Abstract:
According to the invention, the items of laundry ( 11 ) are grasped successively by a gripper ( 23 ), are lifted up and taken over by a transfer means ( 24 ) which transports the respective item of laundry ( 11 ) through a gap ( 29 ). The gap ( 29 ) of the transfer means ( 24 ) ensures that only individual items of laundry ( 11 ) can be transported on further by the transfer means ( 24 ) and a force which is required for completely pulling out the respective item of laundry ( 11 ) from the pile of laundry ( 10 ) can be exerted on the item of laundry ( 11 ). As a result, reliable separating of items of laundry ( 11 ) from a pile of laundry ( 10 ) is ensured.

Description:
STATEMENT OF RELATED APPLICATIONS 
     This application is a divisional of Application No. 09/036,296, filed on Mar. 6, 1998, now U.S. Pat. No. 6,089,810. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Technical Field 
     The invention relates to devices for separating and/or grasping items of laundry having a gripping device for grasping preferably individual items of laundry from a pile of laundry or the like, and having a transfer means which takes over the item of laundry grasped by the gripping means and transports it on further having a gripping device for grasping preferably individual items of laundry from a pile of laundry or the like, and having a transfer means which takes over the item of laundry grasped by the gripping means and transports in on further and/or a stockpiling means for the items of laundry. 
     2. Prior Art 
     Washed items of laundry usually leave a washing machine in a pile. Before the items of laundry coming out of a washing machine in this manner pass through further laundry treatments in the laundry sector, for example, are put through a mangle, the (still damp) items of laundry leaving the washing machine in a pile have to be separated. The aim is to mechanize this procedure of separating the items of laundry or other textile articles. 
     Devices which grasp individual items of laundry from the pile of laundry are already known. However, these known devices have been shown to frequently make mistakes. Also, occasionally several items of laundry are grasped at the same time. As a result, it is not possible for the items of laundry to be separated reliably. In consequence, the known devices of this type are subject to losses in efficiency. 
     BRIEF SUMMARY OF THE INVENTION 
     Taking this as the starting point, the invention is based on the object of providing a method and a device for reliably and efficiently separating and/or grasping items of laundry. 
     A method for achieving this object is disclosed herein. The fact that the transfer means transports the respective item of laundry on through a gap means that even heavy items of laundry can reliably be pulled out of the pile of laundry. Above all, this is the case even if other items of laundry are wrapped around the item of laundry to be separated in each case, because the transporting of the item of laundry through the gap enables relatively large tensile forces to be imparted to the item of laundry. The gap furthermore ensures that only individual items of laundry are taken over by the transfer means and transported on further. 
     It is furthermore proposed to change the width of the gap during the transfer procedure. The grasped items of laundry can be moved through into the initially open gap by means of a gripping member. During a subsequent reduction in the width of the gap, the item of laundry is coupled up to one part of the transfer means, which part bounds the gap on one side. This part is preferably designed as a revolving conveyor which acts on one side of the item of laundry. Should several items of laundry have been grasped, only the lowermost item of laundry comes into contact with that part of the transfer means which serves for the coupling up and this means that the other item of laundry drops, if the gripping member for lifting up at least some of the items of laundry opens. After only a single item of laundry has been coupled up in this manner to one part of the transfer means, the gap is closed further until parts of the transfer means which bound the gap on both sides bear against opposite sides of the item of laundry. Using the necessary force, the transfer means is then able to completely pull the separated item of laundry out of the pile of laundry. 
     A device for achieving the object on which the invention comprises a gripping device for grasping preferably individual items of laundry from a pile of laundry or the like, and having a transfer means which takes over the item of laundry grasped by the gripping means and transports it on further, wherein the transfer means is formed from a conveyor and a pressure member that cooperates with the conveyor, and the transfer means has a gap through which the respective item of laundry can be transported. The transfer means, which is provided with a gap which is preferably variable in size, ensures that individual items of laundry are transferred and that they are reliably transported on further. The gap of the transfer means permits a frictional resistance which meets the requirements and which makes it possible reliably to separate the items of laundry, even under difficult conditions, and to pull them out completely from the pile of laundry. 
