textile item 5 is entirely carried by gripping blades 3. Thereafter the gripper will be moved to a suitable delivery position in step S6. Once properly positioned, e.g. above a container, gripping blades 3 are opened in step S7 to allow the textile item 5 to fall in the container. As an optional final step, gripping blades 3 may move towards each other in step S8. Thereafter, the process may return to step SI to pick up another textile item.
As indicated in figure 3, instead of proceeding directly to step S4, the method may comprise, after step S3, waiting a sufficient amount of time to allow a wrinkle to be created, stopping the suction force in step S9 and moving the gripper towards the textile item in step S10. For example, the gripper may move to a second predefined distance from the textile item 5. This may be advantageous if contact between suction nozzle and the textile item 5 should be avoided, hi this case, the gripper is moved to such extent that gripping blades 3 are able to grip the textile item 5 at the position of the wrinkle, albeit without the suction nozzle touching the textile item 5, or only slightly.
Alternatively, instead of proceeding directly to step S4, the method may comprise, after step S3, detecting in step SI 1 that a textile item is being sucked against the suction nozzle. Thereafter, in step SI2, the gripper may be moved slightly upwards and away from the remaining part of the textile item that is being sucked against the suction nozzle. Thereafter, the process may continue as described above in step S5. This slight upward movement reduces the change of affecting the underlying textile items and therefore reduces the chance of picking up more than one item simultaneously.
The present invention has been described using embodiments thereof. However, the skilled person will readily understand that the present invention is not limited to these embodiments but that various modifications can be applied without deviating from the scope of protection that is defined by the appended claims and their equivalents.

Claims (34)

CONCLUSIESCONCLUSIONS 1. Systeem voor het oppakken van een textielobject, omvattende:A system for picking up a textile object, comprising: een grijper, omvattende:a grab, comprising: een zuigmondstuk door welk een zuigkracht uitgeoefend kan worden;a suction nozzle through which a suction force can be exerted; een paar grijpbladen, waarbij de grijpbladen beweegbaar gemonteerd zijn op tegenovergelegen zijdes van het zuigmondstuk;a pair of gripping blades, the gripping blades being movably mounted on opposite sides of the suction nozzle; een grijpbladen-actueringseenheid, voor het bewegen van de grijpbladen naar elkaar toe of van elkaar af;a gripping blade actuating unit, for moving the gripping blades toward or away from each other; een zuigkrachtgenerator voor hel genereren van de zuigkracht;a suction power generator for generating the suction power; een positioneringseenheid voor het positioneren van de grijper;a positioning unit for positioning the gripper; een aansturing voor het aansturen van de grijpbladen-actueringseenheid, de zuigkrachtgenerator en de positioneringseenheid;a driver for controlling the gripper blade actuating unit, the suction power generator and the positioning unit; waarbij de aansturing ingericht is om een grijpactie uit te voeren, bij voorkeur door opeenvolgend:wherein the control is arranged to perform a gripping action, preferably by successively: het aansturen van de positioneringseenheid om de grijpeenheid te positioneren op een eerste vooraf bepaalde afstand van het textielobject;driving the positioning unit to position the gripping unit at a first predetermined distance from the textile object; het aansturen van de zuigkrachtgenerator zodanig dat de zuigkracht gegenereerd wordt om zo een rimpel te veroorzaken in het textielobject welke zich uitstrekt richting het zuigmondstuk;driving the suction power generator such that the suction power is generated so as to cause a ripple in the textile object that extends toward the suction nozzle; het aansturen van de grijpbladen-actueringseenheid voor het bewegen van de grijpbladen naar elkaar toe voor het grijpen van het textielobject op de positie van de gevormde rimpel.driving the gripper blades actuating unit for moving the gripper blades towards each other for gripping the textile object at the position of the wrinkle formed. 2. Systeem volgens conclusie 1, verder omvattende een sensorsysteem voor het bepalen of het textielobject tegen het zuigmondstuk gezogen wordt.A system according to claim 1, further comprising a sensor system for determining whether the textile object is sucked against the suction nozzle. 