Method for gripping rectangular textile articles

Abstract

The automatic gripping of laundry items (10) for feeding to, for example, an input machine (26) requires several handling operations that must be coordinated for reliable automation. The invention provides for the automatic gripping and pulling apart of each laundry item (10) at one point. The laundry item (10) is then reoriented so that it can be gripped in a manner advantageous for the subsequent steps. After the laundry item (10) has been gripped at one edge, it is wound lengthwise or crosswise onto a conveyor (21) that transports it to the input machine (24), depending on which edge has been gripped and the orientation in which the laundry item (10) is to be fed to the input machine (24).

Description

[0001] The invention relates to a method for grasping a rectangular textile object according to the preamble of claim 1.

[0002] Textile items, especially laundry items to be washed and / or washed items, with a rectangular shape must be handled in such a way that they can be fed into a processing facility. This applies to rectangular textile items with edges of equal or unequal length that run at right angles to each other.

[0003] From EP 0 751 251 A1, it is known to automatically grasp rectangular textile objects. In this process, each textile object is held by a clamp at diagonally opposite corners. Another clamp then grasps the textile object hanging from the clamps holding the diagonally opposite corners at an edge between a held corner and a free corner belonging to that edge. The textile object, thus held by two clamps, is then placed onto folding belts of a folding machine.

[0004] EP 3 029 195 A1 reveals that a rectangular textile object is held by two clamps at diagonally opposite corners, and that the resulting lower edge of the garment is grasped near its adjacent corners by two other clamps, with which the garment can then be automatically fed to a feeder machine in front of a mangle.

[0005] EP 2 930 264 A1 discloses a method for the automatic detection of laundry items. For this purpose, the topography of the laundry item to be detected is determined, and based on this determined topography, a point on the laundry item is identified where it can best be detected by a detection device. The detection device is then moved to this point in a controlled manner and detected.

[0006] The intention is to automatically grasp rectangular textile objects or automatically feed them into processing facilities. However, experience has shown that this is currently time-consuming and unreliable.

[0007] The invention is based on the objective of creating a method and a device for the rapid and reliable automatic grasping of textile objects, which can then be automatically fed to treatment facilities.

[0008] A method for solving the problem comprises the measures of claim 1. Accordingly, it is provided that a textile object, held at a corner or corner region and hanging freely from this corner, is first pneumatically grasped or gripped at a point spaced away from this corner, and from this point, the textile object is reoriented, in particular for the first time. Preferably, the textile object is pulled apart from the pneumatically grasped, preferably suctioned, point. Only one layer of the textile object is held pneumatically, in particular by suction.

[0009] Once at least part of the edge of the textile object has formed under its held corner or corner area, a section of this edge is grasped by a clamp. This is preferably a double clamp with two spaced-apart clamps, between which the edge section or at least part of it is fixed in a stretched position, or an elongated clamp whose length corresponds to the length of the section of the edge of the garment to be grasped.

[0010] After the section of the freely hanging edge, preferably hanging straight down perpendicularly from the held corner, or at least part of the edge, has been grasped by the double clamp or the wide or elongated clamp, the textile object is pulled by this clamp or double clamp onto or over the conveyor to feed the textile object to a treatment device. Preferably, this is done by pulling the textile object over the conveyor in an inverted U-shaped configuration. For this purpose, the conveyor is narrower than the shorter edge of the textile object. Opposite edge regions of the textile object then hang down from opposite sides of the conveyor, with an intermediate inner section, preferably a central section, of the textile object resting on the upper run of the narrow conveyor.

[0011] The pneumatic gripping of the textile object is preferably achieved by suction with negative pressure. This preferred embodiment also applies to the following description, particularly when only pneumatic gripping or pneumatic holding is mentioned.

[0012] After the pneumatically held, suctioned textile object has been pneumatically grasped and / or suctioned for the first time, it is mechanically gripped, for example, by a clamp or gripper. By moving the clamp or gripper, the textile object is reoriented a second time. In this process, at least part of an edge is formed such that the textile object can be automatically gripped at this edge and automatically fed into a processing unit.

[0013] Preferably, the method can be further developed such that at the point, or adjacent to the point, where the textile object is initially pneumatically grasped, preferably by a pneumatic suction device, in order to stretch it, particularly for wrinkle removal, the textile object is clamped in a single layer by the holding device, in particular by at least one clamp. Pneumatically, only one layer of the garment is thus held, allowing the wrinkle to be at least partially removed by pulling it apart, and subsequently, this single layer of the textile object to be clamped. This makes it possible to pull the textile object apart further with greater force and thereby reorient it, preferably to such an extent that at least part of a preferably vertically hanging edge can form under the corner from which the textile object hangs.

