Material handling system

Abstract: A system for handling flexible articles such as tubular hosiery blanks each having a toe portion and a welt or band portion and for subsequently closing the toe portions includes an assembly 20 for retrieving randomly oriented blanks from a supply reservoir, pneumatic feed means for displacing the blanks to a magazine, means 28 for selectively displacing the blanks from the magazine such that the toe portion is always first, means 208 for opening the band portion and positioning the band portion on fingers which expand and convey the blank to a transport tube of a toe closing assembly 270. The blank is inverted on the transport tube and the toe portion subsequently sewn.

Description: This invention relates generally to a flaccid article handling system, and more particularly the invention concerns the processing of fabric pieces. Flaccid hosiery articles such as circular knit hosiery blanks are difficult to handle mechanically, particularly in a manner that will orient the blanks for subsequent operations, such as closing end portions of the blanks. In the manufacture of hosiery, it has been customary for an operator to manually retrieve a knit blank from a supply reservoir and hold the toe portion in front of a suction tube of a toe closing machine. The operator then events the blank by pulling the blank over the suction tube. The blank is subsequently conveyed to sewing instrumentalities for closing of the toe portion of the blank. The present invention provides for automatically randomly retrieving a hosiery blank from a reservoir and pneumatically conveying the blank to a magazine. The blank always exits the magazine toe end first in a selected direction irregardless of [depending upon] whether the blank enters the magazine toe end first or band end first. The band is opened pnueumatically and then conveyed mechanically to a mechanism which dons the blank on a carrier of a toe closing machine. The handling system could equally well be extended to other types of machines for handling flexible materials, e.g. assembling or packing machines. One of the important objects of the invention is the provision of a new and improved toe closing system which increases production, reduces expense and eliminates substantially all manual operations. Another object of the invention is the provision of an automatic donning assembly for positioning a hosiery blank onto an elongated tubular hosiery carrier of a toe closing machine. It is a further object of the invention to provide a novel system including pneumatic conveyor means for receiving randomly oriented hosiery blanks and which automatically operates to provide a predetermined orientation of the blanks prior to passing to the toe closure machine. Another object of the invention is the provision of a means for sensing or determining the difference of volume between the toe end and the band end of a hosiery blank. Further features and advantages of the invention will become apparent when considered in view of the following detailed description. US patent 4539924 discloses a toe closing machine in combination with an apparatus for placing hosiery blanks, each having a toe end and a band end, on transport tubes of a toe closing machine prior to sewing closed the toe ends. The apparatus includes means for conveying correctly oriented blanks to a loading means which operate to open and expand the band end of each blank for loading the blank on a transport tube. According to one aspect of the present invention there is provided a method of automatically conveying a series of tubular hosiery blanks (H), each having a band end portion (B) and a toe end portion (E) to a toe closing machine having sewing instrumentalities and a plurality of elongated transport tubes (T) for receiving the blanks and presenting the toe end portions to the sewing instrumentalities comprising the steps of; sequentially retrieving hosiery blanks from a supply of randomly oriented blanks and conveying the blanks to a predetermined location, sequentially discharging the blanks from the predetermined location in a prescribed, oriented condition with the toe end portions exiting first from the predetermined location; selectively gripping and opening the blank band end portion; conveying the blank to a position on a transport tube (T); and sewing closed the blank toe portion. According to another aspect of the present invention there is provided in combination, a toe closing machine and an apparatus for placing hosiery blanks, each having a toe end and a band end, on transport tubes (T) of said toe closing machine prior to sewing closed the toe ends, said apparatus including, means for sequentially randomly retrieving hosiery blanks from a supply source containing a plurality of randomly oriented blanks, means for conveying sequentially hosiery blanks to a magazine assembly, sensor means for determining whether the toe end or the band end of each blank is the leading end of the