NZ806070B2 - Method for operating a gripping device for separating laundry items from a laundry pile - Google Patents

Abstract

The object of the present invention is to propose a method for improving the separation of laundry items from a laundry pile. The present invention relates to a method for operating a gripping device (1) for separating laundry items from a laundry pile (5). The gripping device (1) comprises a suction nozzle unit (2) for suctioning a laundry item lying on the laundry pile (5). The suction nozzle unit (2) has a nozzle assembly consisting of at least one nozzle. The suction nozzle unit (2) has a device for producing negative pressure at the opening (6) of the suction nozzle unit (2). The gripping device (1) has gripping elements (3, 4), which are interactingly closed such that, in the closed state, the gripping elements (3, 4) grip the laundry item. According to the present invention, the opening (6) of the suction nozzle unit (2) has, at the start of the suctioning of a laundry item, a distance (X) from the laundry pile (5) (210) which is greater than "0". The gripping elements (3, 4) close when a laundry item has been suctioned by the suction nozzle unit (2) such that the opening (6) of the suction nozzle unit (2) is covered by the laundry item. The laundry item is only partly raised from the laundry pile (5) when the gripping elements (3, 4) close. The suction nozzle unit (2) and the gripping elements (3, 4) can be moved relative to one another such that the distance from the suction nozzle unit (2) to the laundry pile (5) can be changed relative to the distance from the gripping elements (3, 4) to the laundry pile (5). Starting from a first position, in which the distance from the opening (6) of the suction nozzle unit (2) to the laundry pile (5) is less than the distance from the gripping elements (3, 4) to the laundry pile (5), to the second position, in which the distance from the opening (6) of the suction nozzle unit (2) to the laundry pile (5) is greater than the distance from the gripping elements (3, 4) to the laundry pile. A gripping process is performed by first generating a vacuum in the suction nozzle unit (2) and the gripping elements (3, 4) are open, then transitioning into the second position, in which the suction nozzle (2) is moved away from the laundry pile (5) relative to the gripping elements (3, 4) then closing the gripping elements (3, 4).

Claims (10)

1. Method for operating a gripping device for separating laundry items from a 5 laundry pile , ? wherein the gripping device has a suction nozzle unit for sucking up a laundry item lying on the laundry pile , ? wherein the suction nozzle unit has a nozzle assembly, which consists of at least one nozzle, 10 ? wherein the suction nozzle unit has a device for generating a vacuum at the opening of the suction nozzle unit , ? wherein the gripping device has gripping elements , which are closed in cooperation in such a way that the gripping elements grip the laundry item in the closed state, 15 wherein ? the opening of the suction nozzle unit has a distance from the laundry pile that is greater than “0” when suction of a laundry item begins, ? the gripping elements close when a laundry item has been sucked up by the suction nozzle unit in such a way that the opening of the suction nozzle 20 unit is covered by the laundry item, and ? the laundry item is only partially lifted from the laundry pile when the gripping elements close, ? the suction nozzle unit and the gripping elements can be moved relative to one another such that the distance from the suction nozzle unit to the 25 laundry pile can be changed relative to the distance from the gripping elements to the laundry pile : ? from a first position, in which the distance from the opening of the suction nozzle unit to the laundry pile is less than the distance from the gripping elements to the laundry pile , 30 ? to a second position, in which the distance from the opening of the suction nozzle unit to the laundry pile is greater than the distance from the gripping elements to the laundry pile, ? wherein a gripping process is performed with the following steps: ? First step: In the first position, a vacuum is generated in the suction nozzle unit and the gripping elements are open, ? Second step: After sucking up a laundry item, a transition into the second 5 position occurs, in which second position the suction nozzle unit in the gripping device is moved away from the laundry pile relative to the gripping elements , ? Third step: The gripping elements are closed. 10

2. Method according to claim 1, wherein when a vacuum is generated in the suction nozzle unit without recognising the sucking up of a laundry item ? the distance is reduced and/or 15 ? a stronger vacuum is built up until the sucking up of a laundry item has been recognised.

3. Method according to claim 1 or 2, wherein 20 on recognising that no laundry items have been sucked up, ? the gripping elements are closed such that said gripping elements grip the top part of the laundry pile , ? the gripping elements are then lifted after gripping the top part of the laundry pile , 25 ? the gripping elements are then opened in the lifted position, such that the lifted top part of the laundry pile falls back onto the laundry pile.

4. Method according to any one of claims 1 to 3, wherein 30 on recognising that several laundry items are gripped by the gripping elements after one laundry item has been sucked up by the suction nozzle unit , ? the gripping elements are lifted into a position in which the gripped laundry items are lifted from the laundry pile, and ? the gripping elements are opened in this lifted position such that the gripped laundry items fall back onto the laundry pile .

5. Method according to any one of claims 1 to 4, wherein ? the gripping elements close with a rotation about a rotation point , 10 ? the length of the gripping elements starting from the centre of rotation of the rotary movement is greater than the length of the suction nozzle unit starting from the centre of rotation of the rotary movement of the gripping elements, and ? the gripping elements are closed with a rotary movement after a laundry 15 item has been sucked up by the suction nozzle unit.

6. Method according to any one of claims 1 to 5, wherein ? after switching on the device to generate a vacuum, the device is operated 20 at a first power level, ? after recognising that a laundry item has been sucked up, the device is operated at a second power level, ? wherein the second power level is lower than the first power level. 25

7. Method according to any one of claims 1 to 6, wherein a laundry item being sucked up is recognised by evaluating one or more of the following variables: ? Speed change of the drive unit of the device for generating a vacuum, ? Power consumption of the drive unit of the device for generating a vacuum, 30 ? Change in the air flow rate when the device is switched on, ? Change in pressure inside the suction nozzle unit, ? Visual evaluation.

8. Method according to any one of claims 1 to 7, wherein the power level at which the device for generating a vacuum in the suction nozzle unit is operated is dependent on recognising the type of fabric of 5 the laundry item in the laundry pile.

9. Method according to any one of claims 1 to 8, wherein the device for generating a vacuum is switched off if the gripping elements are closed.

10. Method according to any one of claims 1 to 9, wherein ? the shape and position of the laundry pile is detected, ? a desired position for the opening of the suction nozzle unit is determined 15 from the shape and position of the laundry pile in such a way that the opening of the suction nozzle unit is at a distance from the laundry pile when this desired position is reached, ? the gripping device is moved to this target position to perform the first step. 20 Thielen Automation GmbH Patent Attorneys for the Applicant/Nominated Person SPRUSON & FERGUSON