JP2018164958A - Flexible sheet expansion device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flexible sheet expansion device with high versatility.SOLUTION: A flexible sheet expansion device 1 includes a first hand H1 for gripping a flexible sheet S, a second hand H2 for gripping the flexible sheet S, and movement means (first robot 10) for moving the first hand H1. The expansion device 1 pulls and expands the flexible sheet S by moving the first hand H1 away from the second hand H2 in the state of gripping the flexible sheet S by the first and second hands H1 and H2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flexible sheet unfolding apparatus for unfolding a flexible sheet such as fabric or paper.

Conventionally, as shown in Patent Document 1, the corner portion of the fabric is held by the first clamp, the fabric is held by the second clamp at a position close to the first clamp, and the second clamp is relatively separated while being slid. There is a known method for spreading the fabric.
In Patent Document 2, a thick part (for example, a folded part) of an edge of a deformable thin object is gripped by two hand parts, and the two thin hand parts are relatively separated while being slid. A deployment device for deployment is disclosed.

JP 2002-211152 A JP 2010-561 A

However, since the unfolding method of Patent Document 1 moves the second clamp while sliding it with respect to the fabric, the fabric sometimes falls from the second clamp due to its own weight.
The deployment device of Patent Document 2 slides and unfolds the thick part formed on the edge of the deformable thin object with the two hand parts, so that the deformable thin object does not fall from the hand part. It is not possible to develop a deformable thin object that does not have any.
An object of this invention is to provide the flexible sheet | seat expansion | deployment apparatus with high versatility.

The flexible sheet unfolding device of the present invention includes a first hand for gripping a flexible sheet, a second hand for gripping the flexible sheet, and a separating means for relatively separating the first hand and the second hand. The second hand includes a pair of sandwiching bodies for sandwiching the flexible sheet, and reacts to a sandwiching portion of the flexible sheet according to a direction of an external force applied to the flexible sheet sandwiched between the pair of sandwiching bodies. When the first hand and the second hand are relatively separated from each other, the resistance force that acts as an anisotropy of the first hand viewed from the second hand is sandwiched between the flexible sheets. It is characterized in that a force perpendicular to the relative movement direction is applied.
Here, "the resistance force acting as a reaction on the sandwiched portion of the flexible sheet exhibits anisotropy according to the direction of the external force applied to the flexible sheet sandwiched between the pair of sandwiched bodies" indicates that the pair of sandwiched bodies When an external force is applied to the sandwiched flexible sheet, the resistance force acting as a reaction on the sandwiched portion of the flexible sheet varies depending on the direction of the external force.
Here, “when the first hand and the second hand are relatively separated from each other, the sandwiching portion of the flexible sheet has a relative movement direction of the first hand viewed from the second hand. “A normal force works” means a resultant force of an external force acting on the sandwiching portion of the flexible sheet and a resistance force acting on the sandwiching portion of the flexible sheet when the first hand and the second hand are relatively separated from each other. Has a component perpendicular to the moving direction.
Examples of the flexible sheet targeted by the flexible sheet developing apparatus of the present invention include sheet-like living tissue and artificial skin in addition to fabric, film, paper, and sheet. Moreover, as a shape of a flexible sheet | seat, although a rectangle, especially a rectangle or a square are preferable, it is not specifically limited.

According to the flexible sheet unfolding device of the present invention, the resistance force acting as a reaction on the sandwiched portion exhibits anisotropy according to the direction of the external force applied to the flexible sheet sandwiched between the pair of sandwiching bodies, and the first hand and When the second hand is relatively separated from the second hand, a force perpendicular to the relative movement direction of the first hand viewed from the second hand is applied to the sandwiched portion of the flexible sheet. Therefore, when the flexible sheet is pulled with the first hand and the second hand relatively spaced apart, the flexible sheet can be moved in a direction perpendicular to the moving direction.
In particular, when the flexible sheet is suspended and the first hand is moved horizontally, the resistance force acting on the clamping portion is set to a predetermined value so as to be able to counter the gravity of the flexible sheet. The flexible sheet can be developed without dropping from the second hand.

In the flexible sheet developing device of the present invention, it is preferable that the sandwiching body is a pinch roller, and a direction in which the maximum value of the resistance force is inclined with respect to the moving direction.
In the case of the pinch roller, since the difference between the maximum value and the minimum value of the resistance force acting as a reaction on the sandwiching portion can be increased, the force perpendicular to the moving direction acting on the sandwiching portion can be increased.
It is preferable that the clamping body is a pinch roller, and a direction in which the maximum value of the resistance force is parallel to the axis of the pinch roller.

