EP0347323A1 - Method and apparatus for automatically gripping two adjacent corners of a flat cloth - Google Patents

Method and apparatus for automatically gripping two adjacent corners of a flat cloth Download PDF

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Publication number
EP0347323A1
EP0347323A1 EP89401680A EP89401680A EP0347323A1 EP 0347323 A1 EP0347323 A1 EP 0347323A1 EP 89401680 A EP89401680 A EP 89401680A EP 89401680 A EP89401680 A EP 89401680A EP 0347323 A1 EP0347323 A1 EP 0347323A1
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EP
European Patent Office
Prior art keywords
gripping
flat linen
corner
flat
linen
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Granted
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EP89401680A
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German (de)
French (fr)
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EP0347323B1 (en
Inventor
François Robin
François Rabany
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Individual
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Individual
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Priority to AT89401680T priority Critical patent/ATE79914T1/en
Publication of EP0347323A1 publication Critical patent/EP0347323A1/en
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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F95/00—Laundry systems or arrangements of apparatus or machines; Mobile laundries 

Definitions

  • the present invention relates to a method and an automated machine for gripping two adjacent corners of a flat cloth.
  • a machine is particularly suitable for the work of a laundry after the washing phase and before the finishing phase of the flat linen, phase for which it is necessary to present the flat linen gripped by its corners.
  • the finishing phase consists in engaging the washed and wrung flat linen stretched between two of its adjacent corners in a calendering machine which then drives it to dry it, iron it, and fold it automatically.
  • the present invention overcomes the aforementioned drawbacks. Indeed, the presented method allows to capture two adjacent corners of a flat linen by seizing it successively only in three places, including any area. It also avoids taking the corner of the flat linen diagonally opposite the first corner and stretching the flat linen between these two corners, thereby reducing the size of the machine. Finally, the method presented makes it possible to bring the corners to be grasped always in the same places, which facilitates their gripping.
  • any zone of said flat linen is grasped in a known manner by a gripping means, said zone having a reduced surface around a point, the flat linen seized by said gripping means by letting it hang under the effect of gravity, the lowest point of said flat linen is identified and said lowest point, which constitutes the first corner of the flat linen, is located using a grip.
  • the first corner of said flat linen is grasped, in known manner, by gripping means, the flat linen seized is suspended from said gripping means, leaving it to hang under the effect of gravity, and we grasp an area of said flat linen at a fixed distance from said first corner greater than the half-diagonal of the flat linen.
  • the flat linen in the second step, is disentangled using a means, which shakes it from the gripping means and seizure by which he is suspended; after the second step, to separate an apparent low point of the flat linen from the rest of the said flat linen, the said flat linen is positioned above a separation means, the any gripping zone and the first corner of the said flat linen being located on either side of said separation means, and a relative rise of the separation means relative to the flat linen is ensured between the two apparent low points of said flat linen; the any input zone of said flat linen and the first corner of the flat linen are brought closer, until bringing the apparent low point which, on a small side of the flat linen, is adjacent to the first corner, on a chosen vertical; for gripping a corner consisting of an apparent low point of the flat linen gripped by one or more gripping means, the flat linen is brought to the right of a centering means; moving the gripping means or means away from said centering means, the flat linen being
  • the invention also relates to a machine for implementing the above-mentioned method.
  • said machine comprises a gripping means for gripping a laundry in any zone. flat, means for raising said flat linen after gripping it, a detector for signaling the passage from the lowest point of said flat linen to a predetermined level and gripping means for grasping the corner of the flat linen formed by said lowest point , means for moving the gripping and gripping means relative to each other and means for gripping a second corner of said flat linen adjacent to said first corner.
  • said machine comprises a gripping means for grasping in a known manner a flat linen at one of its corners, a means for hanging said flat linen gripped by said gripping means, a gripping means for gripping an area of said linen flat at a fixed distance from said first corner, means for moving relative to each other the gripping and gripping means and means for gripping a second corner of said flat linen adjacent to said first corner.
  • the machine comprises a means for shaking the flat linen, said means acting on the means for gripping and gripping the arbitrary area and the corner by which said flat linen is suspended, a guide for separating the two apparent low points of the suspended flat linen, a displacement means for positioning the flat linen suspended above said guide, said guide being substantially parallel to the movement of the gripping and gripping means; for at least one of the stations where a corner is grasped, it comprises a centering means and a displacement means forcing the flat linen to move in line with said centering means and at least one detector for signaling the presence of the flat linen to the right of said detector, a suction ramp and an air blowing nozzle, the relative position of the ramp and the nozzle being modifiable to bring the ramp opposite the nozzle when the corner is grasping has been detected, a detector for detecting the presence of the wedge on the suction ramp and means for bringing said suction ramp in line with said detector; it also includes conveyor rails, conveyor clamps comprising a gripping means, each
  • the machine comprises a suction cup (4) in which a depression is created for gripping by suction a flat cloth in a carriage (1) which contains several flat cloths. Then, an arm (3) integral with the suction cup (4) and moving in a vertical translation relative to a stationary frame (2) raises the flat linen thus seized up to a fixed height greater than the length of the diagonal of the flat linen.
  • a rail (6) horizontal and straight over a distance greater than the length of the diagonal of a flat linen from the frame (2).
  • Two identical longitudinal plates (7) and (8) having a common edge parallel to their axes, their outer edges forming a notch at one of their ends relative to the common inner edge, and whose section in a vertical plane perpendicular to their axis form a "V" are arranged parallel to the rail (6), at a height slightly lower than this rail (6), the notches being turned towards the suction cup, so that the suction cup is in the same vertical plane as their common edge, at a distance from the vertical ascent of the suction cup such that the suction cup can rise in the notch of the two plates without hanging them.
  • the two plates can pivot simultaneously around the outer edge of the plate (8) which is closest to the rail (6).
  • a detector (9) is placed vertically above the notch, slightly below it to detect the presence of the flat linen.
  • a horizontal suction ramp (10) is placed in the vertical plane formed by the vertical passing through the notch and the common edge of the two plates, between the detector and the notch; a blowing nozzle (11) is placed in the horizontal plane of the ramp (10), this nozzle being articulated on a pivot integral with the ramp (10), so that in the open position, the nozzle (11) makes a 90 ° angel with the ramp and in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch.
  • a clamp (5) circulating on the rail (6) grips the flat laundry below the suction cup and the vacuum inside the suction cup (4) is removed.
  • the clamp (5) moves away from the suction cup on the rail (6), the flat linen lying on the plates (7) and (8); the passage from the bottom point of the flat linen, which constitutes a corner, is detected using the detector.
  • the nozzle moves to the open position, the two plates (7) and (8) pivot down, thereby releasing the flat linen carried by the clamps (5) and (12) on their respective rail (6) and (13) .
  • the rail (13) is subjected to a torsion of 180 ° relative to its axis.
  • the rail (13) becomes parallel to the rail (6) on a portion (28) of the order of one meter.
  • the two rail portions (29) and (26) come together at a distance of a few tens of centimeters and the rails (6) and (13) become parallel again on their portions (30) and (27).
  • a separation guide (14) symmetrical with respect to a vertical plane perpendicular to the direction of movement of the flat linen; the distance from this plane to the rail (6) being of the order of fifty centimeters.
  • This guide is formed of two symmetrical left plates and joined in their upper edges located in the vertical plane of symmetry; at the start of the guide, the upper edge of the two plates and located at a vertical distance from the rail (6) greater than a small side of flat laundry to approach the rail (6) vertically while remaining below, the lower edge merging at the start of the guide with the upper edge then moving away from the vertical plane of symmetry while remaining horizontal, following a concave curve, and the first part of the guide describing a concave surface between the two edges.
  • the second part of the guide is located between the portions (29) and (26) of the rails (6) and (13), the upper edge of the plates remaining horizontal in the vertical plane of symmetry, the lower edge remaining in one plane.
  • the plates ((17), (18)) are placed parallel to the rails (6) and (13) on either side of the rail (6) so that the outer edge of the plate (17), located between the of them rails (6) and (13), or in the extension of the upper edge of the guide (14), the notch of the two plates ((17), (18)) being on the side of the guide. These two plates ((17), (18)) can pivot around the outer edge of the plate (17).
  • a detector (19) is placed on a support (20) vertical to the notch of the plates ((15), (16)), slightly below the latter to detect the presence of the flat linen.
  • a suction ramp (21) is placed, integral with the support (20), horizontal in the vertical plane formed by the vertical passing through the notch of the plates ((15), (16)) and the common edge of the two plates (( 15), (16)), between the detector (19) and the notch; a blowing nozzle (22) is placed in the horizontal plane of the ramp (21), this nozzle being articulated on a pivot integral with the ramp (21), so that in the open position, the nozzle (22) makes a 90 ° angle with the ramp (21) and that in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch.
  • the support (20) can move on a rail (23) fixed to the ground perpendicular to the axes of the plates ((15), (16)), so that the detector (19) is located, after a chosen translation, vertical to the notch of the plates ((17), (18)).
  • a horizontal rail (25) is placed slightly below the ramp (21), perpendicular to the axes of the plates ((15), (16)) and ((17), (18)).
  • the two clamps (5) and (12) are advanced on their respective rails, the clamp (12) undergoes a 180 ° reversal which positions it under the rail (13) then the two clamps being separated by about a half diagonal of flat linen, this forms two apparent low points that the guide (14) separates.
  • the clamps (5) and (12) then advance, leaving the flat laundry to drag on the plates ((15), (16)) and ((17), (18)); depending on whether you want to grasp the long side or the short side of the flat linen, by moving the support (20), you will place the detector (19), the ramp (21) and the nozzle (22) respectively below the plates ((15), (16)) or below the plates ((17), (18)).
  • the detector (19) then detects the passage from the low point that we want to capture and we stop both simultaneously pliers; the nozzle (22) is brought opposite the ramp (21), thus grasping the corner of the hanging sheet.
  • the clamp (5) then releases the flat linen and the two clamps (12) and (24) entrain the flat linen on their respective rails, the two corners are then ready to be engaged.
  • FIG. 2 represents several flat cloths at different stages of the general treatment.
  • the flat linen (31) is located at the station where it is grasped at any point by means of a suction cup.
  • the flat linen (33) illustrates the appearance of two low points when the clamps (5) and (12) are in the separated position on their respective rails.
  • the flat linen (34) passes over the guide (14), which separates the two visible low points of the flat linen.
  • the flat linen (35) represents the gripping of the corner of the flat linen adjacent to the first corner gripped by the clamp (12) on the short side of the flat linen, the ramp (21) and the nozzle (22) being in the closed position.
  • the flat linen (36) is taken to the feeder, gripped by two of its adjacent corners.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Looms (AREA)
  • Making Paper Articles (AREA)
  • De-Stacking Of Articles (AREA)
  • Sewing Machines And Sewing (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

