Method and apparatus for treating a laundry article

Abstract

The invention relates to a method for treating cleaned / washed rectangular items of laundry (5), comprising the steps of: receiving and holding one corner (2) of each item of laundry (5) by means of a movable gripper (52) of a laundry item transport mechanism (50); depending the length (L) of the side (6, 7) of the item of laundry (5) adjacent to the one corner (2) on gripping jaws (63, 65, 73, 75) of two gripping means (60, 70) by means of the gripper (52) by inserting the gripper (52) into a gap (400) between opposing jaws (63, 65, 73, 75, 64, 66, 74, 76) of the two gripping means (60, 70), followed by a relative movement between the gripper (52) and the gripping means (60, 70); holding the sides (6, 7) of the article of laundry (5) by means of the gripping means (60, 70) and releasing the corner (2) from the grip (52); positioning two adjacent corners (1, 2; 2 ') of the article of clothing (5) by sliding at least one of the two gripping means (60, 70) along the side portions (6, 7) to move the two gripping means (60, 70) away from each other; 3, 2); then advancing the item of laundry (5) held by the gripping means (60, 70) in a first machine direction (D1), preferably advancing the item of laundry held by the gripping means in the first machine direction with a tail portion (T) of the item of laundry (5) lying on a receiving surface (80); and then optionally, performing an alignment of the item of laundry (5) relative to the receiving surface (80) by movement of the two gripping devices (60, 70) relative to each other along the first machine direction (D1).

Description

Technical Field

[0001] The present invention generally relates to methods and apparatus for processing generally rectangular laundry items of the type that have been cleaned / washed, typically in industrial laundry facilities, which have pairs of opposite edges that respectively define opposite short sides and opposite long sides of the laundry item. Background Art

[0002] Large, clean laundry items, such as linens, are typically fed from a washer / dryer to an ironer and then folded. The focus of the present invention is on laundry items that are typically fed from a washer / dryer to a folder without any ironing, and which need to be folded into a visually appealing, high-quality final product having a rectangular shape by folding around or along a symmetry line of the laundry item.

[0003] US2021 / 0172113 and US6,584,711 disclose examples of prior art devices for processing flat fabrics.

[0004] There is a need for improved apparatus and methods that allow for high-speed processing of individual rectangular laundry items in a configuration that is substantially free of any folds and that are to be placed on an outfeed conveyor, and wherein two opposite edges of the laundry item can be oriented to be aligned with the machine direction of a downstream laundry folder. Summary of the Invention

[0005] In view of the above objectives, an apparatus for processing cleaned / washed generally rectangular laundry items according to the present invention defines a first machine direction and includes: a laundry item conveying mechanism having a movable gripper; a component configured to hold each individual laundry item in a stretched configuration at two diagonally opposite corners or in the vicinity thereof and configured to present a suspended portion of the laundry item near or at one other corner of the laundry item to the movable gripper; two clamping devices for clamping engagement with the laundry item, the two clamping devices being mounted so as to be displaceable independently of one another parallel to a second machine direction perpendicular to the first machine direction; and a gripper that can move into and along a respective gap between opposing jaws of the two clamping devices. By moving the gripper into and along the gap to substantially suspend the laundry item onto the lower one of the jaws, highly reliable placement of the laundry item is achieved, resulting in reduced downtime and increased machine speed, as well as a factor that is crucial for ensuring the economic operation of the apparatus.

[0006] In view of the above object, a first embodiment of the method according to the present invention may include: i) receiving and holding a portion of the laundry item near or at a corner of each laundry item by a movable gripper of the laundry item conveying mechanism, ii) then inserting the gripper into a gap between opposing jaws of two gripping devices, and subsequently, by relative movement between the gripper and the gripping devices, suspending the length of the first side portion of the laundry item adjacent to the one corner on the gripping jaws of the two gripping devices by means of the gripper, iii) holding the length of the first side portion of the laundry item by the gripping devices and then releasing the laundry item portion from the gripper, iv) then, with the laundry item suspended from the two gripping devices, moving the two gripping devices along the first side portion away from each other towards two respective opposite second and third side portions of the laundry item, v) then directly conveying the laundry item from the gripping devices to two alignment grippers, vi) then, with the laundry item suspended from the two alignment grippers, moving the two alignment grippers along the first side portion away from each other to the two respective opposite second and third side portions of the laundry item, and vii) then advancing the laundry item suspended from the two alignment grippers in a first machine direction, preferably advancing the laundry item suspended from the two alignment grippers in the first machine direction with the tail portion of the laundry item lying flat on the receiving surface. Preferably, alignment of the suspended laundry item is then performed by relative movement of the two alignment grippers along the first machine direction with respect to each other.

[0007] Also for the above-mentioned purposes, another embodiment of the method of the present invention may include step a): receiving and holding a portion of the laundry item near or at a corner of each laundry item by a movable gripper of the laundry item conveying mechanism; step b): inserting the gripper into the gap between the opposing jaws of the two gripping devices, and then, by relative movement between the gripper and the gripping devices, suspending the length of the first side of the laundry item adjacent to the laundry item portion on the gripping jaws of the two gripping devices by means of the gripper; step c): holding the length of the first side of the laundry item by the gripping devices, and then releasing the laundry item portion from the gripper; step d): positioning the two opposite second and third sides of the laundry item by moving the two gripping devices away from each other along the first side while still providing a gripping force to the laundry item; and step e): then advancing the laundry item still held by the gripping devices in a first machine direction, preferably with the trailing portion of the laundry item lying flat on the receiving surface, advancing the laundry item still held by the gripping devices in the first machine direction. Optionally, alignment of the laundry item relative to the first machine direction is performed by relative movement of the two gripping devices relative to each other along the first machine direction, in particular to correct any misalignment caused by the way in which the pair of gripping devices has received the laundry item.