blank as it is directed by said conveyor means to said magazine assembly, control means for directing each hosiery blank toe end first from said magazine assembly, loading means for opening and expanding the band end of each hosiery blank, and means for positioning each hosiery blank on a transport tube of said toe closing machine. In the Drawing Figure 1 is a schematic, fragmentary, perspective view of one embodiment of the apparatus, including a hosiery blank pick-up and orientation assembly, a conveyor assembly, a magazine assembly, opening assemblies, and a toe closing assembly; Figure 2 is an enlarged, schematic elevational view of the blank pick-up and orientation assembly; Figure 3 is an enlarged, schematic elevational view of the magazine assembly and an opening assembly; Figure 4 is a schematic view of the opening assembly taken from the side opposite to that of Fig. 3; Figure 5 is a fragmentary view, partly in section, of the opening assembly and illustrating the clamping of the toe portion of a hosiery blank thereto; Figure 6-8 are fragmentary views, partly in section, of the opening box of an opening assembly showing various positions of a hosiery blank therein; Figure 9 is a schematic, side elevational view of the hosiery blank pick-up and orientation assembly; Figure 10 is a side elevational view of hosiery blank loading fingers in a collapsed condition and the linkage mechanism for actuating the fingers; Figure 11 illustrates the fingers and linkage mechanism in an expanded position with the welt or band end of a blank positioned on the fingers; Figure 12 is a schematic side elevational view of the loading fingers and linkage and the mechanism for conveying a hosiery blank from the opening assembly to a transport tube of a toe closing machine; and Figure 13 is a schematic block diagram of the various assemblies and control means therefor. Detailed Description of the Invention Referring to the drawing, and initially to Figs. 1, 2 and 9, thin flexible articles such as hosiery blanks H are loosely and randomly supplied to a reservoir 10. The circular reservoir is mounted upon a shaft 12 and continuously driven by a motor 13 for rotation about a vertical axis. Each knit blank has a welt or band end B and a toe end portion E. A pick-up transfer and orientation assembly 20 includes two pick-up and transfer mechanisms 22 and 24 which function to individually pick-up randomly oriented hosiery blanks from the rotating reservoir 10 and position them at the inlet end 25 of a pneumatic conveyor assembly 26. The conveyor assembly operates to deliver the hosiery articles to a magazine assembly 28, Figs. 1 and 3. The pick-up transfer mechanism 22 includes a tube 30 mounted for vertical reciprocable displacement through a conventional drive arrangement 32 by electric motor MX. Pick-up transfer mechanism 24 has a similar tube 34 positioned at an angle with respect to tube 30 and mounted for reciprocable displacement by motor MZ and drive arrangement 36. Operation of motor MX is controlled by a micropressor MP, Fig. 12. Upon receiving a signal from the microprocessor, motor MX displaces the pick-up tube 30 downwardly until the tube is sensed by photocell 42 which deactivates the motor MX with the lower end portion 31 of tube 30 within the reservoir 10. It is to be noted that each of tubes 30 and 34 have coupled thereto a vacuum conduit, a compressed air conduit, and an electrical line connected to a photocell. The lower end portion 31, 35 of each tube 30, 34 is provided with a narrow slit or opening, partially shown in Fig. 9. Vacuum is created in conduit 27 and tube 30 by vacuum motor V1, and in conduit 33 and tube 34 by vacuum motor V2. When a hosiery blank H in the reservoir 10 is pulled by vacuum in tube 30 and is pulled partially through the narrow slit, photocell 42, mounted adjacent the end of the tube detects the presence of a portion of the blank fabric extending into the slit and is activated thus sending a signal to the microprocessor MP which again activates the motor MX to move the tube 30 vertically upwardly carrying with it a hosiery blank H. As the end of the blank H passes the photocell 40, and the blank is no longer detected, the motor MX is deactivated through a signal from photocell 40 to the micropressor MP and to the motor MX. The microprocessor, upon receiving the signal from photocell 40 sends a signal which activates motor MZ to move the lower end portion 35 of tube 34 downwardly. The vacuum motor V2 creates a vacuum through conduit 33 and tube 34. The lower ends of tubes 30, 34 are positioned adjacent to each other. The originality of the pick-up system is such that by utilizing two tubes 30 and 34, a blank is always held adjacent one end which is the main condition for the following operation of the orientation system. This system increases the probability of having just one blank on tube 34. A portion of the hosiery blank remote to that held by the vacuum tube 30 is pulled by vacuum in tube 34 