3. Systeem volgens conclusie 2, waarbij het sensorsysteem ingericht is voor het detecteren van een verandering in luchtstroom via het zuigmondstuk en/of voor het detecteren van een drukverschil over het zuigmondstuk welk een vooraf bepaalde drempel overschrijdt.3. System as claimed in claim 2, wherein the sensor system is adapted to detect a change in air flow via the suction nozzle and / or to detect a pressure difference over the suction nozzle which exceeds a predetermined threshold. 4. Systeem volgens conclusie 3, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper weg te bewegen van een niet-gegrepen gedeelte van het textielobject nadat er bepaald is dat het textielobject tegen het zuigmondstuk gezogen wordt en vóór het genoemde aansturen van de grijpbladen-actueringseenheid voor het naar elkaar toe bewegen van de grijpbladen.System as claimed in claim 3, wherein the control is adapted to control the positioning unit to move the gripper away from a non-gripped part of the textile object after it has been determined that the textile object is sucked against the suction nozzle and before said control of the gripper blades actuating unit for moving the gripper blades towards each other. 5. Systeem volgens een van de voorgaande conclusies, verder omvattende: een sensor voor het bepalen van een afstand tussen de grijpbladen, waarbij de aansturing verder ingericht is om te bepalen, een vooraf bepaalde tijd nadat het de grijpbladenactueringseenheid aangestuurd heeft, dat het textielobject gegrepen is als de bepaalde afstand boven een vooraf bepaalde drempel is, of dat het textielobject niet gegrepen is als de bepaalde afstand gelijk is aan of kleiner is dan de genoemde vooraf bepaalde drempel; of een optische sensor-eenheid gerangschikt op de grijpbladen voor het detecteren van de aanwezigheid of afwezigheid van een gegrepen textielobject tussen de grijpbladen.A system according to any one of the preceding claims, further comprising: a sensor for determining a distance between the gripping blades, wherein the control is further adapted to determine, a predetermined time after it has controlled the gripping blade actuating unit, that the textile object has been gripped is if the determined distance is above a predetermined threshold, or if the textile object is not grasped if the determined distance is equal to or less than said predetermined threshold; or an optical sensor unit arranged on the gripper blades for detecting the presence or absence of a gripped textile object between the gripper blades. 6. Systeem volgens conclusie 5, waarbij de aansturing ingericht is om een volgende grijpactie te initiëren als er bepaald is dat het textielobject niet gegrepen is.A system according to claim 5, wherein the control is arranged to initiate a next gripping action if it is determined that the textile object is not caught. 7. Systeem volgens conclusie 5 of 6, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen, als er bepaald is dat het textielobject gegrepen is, om de grijper te bewegen naar een afleveringspositie, en om de grijpbladen-actueringseenheid aan te sturen om de grijpbladen uit elkaar te bewegen voor het loslaten van het gegrepen textielobject.A system according to claim 5 or 6, wherein the control is adapted to control the positioning unit, if it is determined that the textile object is gripped, to move the gripper to a delivery position, and to control the gripping blade actuating unit to moving the gripping blades apart to release the gripped textile object. 8. Systeem volgens conclusie 7, waarbij de aansturing verder ingericht is om de zuigkrachtgenerator aan te sturen om te stoppen met het genereren van of om de zuigkracht te verkleinen als er bepaald is dat het textielobject gegrepen is of vóór het genoemde loslaten van het gegrepen textielobject.8. System as claimed in claim 7, wherein the control is further adapted to control the suction power generator to stop generating or to reduce the suction power if it is determined that the textile object is gripped or before said releasing of the gripped textile object . 9. Systeem volgens een van de voorgaande conclusies, waarbij de aansturing ingericht is om de grijpbladen-actueringseenheid aan te sturen om te veroorzaken dat de grijpbladen van elkaar af bewegen, bij voorkeur naar een vooraf bepaalde positie, vóór het toepassen van de zuigkracht.A system according to any one of the preceding claims, wherein the control is adapted to control the gripping blade actuating unit to cause the gripping blades to move away from each other, preferably to a predetermined position, before applying the suction force. 