     According to a preferred development of the invention, the transfer means essentially comprises a conveyor and a pressure member which co-operates therewith. The gap is then formed between, in particular, one part of the conveyor and the pressure member. Conveyor and pressure member thus bound opposite sides of the gap. The respective item of laundry can be moved through between the conveyor and the pressure member. The conveyor, which is driven in a revolving manner, pulls the respective item of laundry through the gap which is formed in this manner. If the need arises, it is also possible for a pressure roller, which forms the pressure member, to be driven preferably synchronously with respect to the conveyor. It is also conceivable, however, for the pressure roller to be designed such that it can rotate freely, with the result that it is moved by the item of laundry pulled through the gap. 
     In a preferred embodiment of the invention the width of the gap can be varied. For this purpose, the distance between the conveyor and the pressure roller can be changed by an appropriate movement of the conveyor or of the pressure roller. If appropriate, it is even possible for both of them to be moveable. Preferably, however, only the conveyor is pivoted in order to change the width of the gap. By this means, it is initially only the conveyor which is coupled up to an item of laundry. While the gap is still so large that the pressure roller has not yet made any contact with the item of laundry, a further separating procedure takes place if several items of laundry should have been grasped during the preceding gripping procedure, because only the lower item of laundry (which is bearing against the pivotal conveyor) is coupled up to the conveyor and the items of laundry lying above the lower one slip off from the (lower) item of laundry coupled up to the conveyor. 
     A further, independent achievement of the object, which can also be a further development of the above described device, comprises a gripping device for grasping the items of laundry, and having a stockpiling means for the items of laundry, wherein the stockpiling means has at least one temporary storage facility. In accordance therewith, the stockpiling means, from which the items of laundry are removed individually, is assigned at least one temporary storage facility. The temporary storage facility can be loaded with items of laundry while items of laundry are still being removed from the stockpiling means. The items of laundry can be supplied rapidly to the stockpiling means from the temporary storage facility without there having to be an interruption for this purpose in the procedure for removing items of laundry in a separated fashion from the stockpiling means. In this manner, the stockpiling means can be loaded with new items of laundry in a simple and also time-saving manner. The stockpiling means can be supplied with items of laundry from the temporary storage facility when the last item of laundry has been removed from the stockpiling means. However, it is conceivable for the stockpiling means to be supplied with new items of laundry from the temporary storage facility if there are still items of laundry in the stockpiling means. This means that special checking measures are not needed to ensure that there is always a sufficient number of items of laundry in the stockpiling means. 
     A further device for independently achieving the object mentioned at the beginning, or else for developing the above described devices, has the features of claim  17 . Changing the shape of the stockpiling means enables individual items of laundry to be removed from the stockpiling means, even if there is still a relatively small number of items of laundry therein. In particular, the shape of the stockpiling means is changed, for this purpose, such that it obtains a relatively markedly funnel-shaped design. 
     The stockpiling means preferably has at least one flexible wall. This enables the shape of the stockpiling means to be changed simply and effectively by the stockpiling means being moved up and down. Whereas in a lowered starting position part of the stockpiling means rests on a support, it has an at least partially flat base with a great receiving capacity for many items of laundry. In contrast, if the stockpiling means is lifted up, by its base being moved away from the support, the stockpiling means, which is of flexible design, obtains a funnel-shaped base which leads to the items of laundry automatically passing into the centre of the stockpiling means and, as a result, even the last items of laundry can be automatically grasped and separated. 
     According to a further, optionally independent proposal of the invention, it is envisaged periodically to move the stockpiling means at least intermittently, or to throw it into oscillations, in particular to agitate or shake it. As a result of this too, the items of laundry, in particular the last items of laundry, pass into the centre of the stockpiling means and from there can be individually grasped and removed reliably. Agitating, or periodically moving the stockpiling means in some other way, in conjunction with a stockpiling means which can be varied in shape, is particularly effective. A flexible stockpiling means can thereby be brought, counter to the resistance of the items of laundry situated therein, into a changed shape, in particular a shape which tapers in a markedly funnel-like manner towards the centre and downwards. 