partially through the slit in the lower end of the tube thus activating photocell 44 sending a signal to the micropressor which, in turn, reverses motor MZ, and tube 34 begins to move upwardly. The photocell 44 is mounted adjacent the lower end portion of tube 34. Substantilly simultaneously with the reversal of motor MZ the micropressor sends a signal to solenoid valve 46 energizing the same thus permitting a blast of compressed air to be discharged through a conduit 29 and tube 30 thus blowing the blank H away from the tube 30. A proximity switch 48 senses a bracket 47 on tube 34 when the tube moves upwardly a prescribed distance, which is sufficient to permit the free end of a blank held thereby to go into inlet end 25, and sends a signal the motor MZ to reverse the direction to start movement of the tube 34 back downwardly. As the tube descends, the portion of the blank remote to that being held by the tube 34 is drawn by vacuum into conduit 50 and past photocell 52. Positioned in the conduit 50 below the photocell 52 is a trap 56 for sensing whether the toe portion E or the band portion B of a hosiery blank enters the trap first. The concentration or volume of yam in the band end is greater than the volume of yarn in the toe end. The trap 56 is a two part trap having an opening large enough to receive the toe end of the blank there through, but not large enough to receive the greater volume of yarn in the band of the blank there through, but not large enough to receive the band portion. The toe end, of a blank held by vacuum in tube 34, moves past photocell 52, through trap 56 and past photocell 58. When photocell 58 detects a blank H two things happen. A signal is sent to the micropressor which actives solenoid valve 60 to permit compressed air to move through conduit 61 and tube 34 to blow the blank away from the pick-up tube 34, and two part trap 56 opens permitting the blank to flow therethrough. Vacuum is created in conduit 50 by the vacuum motor 96 as will be later described. The band portion of a blank held by vacuum in tube 34 moves past photocell 52 but cannot go through the trap 56. Tube 34 continues to move downwardly to a prescribed distance greater than the distance between photocell 52 and photocell 58. At the end of this movement, if photocell 58 is not activated, two things happen. A signal is sent to the microprocessor which activates solenoid value 60 to permit compressed air to move through conduit 61 and tube 34 to move through conduit 61 and 34 to blow the blank away from the pick-up tube 34, and two part trap 56 opens permitting the blank to flow there through. Vacuum is created in conduit 50 by the vacuum motor 96 as will be later described. After passing the photocells 52, 58 and trap 56, the blank flows in conduit 50 through trap 70 and detector 72 and into the magazine 28. The magazine 28 includes a conduit section 73 displaceable by a magazine switch 74 between each of assemblies 76 and 78. The conduit 73 is pivotably attached to the conduit 50. Each of the parallel conduit assemblies 76 and 78 includes a looped portions 80, 82, linear sections 84, 86, coupling the looped portions with the displaceable switch conduit 73, and exit portions 81, 83 which exits the looped portions. The switch 74 permits hosiery blanks sequentially advanced through the conduit 50 to be selectively, alternately directed from one conduit section 84 or 86 to the other. Conduit assemblies in addition to 76 and 78 could be provided if required. The magazine assembly 28 also includes a conduit 90 communicating with conduit loop portion 80 and a conduit 92 communicating with loop portion 82. Conduits 90 and 92 merge into conduit 94 which, in turn, is connected to vacuum motor 96. Traps 100 and 102 are provided in conduit 90 and traps 104 and 106 are provided in conduit 92 (See Fig. 3). Referring to Figure 3, assuming that a blank H in conduit 50 is directed through displaceable conduit section 73, linear conduit section 84 and into the looped portion 80, the detector 72, upon sensing the passing blank, directs a signal to the micropressor MP which closes trap 70 and trap 100 to disrupt the vacuum flow, and to open trap 102. Traps 102 and 106 are exhausts for the air in front of the blanks travelling through the conduits so that the blank stops in the upper run of the loop portion 80 of the magazine assembly. The traps 110, 112 and 114 of the magazine assembly are controlled by the micropressor in a particular sequence depending on whether the band portion or the toe portion of the blank enters the upper run of looped portion 80 first. If the toe portion E of a blank in the upper run of loop portion 80 is to the left and the band portion B to the right, Fig. 3, the blank exits to the left and travels through exit conduit 81 toe portion first. The end portion of the blank (toe or band) travelling first through conduit 50 is determined by the photocells 52, 58, as previously described and a signal to that effect is stored in