[0014] The pneumatic gripping of the textile object is achieved in particular with at least one suction cup. The suction cup preferably picks up only one layer of the textile object. If this suction occurs at a point where the textile object is double-layered or in the area of ​​a fold where at least two layers of the textile object lie on top of each other, only the single layer being picked up, preferably the layer in contact with the suction cup, is held in place. As the suction cup moves, the layer of the textile object it holds is carried along and thereby reoriented.

[0015] According to a preferred embodiment of the method, the holding device pneumatically grasps the textile object below and / or obliquely below the held corner from which the textile object hangs. Typically, the textile object hangs in folds from its held upper corner. By pneumatically suctioning a layer of the textile object facing the holding device, the folds can be pulled apart. This creates at least a defined layer or section of the textile object at the point where the holding device initially only pneumatically suctions it.

[0016] Furthermore, it is conceivable that the textile object, pneumatically held at the relevant point, is reoriented, preferably pulled apart, by laterally moving the holding device while maintaining pneumatic holding of that point, so that it forms a single layer at least at the point thus held. Preferably, this process takes place on an inclined track that rises in the direction of travel of the holding device. This allows the at least one crease to be easily and reliably removed or pulled apart to a sufficient extent, and simultaneously supports and / or promotes the intended formation of an edge, or at least a part thereof, hanging freely down from the held corner area or corner.

[0017] After pneumatically applying and / or securing a single layer of the textile object and subsequently reorienting the suction-held textile object, the textile object is gripped. Preferably, the textile object, while still held by the suction cup, is grasped by a clamp or gripper, and then the suction cup is released from the textile object by interrupting its suction air supply. Gripping occurs when the textile object is still reliably pneumatically held by the suction cup moving a predetermined distance. This distance can be determined empirically. It is also conceivable to further customize the distance based on the size of the respective textile object.Then, for example, an imaging device is used to determine how far the freely hanging lower corner is from the upper corner, which is held by a clamp to reorient the textile object. Alternatively, a force sensor could be attached to the suction cup or its mounting on the holding device. This sensor would measure the increasing holding force of the suction cup as the textile object is reoriented and initiate the repositioning of the textile object when the specified holding force is reached.

[0018] Preferably, the holding device is designed so that, after clamping the individual layer of the textile object formed by prior pneumatic holding and / or suction, it is advanced until at least part of the edge of the textile object hanging down from the held corner (or corner area) has formed. By selectively clamping a layer of the garment at or near the relevant point, preferably the point previously held pneumatically and / or suctioned, the textile object can be reliably and sufficiently pulled apart by the clamp to ensure that, under all circumstances, at least part of a freely hanging edge can form on the textile object.

[0019] A preferred embodiment of the method described above comprises the measures of claim 7. Accordingly, the textile object is positioned hanging down in front of a wall. The textile object hangs suspended from a preferably upper corner in front of the wall. From this position, the textile object is reoriented by a holding device that grips the textile object at a specific point. This point is located adjacent to the holding device. The textile object is then reoriented in front of the wall such that at least a portion of an edge of the textile object hangs freely down from its gripped upper corner or corner region, preferably in a straight line or at least approximately vertically in a straight line.

[0020] A section of the freely hanging edge or part of the edge of the textile object is selectively grasped. The textile object thus grasped can then be automatically fed to a processing device, for example, an input machine.

[0021] Preferably, the textile object is reoriented in front of an upright, in particular vertical, wall and / or a section of a freely hanging lateral edge or at least a part thereof is grasped in front of this wall.

[0022] Furthermore, it is preferably provided that the wall is stationary or at least remains stationary when the individual grasping operations and the reorientation of the textile object take place in front of the wall.

[0023] In a preferred embodiment of the method, the wall is provided to have a color that differs from that of the textile object, in particular a high-contrast color. This makes it easier to recognize the image of each textile object against the contrasting wall.

[0024] In a preferred further development of the methods described above, it is provided that before or after gripping a section of an edge of the textile object, it is determined whether the gripped edge is a short or long edge and, depending on the result of this determination, the textile object with the gripped section of its edge is fed in a targeted manner transversely or longitudinally to the processing device, preferably onto a conveyor that transports the textile object to a treatment device.

[0025] For example, if the textile object is to be placed on the conveyor in such a way that a short edge runs perpendicular to the transport direction and / or longitudinal direction of the conveyor, an object gripped by a section of its short edge will be pulled lengthwise onto the conveyor in the transport direction, while a textile object gripped by a section of a long edge will be pulled across the conveyor. If it is determined that the rectangular object is actually a square object with edges of equal length, this textile object can be pulled onto the conveyor either lengthwise or crosswise in any direction.

[0026] Preferably, the method uses at least one imaging device. This allows the respective textile object to be measured, at least partially. For example, from an image generated by the imaging device of at least a relevant part of the textile object, preferably the entire textile object, it can be determined which edge is shorter or longer. Similarly, it can be determined whether both edges of square textile objects are the same length or at least nearly the same length. The image data generated by the at least one imaging device can also be used for other or additional purposes, for example, to precisely position the clamp or double clamp for capturing an edge section of the respective textile object at the point of the edge whose section is to be captured.