The flexible sheet unfolding device of the present invention is preferably provided with means for controlling a resistance force acting on a sandwiching portion of the flexible sheet.
By controlling the resistance force acting on the sandwiching portion in this way, the force perpendicular to the moving direction acting on the sandwiching portion can be controlled.

As the first means for controlling the resistance force acting on the sandwiched portion, there is an increase / decrease control of the pinch pressure of the pair of sandwiching bodies.
As a second means for controlling the resistance force acting on the clamping portion, there is variable control of the direction indicating the maximum value of the resistance force. Here, the direction indicating the maximum value of the resistance means “the direction on the virtual plane where the flexible sheet is developed”.
As a third means for controlling the resistance force acting on the clamping portion, there is an increase / decrease control of the rotational frictional force of the pinch roller.

  The flexible sheet unfolding device of the present invention is preferably provided with means for controlling a resistance force acting on a sandwiching portion of the flexible sheet and a sensor for recognizing the position of the flexible sheet. In this case, the flexible sheet can be developed while feeding back the position of the flexible sheet.

  In the flexible sheet unfolding device of the present invention, it is preferable that the first hand is the second hand. In this case, by holding the vicinity of the center of the edge of the flexible sheet between the two second hands and moving the two second hands away from each other, the flexible sheet can be developed without dropping.

FIG. 1A and FIG. 1B are schematic diagrams illustrating a flexible sheet unfolding apparatus according to an embodiment of the present invention and a state before unfolding of the flexible sheet and a unfolded state. 2A is a schematic diagram showing an external force applied to the flexible sheet, FIG. 2B is a schematic diagram showing a resistance force applied to the flexible sheet, FIG. 2C is a schematic diagram showing a force applied to the flexible sheet, and FIG. It is the schematic which expands and shows the synthetic force added to a sheet | seat. 3a is a schematic view showing a second embodiment of the flexible sheet unfolding device of the present invention, FIG. 3b is a sectional view taken along line XX of FIG. 3a, and FIG. 3c is a schematic view showing the third embodiment. is there. It is the schematic which shows 4th Embodiment of the flexible sheet | seat expansion | deployment apparatus of this invention. It is the schematic which shows 5th Embodiment of the flexible sheet | seat expansion | deployment apparatus of this invention. It is the schematic which shows the result of an Example.

The flexible sheet unfolding apparatus 1 in FIG. 1 includes a first hand H1 that grips the flexible sheet S, a second hand H2 that grips the flexible sheet S, and a separating unit (first unit) that separates the first hand H1 from the second hand H2. 1 robot 10).
FIG. 1a shows a state immediately after the flexible sheet S is gripped by the first hand H1 and the second hand H2 of the flexible sheet unfolding device 1, and FIG. 1b shows the first hand H1 of the flexible sheet unfolding device 1 as the second hand. A state in which the flexible sheet S is unfolded by being moved away from the hand H2 is shown.

The first hand H1 includes a pair of fingers H1a that sandwich the flexible sheet S, and a first air chuck H1b that linearly opens and closes them. However, if the pair of fingers H1a can be opened and closed in parallel, a conventional arc opening / closing movement using a cam mechanism or a link mechanism, an arc parallel opening / closing movement using a parallel link mechanism, and a pair of actuators are linked. The mechanism may be a known mechanism, and is not particularly limited to an air chuck. Moreover, the 1st hand H1 will not be specifically limited if the flexible sheet | seat S can be hold | gripped.
The first hand H1 is attached as an end effector of the first robot 10 (manipulator).

  The second hand H2 includes a pair of pinch rollers H2a that sandwich the flexible sheet S and a second air chuck H2b that linearly opens and closes them.