the microprocessor. If the toe end is first into the magazine conduit assembly 76, the micropressor opens traps 112 and 110 and closes traps 114 and 102 such that a vacuum in exit conduit 81, from a source to be subsequently described, pulls the blank downwardly, toe end first towards the opening assembly 122. If the band end enters the conduit 50 first this information, through the photocells 52, 58, is stored in the micropressor. The micropressor would then send signals to close traps 112 and 110 and open traps 114 and 102 to permit vacuum to pull the blank from the upper run of looped portion 80 to the right, Fig. 3, downwardly, and to the left in the lower run of looped portion 80 and into the exit conduit 81. The conduit assembly 78 operates in a manner similar to assembly 76 and has traps 112' and 114' which are selectively controlled by the micropressor in a manner similar to traps 112, 114. The exit portions 81 and 83 communicating with the loop portions 80 and 82 converge into a single conduit 120. Conduit 120 directs blanks to the opening assembly 122. The opening assembly 122, Figs. 3 and 5-9, includes a fixed, elongated tubular section 124, an inner tubular section 126 mounted for displaccment within the section 124 and an elongated rod-like section 128 positioned within the inner section 126 and mounted for displacement relative to the sections 124 and 126. The rod-like section 128 and the inner tubular section 126 are capable of being displaced together horizontally as a unit relative to outer tubular section 124 by means of pulleys 130, 132, belt 134 and reversible motor 136. The rod-like section 128 also is capable of being displaced relative to the inner tubular section 126. Coupled to one end of the rod-like section 128 is a ball element 140, Figs. 3, 5, and coupled to the other end of the section 128 is a fluid cylinder. The cylinder 142 and the inner tubular section 126 are fixedly attached to a bracket or slide element 144 which, in turn, is coupled to the upper run of belt 134. Therefore, the motor 130 is capable of displacing the tubular section 126 and the rod section 128 together as a unit. In addition, cylinder 142 is capable of displacing the rod-like section 128 relative to the inner tubular section 126. One end portion 148 of the section 126 is angled, as shown by Figs. 5, 8 such that upon actuation of the cylinder 142 and displacement of the rod section 128, the ball element 140 grips or wedges between it and the angled portion 149 the toe portion E of a blank. Suction is created in the outer tubular section 124 by means of a vacuum motor 150, conduit 152, conduit 154, conduit 155, open trap 156 and outer tubular section 124. Traps 162 and 164 are closed at this time. As the toe portion E is pulled through conduit 120 and into tubular section 124, a photocell 160 detects the blank activating through the microprocessor the air cyclinder 142, which, through the rod section 128, pulls the ball element 140 towards the angled portion 149 of the inner tubular section 126, Fig. 5, thus clamping the toe end E of the blank against the angled portion 149. Trap 156 then is closed by the microprocessor to turn off the vacuum to the tubular section 124 and conduit 155, and traps 162, 164 are opened creating a vacuum through conduits 170, 172, conduit 152, and back to the vacuum motor 150. Trap 162 is in conduit 172 and trap 164 is in conduit 170. An opening box 180, Figs. 3 and 6-8, surrounds end portion of the tubular section 124 and includes a fixed grille 182 and a displaceable grille 184. Conduits 170 and 172 are connected to the box 180 as shown by Figs. 6-8, such that a vacuum is drawn through tubular section 124, movable grille 184, and trap 162 and/or through tubular section 124, fixed grille 182, conduit 170 and trap 164. As shown by Fig. 6, the toe end E of the blank, not shown, is held by the ball element 140 and vacuum through the tubular section 124, openings 185, Fig. 8, in the ends of the grilles 182, 184, and conduits 170, 172 urges the band portion B of the blank towards an end of the box 180. Simultaneously with the closing of trap 156 and opening of traps 162, 164, the micropressor activates motor 136 to move the rod section 128 and inner loading section 126 to the left, Fig. 3, as a unit. This permits the blank to move to the right as shown by Figs. 6 and 7. A displaceable plate 188 is located at the forward end of and normally closes the box 180. The plate 188 is mounted for displacement by a fluid cyclinder 190. As the band end B of the blank passes the photocell 192 a signal is directed by means of the micropressor to the fluid cylinder 142 releasing the ball element and the toe end E of the blank. A microprocessor signal also is directed to the motor 136 which moves the rod section 128 and tubular section 126 back to the Figure 3 position. A signal from the microprocessor is also directed to the fluid cylinder 190 which displaces the plate 188 from the Fig. 7 position to the Fig. 8 