[0027] It is preferably provided that the vertical track of the clamp holding the upper corner of the garment and the inclined track on which the holding element is movable are arranged in front of, on, or within an upright, in particular vertical and / or stationary, wall in front of which the respective textile item hangs from the clamp and / or can be reoriented by the holding element. This ensures that the respective textile item is supported by the wall and stabilized in front of it during reorientation. This facilitates not only the grasping and / or repositioning of at least one point and / or section of an edge of the textile item, but also the precise detection of the textile item by an imaging device that projects an image of the textile item in front of the wall.

[0028] The at least one imaging device is preferably positioned on the wall. This positioning is preferably such that the at least one imaging device is directed at at least a portion of the textile object hanging in front of the wall and / or the imaging device can generate image data from which it can be deduced whether a long edge or a short edge hangs down from the clamp holding an upper corner or an upper corner of the textile object, or whether both edges of the textile object are at least approximately the same length. This design of the device enables rapid, reliable, and precise automatic gripping, particularly of rectangular textile objects.Preferably, the conditions are created to automatically feed the textile objects thus captured either directly to a treatment device for the textile objects or to a preferably narrow conveyor in front of a treatment device, preferably to pull them onto it and / or place them down.

[0029] The single imaging device, or optionally a separate imaging device, can also be used to determine the length of the garment hanging from the held upper corner. This is preferably the distance between diagonally opposite corners of the garment, specifically the held upper corner and the free lower corner located at the lowest point of the hanging garment. The approximate size of the garment can be derived from its length. Accordingly, it can be determined how far along the inclined path to which the holding device is assigned the suction cup of the holding device can be moved without the risk of the textile object being detached from the suction cup.

[0030] The imaging device can also be used to observe how the length of the hanging edge of the textile object, extending from the held upper corner, changes when the object is reoriented away from the holding device, namely the suction cup and its gripper. If necessary, the reorientation of the textile object can be stopped when the imaging device determines that the hanging edge extending from the held upper corner of the textile object has reached a sufficient length.

[0031] A preferred embodiment of the invention is explained in more detail below with reference to the drawing. This shows: Fig. 1 a schematic view of a device with upstream and downstream components, Fig. 2 a perspective view of only the device for automatically gripping rectangular textile objects in a starting position, Fig. 3 a view analogous to Fig. 2 In an intermediate position of the device, where a suction cup is moved towards a textile object, Fig. 4 shows a view analogous to the Fig. 2 and 3 In a further intermediate position of the device, in which the textile object is gripped by a gripper, Fig. 5 shows a representation of the device analogous to the Fig. 2 bis 4 in a takeover position, Fig. 6 a top view of the device of the Fig. 2 , Fig. 7 a top view of the device of the Fig. 3 , Fig. 8 a top view of the device of the Fig. 4 with the clamp still open, and Fig. 9 a top view of the device according to the Fig. 5 .

[0032] The device shown in the figures and the method that can be carried out with it serve to automatically grasp rectangular textile objects and preferably also to automatically feed such textile objects to a treatment device.

[0033] In the following description, it is assumed that the textile items are washed and / or yet-to-be-washed rectangular pieces of laundry 10. Preferably, these items are so-called flat linen items, such as tablecloths, napkins, bed sheets, duvet covers, and / or pillowcases. The rectangular pieces of laundry 10 typically have edges of unequal length, with two parallel edges being longer than two parallel edges running perpendicular to them. However, the pieces of laundry 10 can also be square with four edges of equal length. In the figures, the vertical edges are the longer edges. They are referred to as longitudinal edges 11, while the horizontal edges are the shorter edges, referred to as transverse edges 12.

[0034] Fig. 1Figure 13 schematically shows an automatically operating singulator 13. The singulator 13 automatically and selectively picks up preferably a single item of laundry 10 from a pile of laundry 14. The targeted automatic picking of ideally a single item of laundry 10 takes place – supported by at least one camera 15 or other imaging device – near the pile of laundry 14. An image evaluation device controls a gripper 16 of the automatic singulator 13, which moves up and down along a vertical path, based on the at least one image from the camera 15. The gripper 16 transfers the picked item of laundry 10, preferably a single item, to a subsequent dispensing device 17 of the singulator 13.

[0035] The supply device 17 optionally performs a final singulation of several laundry items 10 simultaneously gripped by the gripper 16 and holds the singulated (now single) laundry item 10 ready to pick up a first corner 18. This pick-up is effected by a clamp 19 of the device of the invention, which follows the transport direction 20, namely the laundry flow direction and / or feed direction. The clamp 19 can alternatively also grip a corner region of the corner 18. Even though only the corner 18 is mentioned in the description, this is also intended to include a corner region around the corner 18.