The invention relates to a method for automatically gripping two adjacent corners of a flat rectangular cloth and an apparatus for carrying out the method. Any zone of the flat cloth and a first corner are grasped (at 5). Subsequently, the first corner is subjected to a relative movement in relation to the grasping zone in such a way that at least one of the two corners adjacent to the first forms a low point. Finally, the corner which is at the low point is grasped (at 12) and then the grasping zone is released.

Description

La présente invention se rapporte à un procédé et à une machine de préhension automatisée de deux coins adjacents d'un linge plat. Une telle machine convient notamment au travail d'une blanchisserie après la phase de lavage et avant la phase de finition du linge plat, phase pour laquelle il est nécessaire de présenter le linge plat saisi par ses coins. En effet, la phase de finition consiste à engager le linge plat lavé et essoré tendu entre deux de ses coins adjacents dans une calandreuse qui l'entraine alors pour le sécher, le repasser, et le plier automatiquement.The present invention relates to a method and an automated machine for gripping two adjacent corners of a flat cloth. Such a machine is particularly suitable for the work of a laundry after the washing phase and before the finishing phase of the flat linen, phase for which it is necessary to present the flat linen gripped by its corners. Indeed, the finishing phase consists in engaging the washed and wrung flat linen stretched between two of its adjacent corners in a calendering machine which then drives it to dry it, iron it, and fold it automatically.

En pratique, la recherche des coins d'un linge plat nécessite une intervention manuelle, ce qui est très onéreux en moyens humains et, par conséquent, alourdit les charges fixes des blanchisseries. Un système de préhension automatisée de linges plat a déjà été décrit dans le brevet français N° 76 38113. Le système proposé dans ce brevet nécessite la saisie du linge plat successivement en quatre points dont un premier point quelconque du linge plat, un premier coin du linge plat, qui constitue le point le plus bas du linge plat suspendu au premier point quelconque, le coin du linge plat diagonalement opposé à ce premier coin, et un deuxième coin du linge plat, adjacent au premier. D'autre part, le fait que l'on tende le linge plat entre le premier coin et le coin diagonalement opposé conduit à une machine d'un encombrement important, puisque l'on tend ainsi le linge plat suivant sa diagonale, qui est la plus grande distance entre deux points d'un linge plat. Enfin, ce système fait appel à des batteries de détecteurs pour trouver le deuxième coin, et la fermeture de la pince destinée à saisir le linge plat doit donc pouvoir être commandée en un point non fixe, ce qui est techniquement plus difficile à réaliser qu'un système où la fermeture des pinces s'effectue en un lieu fixe.In practice, finding the corners of a flat cloth requires manual intervention, which is very expensive in human resources and, consequently, increases the fixed costs of laundries. An automated gripping system for flat linen has already been described in French patent N ° 76 38113. The system proposed in this patent requires entering flat linen successively at four points, including any first point on the flat linen, a first corner of the flat linen, which constitutes the lowest point of the flat linen suspended from any first point, the corner of the flat linen diagonally opposite this first corner, and a second corner of the flat linen, adjacent to the first. On the other hand, the fact that the flat linen is stretched between the first corner and the diagonally opposite corner leads to a machine of considerable bulk, since the flat linen is thus stretched along its diagonal, which is the greater distance between two points of a flat cloth. Finally, this system uses batteries of detectors to find the second corner, and the closing of the clamp intended for gripping the flat linen must therefore be able to be controlled at a non-fixed point, which is technically more difficult to achieve than a system where the clamps are closed in a fixed place.

La présente invention remédie aux inconvénients précités. En effet, le procédé présenté permet de saisir deux coins adjacents d'un linge plat en ne le saisissant successivement qu'en trois endroits, dont une zone quelconque. On évite aussi de prendre le coin du linge plat diagonalement opposé au premier coin et de tendre le linge plat entre ces deux coins, ce qui permet ainsi de réduire l'encombrement de la machine. Enfin, le procédé présenté permet d'amener les coins à saisir toujours aux mêmes endroits, ce que facilite leur préhension.The present invention overcomes the aforementioned drawbacks. Indeed, the presented method allows to capture two adjacent corners of a flat linen by seizing it successively only in three places, including any area. It also avoids taking the corner of the flat linen diagonally opposite the first corner and stretching the flat linen between these two corners, thereby reducing the size of the machine. Finally, the method presented makes it possible to bring the corners to be grasped always in the same places, which facilitates their gripping.