[0008] Preferably, step d) is performed while the laundry item is freely hanging in front of the receiving surface from the two gripping devices.

[0009] Although the movement performed in step d) is preferably one in which the gripping devices are in sliding engagement with the laundry item, the gripping devices may alternatively have rollers that provide a gripping force to the laundry item while allowing a reduced frictional movement along the first side of the gripping devices relative to the laundry item.

[0010] In an embodiment, prior to the suspending step, the laundry items are each presented to the gripper in a diagonally stretched configuration, where the hanging portion at a corner of the laundry item is received by the gripper, and where the gripper then passes through the respective lower jaws of the two gripping devices in the gap between the two opposing jaws to perform the suspending step.

[0011] As an example, the laundry items processed using the present invention may be towels, bath mats, and similar items, such as terry cloth, which typically may have dimensions of less than 80 cm × 160 cm, are typically woven with many protruding loops, and typically have a narrow stitched peripheral hem that defines the edge of the laundry item. Such laundry items typically leave the washing machine / dryer in a disorganized and more or less entangled manner.

[0012] Embodiments of the present invention are defined in the dependent claims, thereby further improving the processing speed of a single rectangular clothing item. Description of the Drawings

[0013] Figure 1 is a top view of a clothing item to be processed,

[0014] Figure 2 is a schematic side view of an embodiment of a device according to the present invention,

[0015] Figure 3 is a schematic side view showing the components for presenting each individual clothing item in a diagonally stretched configuration to Figure 2 the mechanical device components of the device,

[0016] Figure 4a is showing Figure 2 a schematic perspective side view of the various components of the first and second sections of the device of

[0017] Figure 4b is a side view showing that the clothing item has been oriented and placed on the receiving surface, Figure 5 and Figure 6 is a perspective side view showing the manipulator arm of the mechanical device in a position for processing a selected side of the clothing item,

[0018] Figure 7 is a perspective view of two clamping devices in a first relative position and each in a receiving configuration ready to receive the length of the side of the clothing item,

[0019] Figure 8 is showing Figure 5 and Figure 6 a perspective top view of the mechanical device of Figure 7 ready to suspend the length of the side of the clothing item on the lower jaws of two clamping devices in the receiving configuration shown in

[0020] Figure 9 is showing Figure 8 a top view of the mechanical device of Figure 7 which has suspended the length of the side of the clothing item on the lower jaws of the clamping device in the receiving configuration shown in

[0021] Figure 10 and Figure 11 show two clamping devices of Figure 7 in different relative positions, the clamping devices being configured to hold a clothing item (not shown) and being in the process of positioning two adjacent corners at the side of the clothing item,

[0022] Figure 12 is similar to Figure 8 a view in which a laundry item is suspended on a lower jaw by the movement of a mechanical device in an opposite direction,

[0023] Figure 13 is a top view showing an alternative movement along a first machine direction of the apparatus when two clamping devices move apart to position two adjacent corners at the sides of a laundry item,

[0024] Figure 14 is a top perspective view showing the following steps: after the corners have been positioned, advancing the laundry item held by the clamping devices and lying flat on a surface, and simultaneously recording the orientation of the sides of the laundry item relative to the first machine direction of the apparatus,

[0025] Figure 15 is a top view showing an alignment performed by further movement of the clamping devices relative to each other along the machine direction;

[0026] Figure 16 is a rear perspective view showing a conveyor belt for receiving the aligned laundry item,

[0027] Figure 17 schematically illustrates how a part of a laundry item can be received and held between opposing jaws of a clamping device,

[0028] Figure 18 shows the profile of the engagement surface of some of the jaws,

[0029] Figures 19a to 19c shows a second embodiment of the invention, which illustrates the operation of a dedicated alignment gripper for use with the Figure 3 apparatus for aligning an unaligned laundry item, and

[0030] Figures 20a to 20b shows a third embodiment of the invention, which illustrates the operation of a buffer member for use with the Figure 3 apparatus. DETAILED DESCRIPTION

[0031] The present invention will now be explained in more detail with reference to the embodiments shown in the accompanying drawings.

[0032] Figure 1 shows a cleaned / washed rectangular laundry item 5 having opposite short sides 7 and opposite long sides 6, where the sides 6, 7 of the laundry item intersect at corresponding geometric corners 1, 2, 3, 4.

[0033] The rectangular laundry item 5 referred to herein can typically but not exclusively be a towel or a bath mat, which are folded shortly after washing and drying without the need for ironing. Towels and bath mats are typically of the terrycloth type, meaning that they are typically woven and have prominent loops, and have a narrow stitched peripheral hem H that defines the edge of the laundry item 5.

[0034] In some cases, the laundry item 5 to be processed using the present invention can carry a mark I, such as the owner's logo or a laundry item identifier, such as a QR code, on one of its surfaces.

[0035] In particular, the present invention allows such a rectangular laundry item 5 to be placed individually on a downstream discharge conveyor in a flat configuration, wherein a pair of opposite sides of the laundry item 5 are oriented to align with a specific machine direction of a downstream laundry folder, thereby providing a stream of laundry items 5 suitable for direct feeding into the laundry folder. In one use, such as in the case of processing towels, it may be desirable to align the two long sides 6 of the laundry item with the machine direction of the laundry folder, while in another use, such as in the case of processing smaller laundry items 5 such as bath mats, it may be desirable to align the two short sides 7 of the laundry item with the machine direction of the laundry folder.

[0036] This alignment allows the laundry folder to fold the laundry item 5 by folding around or along the symmetry lines L1, L2 of the laundry item 5 and then fold the laundry item 5 into a high-quality final product having a rectangular shape.