The pinch roller H2a is a free roller that does not have a rotational drive source such as an elongated motor extending in the axial direction. That is, the linear pinching portion P of the flexible sheet S sandwiched between the pair of pinch rollers H2a is parallel to the axis of the pinch roller H2a. Here, the direction perpendicular to the axis in the virtual plane where the flexible sheet is opened is the first direction D1, and the direction parallel to the axis is the second direction D2. The surface of the roller is a flat surface. By using a flat surface, the flexible sheet is not damaged.
When an external force is applied to the flexible sheet S sandwiched between the pair of pinch rollers H2a, the linear sandwiching portion P of the flexible sheet S acts as a reaction perpendicular to the axis of the pinch roller H2a as shown in FIG. 2b. Directional resistance force (rotational frictional force of the roller) f1 and resistance force (frictional force) f2 in a direction parallel to the axis of the pinch roller H2a work. That is, the resistance force acting as a reaction on the linear sandwiching portion P of the flexible sheet S shows anisotropy according to the direction of the external force applied to the sandwiched flexible sheet. Specifically, the resistance force f1 in the first direction D1 (hereinafter referred to as the first resistance force f1) has a minimum value, and the resistance force f2 in the second direction D2 (hereinafter referred to as the second resistance force f2) has a maximum value. . That is, the direction indicating the maximum value of the resistance force and the direction indicating the minimum value of the resistance force are in a vertical relationship.
In addition, as shown in FIG. 1, the pair of pinch rollers H2a has a second direction D2 parallel to the pinch roller axis as an angle with respect to a moving direction M (horizontal in FIG. 1) of the second hand H2 described later. The flexible sheet S is sandwiched so as to be inclined at α.

The second air chuck H2b is substantially the same as the first air chuck H1b of the first hand H1. The second air chuck H2b is not particularly limited as long as the pinch roller H2a can be opened and closed in parallel.
Similarly to the first hand H1, the second hand H2 is also attached as an end effector of the second robot 20 (manipulator).

  The separating means for separating the first hand H1 from the second hand H2 is the first robot 10 that moves the first hand H1 horizontally. However, there is no particular limitation as long as the first hand H1 can be moved in one direction. Here, the first robot 10 is a serial articulated vertical articulated robot, but a known robot such as a horizontal articulated parallel link robot can be used. Moreover, you may use actuators, such as an electric actuator and a hydraulic actuator, without using a robot.

Next, an example of a method for developing the flexible sheet S by the flexible sheet developing apparatus 1 will be described.
First, as shown in FIG. 1a, the first hand H1 grips the vicinity of the corner C of the flexible sheet S, and the second hand H2 holds the edge E of the flexible sheet S near the first hand H1. The hand H2 is pinched so that the axis of the pinch roller H2a (the linear pinching portion P of the flexible sheet S) is inclined with respect to the vertical line. And the flexible sheet | seat S is suspended in the state. At this time, the 1st hand H1 and the 2nd hand H2 are made into the substantially same height so that the edge E of the flexible sheet | seat S may become substantially horizontal. The flexible sheet S may be carried by the first hand H1, or may be received from another robot or the like. Further, the first hand H1 and / or the second hand H2 may hold the flexible sheet S in a suspended state.

  Second, in a state where the flexible sheet S is gripped by the first hand H1 and the second hand H2, the first hand H1 is moved in the horizontal direction (M direction in FIG. 1) so as to be separated from the second hand H2. .

Thus, when the first hand H1 is pulled in the state of FIG. 1a, the linear holding portion P of the flexible sheet S held by the pair of pinch rollers H2a has a first hand H1 as shown in FIG. 2a. A resultant force F1 between the pulled horizontal force F and the weight G of the flexible sheet S is applied. On the other hand, when the resultant force F1 is applied to the linear sandwiching portion P of the flexible sheet S, as shown in FIG. 2b, the first resistance force f1 in the first direction and the second resistance force f2 in the second direction are applied as a reaction. Arise. That is, a force as shown in FIG. 2C is applied to the linear sandwiching portion P of the flexible sheet S.
Therefore, a force V1 obtained by subtracting the first resistance force f1 from the first direction component F1a of the resultant force F1 and a force V2 obtained by subtracting the second resistance force f2 from the second direction component F1b of the resultant force F1 remain.
Here, since the vertical upward component V1a of the force V1 is larger than the vertical downward component V2a of the force V2, the flexible sheet S rises. The resultant force V in FIG. 2d indicates the direction in which the clamping portion P is pulled.
Therefore, the flexible sheet S is unfolded while ascending according to the distance pulled by the first hand H1.

As described above, the flexible sheet unfolding apparatus 1 can unfold the flexible sheet S without dropping it from the second hand H2. Further, by using the first robot 10 and the second robot 20, the unfolded flexible sheet S can be folded, stacked in a predetermined position, and stored, and the unfolded flexible sheet can be expanded from the grip of the flexible sheet. It can also be set as the apparatus which performs the operation | work after doing it fully automatically.
Since the flexible sheet S itself is extended or slightly twisted by pulling the flexible sheet S with the first hand H1, the moving distance of the first hand H1 becomes larger than the moving distance of the sandwiching portion P of the flexible sheet S. The direction is slightly different.

