JP2019044288A - Cloth gripping chuck and cloth handling device - Google Patents

Abstract

To provide a cloth gripping chuck and a cloth handling device which can reduce occurrence of falling-off of cloth while avoiding damage to the cloth during handling of the cloth.SOLUTION: A cloth gripping chuck 21 comprises: a pair of holding claws 212 and 213 arranged so as to be opposed to each other; and opening/closing means for allowing the pair of holding claws 212 and 213 to relatively approach and separate from each other. The holding claws 212 and 213 comprise, at their tips, projection parts 214 and 215, respectively, which project toward the other opposed holding claws 213 and 212, respectively. Surfaces 214a and 215a, at base end sides of the holding claws 212 and 213, of the projection parts 214 and 215 are formed as flat surfaces which are parallel to an opposed direction of the pair of holding claws 212 and 213, or are formed as inclined surfaces which are inclined in such directions as to approach the base end sides as they project toward the other opposed projection parts 215 and 214.SELECTED DRAWING: Figure 35

Description

  The present invention relates to a cloth gripping chuck for gripping and releasably holding cloths in a cloth laundry factory or the like, and cloth handling for moving the cloth gripping chucks and performing operations such as lifting, pulling or delivery of cloths. It relates to the device.

  Cloths used in cloth washing factories etc. are automatic spreader (spreading) machines for spreading cloths and cloth spinning machines that untwist cloth masses consisting of a plurality of cloths tangled with each other. A large number of cloth handling devices are mounted to perform operations such as lifting, pulling out, and delivery, and the automatic spreader of Patent Document 1 includes, for example, a lifting device, a temporary holding device, a corner end device, a cross pulling device Etc. correspond to this.

  The chuck in the cloth handling device of this type has a pair of gripping claws, and the pair of gripping claws is opened and closed using a driving means such as an air cylinder or a motor to grip or release the cloth or the like. It is configured to do.

JP, 2010-222724, A

  As a conventional cloth gripping chuck, as shown in FIG. 41, there is a type in which the entire gripping surface of the gripping claws is flat, and the entire gripping surface contacts each other when the chuck is fully closed. However, in the case of a chuck having such a shape, when a large number of cloths are gripped or pulled up strongly, the cloths often come off. Also, in this type of chuck, the tip of the gripping claw is in close contact with the chuck in the fully closed state, so as shown in FIG. For example, taking a pile, there is a problem that damage such as fraying occurs.

  The present invention solves the above-mentioned problems of the prior art, and provides a cloth gripping chuck and a cloth handling device capable of reducing the dropping of cloth while avoiding damage to the cloth when handling the cloth. The purpose is to

  The present invention is a cloth grasping chuck comprising a pair of opposing gripping claws and an opening / closing means for relatively moving the pair of gripping claws closer to and away from each other, in order to achieve the above object. Has a projecting portion at the tip end, which protrudes toward the other opposing gripping claw, and a surface of the projecting portion on the base end side of the gripping claw is a horizontal surface parallel to the opposing direction of the pair of gripping claws Or as an inclined surface which is inclined in a direction approaching the base end side toward the other overhanging portion.

  In the cloth gripping chuck according to the present invention, it is preferable that a gap be formed between the projecting portions facing each other in the fully closed state of the pair of gripping claws, and the gap is a gripping target. More preferably, the thickness is set to be approximately equal to the thickness of two cloths.

  Further, in the cloth gripping chuck according to the present invention, at least one of the pair of gripping claws is orthogonal to the extending direction which is a direction from the proximal end to the tip of the gripping claws and to the opposing direction It is preferable to be able to swing about an axis extending in the direction of movement.

  The present invention comprises a cloth gripping chuck having a pair of opposing gripping claws and an opening / closing means for relatively moving the pair of gripping claws closer to and away from each other, and a moving member for moving the cloth gripping chuck. It is a cloth handling device, and in order to achieve the above-mentioned purpose, each grasping nail has an overhanging portion projecting toward the other opposing grasping nail at the tip, and the base of the grasping nail of the overhanging portion The surface on the end side is formed as a horizontal surface parallel to the opposing direction of the pair of gripping claws, or formed as an inclined surface inclined toward the proximal end side toward the other overhanging portion opposed to the other. ing.