[0037] In addition, the present invention can also allow the laundry item 5 to be presented to the laundry folder in such a way that the folded final product has a specific surface, such as the surface carrying the mark I mentioned above, by defining the surface of the folded final product, which is easily visible or inspectable.

[0038] Typically, the device 10 of the present invention will be placed in and operate in an industrial laundry, which supplies a stream of laundry items 5 as mentioned from a washing machine / dryer to the device 10, and as Figure 2 shown, the device 10 can conveniently be formed as a single unit having a machine frame F, and the machine frame F also carries a dedicated device 500 configured to separate the incoming laundry items 5 from each other, i.e., to individualize the incoming stream of laundry items 5 or a batch of more or less entangled laundry items 5 located on the conveyor surface 510. Examples of such individualizing devices are disclosed in WO19137585 Figure 1 and DK 2022 00437.

[0039] As Figure 2As shown, the apparatus 10 includes a first section A having components configured to present each individual article of clothing 5 received from the dedicated individualizing apparatus 500 in a regular manner schematically shown in Figure 3 to a conveyor mechanism 50, which is illustrated hereinafter by a robotic arm and has a movable gripper 52.

[0040] The movable gripper 52, shown in Figure 4a as mounted to the end of a robotic manipulator arm, receives, holds and conveys each article of clothing 5 to a second section B downstream of the apparatus 10 according to a digitally stored predetermined processing schedule. To this end, the gripper 52 is preferably arranged to be movable in three-dimensional space.

[0041] The second section B has various orienting components, which will be described below, configured to receive and capture the article of clothing 5 released by the gripper 52, unfold the captured article of clothing 5, and then, if necessary, orient the article of clothing 5, i.e., correct the orientation of the article of clothing 5 if necessary.

[0042] Preferably within the second section B there is also an article of clothing receiving surface 80 on which the article of clothing 5 is partially supported while being oriented, and the oriented article of clothing 5 is advanced by a downstream discharge conveyor 11 from the receiving surface 80 to a clothing folder (not shown). As a result of the orientation, each article of clothing 5 can have a pair of opposite sides 6, 7 that are aligned with the direction in which the article of clothing 5 is advanced by the discharge conveyor 11. In one embodiment, the receiving surface 80 can be defined by a moving conveyor belt or the receiving surface 80 can be a stationary smooth surface.

[0043] The apparatus 10 also includes various sensors and / or cameras and a controller configured to record, identify and classify each article 5 and then, according to the aforementioned predetermined schedule, direct or organize the conveyor mechanism 50 to process the articles 5 in succession. Figure 2 The controller is schematically shown in

[0044] and is denoted by the reference numeral 12; remote control wireless operation is also envisaged.

[0045] Reference is now made to Figure 3 , in the first section A of the apparatus 10, two gripper members G1, G2 perform a first process which involves manipulating each item of laundry 5 by diagonal stretching, in which two diagonally opposite corners 1, 3 are pulled apart from each other. To this end, a first laundry item portion P1 - near and optionally including the first corner 1 of each item of laundry 5 leaving the individualizing apparatus 500 - is captured and held by the first gripper G1, and then a second laundry item portion P2 - near and optionally including the second corner 3 of the item of laundry 5 which is diagonally opposite - is captured by the second gripper G2. The positioning and capturing of such relative portions P1, P2 of the item of laundry 5 by the first gripper G1 and the second gripper G2, which can be defined by a pair of opposing rollers as Figure 4a shown, is a process well known in the art. Examples of apparatuses suitable for this process are disclosed in U.S. Patent No. 6,584,711.

[0046] Figure 3 Shown is the aforementioned second gripper G2 which can be arranged to be movable along a first machine direction D1, the second gripper G2 having captured the second laundry item portion P2 and then having performed the above-mentioned pulling apart of the first geometric corner 1 and the second geometric corner 3 from each other by moving away from the first gripper G1 along the main beam 9 (see Figure 4a ). As shown, this process generally results in two remaining diagonally opposite geometric corners 2, 4 hanging in the above more or less regular manner, with one of the two corners - hereinafter referred to as the third corner 2 of the item of laundry 5 - hanging closer to the second gripper G2 than the fourth corner 4 of the item of laundry 5 which is diagonally opposite.

[0047] One or more detectors, such as a camera 405, are arranged and configured to record the position of the third corner 2, the gripper 52 will then move to the third corner 2, and the one or more detectors also allow the controller 12 to generate information representative of a particular item of laundry 5, such as information representative of a particular item of laundry 5 based on the distance between the first corner 1 and the second corner 3. This information can alternatively be generated based on data obtained upstream of the illustrated processing stage, and can reflect the size and nature / type / color of the item of laundry 5 by comparing the data recorded by the camera with the information contained in the database. This process generates a predetermined processing schedule stored digitally in the controller 12 and applied to each respective item of laundry 5.

[0048] A detector, such as camera 405, may also be arranged to record the presence of a marker I on a surface of the laundry item 5 or any identifier of the laundry item 5, and the controller 12 may then instruct the robotic arm 50 to manipulate the laundry item 5 according to a pre - determined schedule stored digitally such that the particular surface will be placed face - up or face - down on the discharge conveyor 11 depending on the folding of the laundry folder, so that for the final folded product, the marker I is easily visible or inspectable by facing the surface outwards.

[0049] Figure 4a The first section A of the apparatus 10 is shown, where the third corner 2 is presented to the robotic arm 50. On the other hand, Figure 4b The laundry item 5 is shown oriented and lying flat on the receiving surface 80, ready to be captured and advanced by the discharge conveyor 11 (not shown).