[0036] In the transport direction 20, a conveyor 21 follows the device, transporting the laundry items 10 further. In the illustrated embodiment, the conveyor 21 is formed from a conveyor cascade 22. The conveyor cascade 22 consists of several pairs of belt conveyors 23 arranged one above the other in a sandwich-like fashion in the transport direction 20. Between these superimposed belt conveyors 23, namely their mutually directed sections, the laundry items 10 can be transported along the conveyor cascade 22 in the transport direction 20 to a subsequent input machine 24. The initial pair of superimposed belt conveyors 23 of the conveyor cascade 22 are of different lengths. The lower belt conveyor 23 is longer than the upper belt conveyor 23 above it.This creates an exposed drop-off area 25 at the beginning of the conveyor cascade 22 on the initial upper run of the lower belt conveyor 23, for each item of laundry 10. Depending on its orientation, the respective item of laundry 10 is either pulled onto the drop-off area 25 in the transport direction 20 or pulled across it transversely, after which the respective item of laundry 10 rests on the drop-off area 25 at the beginning of the conveyor cascade 22 in an inverted U-shaped configuration. This U-shaped configuration of the item of laundry 10 placed on the drop-off area 25 results from the fact that the belt conveyors 23 are relatively narrow, namely having a width that, depending on the size of the item of laundry 10, corresponds to one to five-tenths of its width.This causes opposing outer edge regions of the laundry item 10 to hang down from opposite sides of the belt conveyor 23 in the area of ​​the drop-off area 25, ideally, but not necessarily, forming legs of the U-shaped laundry item 10 of equal length. A central, preferably middle, area of ​​the laundry item 10, located between the legs or outer edge regions and connecting the opposing legs like a rib, rests on the drop-off area 25.

[0037] In the transport direction 20, successive upper and lower belt conveyors 23 of the conveyor cascade 22 are driven with different transport speeds that increase equally in the transport direction 20, so that when the respective piece of laundry 10 passes through the conveyor cascade 22, i.e., when the piece of laundry 10 is transported further along the conveyor 21 in the transport direction 20, the piece of laundry 10 is stripped in the transport direction 20, so that at the end of the conveyor 21, i.e., the last belt conveyor 23 of the conveyor cascade 22, the respective piece of laundry 10 lies at least mostly stretched out in an inverted U-shape over the last lower belt conveyor 23 of the conveyor cascade 22.

[0038] An alternative embodiment of the conveyor 21 is also conceivable, in which it is not formed from a conveyor cascade 22 and / or no belt conveyors 23 are arranged one above the other in a sandwich-like manner. In the simplest case, the conveyor 21 then consists of a single continuous conveyor on which the respective piece of laundry 10 is placed or pulled, preferably also in an inverted U-shaped configuration. Optionally, several shorter lower belt conveyors can follow one another. These can also have different transport speeds, preferably those that increase in the direction of transport 20.

[0039] In the transport direction 20, the input machine 24 follows the conveyor 21. The input machine 24 shown has a loading station which, in the illustrated embodiment, has a loading conveyor 27 that extends the conveyor cascade 22 of the conveyor 21 in the transport direction 20 and also has two superimposed, sandwich-like belt conveyors 28. The belt conveyors 28 have a width corresponding to that of the belt conveyors 23 and are therefore also relatively narrow.

[0040] In input machines 24 with multiple loading stations, for example with loading conveyors 27, at least one device according to the invention and / or a subsequent conveyor 21 is assigned to each loading station. In an input machine 24 with three adjacent, preferably identical loading stations, three devices and three conveyors 21 are provided upstream of the input machine 24, so that each device and each conveyor serves to feed, i.e., supply, laundry items 10 to a loading station of the input machine 24.

[0041] Alternatively, it is also conceivable to transfer the textile object directly from the device to a treatment unit, for example the input machine 24, preferably a loading conveyor 27 of the same.

[0042] The device has a wall 29 that is vertical in the illustrated embodiment. Optionally, the wall 29 can also be vertical with a slight inclination of its front face 30. The rectangular wall 29 is preferably fixed in place between the supply unit 17 of the singulator 13 and the conveyor 21. Optionally, the wall 29 can also be movable. The vertical wall 29 has a rectangular base with vertical, longer longitudinal edges 31 and shorter, horizontal transverse edges 32. The base area of ​​the front face 30 of the wall 29 is dimensioned such that the largest laundry items 10 to be processed can hang in front of it.

[0043] Wall 29 is connected to a vertical, straight rail 33 running parallel to the left longitudinal edge 31 (with respect to the figures) at a short distance from it, and to an inclined, straight rail 34. In the embodiment shown here, the rails 33 and 34 are recessed into the wall 29, but are open or exposed towards the front 30 of the wall 29. However, it is also conceivable to attach the rails 33 and 34 to the front 30 of the wall 29. The inclined rail 34 has a lower end located next to the vertical rail 33 and a higher, opposite end. The lower end of the inclined straight rail 34 is located approximately halfway up the vertical rail 33, preferably slightly below it. The higher, opposite end of the inclined rail 34 is located in an upper right corner region of the front 30 of the wall 29.This is the side of wall 29 that is opposite the vertical rail 33.