  In the cloth handling device according to the present invention, it is preferable that a gap be formed between the overhanging portions facing each other in the fully closed state of the pair of gripping claws, and the gap is a gripping target. More preferably, the thickness is set to be approximately equal to the thickness of two cloths.

  Further, in the cloth handling device according to the present invention, at least one of the pair of gripping claws is perpendicular to the extending direction which is a direction from the proximal end to the distal end of the gripping claws and to the opposing direction It is preferable to be able to swing about an axis extending in the direction of movement.

  In the cloth gripping chuck according to the present invention, when a part of the cloth is brought into contact between the pair of gripping claws in the open position and the pair of gripping claws is closed by the opening / closing means, the cloth is partially interposed therebetween The cloth can be lifted by, for example, moving the cloth handling device upward in this state. At this time, when load from the cloth is applied to the surface (back surface) of the proximal end side of the gripping claws of the protruding portion of the gripping claws, the back surface is in the opposing direction of the pair of gripping claws in the fully closed position of the gripping claws. The gripping claw is further pivoted in the closing direction by being formed as a parallel plane or as an inclined surface which is inclined in the direction approaching the base end side toward the other overhanging portion facing the other. , The cloth part on the back side of the overhang part is caught on the back of the overhang part. Therefore, the omission of the cloth Y is reduced.

  Further, in the cloth gripping chuck of the present invention, when the gap is maintained between the overhanging parts even in the fully closed position of the gripping claws, the cloth gripped by the cloth gripping chuck is likely to fall off. In this case, since the overhanging portion does not forcibly hold the cloths and allows them to come off, it is possible to more reliably prevent the cloth from being damaged by the gripping claws. Moreover, when the dimension of the said clearance gap is made substantially equal to the thickness for two sheets of cloths, damage loss of cloths can be prevented more reliably, reducing omission of cloths.

It is a whole schematic diagram of a cloth automatic deployment machine. It is an expansion perspective view of the feed conveyor of the cloth automatic deployment machine of FIG. 1, and a lifting apparatus. It is an expansion perspective view of the feed conveyor of the cloth automatic deployment machine of FIG. 1, and a lifting apparatus. It is an expansion perspective view of the feed conveyor of the cloth automatic deployment machine of FIG. 1, and a lifting apparatus. FIG. 2 is an enlarged perspective view of a temporary holding device and a corner end device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of a cornering device and a cornering device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of a corner end taker and a side draw device of the automatic deployment machine of FIG. 1; It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG. It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG. It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG. FIG. 2 is an enlarged perspective view of a lateral pulling device, a two-position holding device, an edging conveyor, and a vertical inverting device of the fabric automatic developing machine of FIG. 1. FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of an edged conveyor and an upside-down reversing device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of an edged conveyor and an upside-down reversing device of the automatic deployment machine of FIG. 1; FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1. FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1. It is an expansion perspective view of a roller and loading device of a cloth automatic deployment machine of FIG. It is an enlarged perspective view of the roller of the cloth automatic deployment machine of FIG. FIG. 2 is an enlarged perspective view of a roller, an advancing and retracting device, and a conveyer of the cloth automatic unfolding machine of FIG. 1; FIG. 2 is an enlarged perspective view of a roller, an advancing and retracting device, and a conveyer of the cloth automatic unfolding machine of FIG. 1; It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer. It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer. It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer. It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer. It is an expansion perspective view of the conveyer of cloth automatic deployment machine of Drawing 1, and cloth folding machine of the following process. It is a top view of the cloth grasping chuck of one embodiment of the present invention. The internal structure of the cloth holding chuck of FIG. 35 is shown, (a) shows a fully closed state of a holding claw, (b) shows a fully open state of a holding claw. FIG. 36 is a view showing the cloth gripping chuck of FIG. 35 gripping and lifting the cloth. When the cloth holding chuck of FIG. 35 holds and lifts the cloth, it is a view showing the cloth falling out from the gap between the overhanging parts. It is a top view which shows the principal part of the modification of the cloth holding chuck of FIG. It is a top view which shows the principal part of the cloth holding chuck of other embodiment of this invention. It is a figure explaining the problem at the time of lifting cloth using the conventional cloth grip chuck. It is a figure explaining the problem at the time of lifting cloth using the conventional cloth grip chuck.