[0050] Figure 4a The gripper 52 is also shown, which is configured to capture the hanging third part P3 of the laundry item 5 by a controlled movement of the transfer mechanism 50. The third part P3 is shown here as being near the third geometric corner 2 and optionally including the third geometric corner 2. Figure 4a The third part P3 is shown as having been received by the gripper 52.

[0051] Figure 4a Two clamping devices 60, 70 are also shown, which partially define the above - mentioned oriented components of the second section B of the apparatus 10, and in the next step the laundry item 5 is transported to the clamping devices.

[0052] As Figure 4a 、 Figure 5 and Figure 6 shown, the gripper 52 is configured to be able to move to a position adjacent to the selected sides 6, 7 of the laundry item 5 at the third corner 2, such that the gripper 52 can process the laundry item 5 from the short side 7 of the laundry item 5 (see Figure 5 ) or the long side 6 (see Figure 4a and Figure 6 ). The selection depends on the laundry item 5 being processed, in particular its size or its nature or type, such as whether it is a bath mat or a small towel or a large towel. The selection is made according to the above - mentioned processing schedule stored in the controller 12. By this selection, the short side 7 or the long side 6 can be presented to the two clamping devices 60, 70, and the presented side then becomes the side that can be called the front side of the laundry item 5 when the laundry item reaches the folder. Hereinafter, the selected side will also be referred to as the first side of the laundry item 5, while the other two opposite sides will be referred to as the second side and the third side of the laundry item 5.

[0053] As an example, when the laundry item 5 is a bath mat, it may be necessary to align the short side portion 7 with the first machine direction D1, and for this case, the long side portion 6 is processed as Figure 6 shown.

[0054] For a given laundry item 5, when the gripper 52 has reached the selected and predetermined position, the two opposing jaws 53, 54 of the gripper 52 (see Figure 5 ) move to a closed position where they press against the corresponding surface of the laundry item 5, and then, after the controller 12 has received a sensor signal confirming that the third part P3 has been captured between the opposing jaws 53, 54, the laundry item 5 is released from the first gripper G1 and the second gripper G2. Then, the laundry item 5 is suspended within the first section A by the gripper 52.

[0055] At this time, the controller 12 instructs the transfer mechanism 50 to move the gripper 52 that holds the third part P3 of the laundry item 5 to a predetermined position above the front end E of the receiving surface 80, and also instructs the two gripping devices 60, 70 that partially define the orientation device to move to corresponding receiving and capturing positions adjacent to each other and assume a capturing configuration. At the capturing position, the gripping devices 60, 70 are generally positioned closer to one side 14 of the receiving surface 80 than to the opposite side 13 close to the receiving surface 80 (see Figure 4a ), or the gripping devices 60, 70 are generally positioned closer to the opposite side 13 of the receiving surface 80 than to one side 14 of the receiving surface 80, as Figure 8 shown.

[0056] As Figure 9 best seen in, the two gripping devices 60, 70 are mounted to a sub-frame 30 supported by a frame F in a displaceable manner and extend over and above the receiving surface 80 such that the two gripping devices 60, 70 can be controlled by the controller 12 of the device 10 and move relative to each other independently parallel to a second machine direction D2, shown perpendicular to the first machine direction D1, away from and into the above-mentioned receiving and capturing positions under the action of corresponding drives (not shown).

[0057] The sub-frame 30 carries a support rod 32, and one of the two gripping devices 60, 70 - hereinafter referred to as the second gripping device 70 - is mounted so as to also be able to move back and forth parallel to the first machine direction D1 along the support rod 32 by enabling a drive M, compare Figure 9 and Figure 15 .

[0058] The sub-frame 30 itself is arranged to be able to move relative to the frame F from as Figure 4aThe first position shown, which is close to the front end portion E of the receiving surface 80, is moved in a first direction D1 to a second position above the rear end portion of the receiving surface 80 as shown, and returns again without carrying any clothing item 5. Figure 4b shown above the rear end portion of the receiving surface 80, and returns again without carrying any clothing item 5.

[0059] As will be understood from the following, the general purpose of the shown orienting members 30, 60, 70 is:

[0060] a) During the reception and unfolding of the clothing item, while the clothing item 5 is suspended from two clamping devices 60, 70, receive and fully unfold the clothing item 5 by moving the two clamping devices 60, 70 apart in a direction parallel to the second machine direction D2;

[0061] b) Orient the clothing item 5, if necessary, through an alignment process by moving the second clamping device 70 along the support bar 32 such that a selected pair of opposite side portions 6, 7 of the clothing item 5 become aligned with the machine direction D1; and

[0062] c) Allow the aligned clothing item 5 to be advanced by the discharge conveyor 11 by moving the sub-frame 30 to the Figure 4b second position shown.

[0063] As Figure 7 best seen in, each clamping device 60, 70 has a first pair of opposite jaws 62, 71 and a second pair of opposite jaws 61, 72. Each pair of jaws in the paired jaws has a first jaw 63, 65, 73, 75 and an opposite second jaw 64, 66, 74, 76. The opposite jaws 65, 66, 73, 74 in the first pair of jaws 62, 71 have serrated or profiled engagement surfaces, while at least some of the opposite jaws 63, 64, 75, 76 in the second pair of jaws 61, 72 may have smooth or flat surfaces. Corresponding drives 69, 79 operate each pair of jaws 61, 62, 71, 72 to open the jaws, i.e., to separate the opposite jaws, and for closing the jaws.