[0044] The aforementioned clamp 19 is mounted on a clamp carriage 36 and can be moved up and down on the vertical rail 33. The clamp 19 is attached to the clamp carriage 36 perpendicular to the inclined rail 34, such that the clamp jaw of the clamp 19 can be moved up and down with a small distance in front of the front face 30 of the wall 29.

[0045] A holding device 37 is movable in opposite directions along the inclined rail 34. The holding device 37 has two independently operating holding elements for the laundry item 10: a pneumatically operated suction cup 38 and a mechanical gripper 39. The suction cup 38 and the gripper 39 are both attached to a carriage 40 that moves along the rail 34. This attachment is such that the suction direction of the suction cup 38 and the jaws of the gripper 39 run parallel to the wall 29, a short distance in front of the front face 30 of the wall 29. Both the suction cup 38 and the gripper 39 are oriented parallel to each other such that the suction direction of the suction cup 38 and the jaws of the gripper 39 run parallel to the transverse edges 32 of the wall 29 and its front face 30, respectively.It is conceivable to attach the suction cup 38 and / or the gripper 39 to a common support plate 41, which is freely and / or selectively rotatable about a rotation axis perpendicular to the plane of the front 30 of the wall 29 in order to adapt to the orientation of the area of ​​the laundry item 10 to be grasped by the suction cup 38 and gripper 39, in particular closely adjacent areas 42 and 43 of the laundry item.

[0046] The device is associated with at least one imaging device. This arrangement is such that the imaging device is directed towards the front 30 of the wall 29 in order to provide an image of at least one part of the laundry item 10 hanging in front of the wall 29 that provides the desired information. Preferably, the at least one imaging device serves to capture the entire laundry item 10 or at least a large part of it in front of the wall 29 and to generate at least one image of it. The imaging device is preferably a camera 44. The camera 44 can be configured as a black-and-white camera or as a color camera that generates two- or three-dimensional images.

[0047] It is also conceivable to provide at least one further imaging device, which may also be designed as a camera, at at least one other location in front of or next to wall 29. Such an imaging device can additionally capture at least one image from a different perspective of the laundry item 10 hanging in front of wall 29 or desired details thereof.

[0048] The device also has a clamp 45, or such a clamp 45 is associated with the device. This clamp 45 is designed to grasp a section of the edge hanging freely below the clamp 19, which can be a longitudinal edge 11 or a transverse edge 12. In the illustrated embodiment, the clamp 45 grasps a section 46 of the left longitudinal edge 11 of the garment 10, which hangs freely below the clamp 19. This section 46 lies between two end sections 47 and 48 extending from adjacent corners of the freely hanging longitudinal edge 11.

[0049] In order for the clamp 45 to grasp the inner or approximately central section 46 of the edge of the garment 10 hanging freely from the clamp 19, it is designed in the illustrated device as a double clamp with two spaced-apart individual clamps 49. The distance between the individual clamps 49 corresponds to the length of the section 46 of the vertically hanging edge of the garment 10 to be grasped by the clamp 45. Alternatively, it is also conceivable to design the clamp 45 as an elongated clamp whose jaws are long enough to extend over the entire section 46 of the vertically hanging edge to be grasped, here the longitudinal edge 11, of the garment 10.

[0050] The clamp 45 is arranged at the end of an arm of a handling device. The handling device is designed such that the clamp 46, in particular its arm, is movable in at least three axes in three-dimensional space. Furthermore, the clamp 45 may be arranged at the end of the arm of the handling device so that it can be rotated and / or pivoted. The handling device transfers the respective item of laundry 10 from the point where it is gripped by the clamp 45 in front of the wall 29 to the discharge area 25 of the conveyor 21 in front of the input machine 24.

[0051] In the illustrated embodiment, the handling device is designed as a robot 50. Alternatively, the handling device can also be designed in a crane-like manner.

[0052] The movements of the handling device, in particular the robot 50, are controlled based on image data acquired by the at least one imaging device, in particular camera 44. The movements of the suction cup 38 and / or the gripper 39 can also be controlled based on image data supplied by the camera 44 or another imaging device. This also applies to the timing of the gripper 39 grasping the laundry item 10 and the deactivation of the suction cup 38 and / or the movement of the holding element 37 along the inclined rail 34.

[0053] A preferred embodiment of the method with the previously described device, the singulator 13, the conveyor 21, and the input machine 24 is described below. It is assumed here that the laundry item 10 is such that it has transverse edges 12 that are shorter than its longitudinal edges 11, that the laundry item 10 is drawn onto the placement area 25 of the conveyor 21 with its transverse edge 12 running transversely to the transport direction 20, and that the laundry item 10 hangs down from the clamp 19 with its (longer) longitudinal edge 11.