     The agitating or periodic movement of the stockpiling means taking place in some other manner can be achieved by lifting means of the stockpiling means, which lifting means are operated jerkily or intermittently, or by separate oscillation generators, for example unbalanced drives, and/or pressure-actuated members executing linear movements. The pressure-actuated members can be assigned to the stockpiling means in such a manner that their movements take place in directions which deviate from the movement path of the gripping device, preferably run approximately at a right angle thereto. It is also conceivable to combine unbalanced drives or other oscillation generators with movement means which are driven jerkily and/or periodically. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     Preferred exemplary embodiments of the invention are explained in more detail below with reference to the drawing, in which: 
     FIG. 1 shows a schematic side view of a device shortly before an item of laundry to be separated is grasped, 
     FIG. 2 shows the device in a view according to FIG. 1, after the item of laundry has been grasped and partially pulled out of a pile of laundry, 
     FIG. 3 shows the device of FIGS. 1 and 2 with a separated item of laundry, 
     FIG. 4 shows a device according to a second exemplary embodiment of the invention with a temporary storage facility in a loading position, 
     FIG. 5 shows the device of FIG. 4 with the temporary storage facility in an unloading position, 
     FIG. 6 shows a device according to a third exemplary embodiment of the invention, 
     FIG. 7 shows a device according to a fourth exemplary embodiment of the invention, and 
     FIG. 8 shows a device according to a fifth exemplary embodiment of the invention. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The devices shown are used, in particular, automatically to remove individual items of laundry  11  from a pile of laundry coming, for example, from a washing machine. The items of laundry  11  separated in this manner are subsequently supplied to a further processing laundry procedure, in particular are fed into a mangle. 
     The pile of laundry  10 , which is composed of a multiplicity of still damp items of laundry  11 , is supplied, in the case of the exemplary embodiment of FIGS. 1 to  3 , to the device via a feed conveyor  12 . From the feed conveyor  12  the pile of laundry  10  passes into the region of a funnel  13 . In the exemplary embodiment shown, there is arranged below the funnel  13  a conveyor  14  which transports the pile of laundry  10  to one end of the funnel  13  (on the left in the figures), against a transversely directed end wall  15  of said funnel. As a result of this, the pile of laundry  10  obtains a defined position which facilitates the grasping of items of laundry  11  from the pile of laundry  10 . 
     The end region  16  of the funnel  13  and of the conveyor  14  is assigned a supporting framework  17  (only illustrated schematically in the figures). On an upper cross-beam  18  of the supporting framework  17  there is mounted a lifting member, which in the exemplary embodiment shown is a pressure-actuated cylinder  19 . A cylinder  20  of the pressure-actuated cylinder  19  is connected fixedly to the cross-beam  18  and protrudes upwards with respect to the supporting framework  17 . A piston rod  21  of the pressure-actuated cylinder  19  can be retracted and extended with respect to the cross-beam  18  along a perpendicular axis of movement  22 . A gripping member, which in this case is a gripper  23 , is fastened to the free, lower end of the piston rod  21 . The length of the piston rod  21  is dimensioned such that when the piston rod is completely extended, the gripper  23  is lowered to such an extent in the supporting framework  17  that it can grasp preferably one item of laundry  11  at any desired point from the pile of laundry  10  in the funnel  13  (FIG.  1 ). In the retracted state of the pressure-actuated cylinder  19 , the end of the piston rod  21  with the gripper  23  is situated slightly below the cross-beam  18 , thus partially pulling the respective item of laundry  11  out of the pile of laundry  10  (FIG.  2 ). 