[0064] The serrations of some of the jaws 65, 66, 73, 74 provide a toothed surface for biting into the clothing item 5, and this biting preferably secures the clothing item 5 to prevent the clothing item from moving relative to these jaws 65, 66, 73, 74; alternatively, some of the jaws may be formed as pins with small contact surfaces to provide such biting. Figure 18The profiles 64', 76' of the engagement surfaces of some of the jaws 64, 76 in the jaws are shown; such a serrated profile is formed by teeth extending at an angle to the line C shown, which line C is parallel to the second machine direction D2. In some embodiments, such a serrated profile can be applied to assist in further pulling the first side portion of the laundry item 5 into the gap 400 when the two clamping devices 60, 70 are moved apart if necessary, thereby further ensuring that the laundry item 5 does not fall from the clamping devices 60, 70 in the case of a very heavy laundry item 5.

[0065] By the action of the respective actuators 69, 79 controlled by the controller 12, at least one jaw in each pair of jaws 61, 62, 71, 72 can move to the respective opposing jaw and can move away from the respective opposing jaw. In this way, each pair of opposing jaws 61, 62, 71, 72 can present Figure 7 the open capture configuration and the closed holding configuration shown. In the capture configuration, both clamping devices 60, 70 are ready to receive the laundry item 5 from the gripper 52. In the holding configuration, the laundry item 5 is held between the pairs of opposing jaws. Compare Figure 10 and Figure 11 .

[0066] Figure 7 Two clamping devices 60, 70 in the open capture configuration are shown. The two clamping devices are positioned adjacent to each other and are ready to receive the first side portions 6, 7 of the laundry item 5 with a length L within the alignment gap 400 between the opposing jaws of all four pairs of jaws 61, 62, 71, 72 (see Figure 9 ). As Figure 4b seen, each gap 400 preferably has a depth W that is adapted to receive the length L of the first side portions 6, 7 presented by the gripper 52, i.e., a part of the narrow hem H and the woven portion of the laundry item 5.

[0067] With the two clamping devices 60, 70 in the shown position and configuration, as Figure 8 shown, the first positioned gripper 52 moves from right to left to suspend the length L of the above-mentioned laundry item 5 over the four adjacent lower jaws 63, 65, 73, 75. By moving the gripper 52 inside and along the above-mentioned gap 400 from right to left, the length L of the first side portions 6, 7 is pulled into the gap 400, as Figure 9 shown. This suspension process causes the length L of the first side portions 6, 7 to be received between the opposing jaws in the manner Figure 17 shown. Sometimes in imperfect cases, there is a small post-folded portion between the opposing jaws. Such an imperfect situation requires subsequent orientation / alignment of the laundry item 5.

[0068] In the case where the laundry item 5 has the marking I, the gripper 52 can be controlled to insert the laundry item into the aligned gap 400 in a left-to-right manner as viewed along the machine direction D1, so as to ensure that the surface with the marking I is placed face up on the receiving surface 80. Compare Figure 8 and Figure 12 , wherein this opposite movement of the gripper 52 is shown by the arrow.

[0069] Then, the clamping devices 60, 70 are placed in Figure 9 the closed configuration shown, to grip the laundry item 5 and then release the laundry item 5 from the gripper 52.

[0070] Figure 9 Two clamping devices 60, 70 are shown as viewed from above. In Figure 10 the configuration shown, a part of the length L is firmly clamped between the serrated opposing jaws 65, 66 by biting the serrated opposing jaws 65, 66 of the first clamping device 60 into the laundry item 5. Additionally or alternatively, in the absence of serrations, a relatively high clamping force can be established on the laundry item 5 by the first clamping device 60 via the corresponding actuator 69.

[0071] Also as Figure 10 shown, although the clamping force applied to the laundry item 5 is low, a pair of jaws 75, 76 of the second clamping device 70 are also in the closed configuration.

[0072] Thus, in the above closed configuration, the laundry item 5 is pre-discharged so as not to fall from the clamping devices 60, 70 due to its weight.

[0073] Then, the gripper 52 is moved away and returned to the first section A of the apparatus 1.

[0074] To perform the subsequent laundry item unfolding operation, the first clamping device 60 then moves along the second machine direction D2, as Figure 10 shown, pulling the length of the laundry item 5 held between its opposing jaws 64, 64, 65, 66 by this first clamping device. By keeping the second clamping device 70 stationary and by applying a low clamping force to the laundry item 5, or by shaping the faces of the opposing jaws 75, 76 to provide a reduced resistance to the relative movement of the laundry item 5 along the second machine direction D2 compared to the relative movement of the laundry item 5 along the first direction D1, the length of the laundry item 5 along the first side then slides between the opposing jaws 75, 76 of the second clamping device 70.

[0075] Some of the jaws in the gripper can have rollers that provide a gripping force on the laundry item 5 while allowing a reduced frictional movement along the first side of the gripping device relative to the laundry item, which is not very similar to a sliding movement.

[0076] This movement of the first gripping device 60 continues until a sensor S associated with the second gripping device 70 - which can be, for example, a sensor of the light beam type - records that the laundry item 5 has been pulled so far relative to the second gripping device 70 that the second side and / or corner 2 of the laundry item 5 has reached the second gripping device 70, see Figure 13 .

[0077] Then the configuration of the gripping devices 60, 70 is changed such that the second gripping device 70 is now firmly held on the laundry item 5 and such that the laundry item 5 can now slide relative to the first gripping device 60 by the first gripping device 60 moving continuously in the direction D2 while the second gripping device 70 remains stationary, or by the second gripping device 70 now moving against the machine direction D2 while the first gripping device 60 remains stationary. In other words, the two gripping devices 60, 70 move away from each other again such that the second gripping device 70 approaches the third side 6 of the laundry item 5, which is opposite to the aforementioned second side 6.

[0078] This further movement continues until a sensor S associated with the first gripping device 60 records that the laundry item 5 has been pulled so far relative to the first gripping device 60 that the aforementioned third part P3, which was previously held by the gripper 52, has reached the first gripping device 60, which indicates that the laundry item 5 is now fully unfolded.

