A cloth clamping device includes a clamping mechanism that comes into contact with a cloth and an up-and-down movement mechanism that moves the clamping mechanism up and down. The clamping mechanism includes a support portion, a leg portion, a foot portion, and a clamping portion. The clamping portion has a leading end portion facing the foot portion in a sideway direction and a base end portion being pivotally supported by the support portion. When the leg portion is lowered with respect to the support portion, the leading end portion pivots downward and is positioned in a sideway direction with respect to the foot portion, and when the leg portion is raised with respect to the support portion, the clamping portion comes into contact with the upper surface of the cloth and the leading end portion is positioned above the foot portion, and the clamping mechanism draw up the cloth.

A transfer device raises batteries of flat boxes inside a carton so that one battery at a time is in a waiting position beyond an open upper face of the carton at an inlet line of a boxing machine. A frame is predisposed to translate above the positioning station and the inlet line between a first position above the waiting position and a second position above the inlet line. Grippers on the frame both grip and retain a box battery at two ends thereof and release the battery. The grippers are activated, with the frame in the first position, to grip and retain the battery of boxes at its two ends and, with the frame in the second position, to release the battery into the inlet line.

The method of transporting a piece of fabric material using a Morton™ picker comprises the steps of aligning a weight vector of the piece of fabric material being lifted, from the gap between the toothed wheel and the pressing foot of the picker and into a region between a tangent to the toothed wheel and a right angle to the pressing surface of the pressing foot; and lifting and transporting the piece of fabric material while maintaining the alignment of the weight vector in that region. In another aspect, there is provided robotic installation comprising a robotic arm and a Morton™ picker for manipulating pieces of fabric material. The robotic arm is configured for simultaneously rotating an axis of the picker and moving the picker along a hyperbolic trajectory, in a single complex motion without jitter, while maintaining the aforesaid alignment of the weight vector.

The method of transporting a piece of fabric material using a Morton™ picker comprises the steps of aligning a weight vector of the piece of fabric material being lifted, from the gap between the toothed wheel and the pressing foot of the picker and into a region between a tangent to the toothed wheel and a right angle to the pressing surface of the pressing foot; and lifting and transporting the piece of fabric material while maintaining the alignment of the weight vector in that region. In another aspect, there is provided robotic installation comprising a robotic arm and a Morton™ picker for manipulating pieces of fabric material. The robotic arm is configured for simultaneously rotating an axis of the picker and moving the picker along a hyperbolic trajectory, in a single complex motion without jitter, while maintaining the aforesaid alignment of the weight vector.

A transfer device raises batteries of flat boxes inside a carton so that one battery at a time is in a waiting position beyond an open upper face of the carton at an inlet line of a boxing machine. A frame is predisposed to translate above the positioning station and the inlet line between a first position above the waiting position and a second position above the inlet line. Grippers on the frame both grip and retain a box battery at two ends thereof and release the battery. The grippers are activated, with the frame in the first position, to grip and retain the battery of boxes at its two ends and, with the frame in the second position, to release the battery into the inlet line.

In laundry processing, a conveyor rotates a textile article in a first stage. The article is held while part of the article rests on the conveyor. By conveying while held, the textile article rotates, positioning an edge of the article. In a second stage, the conveyor conveys the article to a clamp. This clamp holds the article while the conveyor reverses direction and a blower attempts to flatten the article if folded. The textile article rotates, positioning the edge of the article to be more parallel with the direction of conveyance. In a third stage, the article is dragged by the edge over a gap where gravity and blowing attempt to flatten the article. In a fourth stage, the flattened article is positioned over a stack. A blower directs air at a center of the article to blow out the corners and assist in maintaining position.

In laundry processing, a conveyor rotates a textile article in a first stage. The article is held while part of the article rests on the conveyor. By conveying while held, the textile article rotates, positioning an edge of the article. In a second stage, the conveyor conveys the article to a clamp. This clamp holds the article while the conveyor reverses direction and a blower attempts to flatten the article if folded. The textile article rotates, positioning the edge of the article to be more parallel with the direction of conveyance. In a third stage, the article is dragged by the edge over a gap where gravity and blowing attempt to flatten the article. In a fourth stage, the flattened article is positioned over a stack. A blower directs air at a center of the article to blow out the corners and assist in maintaining position.

A sheet feed device has a tray with holding surface for holding sheets, a feed unit for feeding sheets from the tray, and a separation plate. The separation plate has an inclined surface and two or more separation portions that separate a sheet from the sheets held in the tray. At least one of the separation portions projects a first distance from the inclined surface. The separation plate also has a projection positioned on the inclined surface that projects a second distance from the inclined surface. The second distance is greater than the first distance. A first of the separation portions is positioned upstream of the particular projection in the sheet feed direction, and a second of the separation portions positioned downstream of the particular projection in the sheet feed direction.

A sheet feed device has a tray with holding surface for holding sheets, a feed unit for feeding sheets from the tray, and a separation plate. The separation plate has an inclined surface and two or more separation portions that separate a sheet from the sheets held in the tray. At least one of the separation portions projects a first distance from the inclined surface. The separation plate also has a projection positioned on the inclined surface that projects a second distance from the inclined surface. The second distance is greater than the first distance. A first of the separation portions is positioned upstream of the particular projection in the sheet feed direction, and a second of the separation portions positioned downstream of the particular projection in the sheet feed direction.

In laundry processing, a conveyor rotates a textile article in a first stage. The article is held while part of the article rests on the conveyor. By conveying while held, the textile article rotates, positioning an edge of the article. In a second stage, the conveyor conveys the article to a clamp. This clamp holds the article while the conveyor reverses direction and a blower attempts to flatten the article if folded. The textile article rotates, positioning the edge of the article to be more parallel with the direction of conveyance. In a third stage, the article is dragged by the edge over a gap where gravity and blowing attempt to flatten the article. In a fourth stage, the flattened article is positioned over a stack. A blower directs air at a center of the article to blow out the corners and assist in maintaining position.