[0054] A laundry item 10, separated by the singulator 13, is held by the supply device 17 of the singulator 13 ready for transfer by the clamp 19 of the device, or the laundry item 10 is transferred from the supply device 17 to the clamp 19. The transfer of the laundry item 10 to the clamp 19 occurs such that the clamp 19 of the device holds the laundry item in a corner area, in particular a first corner 18. During the transfer of the laundry item 10 to the device, the clamp 19 can assume a position on the straight vertical rail 33 that permits or facilitates the transfer of the corner 18 of the laundry item 10 from the clamp 19.If necessary, after taking hold of the first corner 18 of the garment 10, the clamp 19 is raised along the vertical straight rail 34 until the garment 10 hangs freely from the first corner 18 held in the clamp 19. Preferably, the first clamp 19 is raised to the upper end of the vertical rail 33 to take hold of the garment 10. For relatively small garments 10, it is advantageous to advance the clamp along the rail 33 only far enough so that the lower free end of the inclined rail 34 is located in the center of the garment 10, preferably at about half the length of the longitudinal edge 11 of the garment 10 hanging from the clamp 19.

[0055] After the garment 10 is grasped by the clamp 19 and hangs freely below it, it still has wrinkles. The longitudinal edge 11 does not yet form under the clamp 19, or not sufficiently. To remedy this, the garment 10, held by its first corner 18 in the clamp 19 and hanging from it, is reoriented. This reorientation is carried out by the holding element 37, which is movable on the inclined rail 34, initially with the suction cup 38 and subsequently with the gripper 39.

[0056] As long as the garment 10 hangs freely from the clip 19, a fold forms on the longitudinal edge 11 opposite the longitudinal edge 11 extending from the clip 19, or the outer longitudinal edge 11 pointing away from the clip 19 is folded over. This results in the garment 10 being double-layered in this area. This double layering makes it considerably more difficult, and in most cases impossible, to reorient the garment 10 so that the longitudinal edge 11 extending from the clip 19 can be freely formed. Therefore, the holding device 37 has a suction cup 38 in addition to the gripper 39.

[0057] To prepare for the reorientation of the laundry item 10, the holding device 37 is moved diagonally downwards along the inclined rail 34 until the suction cup 38 has moved close to the laundry item 10. The suction cup 38 then grips the laundry item 10 at a point 42. This point 42 can be any point 42. In particular, the point 42 does not need to be located at a corner of the laundry item 10. The suction cup 38 only generates such a vacuum, or is designed accordingly, that it only suctions and fixes one layer 51 of the laundry item 30, but not the adjacent second or any further layers in the area of ​​a fold or the like of the laundry item 10.

[0058] By subsequently moving the holding means 37 with the suction cup 38 and the gripper 39 in the opposite direction, i.e., obliquely upwards along the inclined rail 34, the single or preferably outer layer 51 of the garment 10, held by the suction cup 38 by negative pressure, is moved along with it, thereby performing a first reorientation of the garment 10, in particular at least one crease of the garment 10 being at least partially removed. Then, a layer 51 of the garment 10 is grasped by the gripper 39, and subsequently the suction cup 38 is deactivated, i.e., its suction air supply is shut off. The garment 10 is now held only by clamping by the gripper 39 at the point 42 previously suctioned by the suction cup 38, preferably at an adjacent point 43.Since the clamping force of the gripper 39 is greater than the suction force of the suction cup 38, the garment 10 is further reoriented and preferably pulled apart by moving the holding means 37 with the gripper 39 obliquely upwards along the inclined rail 34 until the longitudinal edge 11 of the garment 10 forms under the clamp 19 holding the first corner 18 of the garment 10 such that it hangs down from the clamp 19 at least mostly, preferably completely, perpendicularly and parallel to or in front of the vertical rail 33. This path is ideally straight, but will have a slightly serpentine shape, especially for garments 10 made of stiff fabric. In the middle, the longitudinal edge 11 runs straight from the clamp 19, perpendicular and parallel to the longitudinal edge 31 of the wall 29.

[0059] The points 42 and 43, where first the suction cup 38 and then the gripper 39 of the holding device 37 grasp the garment 10, are located some distance from the first corner 18. It is preferably provided that the holding device 37, and thus the suction cup 38 and the gripper 39, grasp the garment 10 at points 42 and 43, respectively, near a second corner 52, which is an adjacent second corner 52 of the upper transverse edge 12 of the garment 10 opposite the first corner 18. However, it is not necessary that the points 42 and 43, where first the suction cup 38 and then the gripper 39 fix the garment 10 for reorientation, are located precisely at the second corner 52. Rather, it is sufficient if the suction cup 38 and the gripper 39 grasp the piece of laundry 10 near the second corner 52 in order to be able to reorient it in the manner described above.