  Hereinafter, embodiments of the present invention will be described in detail based on the drawings. The fabric gripping chuck of the present invention and the fabric handling device including the same can perform operations such as lifting, pulling out or delivery of the fabric in a fabric automatic developing machine or a fabric milling machine installed in a fabric laundry factory or the like. The cloth gripping chuck of the embodiment and the cloth handling apparatus including the same are applied to an automatic cloth developing machine as an example of use as an example.

  FIG. 1 shows an overall view of an automatic cloth spreader, and FIGS. 2 to 34 show individual devices of the automatic cloth spreader of FIG. Moreover, in the following description, each direction of front, back, right, left, upper, and lower shall show each direction in the state of FIG.

  The cloth automatic developing machine automatically develops cloths such as towels, sheets, wrappings, pillow covers, and yukatas which have been washed and dried, and as shown in FIG. , Lifting device 2, temporary holding device 3, corner end positioning device 4, corner end positioning device 5, side pulling device 6, 2 position holding device 7, outline conveyor 8, up-down reversing device 9 and The controller 10 includes a roller 10, a loading device 11, an advancing and retracting device 12, a conveyer 13, and a control device (not shown) for controlling the operation of the devices 1 to 13. Further, in FIG. 1, a suction conveyer A, a push-out device B, a return conveyer C, and a cloth folding machine D are illustrated as auxiliary or related devices. The return conveyor C is for returning the fabric dropped in the middle of the process to the supply conveyor 1.

  The cloth automatic developing machine operates as follows. That is, the supply conveyor 1 supplies the washed and dried cloths to the lower side of the lifting device 2, the lifting device 2 lifts the cloths to a predetermined height, and the temporary holding device 3 receives the lifted cloths. Hold and move to the delivery position to the corner ender 4, and the corner ender 4 receives an arbitrary portion of the hanging cloth from the temporary holder 3 to reveal the corner end of the cloth, While the corner end device 5 holds the corner end and holds and supports the cloths and moves them to the side pulling device 6 side, the side pulling device 6 makes the cloths horizontally lie in the front and rear direction, 2 The position holding device 7 holds the two positions of the vicinity of the corner of the cloth in a state of lying and the middle position separated from the position by an appropriate distance at the same height and moves it above the trimming conveyor 8 Release the intermediate portion of the fabric, and the edged conveyor 8 The other part of the cloth holding the vicinity of the end is placed and moved to reveal one side edge of the long side of the cloth, and the up-down reversing device 9 of the cloth coming down from above the outline conveyor 8 The load device 11 holds the side edge of the long side and turns the fabric upside down and then hangs down, and moves the roller 10 above the roller 10 along the roller 10 in the left and right direction. The side edge is received from the up-down reversing device 9, and the hanging cloth is placed on the roller 10, and the cloth on which the roller 10 is placed remains on the advancing / retracting device 12 side leaving the edge on the short side , And the advancing and retracting device 12 advances to receive the short side edge of the cloth remaining from the roller 10 and then retract while holding the short edge of the cloth and conveying conveyor 13 Transfer the cloth in the unfolded state, and the conveyer 13 unfolds the unfolded cloth. The was carried out to introduce, for example, textiles folding machine D in the next step.

  The details of each device are as follows. First, as shown in FIGS. 1 to 3, the feeding conveyor 1 may be continuously driven by the motor 1 a during operation. A lump X consisting of, for example, about 10 to 50 sheets of rectangular cloth Y which has been curled after drying is dropped. The feed conveyor 1 conveys the lump X of cloth Y to the lower side of the lifting device 2 (indicated by a symbol X 'in FIG. 2). A suction conveyor A is provided at the end of the feed conveyor 1 in the transport direction. The suction conveyor A includes a perforated belt A1, a suction fan A2 that sucks the cloth Y on the supply conveyor 1 through the perforated belt A1, and a cloth lifting device 2 that rotationally sucks and sucks the perforated belt A1. And a motor A3 for conveying immediately below (shown by symbol X '' in FIG. 3). In the vicinity of the end portion of the perforated belt A1, a wall 1b is erected to prevent the lump X from falling from the supply conveyor 1. In addition to or instead of the suction conveyor A, an extruding device B for pushing the cloth on the supply conveyor 1 directly below the lifting device 2 is provided at the end of the conveying direction of the supply conveyor 1 in the transport direction. You may The pushing device B comprises a cylinder B1 and a pushing rod B2 advanced and retracted by the cylinder B1.