As explained in the flexible sheet unfolding apparatus 1 in FIG. 1, if the vertical upward component V1a in FIG. 2d is larger than the vertical downward component V2a, the flexible sheet S rises. On the other hand, when the vertical upward component V1a is the same as the vertical downward component V2a of the force V2, the height of the edge E of the flexible sheet S is kept constant, and when the vertical upward component V1a is smaller than the vertical downward component V2a, the flexible sheet S Descends. The vertical upward component V1a and the vertical downward component V2a depend on the first resistance force f1 and the second resistance force f2 (resistance force acting on the sandwiching portion of the flexible sheet S) when the external force applied to the flexible sheet S is constant. . That is, in the unfolding process of pulling the flexible sheet S with the first hand H1, the vertical force applied to the sandwiched portion of the flexible sheet S can be controlled by controlling the resistance force applied to the flexible sheet S.
Therefore, the flexible sheet unfolding device provided with means for controlling the resistance force acting on the flexible sheet S can unfold the flexible sheet S while controlling the position (height) of the flexible sheet S. The flexible sheet unfolding apparatus provided with such means is preferable for unfolding the flexible sheet S while keeping the height of the edge E of the flexible sheet S constant, and in particular, the height of the edge E of the flexible sheet S. And the flexible sheet S is preferably developed while keeping the edge E horizontal.

  The flexible sheet unfolding apparatus 1b of FIG. 3a has means for controlling the resistance force acting on the sandwiching portion of the flexible sheet and position recognition means for recognizing the position of the flexible sheet, and determines the position (height) of the flexible sheet S. The flexible sheet S is developed with feedback. Specifically, it further includes a position recognition means (sensor 30) of the flexible sheet S, a means (second air chuck H2b) for controlling a resistance force acting on a sandwiching portion of the flexible sheet, and a control device 50. Other configurations are substantially the same as those of the flexible sheet unfolding apparatus 1 of FIG. 1, and include a first hand H 1, a second hand H 2, a first robot 10, and a second robot 20.

  The position recognition means is a sensor 30 that detects the position (height) of the edge E of the flexible sheet S held by the second hand H2, as shown in FIG. 3b. As the sensor, for example, a photoelectric sensor, a fiber photoelectric sensor, an infrared proximity sensor, or the like is used. As the position recognition means, an image recognition means such as a camera or a tactile sense recognition means such as a contact sensor may be used.

  The means for controlling the resistance force acting on the sandwiched portion of the flexible sheet is the second air chuck H2b of the second hand H2. By operating the second air chuck H2b, the pinch pressure of the pair of pinch rollers H2a of the second hand H2 can be varied. As a result, the pinch with respect to the linear pinching portion P of the flexible sheet S sandwiched between the pair of pinch rollers H2a A second resistance force (frictional force) f2 parallel to the axis of the roller H2a can be controlled (see FIG. 2b). For example, the second resistance force f2 can be increased by increasing the pinch pressure, and the second resistance force f2 can be decreased by decreasing the pinch pressure.

  The control device 50 receives the position information of the edge E of the flexible sheet S from the sensor 30, calculates the pinch force by the pair of pinch rollers H2a based on the position information, and transmits it to the second air chuck H2b. . The control device 50 also controls the operation of the first robot 10 at the same time.

Thus, the flexible sheet unfolding device 1b controls the pinch force of the pair of pinch rollers H2a while confirming the position of the flexible sheet S by the position recognizing means in the unfolding process of the flexible sheet S. Therefore, the flexible sheet S can be developed while keeping the height of the flexible sheet S constant. For example, when the flexible sheet S rises too much, the pinch force can be increased to increase the resistance force f2, the vertical downward component V2a in FIG. 2d can be reduced, and the flexible sheet S can be lowered. On the other hand, when the flexible sheet S is lowered too much, the pinch force is weakened and the resistance force f2 is weakened, the vertical downward component V2a in FIG. 2d is increased, and the flexible sheet S can be raised.
Since the flexible sheet S can be deployed with a constant height in this way, the gripping positions of the first hand H1 and the second hand H2 after deployment can be made constant. In this case, operations after the flexible sheet S is unfolded, for example, conveyance, stacking, folding, and storage of the flexible sheet are not complicated.