10. Systeem volgens een van de voorgaande conclusies, verder omvattende een afstandsbepalingseenheid voor het bepalen van een afstand tussen de grijper en het textielobject, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te positioneren op de genoemde vooraf bepaalde afstand van het textielobject afhankelijk van de bepaalde afstand.10. System as claimed in any of the foregoing claims, further comprising a distance-determining unit for determining a distance between the gripper and the textile object, wherein the control is adapted to control the positioning unit to position the gripper at said predetermined distance of the textile object depending on the determined distance. 11. Systeem volgens conclusie 10, waarbij de eerste vooraf bepaalde afstand en/of de zuigkracht door de gebruiker in te stellen is.11. System as claimed in claim 10, wherein the first predetermined distance and / or the suction force can be adjusted by the user. 12. Systeem volgens conclusie 10 of 11, verder omvattende een afstandsbepalingseenheid, zoals een optisch systeem voor het bepalen van de afstand tussen de grijper en het textielobject.The system of claim 10 or 11, further comprising a distance determining unit, such as an optical system for determining the distance between the gripper and the textile object. 13. Systeem volgens conclusie 12, waarbij de afstandsbepalingseenheid een 3D-zichtsysteem omvat, waarbij dit 3D-zichtsysteem een randdetectie-systeem omvat voor het detecteren van een rand van het textielobject, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te bewegen boven een centraal gebied van het textielobject dat omgeven wordt door de gedetecteerd rand vóór het aansturen van de zuigeenheid voor het genereren van de zuigkracht.A system according to claim 12, wherein the distance determining unit comprises a 3D vision system, said 3D vision system comprising an edge detection system for detecting an edge of the textile object, wherein the control is arranged to control the positioning unit around the gripper to move above a central region of the textile object that is surrounded by the detected edge before driving the suction unit to generate the suction force. 14. Systeem volgens conclusie 12 of 13, verder omvattende een eerste identificatiesysteem ingericht om een type textielobject te bepalen met gebruik van visuele gegevens verkregen door het optische systeem, waarbij het system verder een eerste opzoektabel omvat omvattende een associatie tussen het type textielobject en de eerste vooraf bepaalde afstand en/of zuigkracht te gebruiken voor dat type, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te positioneren bij de eerste vooraf bepaalde afstand welke overeenkomt, volgens de eerste opzoektabel, met het bepaalde type textielobject, en/of om de zuigkrachtgenerator aan te sturen om de zuigkracht te genereren welke overeenkomt, volgens de eerste opzoektabel, met het bepaalde type textielobject.A system according to claim 12 or 13, further comprising a first identification system adapted to determine a type of textile object using visual data obtained by the optical system, the system further comprising a first look-up table comprising an association between the type of textile object and the first use predetermined distance and / or suction force for that type, wherein the control is adapted to control the positioning unit to position the gripper at the first predetermined distance corresponding, according to the first look-up table, to the determined type of textile object, and / or to control the suction power generator to generate the suction power corresponding, according to the first look-up table, with the particular type of textile object. 15. Systeem volgens conclusie 14, omvattende:The system of claim 14, comprising: een tweede identificatiesysteem voor het identificeren van een volgende op te pakken textielobject in een veelvoud aan textielobjecten;a second identification system for identifying a next textile object to be picked up in a plurality of textile objects; waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te positioneren op de eerste vooraf bepaalde afstand ten opzichte van het geïdentificeerde textielobject.wherein the control is adapted to control the positioning unit to position the gripper at the first predetermined distance with respect to the identified textile object. 16. Systeem volgens conclusie 15, waarbij het tweede identificatiesysteem ingericht is om het op te pakken textielobject te identificeren op basis van visuele gegevens verkregen met gebruik van het optische systeem.The system of claim 15, wherein the second identification system is adapted to identify the textile object to be picked up based on visual data obtained using the optical system. 