  The lifting device 2 has a chuck 21 for holding an arbitrary part of the cloth Y and a lifting device for moving the chuck 21 up and down. In the illustrated example, the lifting device comprises a drive belt 23 and a motor 22. The elevating device may be of any structure as long as the chuck 21 can be moved up and down between the predetermined height and the conveyance surface of the supply conveyor 1, for example, a chain type or a slider unit traveling up and down on rails. Good. When the lifting device 2 moves the chuck 21 to the lowermost position (position illustrated by an imaginary line and reference numeral 21 ′ in FIG. 4) by the drive belt 23 and the motor 22, the chuck 21 is the end of the feeding conveyor 1 The cloth 21 in contact with the cloth Y is placed in contact with the cloth Y and the chuck 21 holds the contact portion of the cloth Y. The cloth holding portion by the chuck 21 may be any place. In addition, when the chuck 21 moves upward, the chuck 21 moves upward to a predetermined height (uppermost position) shown by a solid line in FIG. 4 while holding the cloth Y by the chuck 21 and suspends the cloth Y It is supposed to hold. At this time, two or more cloths Y may be held by the chuck 21 and lifted.

  As shown in FIGS. 1 and 4, the temporary holding device 3 has a chuck 31 and an advancing and retracting device (an extension cylinder 32) for advancing and retracting the chuck 31 in the front-rear direction. In the temporary holding device 3, when the chuck 21 of the lifting device 2 moves to the uppermost position, or when the cloth Y held by the chuck 21 at the uppermost position is detected by a sensor (not shown), the extension cylinder 32 extends. The chuck 31 advances to a position (indicated by reference numeral 31 ') indicated by a phantom line in FIG. 4, and the upper end of the cloth Y lifted by the lifting device 2 is received by the chuck 31 of the temporary holding device 3 (this When the chuck 21 of the lifting device 2 releases the cloth Y), then the telescopic cylinder 32 shortens and retracts to the predetermined position while the cloth Y is suspended by the chuck 31 as illustrated by the solid line in FIG. It is supposed to In most cases, one of the corner ends of the cloth appears at the lowermost end (indicated by a symbol Ya in FIG. 4) of the cloth Y suspended by the chuck 31.

  As shown in FIG. 5 to FIG. 9, the corner edger 4 receives the cloth Y suspended and held by the chuck 31 of the temporary holding device 3 at its retracted position, and the chuck 41 And a base plate 43 on which the cloth Y is placed on the upper surface, and a phototube for detecting the end (corner edge Ya) of the cloth Y which can be dragged on the base plate 43. A sensor 49, a presser plate 47 holding a central portion of the cloth Y on the base plate 43 between the base plate 43 and a telescopic cylinder 48 for moving the presser plate 47 up and down, and a pair of corner end-out rollers 44 , 45, and a telescopic cylinder 46 which brings one corner end roller 45 closer to or away from the other corner end roller 44.

  When the chuck 31 of the temporary holding device 3 holds the cloth Y as shown in FIG. 5 and operates to the retracted position as shown in FIG. Forward, the chuck 41 receives the cloth Y from the chuck 31 of the temporary holding device 3, and then, as shown in FIG. 6, the telescopic cylinder 42 is shortened and the cloth 41 is held with the cloth Y held. Y is pulled in a predetermined distance on the base plate 43, and then the chuck 41 releases the cloth Y, and then, as shown in FIG. The leading end of the cloth Y is sandwiched between the corner end-out roller 44 on the front side, and the presser plate 47 is lowered from the raised position indicated by the reference numeral 47 ′ and the center of the cloth Y is between the base plate 43 and Sandwich the part, and in this state, as shown in FIG. The cloth Y is in a drooping state by the rotation of both corner end-out rollers 44, 45 in the direction of the arrow, and the end of the cloth Y dragged over the base plate 43 (corner end Ya) becomes the sensor 49, 49. When detected (or when the cloth Y is not detected by the sensors 49, 49), the rotational speeds of both corner end rollers 44, 45 are switched to a low speed. In the case where there are a plurality of cloths Y in this series of movements, other cloths Z except one cloth Y whose end is held between the base plate 43 and the holding plate 47 Falls. After that, when the other end 4a of the end of the cloth Y (corner end Ya), for example a phototube, is disposed between the both-corner rollers 44, 45, it is detected (or the cloth Y is detected by the sensors 4a, 4a When the corner end rollers 44, 45 stop rotating, the corner end Ya of the cloth Y or the vicinity thereof is held between the corner end rollers 44, 45 and held. Is complete.