Plus précisément, le procédé selon l'invention permettant de saisir deux coins adjacents d'un linge plat se caractérise par le fait que, dans une première étape, on saisit une zone quelconque du linge plat et un premier coin dudit linge plat, distant de ladite zone quelconque d'une longueur supérieure à la demi-diagonale du linge plat; que, dans une deuxième étape, on assure par translation un déplacement relatif du premier coin ainsi saisi par rapport à la zone quelconque de saisie du linge plat, de façon que l'un au moins des deux coins adjacents au premier constitue un point bas apparent du linge plat tenu par la zone quelconque de saisie et ledit premier coin; que, dans une troisième étape, on saisit ledit point bas apparent, qui constitue un coin adjacent au premier coin, et que, dans une quatrième étape, on relâche ladite zone de saisie.More precisely, the method according to the invention making it possible to grasp two adjacent corners of a flat linen is characterized in that, in a first step, any zone of the flat linen is grabbed and a first corner of said flat linen, distant from said any zone of a length greater than the half-diagonal of the flat linen; that, in a second step, there is provided by translation a relative displacement of the first corner thus grasped with respect to any area for gripping flat linen, so that at least one of the two corners adjacent to the first constitutes an apparent low point flat linen held by any input area and said first corner; that, in a third step, one grasps said apparent low point, which constitutes a corner adjacent to the first corner, and that, in a fourth step, one releases said entry zone.

Selon une première variante de mise en oeuvre du procédé, dans la première étape, on saisit, de façon connue, une zone quelconque dudit linge plat par un moyen de saisie, ladite zone ayant une surface réduite autour d'un point, on suspend le linge plat saisi audit moyen de saisie en le laissant pendre sous l'effet de la pesanteur, on repère le point le plus bas dudit linge plat et on saisit ledit point le plus bas, qui constitue le premier coin du linge plat, à l'aide d'un moyen de préhension.According to a first variant of implementation of the method, in the first step, any zone of said flat linen is grasped in a known manner by a gripping means, said zone having a reduced surface around a point, the flat linen seized by said gripping means by letting it hang under the effect of gravity, the lowest point of said flat linen is identified and said lowest point, which constitutes the first corner of the flat linen, is located using a grip.

Selon une seconde variante de mise en oeuvre du procédé, dans la première étape, on saisit, de façon connue, le premier coin dudit linge plat par un moyen de préhension, on suspend le linge plat saisi audit moyen préhension, en le laissant pendre sous l'effet de la pesanteur, et on saisit une zone dudit linge plat à une distance fixe dudit premier coin supérieure à la demi-diagonale du linge plat.According to a second variant of implementation of the method, in the first step, the first corner of said flat linen is grasped, in known manner, by gripping means, the flat linen seized is suspended from said gripping means, leaving it to hang under the effect of gravity, and we grasp an area of said flat linen at a fixed distance from said first corner greater than the half-diagonal of the flat linen.

Selon un mode préféré de mise en oeuvre de l'une ou l'autre des deux variantes, dans la deuxième étape, on démêle le linge plat à l'aide d'un moyen, qui le secoue à partir des moyens de préhension et de saisie par lesquels il est suspendu; après la deuxième étape, pour séparer un point bas apparent du linge plat du reste dudit linge plat, on positionne ledit linge plat au-dessus d'un moyen de séparation, la zone quelconque de saisie et le premier coin dudit linge plat étant situés de part et d'autre dudit moyen de séparation, et on assure une montée relative du moyen de séparation par rapport au linge plat entre les deux points bas apparents dudit linge plat; on rapproche la zone quelconque de saisie dudit linge plat et le premier coin du linge plat, jusqu'à amener le point bas apparent qui, sur un petit côté du linge plat, est adjacent au premier coin, sur une verticale choisie; pour la préhension d'un coin constitué par un point bas apparent du linge plat saisi par un ou plusieurs moyens de préhension, on amène le linge plat au droit d'un moyen de centrage; on éloigne le ou les moyens de préhension dudit moyen de centrage, le linge plat étant contraint de se déplacer au droit dudit moyen de centrage; on détecte le passage, au droit dudit moyen de centage, du point qui, initialement, constituait ledit point bas apparent du linge plat; et on stoppe alors le déplacement dudit linge plat pour saisir le point ainsi détecté; avant de saisir le point bas apparent détecté, on plaque le coin de linge plat correspondant audit point bas sur un élément aspirant au moyen d'un jet d'air soufflé; on amène l'élément aspirant au droit d'un moyen qui détecte la présence du coin plaqué sur ledit élément aspirant, on arrête le mouvement dudit élément aspirant et on saisit ledit coin.According to a preferred embodiment of one or the other of the two variants, in the second step, the flat linen is disentangled using a means, which shakes it from the gripping means and seizure by which he is suspended; after the second step, to separate an apparent low point of the flat linen from the rest of the said flat linen, the said flat linen is positioned above a separation means, the any gripping zone and the first corner of the said flat linen being located on either side of said separation means, and a relative rise of the separation means relative to the flat linen is ensured between the two apparent low points of said flat linen; the any input zone of said flat linen and the first corner of the flat linen are brought closer, until bringing the apparent low point which, on a small side of the flat linen, is adjacent to the first corner, on a chosen vertical; for gripping a corner consisting of an apparent low point of the flat linen gripped by one or more gripping means, the flat linen is brought to the right of a centering means; moving the gripping means or means away from said centering means, the flat linen being forced to move in line with said centering means; detecting the passage, in line with said centering means, of the point which, initially, constituted said apparent low point of the flat linen; and then stops the movement of said flat linen to grasp the point thus detected; before entering the detected apparent low point, the flat laundry corner corresponding to said low point is placed on a suction element by means of a jet of blown air; the suction element is brought to the right of a means which detects the presence of the wedge pressed against said suction element, the movement of said suction element is stopped and said corner is grasped.

L'invention se rapporte aussi à une machine pour la mise en oeuvre du procédé susmentionné.The invention also relates to a machine for implementing the above-mentioned method.

Selon une première variante, ladite machine comprend un moyen de saisie pour saisir en une zone quelconque un linge plat, un moyen pour élever ledit linge plat après sa préhension, un détecteur pour signaler le passage du point le plus bas dudit linge plat à un niveau prédéterminé et un moyen de préhension pour saisir le coin du linge plat formé par ledit point le plus bas, un moyen pour déplacer l'un par rapport à l'autre les moyens de saisie et de préhension et un moyen pour saisir un deuxième coin dudit linge plat adjacent audit premier coin.According to a first variant, said machine comprises a gripping means for gripping a laundry in any zone. flat, means for raising said flat linen after gripping it, a detector for signaling the passage from the lowest point of said flat linen to a predetermined level and gripping means for grasping the corner of the flat linen formed by said lowest point , means for moving the gripping and gripping means relative to each other and means for gripping a second corner of said flat linen adjacent to said first corner.