Next, a second means for controlling the resistance force acting on the sandwiched portion of the flexible sheet will be described.
As a second means for controlling the resistance force applied to the flexible sheet, the direction (D2) indicating the maximum value of the resistance force acting on the sandwiching portion of the flexible sheet S may be varied as shown in FIG. In this embodiment, the second hand H2 is rotatable on a virtual plane where the flexible sheet S is developed, and the direction of the second resistance force is variable. For example, the second robot 20 is rotated on the virtual plane around the base B of the second hand H2. However, the method is not particularly limited. Thus, by changing the directions of the first resistance force f1 and the second resistance force f2 acting on the sandwiching portion P of the flexible sheet S, the vertical force acting on the sandwiching portion of the flexible sheet S can be controlled.

  As a third means for controlling the resistance force acting on the sandwiched portion of the flexible sheet, the rotational frictional force of the pair of pinch rollers H2a of the second hand H2 may be varied. By controlling the rotational frictional force of the pinch roller H2a, the first resistance force f1 perpendicular to the axis of the pinch roller H2a with respect to the linear sandwiching portion P of the flexible sheet S sandwiched between the pair of pinch rollers H2a is controlled. (See FIG. 2b). That is, by increasing the rotational friction force, the first resistance force f1 can be increased to increase the vertical upward component V1a in FIG. 2d, and by decreasing the rotational friction force, the first resistance force f1 can be decreased. Thus, the vertically upward component V1a in FIG. 2d can be reduced.

  Here, three means for controlling the resistance force acting on the sandwiched portion of the flexible sheet are listed, but the invention is not limited to these. In addition, as a means for controlling the resistance force acting on the sandwiched portion of the flexible sheet, any two of these means may be combined, all the means may be combined, or other means may be combined.

  The flexible sheet unfolding apparatus 1c in FIG. 4 unfolds the flexible sheet S with the two second hands H2. Specifically, it has two second hands H2 and separation means (second robots 20, 20) for separating one second hand H2 from the other second hand H2. Here, the separating means is the second robot 20 of each second hand H2. Since the two second hands H2 are opposed to each other, the separating directions M1 and M2 in the respective second hands H2 are reversed when viewed as a whole.

Next, an example of a method for developing the flexible sheet S by the flexible sheet developing apparatus 1c will be described.
First, the edge E of the flexible sheet S is held by one second hand H2, and the edge E of the flexible sheet S near the second hand H2 in one report is held by the other second hand H2. At this time, the pinch roller H2a of the second hand H2 is pinched so that the shaft (the linear pinching portion P of the flexible sheet S) is inclined with respect to the vertical line. Since the two second hands H2 are opposed to each other, the inclination is also reversed. And the flexible sheet | seat S is suspended in the state. At this time, both the second hands H2 are set to substantially the same height so that the edge E of the flexible sheet S is substantially horizontal.
Second, in a state where the flexible sheet S is gripped by both the second hands H2, both the second hands H2 are moved in the horizontal direction (M1, M2 direction) so as to be separated from each other, and the flexible sheet S is developed. .

  In this way, the flexible sheet unfolding device 1c is unfolded without dropping the flexible sheet by holding the vicinity of the center of the edge of the flexible sheet with the two second hands and moving the two second hands away from each other. Therefore, it is not necessary to search and hold the corner portion C of the flexible sheet S as in the flexible sheet unfolding apparatus 1 of FIG.

  The flexible sheet expanding apparatus of the present invention can be expanded without dropping the flexible sheet. Therefore, by combining with a device that automatically performs the work after the flexible sheet is deployed, the work after the flexible sheet is deployed can be performed fully automatically. For example, conveyance, stacking, folding, and storage of flexible sheets can be performed automatically.