     A transfer means  24  is arranged between the funnel  13  and the cross-beam  18  of the supporting framework  17 . In the exemplary embodiment shown, the transfer means  24  is situated at a distance below the gripper  23  raised to the maximum (FIGS.  2  and  3 ). In the case of the device shown here, the transfer means  24  is composed of a pivotable conveyor  25  and a pressure roller  26 . The pivotable conveyor  25  is situated in a starting position in which it is pivoted into a vertical position on one side of the axis of movement  22  of the gripper  23 . The pressure roller  26  is assigned to the opposite side of the axis of movement  22  (FIGS.  1  and  2 ). When the pivotable conveyor  25  is pivoted into an end position, it is situated along a horizontal line and intersects the axis of movement  22  approximately perpendicularly. At the same time, the positionally fixed pressure roller  26  bears, at a small distance from a return pulley  27 , against the free end  28  of the pivotable conveyor  25  in order to form a narrow gap  29  between the pressure roller  26  and the return pulley  27  and, respectively, the top run  30  of the pivotable conveyor  25 . 
     The pivotable conveyor  25  is a belt conveyor, the revolving conveyor belt of which is deflected around the return pulley  27  and around a driving pulley  31  lying opposite the return pulley. The return pulley  27  and the driving pulley  31  are mounted rotatably on a supporting structure (not illustrated). The driving pulley  31  is assigned a drive (not shown). A horizontal axis of rotation  32  of the driving pulley  31  is simultaneously the axis of rotation of the entire pivotable conveyor  25 , and the pivotable conveyor  25  can hence be pivoted about the driving pulley  31  from the vertically directed starting position into the approximately horizontal final position. The conveyor  25  is pivoted using, preferably, a pressure-actuated cylinder (not shown) which is articulated at one end on the supporting framework  17  and at the other end on the supporting structure of the conveyor  25 , approximately between the driving pulley  31  and the return pulley  27 . 
     The positionally fixed pressure roller  26 , which is arranged on that side of the axis of movement  22  of the gripper  23  which is opposite the pivotable conveyor  25 , is preferably freely rotatable, i.e. does not have its own drive. The pressure roller  26  is caused to rotate if an item of laundry from the top run  30  of the conveyor belt, driven in a revolving manner, of the conveyor  25  is pulled through the gap  29  between the pressure roller  26  and the free end  28  of the pivotable conveyor  25 . 
     The respectively separated item of laundry  11  is conveyed beyond the top run  30  by the pivotable conveyor  25  and on that side of the driving pulley  31  which is opposite the return pulley  27  in the region of the gap  29  is delivered onto a take-off conveyor  33 . This take-off conveyor  33  is arranged below the pivotable conveyor  25  with a slight overlap, preferably such that a return pulley  34  of the take-off conveyor  33  lies approximately perpendicularly below the driving pulley  31  of the pivotable conveyor  25  (FIG.  3 ). The take-off conveyor  33  transports the separated items of laundry  10  away from the device to a feeding machine in front of a mangle, for example. Equally, the take-off conveyor  33  can transport the separated items of laundry  11  to another treatment device within the laundry. 
     The gripper  23  is assigned contactless signalling means (not shown). The signalling means detect whether an item of laundry  11  is suspended on the gripper  23 . This detection takes place a short distance above the pile of laundry  10  in the funnel  13  and in that position of the gripper  23  where it is raised to the maximum. Moreover, the top run  30  of the pivotable conveyor  25  is assigned a signalling means which is preferably situated a short distance in front of the driving pulley  31 . This signalling means indicates the extent to which the front edge of the respective item of laundry  11  is raised on the top run  30  of the pivotable conveyor  25 . The pivoting position of the conveyor  25  can also be detected. 
     The method according to the invention is explained in more detail below with reference to the device illustrated in FIGS. 1 to  3 : 
     A respective pile of laundry  10  is transferred by the feed conveyor  12  to the conveyor  14  and guided here by the funnel  13 . The conveyor  14  transports the pile of laundry  10  into the end region  16  of the funnel  13 . When this has been done, the pile of laundry  10  has reached a position which is specified for separating the items of laundry  11  and in which the conveyor  14  is stopped. 