Selon une seconde variante, ladite machine comprend un moyen de préhension pour saisir de façon connue un linge plat en un de ses coins, un moyen pour suspendre ledit linge plat saisi par ledit moyen de préhension, un moyen de saisie pour saisie une zone dudit linge plat à une distance fixée dudit premier coin, un moyen pour déplacer l'un par rapport à l'autre les moyens de saisie et de préhension et un moyen pour saisir un deuxième coin dudit linge plat adjacent audit premier coin.According to a second variant, said machine comprises a gripping means for grasping in a known manner a flat linen at one of its corners, a means for hanging said flat linen gripped by said gripping means, a gripping means for gripping an area of said linen flat at a fixed distance from said first corner, means for moving relative to each other the gripping and gripping means and means for gripping a second corner of said flat linen adjacent to said first corner.

La machine, selon l'une ou l'autre des deux variantes, comprend un moyen pour secouer le linge plat, ledit moyen agissant sur les moyens de saisie et de préhension de la zone quelconque et du coin par lesquels est suspendu ledit linge plat, un guide de séparation des deux points bas apparents du linge plat suspendu, un moyen de déplacement pour positionner le linge plat suspendu au dessus dudit guide, ledit guide étant sensiblement parallèle au déplacement des moyens de préhension et de saisie; pour l'un au moins des postes où l'on saisit un coin, elle comprend un moyen de centrage et un moyen de déplacement contraignant le linge plat à se déplacer au droit dudit moyen de centrage et au moins un détecteur pour signaler la présence du linge plat au droit dudit détecteur, une rampe d'aspiration et une buse de soufflage d'air, la position relative de la rampe et de la buse étant modifiable pour amener la rampe en vis-à-vis de la buse quand le coin à saisir a été détecté, un détecteur pour détecter la présence du coin sur la rampe d'aspiration et un moyen pour amener ladite rampe d'aspiration au droit dudit détecteur; elle comprend aussi des rails de convoyage, des pinces de convoyage comprenant un moyen de saisie, chaque pince de convoyage se déplaçant sur un desdits rails grâce à deux roues solidaires de ladite pince, lesdites roues roulant sur les rails de part et d'autre desdits rails; les rails de convoyage sont télescopiques afin de permettre le réglage de la machine pour des dimensions différentes de linges plats; le moyen de saisie des pinces de convoyage peut pivoter par rapport aux pinces.The machine, according to either of the two variants, comprises a means for shaking the flat linen, said means acting on the means for gripping and gripping the arbitrary area and the corner by which said flat linen is suspended, a guide for separating the two apparent low points of the suspended flat linen, a displacement means for positioning the flat linen suspended above said guide, said guide being substantially parallel to the movement of the gripping and gripping means; for at least one of the stations where a corner is grasped, it comprises a centering means and a displacement means forcing the flat linen to move in line with said centering means and at least one detector for signaling the presence of the flat linen to the right of said detector, a suction ramp and an air blowing nozzle, the relative position of the ramp and the nozzle being modifiable to bring the ramp opposite the nozzle when the corner is grasping has been detected, a detector for detecting the presence of the wedge on the suction ramp and means for bringing said suction ramp in line with said detector; it also includes conveyor rails, conveyor clamps comprising a gripping means, each conveyor clamp moving on one of said rails by means of two wheels integral with said clamp, said wheels rolling on the rails on either side of said rails; the conveyor rails are telescopic to allow adjustment of the machine for different dimensions of flat linen; the gripping gripper gripping means can pivot relative to the grippers.

D'autres buts, caractéristiques et avantages de l'invention apparaîtront plus clairement à l'aide de la description explicative qui va suivre, faite en référence aux dessins schématiques annexés, d'un mode de réalisation actuellement préféré d'une machine selon l'invention, donné uniquement à titre d'exemple. Sur ces dessins :

  • - la figure 1 est une vue schématique d'un mode de réalisation suivant l'invention,
  • - la figure 2 est une vue schématique du mode de réalisation de la figure 1 sur laquelle ont été représentés plusieurs linges plats en cours de traitement.
Other objects, characteristics and advantages of the invention will appear more clearly with the aid of the following explanatory description, made with reference to the appended schematic drawings, of a currently preferred embodiment of a machine according to the invention, given by way of example only. In these drawings:
  • FIG. 1 is a schematic view of an embodiment according to the invention,
  • - Figure 2 is a schematic view of the embodiment of Figure 1 on which have been shown several flat towels during treatment.

En se référant au dessin, on voit que la machine comprend une ventouse (4) dans laquelle est créée une dépression pour saisir par aspiration un linge plat dans un chariot (1) qui contient plusieurs linges plats. Ensuite, un bras (3) solidaire de la ventouse (4) et se déplaçant selon une translation verticale par rapport à un bati (2) immobile relève le linge plat ainsi saisi jusqu'à une hauteur fixée supérieure à la longeur de la diagonale du linge plat.Referring to the drawing, it can be seen that the machine comprises a suction cup (4) in which a depression is created for gripping by suction a flat cloth in a carriage (1) which contains several flat cloths. Then, an arm (3) integral with the suction cup (4) and moving in a vertical translation relative to a stationary frame (2) raises the flat linen thus seized up to a fixed height greater than the length of the diagonal of the flat linen.

Juste au dessous de cette hauteur est situé un rail (6) horizontal et rectiligne sur une distance supérieure à la longueur de la diagonale d'un linge plat à partir du bati (2). Deux plaques longitudinales identiques (7) et (8) ayant un bord commun parallèle à leurs axes, leurs bords extérieurs formant une échancrure en une de leurs extrémités par rapport au bord intérieur commun, et dont la section dans un plan vertical perpendiculaire à leur axe forme un "V", sont disposées parallèlement au rail (6), à une hauteur légèrement inférieur à ce rail (6), les échancrures étant tournées vers la ventouse, de telle façon que la ventouse soit dans le même plan vertical que leur bord commun, à une distance de la verticale de montée de la ventouse telle que la ventouse puisse monter dans l'échancrure des deux plaques sans les accrocher. Les deux plaques peuvent pivoter simultanément autour du bord extérieur de la plaque (8) qui est la plus proche du rail (6). On place un détecteur (9) à la verticale de l'échancrure, légèrement au dessous de celle-ci pour détecter la présence du linge plat. On place une rampe aspirante (10) horizontale dans le plan vertical formé par la verticale passant par l'échancrure et le bord commun des deux plaques, entre le détecteur et l'échancrure; on place une buse soufflante (11) dans le plan horizontal de la rampe (10), cette buse étant articulé sur un pivot solidaire de la rampe (10), de telle façon qu'en position ouverte, la buse (11) fasse un ange de 90° avec la rampe et qu'en position fermée, la buse et la rampe forment une pince se fermant sur la verticale de l'échancrure. On place dans le plan vertical de la rampe (10) légèrement au dessous de la rampe (10), un rail horizontal (13), qui s'éloigne de la ventouse (4) et du rail (6), l'angle entre les deux rails étant aigu.Just below this height is located a rail (6) horizontal and straight over a distance greater than the length of the diagonal of a flat linen from the frame (2). Two identical longitudinal plates (7) and (8) having a common edge parallel to their axes, their outer edges forming a notch at one of their ends relative to the common inner edge, and whose section in a vertical plane perpendicular to their axis form a "V", are arranged parallel to the rail (6), at a height slightly lower than this rail (6), the notches being turned towards the suction cup, so that the suction cup is in the same vertical plane as their common edge, at a distance from the vertical ascent of the suction cup such that the suction cup can rise in the notch of the two plates without hanging them. The two plates can pivot simultaneously around the outer edge of the plate (8) which is closest to the rail (6). A detector (9) is placed vertically above the notch, slightly below it to detect the presence of the flat linen. A horizontal suction ramp (10) is placed in the vertical plane formed by the vertical passing through the notch and the common edge of the two plates, between the detector and the notch; a blowing nozzle (11) is placed in the horizontal plane of the ramp (10), this nozzle being articulated on a pivot integral with the ramp (10), so that in the open position, the nozzle (11) makes a 90 ° angel with the ramp and in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch. Is placed in the vertical plane of the ramp (10) slightly below the ramp (10), a horizontal rail (13), which moves away from the suction cup (4) and the rail (6), the angle between the two rails being acute.