[0079] Since the sub-frame 30 is in its first position, the gripping devices 60, 70 are also located in front of the front end E of the receiving surface 80, and the laundry item 5 is now temporarily fully suspended from the gripping devices 60, 70 and is only held at its upper corners 2, 3.

[0080] The sub-frame 30 with the two gripping devices 60, 70 now moves in the first machine direction D1, see Figure 14 .

[0081] It is worth noting that the receiving surface 80 can have a moving upper surface defined, for example, by a conveyor belt that is configured to move against the machine direction D1, whereby the tail part T of the suspended laundry item 5 can now be captured by this conveyor belt, resulting in some further stretching of the suspended laundry item 5.

[0082] When the laundry item 5 is pulled forward in the first machine direction D1 by the moving sub-frame 30, another sensor, such as Figure 16The overhead camera 406 shown records any angular deviation of the opposite side portion 6 of the clothing article 5 relative to the reference line R representing the first machine direction D1. Such misalignment may occur in the above-mentioned imperfect situations, where portions of different sizes of the clothing article 5 are received by the two clamping devices 60, 70 along the length of the aligned gap 400. Therefore, an alignment procedure may need to be performed.

[0083] To correct any misalignment, in a first embodiment, the second clamping device 70 can now be moved relative to the first clamping device 60 in the machine direction D1, as Figure 15 schematically shown, Figure 15 illustrates the following situation: where the portion 1000 of the clothing article 5 held between the jaws 73, 74, 75, 76 of the second clamping device 70 is smaller than the corresponding portion held by the jaws 63, 64, 65, 66 of the first clamping device 60, compare Figure 9 and Figure 15 . This movement can be by moving the second clamping device 70 along the support rod 32 discussed above and schematically shown in Figure 4a . The second clamping device 70 can alternatively or additionally be configured to have already performed such relative movement during the deployment step, as shown by the double arrows in Figure 13 .

[0084] Other second and third embodiments of the present invention will now be discussed.

[0085] According to another second embodiment of the present invention, the above alignment process involves using two dedicated clothing articles 5 to align with Figure 19a , Figure 19b and Figure 19c shown clamping members 1060, 1070, and the clamping members 1060, 1070 are configured to move to positions downstream of the two clamping devices 60, 70 parallel to the first machine direction D1.

[0086] More specifically, Figure 19a shows two alignment clamping members 1060, 1070, which include respective upper and lower clamping jaws 1063, 1064, 1065, 1066, 1073, 1074, 1075, 1076. When the alignment clamping members 1060 and 1070 are opened with the jaws separated, another aligned gap 1040 is defined between the upper and lower jaws, and the gap 1040 further aligns with the gap 400 of the first clamping device 60 and the second clamping device 70. As described above, the clamping jaws 1063, 1064, 1065, 1066, 1073, 1074, 1075, 1076 are preferably constructed in the same manner as the jaws of the two clamping devices 60, 70.

[0087] Two alignment grippers 1060, 1070 can be moved together parallel to the first machine direction D1 to a first position, where another gap 1040 is aligned with the first sides 6, 7 of the laundry item 5 held by the two clamping devices 60, 70. In this first position, the clamping jaws 1063, 1064, 1065, 1066, 1073, 1074, 1075, 1076 are then closed to hold the first sides 6, 7 of the laundry item 5 by engaging the opposite surfaces of the laundry item 5 between the narrower gaps 1040, as Figure 19b shown. Then, the laundry item 5 is released from the two first clamping devices 60 and the second clamping device 70 and is then effectively taken over by the alignment grippers 1060, 1070.

[0088] As Figure 19b shown, in the first position, the two alignment grippers 1060, 1070 are located between the clamping devices 60, 70, as previously described with reference to Figure 13 the clamping devices 60, 70 have been moved away from each other to the respective corners 2, 3 of the laundry item 5. In order for the alignment grippers 1060, 1070 to then hold the same corners 2, 3, the two alignment grippers 1060, 1070 are mounted in a displaceable manner in the same way as described for the two clamping devices 60, 70 so as to be able to move independently of each other along the support rod 1032 parallel to the second machine direction D2. Thus, using sensors S' similar to the sensors S of the first clamping device 60 and the second clamping device 70 and mounted to each alignment gripper 1060, 1070, the alignment grippers 1060, 1070 can be moved to the respective corners 2, 3, see Figure 19c .

[0089] Then, when any misalignment is detected, the alignment grippers 1060, 1070 holding the laundry item 5 are controlled to move together along the machine direction D1 to finally place the laundry item 5 on the discharge conveyor 11 (see Figure 16 ), and also to move independently of each other parallel to the first machine direction D1, thereby performing the alignment process as Figure 15 shown. Thus, the alignment grippers 1060, 1070 of the second embodiment are included to perform the alignment process performed by the clamping devices 60, 70 of the first embodiment, see Figure 15 , thereby achieving an increased capacity of the device 10, since the clamping devices 60, 70 are released to only perform the initial intake and unfolding process of the laundry item 5.

[0090] According to another third embodiment, Figure 3The above-described first process shown - in which the first gripper G1 and the second gripper G2 pull two diagonally opposite corners 1, 3 apart from each other - includes supplementary steps as Figure 20a and Figure 20b shown.