     The items of laundry  11  are then removed, preferably individually, from the pile of laundry  10 . For this purpose, the gripper  23  is lowered by the pressure-actuated cylinder  19  along the axis of movement  22  to such an extent that the gripper  23  can grasp preferably one item of laundry  11  at any desired point. The item of laundry  11  grasped in this manner is then partially pulled out of the pile of laundry  10 , by retracting the pressure-actuated cylinder  19 , the gripper  23  reaching its upper position below the cross-beam  18  of the supporting framework  17  (FIG.  2 ). 
     At this point, part of the item of laundry  11  is suspended in a perpendicular plane approximately along the axis of movement  22  of the gripper  23 . 
     While part of the item of laundry  11  is being raised along the axis of movement  22 , the pivotable conveyor  25  is completely pivoted downwards about its driving pulley  31  into its starting position, in which the top run  30  of the pivotable conveyor  25  is situated in an approximately perpendicular plane at a parallel distance from the axis of movement  22  (FIG.  2 ). Between the pivotable conveyor  25  and the pressure roller  26 , on the other side of the item of laundry  11  raised along the axis of movement  22 , there is formed a gap which is of maximum width in this starting position of the pivotable conveyor  25 , and in which the raised part of the item of laundry  11  is not in contact either with the pivotable conveyor  25  or with the pressure roller  26 . 
     In order for the transfer means  24  to take over the item of laundry  11 , which is partially suspended below the gripper  23 , the pivotable conveyor  25  is now pivoted about the axis of rotation  32  out of the perpendicular starting position. As soon as the return pulley  27  at the free end  28  of the pivotable conveyor  25  comes into contact with that part of the item of laundry  11  which is suspended along the axis of movement  22 , the procedure of coupling up the item of laundry  11  to the transfer means  24  begins. In this procedure, the gap between the pivotable conveyor  25  and the pressure roller  26  is continuously reduced. During the further course of pivoting the conveyor  25  until it reaches its horizontal final position (FIG.  3 ), the narrow gap  29  is formed between the free ends  28  of the pivotable conveyor  25  and the pressure roller  26 , the gap being dimensioned to allow through one item of laundry  10 . The free end  28  of the pivotable conveyor  25  and the pressure roller  26  press from opposite sides against the item of laundry  11  in the gap  29 . 
     The gripper  23  releases the item of laundry  11 , which has been grasped at any desired point, if the item of laundry  11  is held reliably by the transfer means  24 . This is preferably the case before the pivotable conveyor  25  is completely pivoted into its horizontal final position, i.e. at a time when the pressure roller  26  is not yet bearing against the item of laundry  11 . That part of the item of laundry  11  which already has been pulled out of the pile of laundry  10  is then held by frictional resistance on the top run  30  of the pivotable conveyor  25 . Should several items of laundry have been grasped and raised by the gripper  23 , the opening of the gripper  23  before the conveyor  25  is completely pivoted up results in a frictional resistance only arising between a part of the item of laundry  11  which faces the pivotable conveyor  25 , and the top run  30 . This means that only a single item of laundry  11  is coupled up to the pivotable conveyor  25  while an item of laundry  11  raised simultaneously, or else further items of laundry  11  slide off the item of laundry  11  which rests on the top run  30  and is held there by frictional resistance. In this manner, reliable separating of only one item of laundry  11  is ensured. The pivotable conveyor  25  is subsequently completely pivoted into its horizontal final position, the pressure roller  26  coming to bear against the opposite side of the sole remaining item of laundry  11 . The contact, by frictional resistance, of the top run  30  of the conveyor  25  and of the pressure roller  26  on the item of laundry  11 , which is provided in this manner in the region of the gap  29  then makes it possible for the item of laundry  11  to be completely pulled out of the pile of laundry  10  when the conveyor  25  is driven (FIG.  3 ). When the conveyor  25  continues to be driven, the respective item of laundry  11  is guided by the conveyor  25  over its top run  30  and over that end of the driving pulley  31  of the conveyor  25  which is opposite the pressure roller  26 , down to the take-off conveyor  33  and deposited there. This depositing preferably takes place with the take-off conveyor  33  at a standstill so that a respective item of laundry  11  is deposited on the take-off conveyor  33  in a pile. Subsequent, short-time driving of the take-off conveyor  33  allows the individual items of laundry  11  to lie thereon in a pile at a short distance one behind another (FIG.  3 ). 