Une pince (5) circulant sur le rail (6) saisit le linge plat au dessous de la ventouse et la dépression à l'intérieur de la ventouse (4) est supprimée. La pince (5) s'éloigne de la ventouse sur le rail (6), le linge plat trainant sur les plaques (7) et (8); on détecte à l'aide du détecteur le passage du point bas du linge plat, qui constitue un coin. On stoppe l'avancée de la pince (5) sur le rail (6) et on amène la buse (11) en vis-à-vis de la rampe (10). Une pince (12), circulant sur le rail (13), saisit le coin maintenu par la rampe (10) et la buse (11). La buse se met en position ouverte, les deux plaques (7) et (8) pivotent vers le bas, libérant ainsi le linge plat emmené par les pinces (5) et (12) sur leur rail respectif (6) et (13).A clamp (5) circulating on the rail (6) grips the flat laundry below the suction cup and the vacuum inside the suction cup (4) is removed. The clamp (5) moves away from the suction cup on the rail (6), the flat linen lying on the plates (7) and (8); the passage from the bottom point of the flat linen, which constitutes a corner, is detected using the detector. We stop the advance of the clamp (5) on the rail (6) and we bring the nozzle (11) opposite the ramp (10). A clamp (12), circulating on the rail (13), grasps the corner held by the ramp (10) and the nozzle (11). The nozzle moves to the open position, the two plates (7) and (8) pivot down, thereby releasing the flat linen carried by the clamps (5) and (12) on their respective rail (6) and (13) .

On fait subir au rail (13) une torsion de 180° par rapport à son axe. Quand les deux rail (6) et (13) sont éloignés d'une distance de l'ordre d'une demi diagonale de linge plat, le rail (13) devient parallèle au rail (6) sur une portion (28) de l'ordre d'un mètre. Puis les deux portions de rail (29) et (26) se rapprochent à une distance de quelques dizaines de centimètres et les rails (6) et (13) redeviennent parallèles sur leur portions (30) et (27). On place entre les deux rails avant leur rapprochement un guide de séparation (14) symétrique par rapport à un plan vertical perpendiculaire à la direction de déplacement du linge plat; la distance de ce plan au rail (6) étant de l'ordre de cinquante centimètres . Ce guide est formé de deux plaques gauches symétriques et jointes en leurs arêtes supèrieures situées dans le plan vertical de symétrie; au début du guide, l'arête supérieure des deux plaques et située à une distance verticale du rail (6) supèrieure à un petit côté de linge plat pour se rapprocher verticalement du rail (6) tout en restant en dessous, l'arête inférieure se confondant au début du guide avec l'arête supérieure puis s'éloignant du plan vertical de symétrie tout en restant horizontale, en suivant une courbe concave, et la première partie du guide décrivant une surface concave entre les deux arêtes. La deuxième partie du guide se situe entre les portions (29) et (26) des rails (6) et (13), l'arête supèrieure des plaques restant horizontale dans le plan vertical de symétrie, l'arête infèrieure restant dans un plan horizontal et suivant une courbe convexe puis concave pour se rapprocher du plan vertical de symétrie, la plaque décrivant une surface convexe entre les deux arêtes. On place, entre les portions de rail (30) et (27) des deux rails (6) et (13), quatre plaques ((15), (16)) et ((17), (18)), deux à deux identiques aux plaques ((7), (8)). On place les plaques ((15), (16)) entre les deux rails (6) et (13) parallèlement à ces deux rails de façon que le bord extèrieur de la plaque (16), la plus proche du rail (6), soit dans le prolongement de l'arête supèrieure du guide (14), l'échancrure des deux plaques ((17), (18)) se trouvant du côté du guide. Ces plaques ((15), (16)) peuvent pivoter autour du bord extèrieur de la plaque (16). On place les plaques ((17), (18)) parallèlement aux rails (6) et (13) de part et d'autre du rail (6) de façon que le bord extèrieur de la plaque (17), située entre les deux rails (6) et (13), soit dans le prolongement de l'arête supèrieure du guide (14), l'échancrure des deux plaques ((17), (18)) se trouvant du côté du guide. Ces deux plaques ((17), (18)) peuvent pivoter autour du bord extèrieur de la plaque (17). On place un détecteur (19) sur un support (20) à la verticale de l'échancrure des plaques ((15), (16)), légèrement au dessous de celle-ci pour détecter la présence du linge plat. On place une rampe aspirante (21), solidaire du support (20), horizontale dans le plan vertical formé par la verticale passant par l'échancrure des plaques ((15), (16)) et le bord commun des deux plaques ((15), (16)), entre le détecteur (19) et l'échancrure; on place une buse soufflante (22) dans le plan horizontal de la rampe (21), cette buse étant articulé sur un pivot solidaire de la rampe (21), de telle façon qu'en position ouverte, la buse (22) fasse un angle de 90° avec la rampe (21) et qu'en position fermée, la buse et la rampe forment une pince se fermant sur la verticale de l'échancrure. Le support (20) peut se déplacer sur un rail (23) fixé au sol perpendiculairement aux axes des plaques ((15), (16)), de façon à ce que le détecteur (19) se situe, après une translation choisie, à la verticale de l'échancrure des plaques ((17), (18)). On place légèrement au dessous de la rampe (21), un rail horizontal (25), perpendiculaire aux axes des plaques ((15), (16)) et ((17), (18)).The rail (13) is subjected to a torsion of 180 ° relative to its axis. When the two rails (6) and (13) are distant by a distance of the order of a half diagonal of flat linen, the rail (13) becomes parallel to the rail (6) on a portion (28) of the order of one meter. Then the two rail portions (29) and (26) come together at a distance of a few tens of centimeters and the rails (6) and (13) become parallel again on their portions (30) and (27). Is placed between the two rails before their approximation a separation guide (14) symmetrical with respect to a vertical plane perpendicular to the direction of movement of the flat linen; the distance from this plane to the rail (6) being of the order of fifty centimeters. This guide is formed of two symmetrical left plates and joined in their upper edges located in the vertical plane of symmetry; at the start of the guide, the upper edge of the two plates and located at a vertical distance from the rail (6) greater than a small side of flat laundry to approach the rail (6) vertically while remaining below, the lower edge merging at the start of the guide with the upper edge then moving away from the vertical plane of symmetry while remaining horizontal, following a concave curve, and the first part of the guide describing a concave surface between the two edges. The second part of the guide is located between the portions (29) and (26) of the rails (6) and (13), the upper edge of the plates remaining horizontal in the vertical plane of symmetry, the lower edge remaining in one plane. horizontal and following a convex curve then concave to approach the vertical plane of symmetry, the plate describing a convex surface between the two edges. Between the rail portions (30) and (27) of the two rails (6) and (13), four plates ((15), (16)) and ((17), (18)) are placed, two to two identical to the plates ((7), (8)). The plates ((15), (16)) are placed between the two rails (6) and (13) parallel to these two rails so that the outer edge of the plate (16), closest to the rail (6) , or in the extension of the upper edge of the guide (14), the notch of the two plates ((17), (18)) being on the side of the guide. These plates ((15), (16)) can pivot around the outer edge of the plate (16). The plates ((17), (18)) are placed parallel to the rails (6) and (13) on either side of the rail (6) so that the outer edge of the plate (17), located between the of them rails (6) and (13), or in the extension of the upper edge of the guide (14), the notch of the two plates ((17), (18)) being on the side of the guide. These two plates ((17), (18)) can pivot around the outer edge of the plate (17). A detector (19) is placed on a support (20) vertical to the notch of the plates ((15), (16)), slightly below the latter to detect the presence of the flat linen. A suction ramp (21) is placed, integral with the support (20), horizontal in the vertical plane formed by the vertical passing through the notch of the plates ((15), (16)) and the common edge of the two plates (( 15), (16)), between the detector (19) and the notch; a blowing nozzle (22) is placed in the horizontal plane of the ramp (21), this nozzle being articulated on a pivot integral with the ramp (21), so that in the open position, the nozzle (22) makes a 90 ° angle with the ramp (21) and that in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch. The support (20) can move on a rail (23) fixed to the ground perpendicular to the axes of the plates ((15), (16)), so that the detector (19) is located, after a chosen translation, vertical to the notch of the plates ((17), (18)). A horizontal rail (25) is placed slightly below the ramp (21), perpendicular to the axes of the plates ((15), (16)) and ((17), (18)).