[0091] In this supplementary step, at least two presenting grippers G3, G4, and G5 are arranged and configured to take over the clothing item 5 from the first gripper G1 and the second gripper G2, and then the clothing item 5 - in which the diagonally opposite corners 2, 4 are also suspended, substantially as Figure 3 , Figure 4a , Figure 5 , Figure 6 and Figure 20b shown - is presented to the robotic arm 50 so that the movable gripper 52 of the robotic arm 50 captures the third part P3 of the suspension at corner 2 in the manner as Figure 4a , Figure 5 and Figure 6 shown. The presenting grippers G3, G4, and G5 effectively act as a buffer, thereby releasing the capacity of the first gripper G1 and the second gripper G2 while the downstream process is being performed.

[0092] More specifically, Figure 20a the first gripper G1 and the second gripper G2 are shown, where the second gripper G2 is capable of moving along the main beam 9 in the first machine direction D1 for the stretching of the clothing item 5 and is supplemented by the presenting grippers G3, G4, G5, which are arranged and configured to: i) move towards the first gripper G1 and the second gripper G2, being supported by a secondary beam 9' supported by the machine frame F and parallel to the second machine direction D2; ii) take over the clothing item 5 from the first gripper G1 and the second gripper G2 by gripping and holding the clothing item 5 at or near two diagonally opposite corners 1, 3 held by the first gripper G1 and the second gripper G2; and iii) then move away from the first gripper G1 and the second gripper G2 towards the robotic arm 50 supported by the machine frame F to present the clothing item 5 in which the clothing part P3 is still suspended downward to the movable gripper 52; iv) such that the gripper 52 captures the suspended clothing part P3. In this way, an increased capacity of the device 10 is achieved because the first gripper G1 and the second gripper G2 are released to perform the next pulling apart of the corners of the (subsequent) clothing item.

[0093] As can be understood from the above, and in particular by examining the drawings, according to the design of the robotic arm 50, the selection of the correct orientation for the gripper 52 to handle the corner 2 to be gripped can significantly simplify the following process: inserting the gripper 52 into the gap 400 between the two gripping devices 60, 70, and then suspending the length L of the first side of the clothing item 5 over the lower jaws 63, 65, 73, 75.

[0094] The actions that can be performed using the method and device of the present invention can be summarized as follows:

[0095]

[0096]

[0097] Table 1.

Claims

1. An apparatus (10) for processing a generally rectangular laundry item (5) that has been cleaned / washed, the apparatus (10) defining a first machine direction (D1) and comprising: - a laundry item conveying mechanism (50) having a movable gripper (52), - components (G1, G2) configured to hold each individual laundry item (5) in a stretched configuration at or near two diagonally opposite corners (1, 3) and configured to present a suspended laundry item portion (P3) near or at another corner (2) of the laundry item (5) to the movable gripper (52), - two clamping devices (60, 70) for making a clamping engagement with the laundry item (5), the two clamping devices (60, 70) being mounted so as to be displaceable and movable independently of each other parallel to a second machine direction (D2), - the gripper (52) being movable into and along a gap (400) between opposing jaws (63, 65, 73, 75, 64, 66, 74, 76) of the two clamping devices (60, 70).

2. The apparatus (10) according to the preceding claim, at least one of the clamping devices (70) being further movable back and forth relative to the other clamping device (60) parallel to the first machine direction (D1).

3. The apparatus (10) according to claim 1 or 2, comprising a sub-frame (30) carrying the first clamping device (60) and the second clamping device (70), the sub-frame (30) being movable along the first machine direction (D1) from a first position above and in front of a front end portion (E) of a laundry item receiving surface (80) to a second position above a rear end portion of the receiving surface (80).

4. The apparatus (10) according to the preceding claim, the receiving surface (80) being defined by a conveyor belt.

5. The apparatus (10) according to claim 1, the second machine direction (D2) being preferably perpendicular to the first machine direction (D1), - the apparatus further comprising two alignment grippers (1060, 1070) for making a clamping engagement with the laundry item (5), -- the two alignment grippers (1060, 1070) including respective clamping jaws (1063, 1064, 1065, 1066, 1073, 1074, 1075, 1076) and each alignment gripper defining another gap (1040) when the alignment gripper (1060, 1070) is open, -- the two alignment grippers (1060, 1070) being mounted so as to be movable independently of each other parallel to the second machine direction (D2), -- The two alignment grippers (1060, 1070) can also move back and forth between a position downstream of the two gripping devices (60, 70) and a first position parallel to the first machine direction (D1). Wherein, each of the other gaps (1040) is substantially or completely aligned with the opposing jaws (63, 65, 73, 75, 64, 66, 74, 76) of the two gripping devices (60, 70). -- At least one of the two alignment grippers (1070) of the two alignment grippers (1060, 1070) is also mounted in a displaceable manner so as to be movable relative to the other alignment gripper (1060) parallel to the first machine direction (D1).

6. The apparatus according to any one of the preceding claims, the component comprising: at least two first grippers (G1, G2) configured to pull apart two diagonally opposite corners (1, 3) of the laundry item (5); and presenting grippers (G3, G4, G5) arranged and configured to take over the laundry item (5) from the two first grippers (G1, G2) by holding the laundry item (5) at or near the two diagonally opposite corners (1, 3), and then presenting the laundry item (5) with the laundry portion (P3) still hanging to the movable gripper (52) so that the gripper (52) grabs the hanging laundry portion (P3).