     The abovementioned, contactless signal transmitters control the beginning and the end of the lifting movements of the gripper  23  and the start of pivoting of the pivotable conveyor  25 . Signal transmitters also serve to open the gripper  23 , in order to release the item of laundry  11 , after the conveyor  25  has pivoted a certain distance. The drive of the conveyor  25  is also controlled as a function of its pivoting movement. It is conceivable only to start the drive of the pivotable conveyor  25  when the latter is pivoted into its horizontal final position. It is, however, furthermore also possible to drive the pivotable conveyor  25  continuously during the entire pivoting movement, or to only switch the drive on if the conveyor  25  has been pivoted about a certain angle, for example, has made contact with one side of the partially raised item of laundry  11 . 
     It is also conceivable only to open the gripper  23  when the pivotable conveyor  25  is completely pivoted up into its horizontal final position and the pressure roller  26  has made contact with the opposite side of an item of laundry  11 . If several items of laundry  11  have been grasped in this case, these can be detached from the item of laundry  11  to be separated by the pressure roller  26  being of driveable design, to be precise, such that it moves counter to the conveying direction of the pivatable conveyor  25  and in this manner moves a possible second or third item of laundry  11  out of the gap  29 , and this item of laundry drops away over the free end  28  of the pivotable conveyor  25  back into the pile of laundry  10 . In this case, transportation of all the items of laundry  11  out of the gap  29  by the pressure roller  26  is prevented by means of the greater frictional resistance of that lower item of laundry  11  which is resting at this time with a front edge region over virtually the entire length of the top run  30 . It is thus ensured that the pressure roller  26 , which is driven in the opposite direction to the conveyor  25 , only transports back any excess item of laundry  11  and not that item of laundry  11 , part of which is resting directly on the pivotable conveyor  25 . As soon as complete separation of the item of laundry  11  is achieved in this manner, the drive of the pressure roller  26  is either stopped and the pressure roller  26  brought into a freewheeling position, or the driving direction of the pressure roller  26  is reversed such that it runs in the same direction as the drive of the pivotable conveyor  25 . 
     The device shown in FIGS. 4 and 5 differs from the device of FIGS. 1 to  3  essentially only in that the stockpiling means, which is designed as a funnel  35 , is assigned a temporary storage facility  36 , which is likewise essentially of funnel-like design. Otherwise, the device of FIGS. 4 to  5  corresponds to the device shown in FIGS. 1 to  3 , identical parts or parts having identical functions having been provided with the same reference numbers. In particular, the device of FIGS. 4 to  5  also has a transfer means  24  comprising a pressure roller  26 , which can be driven here in a rotating manner, and a pivotable conveyor  25  and also a gripper  23  which can be moved up and down by means of a pressure-actuated cylinder  19 . In the device of FIGS. 4 and 5 an obliquely directed chute  37  is arranged upstream of the take-off conveyor  33  of FIGS. 1 to  3 , via which chute the individual items of laundry pass from the pivotable conveyor  25  to the take-off conveyor (not shown in FIGS.  4  and  5 ). 
     The temporary storage facility  36  is arranged laterally above the funnel  35  below the gripper  23 , to be precise such that it does not adversely affect the functioning of the gripper  23 , which can be moved up and down by the pressure-actuated cylinder  19 , and of the transfer means  24 . The temporary storage facility  36  is mounted on the supporting framework  17  in a manner which allows it to pivot about a horizontal tilting axis. For this purpose, opposite side walls  38  of the temporary storage facility  36  are assigned bearings  39 , which are connected to the supporting framework  17 . The bearings  39 , which form the tilting axis of the temporary storage facility  36 , are situated approximately on a centre point of the surface of the respective side wall  38 . As a result, the temporary storage facility  36  can be pivoted approximately about a horizontal longitudinal central axis. 