17. Systeem volgens conclusie 7 en conclusie 15 of 16, waarbij het systeem ingericht is het gegrepen textielobject los te laten bij een afleverpositie welke afhangt van het bepaalde type.17. System as claimed in claim 7 and claim 15 or 16, wherein the system is adapted to release the gripped textile object at a delivery position which depends on the determined type. 18. Systeem volgens conclusie 17, verder omvattende een tweede opzoektabel omvattende een associatie tussen het textielobject en de afleverpositie bij welke textielobjecten van dit type afgeleverd moeten worden, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te bewegen naar een afleverpositie welke overeenkomt, volgens de tweede opzoektabel, met het bepaalde type textielobject.The system of claim 17, further comprising a second look-up table comprising an association between the textile object and the delivery position at which textile objects of this type are to be delivered, wherein the control is arranged to control the positioning unit to move the gripper to a delivery position which, according to the second look-up table, corresponds to the particular type of textile object. 19. Systeem volgens een van de conclusies 10-18, waarbij de aansturing ingericht is om eerst te bepalen dat een rimpel veroorzaakt is als antwoord op een bepaling dat de afstand tussen de grijper en het textielobject afgenomen is tot onder een tweede drempel, en om de grijpbladen-actueringseenheid aan te sturen voor het naar elkaar toe bewegen van de grijpbladen voor het grijpen van het textielobject bij de positie waar de rimpel veroorzaakt is dan en slechts dan als er bepaald is dat er een rimpel veroorzaakt is.A system according to any of claims 10-18, wherein the control is arranged to first determine that a wrinkle is caused in response to a determination that the distance between the gripper and the textile object has decreased below a second threshold, and to control the gripping blade actuating unit for moving the gripping blades towards each other for gripping the textile object at the position where the wrinkle is caused if and only if it is determined that a wrinkle has been caused. 20. Systeem volgens conclusie 19, waarbij de aansturing ingericht is om de positioneringseenheid aan te sturen om de grijper te beweging richting het textielobject nadat er bepaald is dat er een rimpel veroorzaakt is.The system of claim 19, wherein the control is adapted to control the positioning unit to move the gripper toward the textile object after it has been determined that a wrinkle has been caused. 21. Systeem volgens conclusie 20, waarbij de aansturing ingericht is om de zuigkrachtgenerator aan te sturen om te stoppen met het toepassen van de zuigkracht voordat de grijper bewogen wordt richting het textielobject.The system of claim 20, wherein the control is adapted to control the suction power generator to stop applying the suction power before the gripper is moved toward the textile object. 22. Systeem volgens een van de voorgaande conclusies, omvattende een grijperframe, waarbij het zuigmondstuk gemonteerd is op het grijperframe en waarbij de grijperbladen beweegbaar gemonteerd zijn op het grijperframe.A system according to any of the preceding claims, comprising a gripper frame, wherein the suction nozzle is mounted on the gripper frame and wherein the gripper blades are movably mounted on the gripper frame. 23. Systeem volgens conclusie 22, waarbij de grijpbladen scharnierbaar aan het grijperframe gemonteerd zijn.The system of claim 22, wherein the gripper blades are pivotally mounted on the gripper frame. 24. Systeem volgens conclusie 22 of 23, waarbij de grijperbladen transleerbaar gemonteerd zijn op het grijperframe.The system of claim 22 or 23, wherein the gripper blades are translatably mounted on the gripper frame. 25. Systeem volgens een van de conclusies 22-24, waarbij het monteren van de grijperbladen zodanig is dat de grijperbladen, wanneer ze naar elkaar toe bewegen en wanneer er geen textielobject aanwezig is tussen de bladen, elkaar kunnen raken op een positie onder het zuigmondstuk.A system according to any of claims 22-24, wherein mounting of the gripper blades is such that when they move toward each other and when no textile object is present between the blades, the gripper blades can touch each other at a position below the suction nozzle . 26. Systeem volgens een van de conclusies 22-25, waarbij de zuigkrachtgenerator gemonteerd is op het grijperframe.The system of any one of claims 22-25, wherein the suction power generator is mounted on the gripper frame. 27. Systeem volgens een van de voorgaande conclusies, waarbij de zuigkrachtgenerator een pomp omvat welke ingericht is om een onderdruk te veroorzaken bij het zuigmondstuk, waarbij deze pomp bij voorkeur ingericht is om deze onderdruk te veroorzaken met gebruik van het Venturi-effect.A system according to any one of the preceding claims, wherein the suction power generator comprises a pump adapted to cause a vacuum at the suction nozzle, said pump preferably being adapted to cause this vacuum using the Venturi effect. 