Method for operating a gripping device for separating laundry items from a laundry pile

Abstract

A method operates a gripping device for separating laundry items from a laundry pile. The gripping device has a suction nozzle unit for suctioning a laundry item lying on the pile that has a nozzle assembly with at least one nozzle and a device for generating a vacuum at the suction nozzle unit opening. The gripping device has gripping elements, which are closed in cooperation so that the gripping elements grip the laundry item in the closed state. The suction nozzle unit opening has a distance from the laundry pile 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 so that the suction nozzle unit opening is covered by the laundry item. The laundry item is only partially lifted from the laundry pile when the gripping elements close.

Claims

1. A method for operating a gripping device (1) for separating laundry items from a laundry pile (5), wherein the gripping device (1) has a suction nozzle unit (2) for sucking up a laundry item lying on the laundry pile (5), wherein the suction nozzle unit (2) has a nozzle assembly, which consists of at least one nozzle, wherein the suction nozzle unit (2) has a device for generating a vacuum at the opening (6) of the suction nozzle unit (2), wherein the gripping device (1) has gripping elements (3, 4), which are closed in cooperation in such a way that the gripping elements (3, 4) grip the laundry item in the closed state, wherein the opening (6) of the suction nozzle unit (2) has (201) a distance (X) from the laundry pile (5) that is greater than 0 when suction of a laundry item begins, the gripping elements (3, 4) close when a laundry item has been sucked up by the suction nozzle unit (2) in such a way that the opening (6) of the suction nozzle unit (2) is covered by the laundry item, and the laundry item is only partially lifted from the laundry pile (5) when the gripping elements (3, 4) close, and wherein the suction nozzle unit (2) and the gripping elements (3, 4) can be moved relative to one another such that the distance (X) 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): from a first position, in which the distance (X) 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 a 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, 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 (2) and the gripping elements (3, 4) are open, Second step: After sucking up a laundry item, a transition into the second position occurs, in which second position the suction nozzle unit (2) in the gripping device (1) is moved away from the laundry pile (5) relative to the gripping elements (3, 4), Third step: The gripping elements (3, 4) are closed.

2. The method according to claim 1, wherein when a vacuum is generated in the suction nozzle unit without recognizing the sucking up of a laundry item the distance (X) is reduced and/or a stronger vacuum is built up until the sucking up of a laundry item has been recognized.

3. The method according to claim 1, wherein on recognizing that no laundry items have been sucked up, the gripping elements (3, 4) are closed such that said gripping elements (3, 4) grip the top part of the laundry pile (5), the gripping elements (3, 4) are then lifted after gripping the top part of the laundry pile (5), the gripping elements (3, 4) are then opened in the lifted position, such that the lifted top part of the laundry pile (5) falls back onto the laundry pile.

4. The method according to claim 1, wherein on recognizing that several laundry items are gripped by the gripping elements after one laundry item has been sucked up by the suction nozzle unit (2), the gripping elements (3, 4) are lifted into a position in which the gripped laundry items are lifted from the laundry pile, and the gripping elements (3, 4) are opened in this lifted position such that the gripped laundry items fall back onto the laundry pile (5).

5. The method according to claim 1, wherein the gripping elements (3, 4) close with a rotation about a rotation point (401), the length of the gripping elements (3, 4) starting from the center of rotation (401) of the rotary movement is greater than the length of the suction nozzle unit (2) starting from the center of rotation (401) of the rotary movement of the gripping elements (3, 4), and the gripping elements (3, 4) are closed with a rotary movement (401) after a laundry item has been sucked up by the suction nozzle unit (2).

6. The method according to claim 1, wherein after switching on the device to generate a vacuum, the device is operated at a first power level (201), after recognizing that a laundry item has been sucked up, the device is operated at a second power level (204), wherein the second power level is lower than the first power level.

7. The method according to claim 1, wherein a laundry item being sucked up is recognized (202) 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, Change in the air flow rate when the device is switched on, Change in pressure inside the suction nozzle unit (2), Visual evaluation.

8. The method according to claim 1, wherein the power level at which the device for generating a vacuum in the suction nozzle unit (2) is operated is dependent on recognizing the type of fabric of the laundry item in the laundry pile (5).

9. The method according to claim 1, wherein the device for generating a vacuum is switched off if the gripping elements (3, 4) are closed (206).

10. The method according to claim 1, wherein the shape and position of the laundry pile (5) is detected, a desired position for the opening (6) of the suction nozzle unit (2) is determined from the shape and position of the laundry pile (5) in such a way that the opening (6) of the suction nozzle unit (2) is at a distance (X) from the laundry pile (5) when this desired position is reached, the gripping device (1) is moved to this target position to perform the first step.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) An exemplary embodiment of the invention is shown in the drawing. In the figures:

(2) FIGS. 1 to 4 show: representations of a gripping device with a suction nozzle unit and gripping elements above a laundry pile in different positions and operating states, and

(3) FIG. 5: shows a block diagram representing the sequence of the method according to the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

(4) FIGS. 1 to 4 shows representations of a gripping device 1 having a suction nozzle unit 2 and gripping elements 3, 4 above a laundry pile 5 in different positions and operating states.

