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JP-7857046-B2 - Machinery for handling limp materials, especially woven articles.

JP7857046B2JP 7857046 B2JP7857046 B2JP 7857046B2JP-7857046-B2

Inventors

  • デルクス，ティム
  • アブ シャクラ，アルバラ ディラル モハンマド

Assignees

  • ゼヴツ・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング

Dates

Publication Date
20260512
Application Date
20230217
Priority Date
20220221

Claims (13)

  1. A machine (1) for handling limp materials (3), particularly woven articles, The machine (1) includes at least first and second gripping devices (10) adapted to simultaneously grip the same piece of limp material (3), At least one of the gripping devices (10) is connected to a drive system (5) adapted to displace the gripping devices (10) relative to each other. One of the gripping devices (10) is a manipulator (10) having a displacement mechanism (20) adapted to actively displace the limp material (3) in a direction generally within the plane in which the limp material (3) is held within the manipulator (10), The system further includes at least one sensor (30) adapted to detect the limp material (3) and/or region of interest, The manipulator (10) includes a base (12) and a pressing part (14) that are displaceable relative to each other, The displacement mechanism (20) is provided on the base (12) and includes at least one displacement wheel (22) arranged to engage with the limp material (3), A accommodating space (28) is provided between the base (12) and the pressing portion (14), and the accommodating space (28) is adapted to accommodate the edge (E) of the limp material (3). The machine (1) is configured such that the sensor (30) detects the position of the edge (E) within the housing space (28) .
  2. The machine according to claim 1 , wherein the displacement wheel (22) is an omniwheel.
  3. The machine according to claim 1 , wherein a guide groove (24) related to the displacement wheel (22) is provided in the pressing portion (14).
  4. The machine according to claim 1 , wherein the sensor (30) is formed from separate detection elements (32) arranged spaced apart from each other.
  5. The machine according to any one of claims 1 to 4, wherein a pair of displacement wheels (22) are provided.
  6. The machine according to claim 5, wherein the pressing portion (14) includes a pair of pressing wheels (23) and pressing elements (25), and the pressing wheels (23) and pressing elements (25) are movable independently of each other relative to the displacement wheel (22), particularly in a direction perpendicular to the plane in which the limp material (3) is held between the displacement wheel (22) and the pressing wheels ( 23 ).
  7. The machine according to claim 5 , wherein a drive device for the displacement wheels is provided, which is adapted to rotate the displacement wheels independently of each other or in opposite directions.
  8. The machine according to claim 5 , wherein the sensor (30) is configured to detect the presence of the limp material (3) in a detection area that extends circumferentially around the base (12).
  9. The machine according to claim 8 , wherein the sensor (30) is formed from a plurality of separate detection elements (32) arranged circumferentially around the base (12).
  10. The machine according to any one of claims 1 to 4 , wherein the base (12) and/or the pressing portion (14) can rotate about an axis perpendicular to the rotation axis of the displacement wheel (23).
  11. The machine according to any one of claims 1 to 4 , wherein two manipulators (10) are provided.
  12. The machine according to any one of claims 1 to 4, wherein the drive system (5) includes a linear drive unit to which the gripping devices (10) are attached, and the linear drive unit is adapted to displace the gripping devices (10) from a loading position in which the gripping devices (10) are close to each other to a position in which the gripping devices ( 10 ) are spaced apart from each other, and vice versa.
  13. The machine according to any one of claims 1 to 4, wherein the drive system (5) includes two robot arms (7), each of the robot arms (7) is provided with a gripping device (10), and the robot arms (7) are adapted to displace the gripping devices (10) from a loading position where the gripping devices (10) are close to each other to a position where the gripping devices ( 10 ) are spaced apart from each other, and vice versa.

Description

The present invention relates to a machine for handling limp material, the machine including at least first and second gripping devices adapted to simultaneously grip identical pieces of limp material. A challenge related to handling limp materials such as woven articles is that the limp material does not have a predetermined shape. As a simple example, a tablecloth can have a spread-out rectangular shape, or it can exist in the form of a fairly small, crumpled bundle. Attempts to handle limp materials in an automated manner require either shaping the limp material or at least clearly identifying specific points of the limp material, such as the edges. In this specification, the term "limp material" refers to textile articles, particularly products for human use such as clothing, and industrial products such as panels, covers, or fiber mats. It further includes paper, sheets of foil material, and knitted fabrics. These examples are not exhaustive. An example of a machine for handling limp material can be found in International Publication No. 2021/001039. The machine includes two grippers that engage with the woven article at a distance of two points from each other. The grippers can shape the woven article into a predetermined form for further processing. Next, the present invention will be described with reference to the embodiments shown in the attached drawings. In the drawings, This figure shows a first embodiment of a machine having two gripping devices in a loading position.This diagram shows the machine in Figure 1 with two gripping devices positioned at a distance from each other.This figure shows a second embodiment of the machine according to the present invention, in which two gripping devices are in the loading position.This figure shows the machine in Figure 3 with the gripping devices in a separated position.This is a schematic cross-sectional view of a manipulator according to the first embodiment.Figure 5 is a perspective view of the manipulator.This is a side view of the manipulator according to the second embodiment.Figure 7 is a perspective view of the manipulator.This is a second perspective view of the manipulator in Figure 7, where the manipulator is in the first working position.This figure shows the manipulator in the second working position, as shown in Figure 7.Figure 7 is a schematic top view of the base of the manipulator.This diagram schematically shows a machine according to a third embodiment in two different locations. Figures 1 and 2 schematically show a machine 1 for handling limp material 3. For example, limp material is woven fabric below. It should be noted that the present invention is applicable to all types of limp material. Machine 1 includes two gripping devices 10, each gripping device adapted to receive and hold the textile article 3 currently being handled. The two gripping devices 10 are attached to a drive system 5 that can displace the gripping devices 10 relative to each other. As can be seen by comparing Figures 1 and 2, the drive system 5 allows the gripping devices 10 to be displaced from a loading position, shown in Figure 1, where the gripping devices 10 are positioned close to or in contact with each other, to a position, shown in Figure 2, where the gripping devices 10 are separated from each other. The drive system 5 can be a linear drive system that allows the two gripping devices to be displaced away from each other in the direction of arrow A, and vice versa. Of course, it is also possible to position the gripping devices stationary and displace only the other gripping device 10. At the mounting position, the woven article 3 is attached to the gripping device 10. By displacing the gripping devices 10 so that they are separated from each other, the edges of the woven article 3, which are received within the gripping devices 10, slide through the gripping devices, stretching the woven article and applying tension. Figures 3 and 4 show a second embodiment of the machine 1 for handling the textile article 3. The difference between the first and second embodiments is that in the second embodiment, a robot arm 7 is used as the drive system for moving the gripping devices 10 together. In a modified version of the second embodiment, a single stationary gripping device 10 is used, and only the second gripping device 10 can be displaced relative to the stationary gripping device. In yet another modification, one end of the gripping device 10 can be used as a simple gripper to simply secure the corner of the textile article placed thereon, while the other gripper 10 displaces away from the first gripper and follows the contour of the edge. Figures 5 and 6 show a first embodiment of the gripping device 10. The gripping device in Figures 5 and 6 is called a manipulator because, in addition to enabling passive sliding motion in response to the relative displacement of the gripping devices, it can also actively slide the textile article against the gripping devi