28. Systeem volgens een van de voorgaande conclusies, waarbij de positioneringseenheid een robotarm omvat.A system according to any one of the preceding claims, wherein the positioning unit comprises a robot arm. 29. Systeem volgens een van de voorgaande conclusies, verder omvattende een transportsysteem voor hel transporteren van een veelvoud aan textielobjecten, waarbij het system ingericht is voor het oppakken en/of sorteren van textielobjecten.29. System as claimed in any of the foregoing claims, further comprising a transport system for transporting a plurality of textile objects, the system being adapted for picking up and / or sorting textile objects. 30. Grijper voor het oppakken van een textielobject omvattende de grijper volgens een van de voorgaande conclusies.A gripper for picking up a textile object comprising the gripper according to one of the preceding claims. 31. Werkwijze voor het oppakken van een textielobject, omvattende:A method for picking up a textile object, comprising: het toepassen van een zuigkracht door een zuigmondstuk op een eerste vooraf bepaalde afstand van het textielobject om een rimpel te veroorzaken in het textielobject welke zich uitstrekt richting het zuigmondstuk;applying a suction force through a suction nozzle at a first predetermined distance from the textile object to cause a wrinkle in the textile object extending towards the suction nozzle; het bewegen van grijperbladen, welke aan tegenovergestelde zijdes van het zuigmondstuk gerangschikt zijn, naar elkaar toe om het textielobject te grijpen op de positie van de veroorzaakte rimpel.moving gripper blades which are arranged on opposite sides of the suction nozzle toward each other to grasp the textile object at the position of the wrinkle caused. 32. Werkwijze volgens conclusie 31, verder omvattende het detecteren dat een textielobject tegen het zuigmondstuk gezogen wordt na het toegepast hebben van de zuigkracht, en het bewegen van de zuiger weg van een niet-gegrepen gedeelte van het textielobject nadat er bepaald is dat het textielobject tegen het zuigmondstuk gezogen wordt en voordat de grijpbladen naar elkaar toe bewogen worden.The method of claim 31, further comprising detecting that a textile object is sucked against the suction nozzle after applying the suction force, and moving the piston away from a non-gripped portion of the textile object after it has been determined that the textile object is sucked against the suction nozzle and before the gripping blades are moved towards each other. 33. Werkwijze volgens conclusie 32, verder omvattende het instellen van de vooraf bepaalde afstand en/of zuigkracht afhankelijk van een type textielobject.The method of claim 32, further comprising adjusting the predetermined distance and / or suction force depending on a type of textile object. 34. Werkwijze volgens conclusie 33, verder omvattende, voor het toepassen van de zuigkracht:The method of claim 33, further comprising, for applying the suction: het identificeren van een type textielobject met gebruik van een visueel inspectiesysteem;identifying a type of textile object using a visual inspection system; het verkrijgen van een eerste vooraf bepaalde afstand en/of zuigkracht met gebruik van eenobtaining a first predetermined distance and / or suction with the use of a 5 vooraf opgeslagen opzoektabel welke een associatie omvat tussen de eerste vooraf bepaalde afstand en/of zuigkracht en het type textielobject;5 pre-stored look-up table which includes an association between the first predetermined distance and / or suction force and the type of textile object; waarbij de eerste vooraf bepaalde afstand waarop de zuigkracht toegepast zal worden en/of de grootte van de zuigkracht die toegepast zal worden overeenkomt met de verkregen eerste vooraf bepaalde afstand en/of zuigkracht.wherein the first predetermined distance to which the suction force will be applied and / or the magnitude of the suction force that will be applied corresponds to the obtained first predetermined distance and / or suction force.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4036365A (en) * 1975-04-18 1977-07-19 Burlington Industries, Inc. Linen sorter with a conveyor mounting individual linen pickers
EP0941951A1 (en) * 1998-03-10 1999-09-15 Quelle Schickedanz AG & Co. Gripper device of the pliers type
US6085914A (en) * 1999-03-24 2000-07-11 H. Salb International Soft article sorting system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4036365A (en) * 1975-04-18 1977-07-19 Burlington Industries, Inc. Linen sorter with a conveyor mounting individual linen pickers
EP0941951A1 (en) * 1998-03-10 1999-09-15 Quelle Schickedanz AG & Co. Gripper device of the pliers type
US6085914A (en) * 1999-03-24 2000-07-11 H. Salb International Soft article sorting system

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