     An end, in particular a piston-rod end  40 , of a pressure-actuated cylinder  41  is articulated on a lower, outer corner region of at least one side wall  38 . An opposite piston end  42  of the pressure-actuated cylinder  41  is articulated on the supporting framework  17 . Alternatively, it is also conceivable to assign a pressure-actuated cylinder  41  to each side wall  38 . The temporary storage facility  36  is then pivoted by synchronously retracting and extending the two pressure-actuated cylinders  41 . 
     When the pressure-actuated cylinder  41  is retracted the temporary storage facility  36  is in a loading position (FIG.  4 ). In this position, items of laundry can be conveyed from above into the temporary storage facility  36 . When the pressure-actuated cylinder  41  is extended the temporary storage facility  36  is in an unloading position (FIG.  5 ). In this position, the items of laundry from the temporary storage facility  36  can pass automatically, that is to say directly, from the temporary storage facility  36  into the funnel  35 . For this purpose, the temporary storage facility  36  is assigned to the funnel  35  in such a manner that it is situated laterally above the funnel  35 . 
     The temporary storage facility  36  has two (planar) walls  43  and  44  extending between the parallel side walls  38 . In FIGS. 4 and 5 these walls  43  and  44  are indicated by thick lines. In FIG. 4, in particular, it can be seen that the walls  43 ,  44  run towards one another at an angle of less than 90° and, as a result, are closed downwards in the loading position (FIG.  4 ). A side of the temporary storage facility  36  which lies opposite the walls  43 ,  44  is open. As a result, the temporary storage facility  36  can be filled in the loading position from above with items of laundry to be separated. In the unloading position shown in FIG. 5, the temporary storage facility  36  is pivoted through almost 90° about the tilting axis formed by the bearings  39  and, as a result, the wall  44 , when horizontally directed, forms an upper side of the temporary storage facility  36  and the wall  43 , which adjoins the wall  44 , is an approximate extension of a wall (in FIGS. 4 and 5 the right-hand wall) of the funnel  35 , i.e. is directed obliquely downwards. The open side of the temporary storage facility  36  is then pointing downwards enabling the items of laundry to automatically slide from the temporary storage facility  36  into the funnel  35 . By being subsequently pivoted back into the position shown in FIG. 4, the temporary storage facility  36  is once again ready to receive new items of laundry. 
     FIG. 6 shows a device which only differs from the device of FIGS. 4 and 5 by the design of the stockpiling means below the gripper  23 . The stockpiling means is designed here as a sack  45  which can be changed in shape. The sack  45  is made of a flexible material, for example a cloth. At least two opposite edges of a lip  46  running horizontally around the sack  45  are fastened to horizontal supporting bars  47 . The supporting bars  47  are guided such that they can move up and down on the supporting framework  17 , namely on perpendicular supports thereof. Furthermore, each supporting bar  47  is assigned two parallel, perpendicularly directed pressure-actuated cylinders  46 . The pressure-actuated cylinders  46  are fastened at one end to the respective supporting bar  47  and at the other end to the lower end of the supporting framework  17 . The pressure-actuated cylinders  48  are used to move each supporting bar  47 , with the sack  45  suspended beneath them, up and down. The sack  45  is designed such that when the supporting bars  47  are completely lowered, i.e. when the pressure-actuated cylinders  48  are retracted, most of a base wall  49  of the sack rests on a horizontal support  50  on the lower side of the supporting framework  17 . In this position which is illustrated in FIG. 6 by continuous lines the base wall  49  of the sack  45  is of relatively flat design which makes it possible for the sack  45  to receive the greatest possible quantity of items of laundry or the like. 
     If the sack  45  is moved up on the supporting bars  47  by means of the pressure-actuated cylinders  48  into the position which is dashed in FIG. 6, the base wall  49  of the sack  45  completely, or for the most part, loses contact with the support  50 . The sack  45 , which is of flexible design, in particular the base wall  49  thereof, thereby obtains a markedly funnel-like shape, the items of laundry, in particular remaining items of laundry, slipping to the deepest point of the sack  45 . This deepest point of the sack  45  corresponds to the centre thereof. As a result, when the sack  45  is raised the items of laundry slipping to the deep centre thereof can be reliably grasped by the gripper  23  situated approximately centrally over it. 