On fait avancer les deux pinces (5) et (12) sur leur rails respectifs, la pince (12) subit un retournement de 180° qui la positionne sous le rail (13) puis les deux pinces étant distantes d'environ une demi-diagonale de linge plat, celui-ci forme deux points bas apparents que le guide (14) sépare. Les pinces (5) et (12) avancent ensuite, laissant trainer le linge plat sur les plaques ((15), (16)) et ((17), (18)); suivant que l'on veuille saisir le grand côté ou le petit côté du linge plat, en déplaçant le support (20), on placera le détecteur (19), la rampe (21) et la buse (22) respectivement au dessous des plaques ((15), (16)) ou au dessous des plaques ((17), (18)). Le détecteur (19) détecte alors le passage du point bas que l'on veut saisir et on stoppe simultanément les deux pinces; on amène la buse (22) en vis-à-vis de la rampe (21), saisissant ainsi le coin du drap qui pend. Une pince (24), se déplaçant sur le rail (25), saisit le coin désiré. La pince (5) relache alors le linge plat et les deux pinces (12) et (24) entrainent le linge plat sur leur rails respectifs, les deux coins sont alors prèts à être engagés.The two clamps (5) and (12) are advanced on their respective rails, the clamp (12) undergoes a 180 ° reversal which positions it under the rail (13) then the two clamps being separated by about a half diagonal of flat linen, this forms two apparent low points that the guide (14) separates. The clamps (5) and (12) then advance, leaving the flat laundry to drag on the plates ((15), (16)) and ((17), (18)); depending on whether you want to grasp the long side or the short side of the flat linen, by moving the support (20), you will place the detector (19), the ramp (21) and the nozzle (22) respectively below the plates ((15), (16)) or below the plates ((17), (18)). The detector (19) then detects the passage from the low point that we want to capture and we stop both simultaneously pliers; the nozzle (22) is brought opposite the ramp (21), thus grasping the corner of the hanging sheet. A clamp (24), moving on the rail (25), grasps the desired corner. The clamp (5) then releases the flat linen and the two clamps (12) and (24) entrain the flat linen on their respective rails, the two corners are then ready to be engaged.

La figure 2 représente plusieurs linges plats à différentes étapes du traitement général. Le linge plat (31) se situe au poste où on le saisit en un point quelconque au moyen d'une ventouse. Le linge plat (32), tiré par la pince (5), repose sur les plaques (7) et (8); la rampe (10) et la buse (11) sont en position fermée et la pince (12) saisit le linge plat (32) en un premier de ses coins. Le linge plat (33) illustre l'apparition de deux points bas lorsque les pinces (5) et (12) sont en position écartée sur leur rails respectifs. Le linge plat (34) passe au dessus du guide (14), qui sépare les deux points bas apparents du linge plat. Ensuite, le linge plat (35) représente la préhension du coin du linge plat adjacent au premier coin saisi par la pince (12) sur le petit côté du linge plat, la rampe (21) et la buse (22) étant en position fermée. Enfin, le linge plat (36) est emmené à l'engageuse, saisi par deux de ses coins adjacents.FIG. 2 represents several flat cloths at different stages of the general treatment. The flat linen (31) is located at the station where it is grasped at any point by means of a suction cup. The flat linen (32), pulled by the clamp (5), rests on the plates (7) and (8); the ramp (10) and the nozzle (11) are in the closed position and the clamp (12) grasps the flat linen (32) at a first of its corners. The flat linen (33) illustrates the appearance of two low points when the clamps (5) and (12) are in the separated position on their respective rails. The flat linen (34) passes over the guide (14), which separates the two visible low points of the flat linen. Then, the flat linen (35) represents the gripping of the corner of the flat linen adjacent to the first corner gripped by the clamp (12) on the short side of the flat linen, the ramp (21) and the nozzle (22) being in the closed position. . Finally, the flat linen (36) is taken to the feeder, gripped by two of its adjacent corners.

Claims (19)