1 to 3, the second hand H2 is fixed and the first hand H1 is moved. However, the first hand H1 may be fixed and the second hand H2 may be moved. . In all the embodiments, both may be moved simultaneously.
In all the embodiments so far, the long pinch roller extending in the axial direction has been described as the pair of sandwiching bodies of the second hand, but the pinch roller may not be long. A plurality of ring rollers may be arranged on the same axis. Moreover, it is good also as a pair of rod instead of a roller. In the case of a pair of rods, the resistance force f1 in FIG. 2b is a frictional force between the rod and the flexible sheet S. Further, the sandwiching body may change the frictional force acting as a reaction on the flexible sheet by changing the material of the surface according to the flexible sheet to be developed or providing irregularities on the surface.
Furthermore, the pinch roller H2a may have an annular protrusion T or a spiral line inclined on the axis of the pinch roller on the surface of the roller, as shown in the flexible sheet developing device 1c of FIG. In this case, the direction indicating the maximum value of the resistance force acting on the sandwiched portion of the flexible sheet S is not the axis of the pinch roller H2a but a direction perpendicular to the direction of the protrusion. The other configuration of the flexible sheet expanding apparatus 1c is substantially the same as that of the flexible sheet expanding apparatus 1 of FIG. 1, and the first hand H1, the second air chuck H2b of the second hand H2, and the first robot. 10 and the second robot 20.
Moreover, although the flexible sheet | seat expansion | deployment apparatus of this invention is preferably used for expanding | deploying, suspending a flexible sheet | seat, you may use it for the flexible sheet | seat laid horizontally.

While the flexible sheet S is gripped by the first hand H1 and the second hand H2, the first hand H1 is moved horizontally by 60 mm so as to be separated from the second hand H2, and the movement of the flexible sheet S at that time is measured. did. The pinch roller H2a of the second hand H2 was set to 65 degrees with respect to the horizontal. As the flexible sheet S, paper and cloth were used. The pinch pressure of the second hand H2 was set to 0.05 MPa and 0.1 MPa.
In any case, as shown in FIG. 6, the edge E of the flexible sheet S rises with the movement of the first hand H1. In each experiment, the center of the virtual rotation of the flexible sheet S was determined, and how much the flexible sheet S was rotated around the center is shown in Table 1 below.

As can be seen from Table 1, the cloth having a larger frictional force with the pinch roller H2a rotated more than the paper. Furthermore, the one that increased the pinch pressure rotated greatly. That is, it has been found that the height of the flexible sheet S is controlled in accordance with the angle of the pinch roller H2a and the pinch pressure.
From this experiment, by appropriately adjusting the resistance force acting as a reaction of the sandwiched portion of the flexible sheet, for example, the angle of the resistance force and the magnitude of the resistance force, the sheet movement is performed while the flexible sheet is held by two hands. It was found that it was possible to deploy while controlling the direction against gravity.

S Flexible sheet P Linear clamping part C Corner part E Edge part H1 First hand H1a Finger part H1b First air chuck H2 Second hand H2a Pinch roller H2b Second air chuck T Projection 1, 1b, 1c Deployment device 10 First robot 20 Second robot 30 Sensor 50 Control device

Claims (9)

A first hand for gripping the flexible sheet;
A second hand for gripping the flexible sheet;
Separating means for relatively separating the first hand and the second hand;
The second hand includes a pair of sandwiching bodies that sandwich the flexible sheet,
Depending on the direction of the external force applied to the flexible sheet sandwiched between the pair of sandwiching bodies, the resistance force acting as a reaction on the sandwiched portion of the flexible sheet exhibits anisotropy,
When the first hand and the second hand are relatively separated from each other, a force perpendicular to the relative movement direction of the first hand viewed from the second hand is applied to the sandwiched portion of the flexible sheet. Is configured to work,
Flexible sheet unfolding device. The clamping body is a pinch roller;
The direction showing the maximum value of the resistance force is inclined with respect to the moving direction.
The flexible sheet developing device according to claim 1. The direction showing the maximum value of the resistance force is parallel to the axis of the pinch roller.
The flexible sheet developing device according to claim 2. Having a means for controlling the resistance force acting on the sandwiched portion of the flexible sheet,
The flexible sheet expansion | deployment apparatus in any one of Claims 1-3. The means for controlling the resistance force is variable in the pinch pressure of the pair of sandwiching bodies.
The flexible sheet expansion | deployment apparatus of Claim 4. The means for controlling the resistance force is variable in direction indicating the maximum value of the resistance force.
The flexible sheet expansion | deployment apparatus of Claim 4. The means for controlling the resistance force is variable in the rotational frictional force of the pinch roller.
The flexible sheet expansion | deployment apparatus of Claim 4. Having position recognition means for recognizing the position of the flexible sheet;
The flexible sheet expansion | deployment apparatus in any one of Claim 4 to 7. The first hand is a second hand;
The flexible sheet expansion | deployment apparatus in any one of Claim 1 to 8.

Images