     The slipping down of individual items of laundry into the deepest, lower point of the raised sack  45  can be assisted by the pressure-actuated cylinders  48  being extended jerkily or with interruptions. As a result, while the sack  45  is being raised, in which process it obtains an increasingly funnel-like shape, it is additionally agitated. The items of laundry can thereby reliably reach the deepest, central region of the base wall  49  of the sack  45 . 
     It is also conceivable alternatively or additionally to assign to the sack  45 , in particular the supporting bars  47 , oscillation generators, for example unbalanced drives, which bring about a periodic agitating or oscillating of the sack  45 . 
     FIG. 7 shows a device which differs from the device of FIGS. 1 to  3  by a funnel  13  (of FIGS. 1 to  3 ) being replaced by a container  51  which receives the items of laundry. The container  51  is suspended in a holding frame  52  which is fixedly arranged on the supporting framework  17 . The holding frame  52  is designed such that it can move the container  51  to and fro in the horizontal direction, in accordance with the horizontal arrows in FIG.  7 . The holding frame  52  moreover permits the container  51  to move up and down in the direction of the vertical double arrow in FIG.  7 . The option of moving the container  51  both perpendicularly and horizontally under the gripper  23  makes it possible to move any point of the container  51  under the gripper  23  and, as a result, the latter can grasp even the last items of laundry in the container  51 , and to be precise even those items of laundry which are situated in an outer corner of the container  51 . 
     FIG. 8 shows a device which essentially corresponds to the device in FIGS. 4 and 5. The same reference numbers are therefore used for identical parts. Deviating from the device in FIGS. 4 and 5, in the device of FIG. 8 the stockpiling means is designed as a shaking funnel  53 . 
     The shaking funnel  53  is articulated on the supporting framework  17 , namely on cross-beams  55  thereof, by means of just four link rods  54 . The link rods  54 , which are perpendicular in their non-displaced position, engage, in a manner which allows them to pivot freely, with their lower ends on the upper edge region of the shaking funnel  53  and with their upper ends on the cross-beams  55 . The mounting of the shaking funnel  53  on the perpendicular link rods makes it possible for the shaking funnel  53  to be moved to and fro like a pendulum essentially in the horizontal direction, to be precise along an approximately horizontal path of movement which is indicated in FIG. 8 by the double arrow  56 . In the exemplary embodiment shown, this path of movement runs transversely with respect to the axis of movement  22  of the gripper  23 . 
     The shaking funnel  53  is moved by a linear drive, which in the exemplary embodiment shown is a pressure-actuated cylinder  57 . The pressure-actuated cylinder  57  is preferably actuated by compressed air. This makes possible rapid, shock-like linear movements which cause periodic movements of the shaking funnel  53  along the path of the double arrow  56 , as a result of which the items of laundry in the shaking funnel  53  are agitated or shaken in a jerky manner. The pressure-actuated cylinder  57  is fastened fixedly to the supporting framework  17  by one piston part. One end of a piston-rod  58  of the pressure-actuated cylinder  57  is hinged to a tab  59  below the shaking funnel  53 . By retracting and extending the pressure-actuated cylinder  57 , the shaking funnel  53  is moved to and fro, guided by the perpendicular link rods  54 , along the path of movement indicated by the double arrow  56  transversely with respect to the axis of movement  22  of the gripper  23 . In this manner, the shaking funnel  53  executes swinging movements with respect to the gripper  23 , which movements, by appropriate driving of the pressure-actuated cylinder  57 , can take place in a more or less jerky manner and, as a result, even the last items of laundry in the shaking funnel  53  slip to its deepest, central position and can thus reliably be removed from the shaking funnel  53  by the gripper  23 . 
     The above detailed description of the preferred embodiments and the appended figures are for illustrative purposes only and are not intended to limit the scope and spirit of the invention, and its equivalents, as defined by the appended claims. One skilled in the art will recognize that many variations can be made to the invention disclosed in this specification without departing from the scope and spirit of the invention.