1. Procédé de préhension automatisée de deux coins adjacents d'un linge plat rectangulaire, caractérisé par le fait que, dans une première étape, on saisit une zone quelconque du linge plat et un premier coin dudit linge plat, distant de ladite zone quelconque d'une longueur supérieure à la demi-­diagonale du linge plat ; que, dans une deuxième étape, on assure un déplacement relatif du premier coin ainsi saisi par rapport à la zone quelconque de saisie du linge plat, de façon que l'un au moins des deux coins adjacents au premier constitue un point bas apparent du linge plat tenu par la zone quelconque de saisie et ledit premier coin ; que, dans une troisième étape, on saisit ledit coin adjacent au premier coin, qui constitue ledit point bas apparent et que, dans une quatrième étape, on relâche ladite zone de saisie.1. Process for automated gripping of two adjacent corners of a rectangular flat linen, characterized in that, in a first step, any zone of the flat linen is entered and a first corner of said flat linen, distant from said any zone d '' a length greater than the half-diagonal of the flat linen; that, in a second step, a relative displacement of the first corner thus seized is ensured with respect to any area for gripping flat linen, so that at least one of the two corners adjacent to the first constitutes an apparent low point of the linen dish held by any input area and said first corner; that, in a third step, we grab said corner adjacent to the first corner, which constitutes said apparent low point and that, in a fourth step, we release said input area. 2. Procédé selon la revendication 1, caractérisé par le fait que, dans la première étape, on saisit, de façon connue, une zone quelconque dudit linge plat par un moyen de saisie (5), ladite zone ayant une surface réduite autour d'un point, on suspend audit moyen de saisie (5) le linge plat saisi en le laissant pendre sous l'effet de la pesanteur, on repère le point le plus bas dudit linge plat, qui est un premier coin dudit linge plat et on saisit ledit point le plus bas à l'aide d'un moyen de préhension (12).2. Method according to claim 1, characterized in that, in the first step, is entered, in a known manner, any area of said flat linen by a gripping means (5), said area having a reduced surface around a point, the grasped flat linen is suspended from said gripping means (5) by letting it hang under the effect of gravity, the lowest point of said flat linen is identified, which is a first corner of said flat linen and it is grasped said lowest point using a gripping means (12). 3. Procédé selon la revendication 1, caractérisé par le fait que, dans la première étape, on saisit le premier coin dudit linge plat par un moyen de préhension, on suspend audit moyen de préhension le linge plat saisi, en le laissant pendre sous l'effet de la pesanteur, et on saisit une zone dudit linge plat à une distance fixe dudit premier coin supérieure à la demi-diagonale du linge plat.3. Method according to claim 1, characterized in that, in the first step, the first corner of said flat linen is gripped by a gripping means, the gripped flat linen is suspended from said gripping means, leaving it to hang under the effect of gravity, and an area of said flat linen is seized at a fixed distance from said first corner greater than the half-diagonal of the flat linen. 4. Procédé selon l'une des revendications 1 à 3, caractérisé par le fait que, dans la deuxième étape, on démêle le linge plat à l'aide d'un moyen, qui le secoue à partir des moyens de préhension (12) et de saisie (5) par lesquels il est suspendu.4. Method according to one of claims 1 to 3, characterized in that, in the second step, the flat linen is untangled using a means, which shakes it from the gripping means (12) and seizure (5) by which it is suspended. 5. Procédé selon l'une des revendications 1 à 4, caractérisé par le fait qu'après le deuxième étape, pour séparer un point bas apparent du linge plat du reste dudit linge plat, on positionne ledit linge plat au-dessus d'un moyen de séparation (14), la zone quelconque de saisie et le premier coin dudit linge plat étant situés de part et d'autre dudit moyen de séparation (14), et on assure une montée relative du moyen de séparation (14) par rapport au linge plat entre les deux points bas apparents dudit linge plat.5. Method according to one of claims 1 to 4, characterized in that after the second step, to separate an apparent low point of the flat linen from the rest of said flat linen, said flat linen is positioned above a separation means (14), the any gripping zone and the first corner of said flat linen being situated on either side of said separation means (14), and a relative rise of the separation means (14) is ensured flat linen between the two apparent low points of said flat linen. 6. Procédé selon l'une des revendications 1 à 5, caractérisé par le fait que l'on rapproche la zone quelconque de saisie dudit linge plat et le prem­ier coin du linge plat, jusqu'à amener le point bas apparent qui, sur un petit côté du linge plat, est adjacent au premier coin, sur une verticale choisie.6. Method according to one of claims 1 to 5, characterized in that we bring any area of grip of said flat linen and the first corner of the flat linen, until bringing the apparent low point which, on a short side of the flat linen, is adjacent to the first corner, on a chosen vertical. 7. Procédé selon l'une des revendications 1 à 6, caractérisé par le fait que, pour la préhension d'un coin qui est un point bas apparent du linge plat saisi par un ou plusieurs moyens de préhension (5, 12), on amène le linge plat au droit d'un moyen de centrage (7, 8, ; 15, 16) ; on éloigne le ou les moy­ens de préhension (5, 12) dudit moyen de centrate (7, 8 ; 15, 16), le linge plat étant contraint de se déplacer au droit dudit moyen de centrage (7, 8, ; 15, 16) ; on détecte le passage, au droit dudit moyen de centrage (7, 8 ; 15, 16), du point qui, initialement, constituait ledit point bas apparent du linge plat ; on stoppe alors le déplacement dudit linge plat pour saisir le point ainsi détecté.7. Method according to one of claims 1 to 6, characterized in that, for gripping a corner which is an apparent low point of the flat linen gripped by one or more gripping means (5, 12), we brings the flat linen to the right of a centering means (7, 8,; 15, 16); the gripping means or means (5, 12) are moved away from said centrate means (7, 8; 15, 16), the flat linen being forced to move in line with said centering means (7, 8,; 15, 16 ); detecting the passage, in line with said centering means (7, 8; 15, 16), from the point which, initially, constituted said apparent low point of the flat linen; the movement of said flat linen is then stopped to grasp the point thus detected. 8. Procédé selon la revendication 7, caractérisé par le fait qu'avant de saisir le point bas apparent détecté, on plaque le coin de linge plat correspondant audit point bas sur un élément aspirant (10, 21) au moyen d'un jet d'air soufflé (11, 22).8. Method according to claim 7, characterized in that before entering the detected apparent low point, the flat linen corner corresponding to said low point is pressed onto a suction element (10, 21) by means of a jet of blown air (11, 22) . 9. Procédé selon la revendication 8, caractérisé par le fait que l'on amène l'élément aspirant au droit d'un moyen qui détecte la présence du coin plaqué sur ledit élément aspirant, que l'on arrête le mouvement dudit élément aspirant et que l'on saisit ledit coin.9. Method according to claim 8, characterized in that the suction element is brought in line with a means which detects the presence of the wedge pressed against said suction element, that the movement of said suction element is stopped and that we grab said corner. 10. Machine pour la mise en oeuvre du procédé selon la revendication 2, caractérisée par le fait qu'elle comprend un moyen de saisie (5) pour saisir en une zone quelconque un linge plat, un moyen pour élever ledit linge plat après sa préhension, un détecteur (9) pour signaler le passage du point le plus bas dudit linge plat à un niveau prédéterminé et un moyen de préhension (12) pour saisir le coin du linge plat formé par ledit point le plus bas, un moyen pour déplacer l'un par rapport à l'autre les moyens de saisie (5) et de préhension (12) et un moyen (24) pour saisir un deuxième coin dudit linge plat adjacent audit premier coin.10. Machine for implementing the method according to claim 2, characterized in that it comprises a gripping means (5) for gripping a flat cloth in any area, a means for raising said flat cloth after gripping it , a detector (9) for signaling the passage from the lowest point of said flat linen to a predetermined level and a gripping means (12) for gripping the corner of the flat linen formed by said lowest point, means for moving the relative to each other, the gripping (5) and gripping (12) means and means (24) for gripping a second corner of said flat linen adjacent to said first corner. 11. Machine pour la mise en oeuvre du procédé selon la revendication 3, caractérisée par le fait qu'elle comprend un moyen de saisie pour saisir en une zone quelconque un linge plat disposé initiale­ment sur un support, un moyen pour élever ledit linge plat par rapport au support après sa préhension, un moyen de repérage pour repérer le point le plus bas dudit linge plat et un moyen de préhension pour saisir le coin du linge plat formé par ledit point le plus bas, un moyen pour déplacer l'un par rapport à l'autre les moyens de saisie et de préhension et un moyen pour saisir un deuxième coin dudit linge plat adjacent audit premier coin.11. Machine for implementing the method according to claim 3, characterized in that it comprises a gripping means for gripping in a zone any flat linen initially placed on a support, a means for lifting said flat linen by relative to the support after its gripping, a locating means for locating the lowest point of said flat linen and a gripping means for gripping the corner of the flat linen formed by said lowest point, means for moving one relative to the other, the gripping and gripping means and a means for gripping a second corner of said flat linen adjacent to said first corner. 12. Machine selon l'une des revendications 10 ou 11, caractérisée par le fait qu'elle comprend un moyen pour secouer le linge plat, ledit moyen agissant sur les moyens de saisie (5) et de préhension (12) de la zone quelconque et du coin, par lesquels est suspendu ledit linge plat.12. Machine according to one of claims 10 or 11, characterized in that it comprises a means for shaking the flat linen, said means acting on the gripping means (5) and gripping (12) of any area and from the corner, by which said flat linen is suspended. 13. Machine selon l'une des revendications 10 à 12, caractérisée par le fait qu'elle comprend un guide de séparation (14) des deux points bas apparents du linge plat suspendu, un moyen de déplacement pour positionner le linge plat suspendu au-dessus dudit guide (14), ledit guide (14) étant sensiblement parallèle au déplacement des moyens de préhension (12) et de saisie (5).13. Machine according to one of claims 10 to 12, characterized in that it comprises a separation guide (14) of the two apparent low points of the suspended flat linen, a displacement means for positioning the flat linen suspended au- above said guide (14), said guide (14) being substantially parallel to the movement of the gripping (12) and gripping (5) means. 14. Machine selon l'une des revendications 10 à 13, caractérisée par le fait que, pour l'un au moins des postes où l'on saisit un coin, elle comprend un moyen de centrage (7, 8) et un moyen de déplacement contraignant le linge plat à se déplacer au droit dudit moyen de centrage (7, 8) et au moins un détecteur (9) pour signaler la présence du linge plat au droit dudit détecteur (9).14. Machine according to one of claims 10 to 13, characterized in that, for at least one of the stations where a corner is grasped, it comprises a centering means (7, 8) and a means of displacement forcing the flat linen to move to the right of said centering means (7, 8) and at least one detector (9) to signal the presence of the flat linen to the right of said detector (9). 15. Machine selon l'une des revendications 10 à 14, caractérisée par le fait que, pour l'un au moins des postes où l'on saisit un coin, elle comprend une rampe d'aspiration (10) et une buse du soufflage d'air (11), la position relative de la rampe (10) et de la buse (11) étant modifiable pour amener la rampe (10) en vis-à-vis de la buse (11) quand le coin à saisir a été détecté.15. Machine according to one of claims 10 to 14, characterized in that, for at least one of the stations where a corner is grasped, it comprises a suction ramp (10) and a blowing nozzle air (11), the relative position of the ramp (10) and the nozzle (11) being modifiable to bring the ramp (10) opposite the nozzle (11) when the corner to be grabbed has been detected. 16. Machine selon la revendication 15, caractérisée par le fait qu'elle comprend un détecteur pour détecter la présence du coin sur la rampe d'aspiration (10) et un moyen pour amener ladite rampe d'aspiration (10) au droit dudit détecteur.16. Machine according to claim 15, characterized in that it comprises a detector for detecting the presence of the wedge on the suction ramp (10) and means for bringing said suction ramp (10) in line with said detector . 17. Machine selon l'une des revendications 10 à 16, caractérisée par le fait qu'elle comprend des rails de convoyage (6, 13 et 25), des pinces de con­voyage (5, 13 et 24) comprenant un moyen de saisie, chaque pince de convoyage se déplaçant sur un desdits rails grâce à deux roues solidaires de ladite pince, lesdites roues roulant sur les rails de part et d'autre desdits rails.17. Machine according to one of claims 10 to 16, characterized in that it comprises conveyor rails (6, 13 and 25), conveyor clamps (5, 13 and 24) comprising a gripping means, each conveyor clamp moving on one of said rails thanks to two wheels integral with said clamp, said wheels rolling on the rails on either side of said rails. 18. Machine selon la revendication 17, caractérisée par le fait que les rails convoyage (6, 13, 25) sont télescopiques afin de permettre le réglage de la machine pour des dimensions différentes de linges plats.18. Machine according to claim 17, characterized in that the conveyor rails (6, 13, 25) are telescopic in order to allow adjustment of the machine for different dimensions of flat linen. 19. Machine selon l'une des revendications 17 à 18, caractérisée par le fait que le moyen de saisie des pinces de convoyage (5, 13, 24) peut pivoter par rapport aux pinces.19. Machine according to one of claims 17 to 18, characterized in that the means for gripping the conveying clamps (5, 13, 24) can pivot relative to the clamps.
EP89401680A 1988-06-16 1989-06-15 Method and apparatus for automatically gripping two adjacent corners of a flat cloth Expired - Lifetime EP0347323B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89401680T ATE79914T1 (en) 1988-06-16 1989-06-15 METHOD AND DEVICE FOR AUTOMATICALLY GRAPPING TWO ADJACENT CORNERS OF A FLAT CANVAS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8808079 1988-06-16
FR8808079A FR2632987B1 (en) 1988-06-16 1988-06-16 METHOD OF AUTOMATED GRIPPING OF TWO ADJACENT CORNERS OF A FLAT LAUNDRY AND MACHINE THEREFOR

