公开(公告)号：US20050012349A1

公开(公告)日：2005-01-20

申请号：US10636759

申请日：2003-08-08

申请人： Martin Rauch ,  Jorn Jensen ,  Thomas Knofel

发明人： Martin Rauch ,  Jorn Jensen ,  Thomas Knofel

IPC分类号： D06F95/00 ,  B25J15/08

CPC分类号： D06F95/00

摘要： A clamp (11) for gripping an individual piece of linen has two jaws (17a,b) which point in a hook shape towards one another and end in rectangular clamping surfaces (20a,b), which in each case have a depth of between 1 mm and at most 5 mm, preferably between 2 mm and 3 mm, between a front clamping edge (19a;b) and a rear edge (21). The front surfaces (20a;b) of the jaws (17a,b) are in the form of contact surfaces having a high coefficient of friction. Mounted on the inside of one jaw (19b) is a strip (22) which projects beyond its clamping surface (20b) and whose front forms a contact surface (23) extending at least to the other clamping surface (20a). A separator moreover has a gripper which grips pieces of linen in a container and moves to a transfer position where a piece of linen (27) is accepted by the clamp (11). Said piece of linen is clamped between a first gripper jaw (24), which forms an opposite surface (26) parallel to the contact surface (23), and the contact surfaces and, when the clamp (11) closes, is pushed between its clamping surfaces (20a,b) and—owing to the small distance of the clamping edges (19a,b) from the contact surface (23)—only one layer at a time is gripped.

摘要翻译： 用于夹紧单个亚麻布的夹具（11）具有两个钳口（17a，b），所述钳口（17a，b）指向钩形并朝向彼此并且在矩形夹紧表面（20a，b）中终止，所述钳口表面（20a，b） 在前夹紧边缘（19a; b）和后边缘（21）之间，在1mm和最多5mm，优选地在2mm和3mm之间。 夹爪（17a，b）的前表面（20a; b）具有高摩擦系数的接触表面。 安装在一个钳口（19b）的内侧的是一条（22），其突出超过其夹紧表面（20b）并且其前面形成至少延伸到另一个夹紧表面（20a）的接触表面（23）。 分离器还具有夹持器，其夹持容器中的亚麻片，并移动到通过夹具（11）接受一片亚麻布（27）的转移位置。 所述亚麻布被夹紧在形成平行于接触表面（23）的相对表面（26）的第一夹持爪（24）和接触表面之间，并且当夹具（11）关闭时被推到其间 夹紧表面（20a，b）和 - 夹紧边缘（19a，b）距离接触表面（23）的距离很小 - 一次只能夹住一个层。

公开(公告)号：US20060191170A1

公开(公告)日：2006-08-31

申请号：US11354055

申请日：2006-02-15

申请人： Jesper Jensen ,  Thomas Knofel ,  Martin Rauch

发明人： Jesper Jensen ,  Thomas Knofel ,  Martin Rauch

IPC分类号： D06F67/04

CPC分类号： D06F67/04 ,  D06F95/00

摘要： For automatic gripping of a corner (71) of a laundry article (70) the latter is drawn over a support surface by a positioning gripper and is set down there so that the rearmost tip comes to rest on an edge plate (17) and the remainder on a transverse conveyor (16) which moves the laundry article (70) transversely to a corner gripping apparatus (12). The latter is then moved transversely to the edge plate (17), optical sensors (32) located above said edge plate registering edge points of the laundry article (70). For determining the position of the corner (71), interpolation is then effected between those registered edge points which are closest to a front gripping edge (27) of the edge plate (17) whereupon the corner gripping apparatus (12) approaches the tip determined and a corner gripper (24) is advanced from the gripping edge (27) so that a lower jaw (25) thereof grips under the edge plate (17). An upper jaw is then lowered onto the corner (71) of the laundry article (70). The corner gripper (24) is then withdrawn behind the gripping edge (27) so that the corner (71) is clamped between the upper jaw (26) and the lower jaw (25) of the corner gripper (24).

摘要翻译： 为了自动抓握衣物（70）的角部（71），后者通过定位夹持器被拉过支撑表面，并被放置在那里，使得最后面的尖端停留在边缘板（17）上，并且 横向输送器（16）上的剩余部分，其将衣物物品（70）横向移动到拐角夹持装置（12）。 然后将后者横向移动到边缘板（17），位于所述边缘板上方的光学传感器（32）注册到衣物（70）的边缘点。 为了确定拐角（71）的位置，然后在最接近边缘板（17）的前抓握边缘（27）的那些登记边缘点之间进行内插，从而角部夹紧装置（12）接近确定的尖端 并且角抓爪（24）从夹持边缘（27）前进，使得其下颚（25）处于边缘板（17）下方。 然后将上颚下降到衣物（70）的角部（71）上。 然后，在夹紧边缘（27）的后面将夹角（24）拉出，使得角部（71）被夹紧在颚夹（24）的上颚（26）和下颚（25）之间。