7. A method for processing a generally rectangular laundry item (5) that has been cleaned / washed, the method comprising: i) receiving and holding, by a movable gripper (52) of a laundry item conveying mechanism (50), a laundry item portion (P3) near or at one corner (2) of each laundry item (5). ii) Then, by inserting the gripper (52) into a gap (400) between opposing jaws (63, 65, 73, 75, 64, 66, 74, 76) of two gripping devices (60, 70), and subsequently by relative movement between the gripper (52) and the gripping devices (60, 70), the length (L) of a first side (6, 7) of the laundry item (5) adjacent to the one corner (2) is suspended on the gripping jaws (63, 65, 73, 75) of the two gripping devices (60, 70) by means of the gripper (52). iii) Holding, by the gripping devices (60, 70), the length (L) of the first side (6, 7) of the laundry item (5), and then releasing the laundry item portion (P3) from the gripper (52). iv) Then, with the clothing article (5) suspended from the two clamping devices (60, 70), move the two clamping devices (60, 70) along the first side portions (6, 7) away from each other towards two respective opposite second and third side portions (6, 7) of the clothing article (5). v) Then transfer the clothing article (5) directly from the clamping devices (60, 70) to two alignment grippers (1060, 1070). vi) Then, with the clothing article (5) suspended from the two alignment grippers (1060, 1070), move the two alignment grippers (1060, 1070) along the first side portions (6, 7) away from each other to the two respective opposite second and third side portions (6, 7) of the clothing article (5), and vii) Advance the clothing article (5) suspended from the two alignment grippers (1060, 1070) in a first machine direction (D1), preferably with the tail portion (T) of the clothing article (5) lying flat on the receiving surface (80), advance the clothing article (5) suspended from the two alignment grippers (1060, 1070) in the first machine direction (D1).

8. The method according to the preceding claim, comprising: Performing alignment of the clothing article (5) suspended from the two alignment grippers (1060, 1070) by relative movement of the two alignment grippers (1060, 1070) along the first machine direction (D1) with respect to each other.

9. The method according to claim 7 or 8, wherein, The movement of the two clamping devices (60, 70) is performed while the clothing article (5) is freely suspended from the two clamping devices (60, 70).

10. The method according to any one of claims 7 to 9, wherein, The clothing articles (5) suspended from the grippers (G1, G2, G3, G4, G5) in a diagonally stretched configuration are each presented to the gripper (52), and the clothing article portion (P3) near or at one corner (2) is the suspension portion (P3) of the clothing article (5).

11. The method according to any one of claims 7 to 10, wherein, To perform the suspension, the gripper (52) passes through the respective lower jaws (63, 65, 73, 75) of the two clamping devices (60, 70) within the gap (400).

12. The method according to any one of claims 7 to 11, wherein, The movement of the two clamping devices (60, 70) is performed sequentially by: first moving one of the clamping devices (70) along the first side portions (6, 7) towards one of the opposite second and third side portions (6, 7); And then moving another said clamping device (60) along said first side portion (6, 7) towards the other of said opposite side portions (6, 7), said movement preferably being a sliding contact between the article of clothing (5) and the stationary clamping device of said clamping devices.

13. A method according to any one of claims 7 to 12, wherein, the movement of said two alignment clamping members (1060, 1070) is carried out in sequence by: first moving one of said alignment clamping members (1070) along said first side portion (6, 7) to one of said opposite second and third side portions (6, 7); and then moving the other said alignment clamping member (1060) along said first side portion (6, 7) to the other of said opposite side portions (6, 7), said movement preferably being a sliding contact between the article of clothing (5) and the stationary alignment clamping member of said alignment clamping members.

14. A method for processing a generally rectangular article of clothing (5) that has been cleaned / washed, said method comprising the steps of: a) receiving and holding, by a movable clamping member (52) of a laundry article conveying mechanism (50), a laundry article portion (P3) near or at one corner (2) of each article of clothing (5); b) inserting said clamping member (52) into a gap (400) between opposing jaws (63, 65, 73, 75, 64, 66, 74, 76) of two clamping devices (60, 70), and then, by relative movement between said clamping member (52) and said clamping devices (60, 70), suspending a length (L) of a first side portion (6, 7) of said article of clothing (5) adjacent to said one corner (2) on clamping jaws (63, 65, 73, 75) of said two clamping devices (60, 70); c) holding said length (L) of said first side portion (6, 7) of said article of clothing (5) by said clamping devices (60, 70), and releasing said laundry article portion (P3) from said clamping member (52); d) moving said two clamping devices (60, 70) away from each other along said first side portion (6, 7) with said article of clothing (5) suspended from said two clamping devices (60, 70) to locate two opposite second and third side portions (6, 7) of said article of clothing (5), and e) advancing said article of clothing (5) suspended from said clamping devices (60, 70) in a first machine direction (D1), preferably advancing said article of clothing (5) suspended from said clamping devices (60, 70) in the first machine direction (D1) with a tail portion (T) of said article of clothing (5) lying flat on a receiving surface (80).

15. The method according to the preceding claim, comprising: Alignment of the laundry item (5) relative to the first machine direction (D1) is performed by movement of the two clamping devices (60, 70) relative to each other along the first machine direction (D1).

16. The method according to claim 13 or 14, wherein, the moving step d) is performed while the laundry item (5) is freely suspended from the two clamping devices (60, 70).

17. The method according to any one of claims 13 to 15, wherein, before the step b), the laundry items (5) each suspended in a diagonally stretched configuration from the grippers (G1, G2, G3, G4, G5) are presented to the clamping member (52), and the portion (P3) near or at one corner (2) is the suspension portion (P3) of the laundry item (5).

18. The method according to any one of claims 13 to 16, wherein, to perform the step b), the clamping member (52) passes through the respective lower jaws (63, 65, 73, 75) of the two clamping devices (60, 70) within the gap (400).

19. The method according to any one of claims 13 to 17, wherein, the moving step d) is performed in sequence by first moving one of the clamping devices (70) along the first side (6, 7) until it reaches one of the opposite second and third sides (6, 7); and then moving the other clamping device (60) along the first side (6, 7) until it reaches the other of the opposite sides (6, 7), the movement preferably being a sliding contact between the laundry item (5) and the stationary clamping device of the clamping devices.

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