[0060] The camera 44, directed at the laundry item 10 in front of the wall 29, provides images that can be used to control the movement of the clamp 19 and the holding element 37. Alternatively or additionally, the images or image data from the camera 44 can also be used to control the opening and closing of the clamp 19 and / or the suction cup 38 and the gripper 39 of the holding element 37. In particular, this allows control over when the gripper 39 grasps point 43 of the laundry item 10 and when the suction cup 38 releases the point 42 of the laundry item 10 it has gripped.

[0061] It is conceivable to control the suction cup 38 and the gripper 39 of the holding device 37 using image data recorded by a separate camera near the holding device 37 or even in the carriage 40 of the holding device 37.

[0062] The images of the garment 10, in particular the image data, captured by the camera 44 directed at the garment 10 and the wall 29, are preferably also used to determine whether the edge of the garment 10 hanging down from the clamp 19 is a longitudinal edge 11 (as assumed in the preceding and following description) or a transverse edge 12. It is not necessary to determine the exact lengths of the longitudinal edge 11 and the transverse edge 12. A qualitative measurement is sufficient to distinguish between the longitudinal edge 11 and the transverse edge 12, or to determine whether both edges are the same length in the case of square garments 10.It is conceivable to provide the front 30 of the wall 29 with a grid, in particular a checkerboard-like grid, which allows the length dimensions of the longitudinal edge 11 and the transverse edge 12 to be determined and, if necessary, also allows the size of the respective piece of laundry 10 to be calculated.

[0063] The robot 50, or a comparable handling device for moving the clip 45, is controlled, at least to grasp the inner, preferably central, section 46 of the longitudinal edge 11 hanging down from the clip 19, by means of the images and / or image data captured by the camera 44. The opening and closing of the clip 45 can also be controlled. The robot 50 and the clip 45 are controlled by the images or image data captured by the camera 44. The robot 50 then moves the clip 45 toward the inner or central section 46 of the vertically hanging longitudinal edge 11 of the garment 10. After the clip 45, in particular its spaced-apart individual clips 49, has subsequently grasped the section 46, the first corner 18 is released by opening the clip 19, and preferably the opposite second corner 52 is also released by the gripper 39 of the holding device 37.The laundry item 10 then hangs down from the clamp 45, which is designed as a double clamp or a wide clamp, with the central section 46 of the longitudinal edge 11 stretched between the single clamps 49 of the clamp 45 or a wide clamp.

[0064] The clamp 45 with the attached piece of laundry 10 is then transferred by the robot 50 or other handling device to the conveyor 21 in front of the input machine 24.

[0065] Because in the illustrated embodiment the clamp 45 holds a central, in particular middle, section 46 of the longitudinal edge 11 of the laundry item 10, when the laundry item 10 is fed in with its transverse edge 12 running perpendicular to the transport direction 20, the robot 50 pulls the laundry item 10 transversely to the transport direction 20 over the discharge area 25 of the conveyor 21, specifically onto the exposed upper run of the lower front belt conveyor 28. For this purpose, the clamp 45 is designed to be so wide that the section 46 it holds is slightly larger than the width of the belt conveyor 28 in the discharge area 25.

[0066] If the clamp 45 has grasped an inner section of a transverse edge 12 of the laundry item 10, the robot 50 would move the clamp 45 so that the laundry item 10 is pulled onto the discharge area 25 of the conveyor 21 in the transport direction 20, with the clamp 45 moving centrally in the transport direction 20 over the discharge area 25 with the section 46 of the transverse edge 12 of the laundry item 10 it holds.

[0067] The procedure described above is reversed if the laundry item 10 is to be fed into the input machine 24 with its longitudinal edge 11 running transversely to the transport direction 20. In this case, the laundry item 10 is pulled onto the discharge area 25 in the transport direction 20 at the longitudinal edge 11 gripped by the clamp 45, and the laundry item 10 is pulled across the discharge area 25 transversely to the transport direction 20 at the transverse edge 12 gripped by the clamp 45.

[0068] Due to the previously described lifting and pulling of the laundry item 10 onto or over the discharge area 25 of the conveyor 21, the laundry item 10 hangs in an inverted U-shaped configuration in the discharge area 25 above the front, lower belt conveyor 28 because of the relatively narrow belt conveyors 28 that form the conveyor 21. In this configuration, at least the inner, preferably central, section 46 of the laundry item 10, originally held by the clamp 19, extends over the discharge area 25 of the loading conveyor 27, while the outer edge sections of the laundry item 10, adjoining section 46 on both sides, hang down from the discharge area 25 of the conveyor 21 on both sides.

[0069] After the respective piece of laundry 10 has been placed on the discharge area 25 of the conveyor 21 in the manner described above, the piece of laundry 10 is transported by the conveyor 21, in particular by its belt conveyors 28, in the transport direction 20 to the input machine 24 and preferably stretched out in the transport direction 20, so that the piece of laundry 10, which is at least wrinkle-free or at least almost wrinkle-free when viewed in the transport direction 20, can be transferred from the conveyor 21 to the respective loading conveyor 27 of the input machine 24, in the now stretched out, but still inverted U-shaped configuration.