position, and to the air cylinder 200, Fig. 8, for initiating displacement of the moving grille 184 from the Fig. 7 position to the Fig. 8 position. As the moving grille 184 advances, trap 164 closes to remove vacuum from the fixed grille 182. Simultaneously with the closing of trap 164, traps 202 and 204 open and through the conduit 206 a vacuum is directed back through the box 180, to the left as shown in Fig. 8, and the tubular section 124 to keep the blank H stretch out straight. The cylinder 200 continues to advance the moving grille 184 to a position, Fig. 8, where the blank band portion B overlaps the loading fingers 210, 212 of a loading assembly 208. The fingers 210, 212 are initially in a collapsed condition as shown by Figs. 8 and 10. As shown by Figs. 10 and 11, the loading assembly 208 includes a linkage 211 having the fingers 210, 212 mounted thereon, a fluid cylinder 214 for opening and closing the fingers through the linkage, a pair of rail members 220,222 which serve as guides for the displaceable linkage 216 and fingers 210, 212 as they are moved by the fluid cylinder 224. Upon actuation of the fluid cylinder 214 and linkage 216 the fingers are moved to the Fig. 11 position thus engaging and expanding to an opened condition the band end B of the blank. While the lowermost rail 222 is fixed, the upper rail 220 is pivotably mounted at one end 226 and the opposite end is capable of being displaced by a fluid cylinder 228. The linkage 216 is coupled to guides 217 which are slidably mounted on rails 220,222. When a blank is being carried forward by the movable grille 184, the fingers 210, 211 are in a collapsed condition with the fingers and linkage 216 to the right, Fig. 12, on the guide rails 220, 222. Once the grille advances to the forwardmost position with the blank band over the fingers, the fingers are expanded by the fluid cylinder 214 to expand the band portion of the blank as shown by Fig. 11. The fluid cylinder 224 then is activated to displace the fingers 210,212 to the left, Fig. 12 and extract the blank from the loading box 180 and the movable grille 184. At the same time the movable grille is retracted to the Fig. 6 position. The loading assembly 208 is positioned adjacent a toe closing mechanism 250, Figs. Ind 13, which preferably is of the type disclosed, for example, in U. S. Patent Nos. 3,941,069; 4,383,490; and 4,550,868. The mechanism 250 includes a plurality of parallel, horizontally disposed, conventional transport tubes T mounted for displacement along an endless path to various work stations. The transport tube T located at Station A, Fig. 1, has a vacuum drawn therethrough by vacuum motor 260. With the fingers 210,212 retracted to the leftmost position beyond the end of the tube T at station A, fluid cylinder 228 is activated to pivot the guide rail 220 such that the fingers 210,211 and blank held thereby are positioned at the end of the tube. The suction created by vacuum motor 260 draws the toe end E of the blank into the transport tube. Fluid cylinder 224 is reactivated and the fingers 210,212 are displaced to the right, Fig. 12, and the hosiery blank H is pulled band end first over the outer portion of the transport tube. At the farmost range of cylinder 224, the band is held by an interdependent hook system of transport tube T. When cyclinder 224 moves backwardly, the band B slides from the fingers 210,212 and falls on the transport tube T. Then the fingers move back to the position where they can receive another blank from the opening box 180. Wind-on wheels, not shown, as are conventional with toe closing machines, in combination with various blank position detectors, not shown, properly positions the blank on the transport tube T The transport tube is then displaced to a sewing assembly 270 where conventional sewing instrumentalities 272 close the toe portion E of the blank. The sewing instrumentalities may be of the type disclosed in Pat. Nos. 4,609,419 or 4,383,490. Upon completion of the sewing operation the hosiery articles H are displaced by the transport tube to a station where the sewn article is removed therefrom and directed by conduit means 278 to a receptacle or other work station. Figure 13 illustrates schematically the control system or microprocessor for actuating the various motors, traps, fluid cylinders and control mechanisms of the various loading, magazine, conveying, pick-up and sewing assemblies. Such controls form no part of the invention and are conventional in nature. While a preferred embodiment of the invention has been disclosed, it should be apparent that many mofidications therein may readily be made. Further, while the apparatus has been described as being particularly useful in handling and sewing hosiery blanks, it should be apparent that the same could be employed to handle other flexible articles and particularly where the concentration or volume of material forming one end portion of an article is greater than that of the other end portion.