Publications (2)

Publication Number Publication Date
EP0347323A1 true EP0347323A1 (en) 1989-12-20
EP0347323B1 EP0347323B1 (en) 1992-08-26

Family

ID=9367371

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89401680A Expired - Lifetime EP0347323B1 (en) 1988-06-16 1989-06-15 Method and apparatus for automatically gripping two adjacent corners of a flat cloth

Country Status (7)

Country Link
US (1) US5168645A (en)
EP (1) EP0347323B1 (en)
JP (1) JP2724316B2 (en)
AT (1) ATE79914T1 (en)
DE (1) DE68902592T2 (en)
DK (1) DK170078B1 (en)
FR (1) FR2632987B1 (en)

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EP0595739A1 (en) * 1992-10-30 1994-05-04 Societe Jean Michel Method and transfer installation for textile goods of large dimension between a conveyor of pieces leaving a washing-dewatering machine and an engaging element for an ironer
EP0751251A4 (en) * 1995-01-10 1996-11-19 Tokai Co Ltd Method of and apparatus for fully automatically finishing laundry of square cloth
EP1905884A1 (en) * 2006-09-28 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Method and device for feeding garments into a garment processing device such as an ironing or folding device

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EP1690976A1 (en) * 2005-02-15 2006-08-16 Jensen AG Burgdorf Method of alignement of a laundry piece and apparatus for carrying out the same
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JP6940420B2 (en) * 2017-01-31 2021-09-29 株式会社プレックス Cloth extension device
JP7125853B2 (en) * 2018-04-12 2022-08-25 株式会社プレックス Edge gripping device and cloth automatic unfolding machine provided with the same
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WO1993021373A1 (en) * 1992-04-15 1993-10-28 Bjoerkloef Tage Apparatus for automatical bringing soft, flimsy, flat articles from an undefined position to a known position
EP0595739A1 (en) * 1992-10-30 1994-05-04 Societe Jean Michel Method and transfer installation for textile goods of large dimension between a conveyor of pieces leaving a washing-dewatering machine and an engaging element for an ironer
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EP0751251A4 (en) * 1995-01-10 1996-11-19 Tokai Co Ltd Method of and apparatus for fully automatically finishing laundry of square cloth
EP0751251A1 (en) * 1995-01-10 1997-01-02 Tokai Co., Ltd. Method of and apparatus for fully automatically finishing laundry of square cloth
EP1905884A1 (en) * 2006-09-28 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Method and device for feeding garments into a garment processing device such as an ironing or folding device

Also Published As

Publication number Publication date
DK294689D0 (en) 1989-06-15
DK170078B1 (en) 1995-05-15
ATE79914T1 (en) 1992-09-15
DK294689A (en) 1989-12-17
FR2632987B1 (en) 1990-10-26
FR2632987A1 (en) 1989-12-22
JPH0277300A (en) 1990-03-16
JP2724316B2 (en) 1998-03-09
DE68902592D1 (en) 1992-10-01
EP0347323B1 (en) 1992-08-26
US5168645A (en) 1992-12-08
DE68902592T2 (en) 1993-04-15

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