[0070] Alternatively, it is conceivable to transfer the laundry item 10 or another textile object directly from the clamp 19 to a processing machine, for example to the input machine 24. This can be done by using the clamp 19 to pull the respective textile object onto a loading conveyor 27 of the input machine 24. Reference symbol list:

[0071] 10 Item of laundry 44 Camera 11 Longitudinal edge 45 Staple 12 Transverse edge 46 Section 13 Singulator 47 End section 14 Pile of laundry 48 End section 15 Camera 49 Single staple 16 Gripper 50 Robot 17 Preparing device 51 Position 18 First corner 52 Second corner 19 Staple 20 Transport direction 21 Conveyor 22 Conveyor cascade 23 Belt conveyor 24 Input machine 25 Drop-off area 27 Loading conveyor 28 Belt conveyor 29 Wall 30 Front 31 Longitudinal edge 32 Transverse edge 33 Rail 34 Rail 36 Staple carriage 37 Holding device 38 Suction cup 39 Gripper 40 Carriage 41 Support plate 42 Position 43 Position

Claims

1. Method for gripping a rectangular textile object, wherein the singularized textile object is gripped at a corner (18), the textile object being freely suspended from this corner (18) while forming regions in which the textile object overlaps in double layers, and the textile object is re-oriented by a holding means (37) so as form at least part of a free periphery of the textile object that emanates from the held corner (18), characterized in that the textile object is acquired pneumatically and / or by suction by a holding means (37) at a location (42) spaced apart from the held corner (18), the textile object is initially pulled apart by the holding means (37) while entraining the location (42) acquired pneumatically and / or by suction, thereafter the textile object is gripped in a clamping manner by the holding means (37) at or close to the location (42) acquired pneumatically, thereafter the textile object is furthermore pulled apart by furthermore displacing the holding means (37) while maintaining the clamping hold, until at least part of a periphery of the textile object is formed below the held corner (18), and in that a portion (46) of the periphery of the textile object formed below the corner (18) is gripped by a clamp (45), and / or the textile object is pulled by this clamp (45) onto or over a conveyor (21) or a loading conveyor (27) which transports the textile object to a downstream washing treatment machine, in particular a feeding machine (24).

2. Method according to Claim 1, characterized in that the location (42) which is initially suctioned pneumatically by the holding means (37) using a vacuum by a pneumatic suction unit (38) of the holding means (37), and is subsequently preferably acquired mechanically and / or in a clamping manner by the holding means (37) by way of a gripper (39) of the holding means (37).

3. Method according to Claim 2, characterized in that the suction force of the suction unit (38) of the holding means (37) is selected in such a way that in the region in which the textile object is suspended from the corner (18) so as to overlap in a plurality of layers, in particular in the region of a double-layer fold, only one layer (51) facing the suction unit (38) of the textile object is suctioned and pneumatically held.

4. Method according to Claim 2 or 3, characterized in that the textile object is acquired by the suction unit (38) of the holding means (37) below or slightly diagonally below the textile object suspended from the corner (18) and / or the textile object is pulled apart by lateral displacement, preferably on an obliquely ascending track, while entraining the location (42) held by the suction unit (38) in such a way that the pneumatically fixed layer (51) of the textile object is exposed at the pneumatically held location (42) and preferably in a region surrounding the latter in that said pneumatically fixed layer is not overlapped by an adjacent layer.

5. Method according to one of Claims 2 to 4, characterized in that upon pulling apart the textile object, the textile object is mechanically gripped by the gripper (39) of the holding means (37) at the location (42) held by the suction unit (38) of the holding means (37), or at an adjacent location (43), and preferably thereafter the suction unit (38) is released from the textile object, and / or the holding means (37) upon gripping the textile object is furthermore displaced by the gripper (39) until at least part of the periphery of the textile object suspended from the corner (18) has been formed.

6. Method according to one of the preceding claims, characterized in that a portion (46) of the periphery of the textile object formed below the corner (18) is gripped by a double clamp or a clamp having a width corresponding to the length of the portion (46).

7. Method for gripping a rectangular textile object, which is suspended from a clamp (19) holding a corner (18), according to Claim 1, characterized in that the textile object in its state suspended from a wall (29) is re-oriented from its held corner (18) by the holding means (37) acquiring the at least one location (42), (43) of the textile object, and by displacing the latter for forming at least part of the periphery, emanating from the corner (18), of the textile object suspended from the wall (29), and gripping the portion (46) of the periphery of the textile object suspended from the wall (29).

8. Method according to Claim 7, characterized in that the textile object is re-oriented in front of the upright or vertical wall (29), the wall (29) when reorienting the textile object preferably being stationary, and / or the wall (29) having a colour which is in particular rich in contrast and deviates from the colour and / or the pattern of the textile object.

Images