Claims: A method of automatically conveying a series of tubular hosiery blanks (H), each having a band end portion (B) and a toe end portion (E), from a supply of randomly oriented tubular blanks to a toe closing machine (270) having sewing instrumentalities (272) and a plurality of elongated transport tubes (T) for receiving the blanks and presenting the toe end portions to the sewing instrumentalities, the method comprising the steps of; sequentially retrieving hosiery blanks from a supply (10) of randomly oriented blanks and conveying the blanks along a conduit (50) either toe end or band end first to a predetermined location (28), sensing the blanks as they are conveyed to the predetermined location in order to determine whether they are directed toe or band end first, sequentially discharging the blanks from the predetermined location in a prescribed, oriented condition with the toe end portions exiting first from the predetermined location; selectively gripping and opening the blank band end portion; conveying the blank to a position on a transport tube (T); and sewing closed the blank toe portion. The method as recited in claim 1 wherein an end portion of the blank is sensed by determining the time it takes the leading end of the blank to travel from a first prescribed point to a second prescribed point as it is conveyed to said predetermined location. The method as recited in claim 1 wherein one end portion of said blank has a volume greater than the other end portion, the difference in volume being sensed in order to determine which end portion is said leading end portion. The method as recited in claim 3 wherein the volume of yarn in the band end portion is greater than that in the toe end portion. The method as recited in any of claims 1 to 4 further including the step of delivering the blank toe end portion first from said predetermined location to an opening station (122); conveying the band end portion of the blank at the opening station to a prescribed position; expanding the band end portion of blank into an opened condition; positioning the blank upon said transport tube; conveying the blank to a sewing station (270); and sewing closed the blank toe end portion. Combination of a toe closing machine (270) and an apparatus for placing hosiery blanks, each having a toe end and a band end on transport tubes (T) of said toe closing machine (270) prior to sewing closed the toe ends, said apparatus including, means (20) for sequentially randomly retrieving hosiery blanks from a supply source (10) containing a plurality of randomly oriented blanks, a conduit (50) for conveying sequentially hosiery blanks either toe end or band end first along said conduit to a magazine assembly (28), sensor means (52, 58) for determining whether the toe end or the band end of each blank is the leading end of the blank as it is directed by said conveyor means to said magazine assembly, control means for directing each hosiery blank toe end first from said magazine assembly, loading means (122) for opening and expanding the band end of each hosiery blank, and means (250) for positioning each hosiery blank on a transport tube of said toe closing machine. Combination as recited in claim 6, wherein said means for retrieving hosiery blanks from a supply source includes a first pick-up means (22) for a transferring a single hosiery blank from said stack of randomly oriented blanks to a predetermined position, second pick-up means (24) for receiving said single hosiery blank from said first pick-up means and transferring said single blank to said conveyor means (50). Combination as recited in claim 7, wherein each of said first and second pick-up means includes an elongated tube (30, 34), means (32, 36) for reciprocating said elongated tube along a prescribed path, means (V 1 , V 2 ) for selectively creating a vacuum in said elongated tube, means (60) for selectively directing an air blast through said elongated tube, and means (42, 44) mounted on said elongated tube for sensing whether a hosiery blank is held by said suction created through said elongated tube. Combination as recited in any of claims 6 to 8 wherein said magazine assembly (28) includes at least one conduit (76, 78) defining a loop configuration, said control means directing a hosiery blank within said loop configuration in a direction such that the toe end is the leading end in the direction of travel of the hosiery blank. Combination recited in any of claims 6 to 9 wherein said loading means includes a first loading assembly (122) for selectively gripping the toe end of a hosiery blank and means (180) for elongating the hosiery blank and opening the band end of the blank, and second loading means (208) for expanding said band end of the blank to remove the blank from said first loading assembly and convey the blank to said transport tube (T).

Inventors: BURGUIERE ROBERT, FOURNIER CLAUDE, HAUGUET PATRICK, PEAUGER JEAN-PIERRE, BURGUIERE, ROBERT, FOURNIER, CLAUDE, HAUGUET, PATRICK, PEAUGER, JEAN-PIERRE
Applicants: LEE SARA CORP, SARA LEE CORPORATION
Application year: 1991
Main classification: D05B23
IPC codes: D05B33, D06C5, B65H29, D05B35, D05B23, D05B69, B65G51, A41B11