(5) FIG. 1 shows the gripping device 1 in which said gripping device 1 is located above the laundry pile 5. It can be seen that the opening 6 of the suction nozzle unit 2 has a distance X from the laundry pile 5, which is greater than 0.

(6) In the representation of FIG. 1, it can be seen that air flows in through the opening 6 of the suction nozzle unit 2, is sucked up from the side of the suction nozzle unit 2 and flows between the opening 6 of the suction nozzle unit 2 and the laundry pile 5.

(7) It can be seen that the gripping elements 3 and 4 and open.

(8) The device for generating a vacuum in the suction nozzle unit 2 is in operation in the representation in FIG. 1. As a result, the air is sucked up and flows between the laundry pile 5 and the opening 6 of the suction nozzle unit 2 into the opening 6 of the suction nozzle unit 2. Thus, a vacuum is generated.

(9) In this first position, the opening 6 of the suction nozzle unit 2 is closer over the laundry pile 5 than the gripping elements 3 and 4. In the exemplary embodiment shown, this is already due to the fact that the two gripping elements 3 and 4 are open and protrude laterally in an upper positionabove the opening 6 of the suction nozzle unit 2.

(10) FIG. 2 shows the situation as in FIG. 1 with the difference that, as a result of the vacuum, the top laundry item of the laundry pile 5 has been sucked up so far that this laundry item covers the opening 6 of the suction nozzle unit 2.

(11) The gripping device 1 shown in FIGS. 1 to 4 relates to an embodiment in which the suction nozzle unit 2 in the gripping device 1 can be moved in a vertical direction relative to the gripping elements 3 and 4. This is symbolized by the arrow 301 in FIG. 3.

(12) By lifting the suction nozzle unit 2 in the gripping device 1, the sucked-up laundry item is lifted further away from the laundry pile.

(13) The two arrows 302 and 303 refer to the rotary movement of the two gripping elements 3 and 4 when closing. It can be seen that the two gripping elements 3 and 4 close above the laundry pile 5. It is again advantageous that the suction nozzle unit 2 is moved upwards relative to the gripping elements 3 and 4, so that the sucked-up laundry item is located between the gripping elements 3 and 4 before they are closed.

(14) In addition, the relative movement of the suction nozzle unit 2 relative to the gripping elements 3 and 4 in the gripping device 1 ensures that the gripping elements 3 and 4 close below the opening 6 of the suction nozzle unit 2.

(15) FIG. 4 shows the gripping device 1 in the position in which the suction nozzle unit 2 in the gripping device 1 has been moved upwards relative to the gripping elements 3 and 4 and in which the gripping elements 3 and 4 are closed and thus grip the laundry item. It can be seen that the device for generating a vacuum is switched off. The laundry item is held solely by the closed gripping elements 3 and 4.

(16) With reference to FIGS. 3 and 4, it can be explained that it is not absolutely necessary for the implementation of the present invention that the suction nozzle unit 2 in the gripping device 1 can be moved upwards relative to the gripping elements 3 and 4 (i.e. the movement corresponding to the arrow 301 is not absolutely necessary). The assignment of the position of the suction nozzle unit 2 to the center of rotation 401 of the gripping elements 3 and 4 can also be carried out statically, as shown in FIG. 4. The gripping elements 3 and 4 thus close below the opening 6 of the suction nozzle unit 2. If the two gripping elements 3 and 4 are rotated as far as shown in FIGS. 1 and 2 during opening, the two gripping elements 3 and 4 are located above the opening 6 of the suction nozzle unit 2 even if the suction nozzle unit 2 is positioned (statically) as far up inside the gripping device 1 as shown in FIG. 4. It is then also possible with such an embodiment to position the opening 6 of the suction nozzle unit 2 above the laundry pile 5 at a distance X, so that the gripping elements 3 and 4 are nevertheless further away from the laundry pile 5 than the opening 6 of the suction nozzle unit 2. This embodiment corresponds to the second alternative mentioned in the first aspect of the invention for the implementation of the second step.

(17) FIG. 5 shows a block diagram representing the sequence of the method according to the present invention.

(18) A cycle of the method starts in the function block 501. The suction nozzle unit is at a certain distance X from the top of the laundry pile. The device for generating a vacuum is switched on.

(19) The function block 502 checks whether a laundry item has been sucked up after a certain time has elapsed such that this laundry item covers the opening of the suction nozzle unit. This cycle can be carried out by evaluating one of the variables mentioned in connection with the third embodiment.

(20) If it is recognized that no laundry items have been sucked up even after a certain time has elapsed, the suction nozzle unit can be positioned closer to the laundry pile (reducing the distance X) and/or the power of the device for generating a vacuum can be increased in accordance with the representation of the function block 503.

(21) If a laundry item has been sucked up, the power of the device for generating a vacuum can be reduced in accordance with the function block 504.

(22) The suction nozzle unit is retracted relative to the gripping elements in accordance with the function block 505. If the gripping elements according to the description of the first aspect of the invention in the second alternative of the second step are sufficiently long compared to the length of the suction nozzle unit, the gripping device as a whole can also be lifted off the laundry pile so that the gripping elements close above the laundry pile in the subsequent step of the function block 506.

(23) According to the function block 506, the gripping elements are closed and the drive unit is switched off to generate a vacuum.