公开(公告)号：US20060191171A1

公开(公告)日：2006-08-31

申请号：US11354181

申请日：2006-02-15

申请人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

发明人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

IPC分类号： D06F67/04

CPC分类号： D06F67/04 ,  D06F95/00

摘要： For aligning and gripping an edge (72) of a laundry article (70), the latter is drawn by a tensioning conveyor (34) with a tensioning gripper (35) which has gripped said laundry article at a corner (71) in a tensioning direction over a narrowing channel (43), the base (44) of which is convex in the tensioning direction. Optical sensors arranged on the channel (43) detect the rear end of the laundry article (70), which is then gripped by a clamping unit at the end thereof. By lowering the channel (43), a detectable edge (72) which slides along a guide plate (55) is aligned so that it is detected by a sensor (58) on a first edge gripper (56) which is then moved downwards along an approximately perpendicularly aligned pivot arm (53) until the sensor (58) detects the corner (73) at the lower end of the edge (72). After the first corner (71) has been taken over by a second edge gripper (59), the pivot arm (53) is swivelled to a horizontal transfer position and the laundry article (70), with the detected edge (72) towards the front, is placed on a removal conveyor, an impact edge being advanced.

摘要翻译： 为了对准和夹持衣物（70）的边缘（72），后者通过张紧传送器（34）被拉伸夹紧器（35）拉伸，张紧夹具（35）将张紧的所述衣物夹在角部（71）处 方向穿过狭窄通道（43），其基部（44）在张紧方向上是凸形的。 布置在通道（43）上的光学传感器检测洗衣物（70）的后端，然后在其末端由夹紧单元夹持。 通过降低通道（43），沿着引导板（55）滑动的可检测边缘（72）被对准，使得其由第一边缘夹持器（56）上的传感器（58）检测，然后沿着 大致垂直对准的枢转臂（53），直到传感器（58）检测到边缘（72）的下端处的角部（73）。 在由第二边缘夹持器（59）接收到第一拐角（71）之后，枢转臂（53）被旋转到水平传送位置，而衣物（70）被检测到的边缘（72）朝向 前部放置在移除输送机上，冲击边缘前进。

公开(公告)号：US07412789B2

公开(公告)日：2008-08-19

申请号：US11354055

申请日：2006-02-15

申请人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

发明人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

IPC分类号： D06F67/04 ,  D06F69/02

CPC分类号： D06F67/04 ,  D06F95/00

摘要： A laundry article is drawn over a support surface by a positioning gripper and is set down there so that the rearmost tip comes to rest on an edge plate and the remainder on a transverse conveyor which moves the laundry article to a corner gripping apparatus. The latter is then moved to the edge plate, optical sensors located above said edge plate registering edge points of the laundry article. The position of the corner is determined whereupon the corner gripping apparatus approaches the tip determined and a corner gripper is advanced from the gripping edge so that a lower jaw thereof grips under the edge plate. An upper jaw is then lowered onto the corner of the laundry article. The corner gripper is then withdrawn so that the corner is clamped between the upper jaw and the lower jaw of the corner gripper.

摘要翻译： 洗衣物品通过定位夹持器在支撑表面上被拉伸并放置在那里，使得最后面的尖端停留在边缘板上，其余部分在横向输送机上，将横向输送器移动到角落夹持装置。 然后将后者移动到边缘板，位于所述边缘板上方的光学传感器记录洗衣物品的边缘点。 确定拐角的位置，此时角部夹紧装置接近所确定的尖端，并且角部夹持器从抓握边缘前进，使得其下颚握在边缘板下方。 然后将上颌下降到洗衣物品的拐角处。 然后将拐角夹持器取出，使得拐角被夹紧在颚夹爪的上颚和下颚之间。

公开(公告)号：US07448152B2

公开(公告)日：2008-11-11

申请号：US11354181

申请日：2006-02-15

申请人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

发明人： Jesper Munch Jensen ,  Thomas Knofel ,  Martin Rauch

IPC分类号： D06F67/04 ,  D06F57/00

CPC分类号： D06F67/04 ,  D06F95/00

摘要： A laundry article is drawn by a tensioning conveyor with a tensioning gripper which has gripped said laundry article at a corner in a tensioning direction over a narrowing channel, the base of which is convex in the tensioning direction. Optical sensors arranged on the channel detect the rear end of the laundry article, which is then gripped by a clamping unit at the end thereof. A detectable edge which slides along a guide plate is aligned so that it is detected by a sensor on a first edge gripper which is then moved downwards along an approximately perpendicularly aligned pivot arm until the sensor detects the corner at the lower end of the edge. Subsequently, the pivot arm is swiveled to a horizontal transfer position, and the laundry article with the detected edge is placed on a removal conveyor, an impact edge being advanced.

摘要翻译： 衣物被张紧传送带牵引，该张紧夹具将张紧方向的拐角处的所述衣物夹持在狭窄通道上，该狭窄通道的基部在张紧方向上是凸的。 布置在通道上的光学传感器检测洗衣物品的后端，然后在其末端通过夹紧单元夹持。 沿着引导板滑动的可检测边缘被对准，使得其由第一边缘夹持器上的传感器检测，然后沿着大致垂直对准的枢转臂向下移动，直到传感器检测到边缘下端的拐角。 随后，枢转臂旋转到水平传送位置，并且具有检测到的边缘的衣物被放置在移除输送机上，冲击边缘前进。