  In the illustrated example, the cloth Y lifted by the lifting device 2 is temporarily held by the temporary holding device 3 temporarily, and then held by the chuck 41 of the corner end tapping device 4. However, other embodiments not shown In this case, the temporary holding device 3 can be omitted, and the cloth Y being lifted by the lifting device 2 can be directly held by the chuck 41 of the corner end tapping device 4.

  As shown in FIG. 10, the corner end removing device 5 includes a chuck 51 disposed below the corner end-out rollers 44, 45 and the chuck 51 in the range right below the contact portion of the corner end-out rollers 44, 45. And an advancing / retracting device (extension cylinder 52) for advancing and retracting in the direction (see FIG. 1). In the corner end trimming device 5, when the corner end Ya of the cloth Y is held at or near the corner edge Ya of the cloth Y by the pair of corner end feeding rollers 44, 45 of the corner end effector 4, the telescopic cylinder 52 is extended and the chuck 51 is extended. Moves forward in the left direction as shown by a phantom line in FIG. 10, holds a little bit below the corner end Ya of the cloth Y by the chuck 51, and hangs the cloth Y on the right side (crossing device 6 side) Act to move backwards. In addition, a sensor 53 for detecting the cloth Y is attached to the chuck 51. The sensor 53 detects that the chuck 51 approaches the cloth Y and operates the chuck 51, whereby the cloth Y is detected. It can be held securely.

  A base plate 64 is provided at a position close to the lower rear side of the chuck 51 in a state in which the extension cylinder 52 of the corner end trimming device 5 is shortened (see FIG. 11). The base plate 64 is for supporting the end side of the cloth Y when the cloth pulling apparatus 6 described next receives the vicinity of the upper end (corner end Ya) of the cloth and moves it backward. It is.

  In this embodiment, to raise one corner end Ya of the rectangular cloth Y, using the lifting device 2, the temporary holding device 3 and the corner end device 4, the rectangular cloth in a curled state is obtained. Although it is possible to automatically perform corner edge out of Y, this fabric edge cornering operation may be made so that a worker manually finds out one corner edge from, for example, fabric Y in a curled state. . In that case, it is preferable for the operator to let the chuck 51 of the corner end remover 5 or the chuck 61 of the lateral pulling device 6 described later receive the found cloth end corner Ya by the operator's hand.

  The lateral pulling device 6 has a chuck 61 and an advancing and retracting device for advancing and retracting the chuck 61 in the front-rear direction, as shown in FIGS. In the illustrated example, the advancing and retracting device comprises a drive belt 63 for holding the chuck 61, and a motor 62 for rotating the pulley on which the drive belt 63 is wound to advance and retract the chuck 61 in the longitudinal direction. For example, a telescopic cylinder can be used. As shown in FIG. 11, when the chucks 51 of the corner end removing device 5 retract and hold the cloth Y, the lateral pulling device 6 advances to a position shown by an imaginary line and reference numeral 61 '. The chuck 61 'in the forward position holds the position slightly below the upper end (corner Ya) of the cloth. Subsequently, after the chuck 51 of the corner end removing device 5 releases the cloth Y, as shown in FIG. 12, with the chuck 61 holding the vicinity of the cloth corner end Ya, the chuck 61 is moved backward; The cloth Y is pulled horizontally on the base plate 64. Then, as shown in FIG. 13, the upper holding plate 65 is lowered from the raised position indicated by reference numeral 65 'by the cylinder 66 after a predetermined distance lateral pulling, and the cloth Y is sandwiched between the upper holding plate 65 and the base plate 64 Is continued, and when the sensor 67 arranged below the base plate 64 detects the end Yb of the cloth Y (or when the sensor 67 no longer detects the cloth Y), the lateral pulling speed is switched to a low speed. Be Then, as shown in FIG. 14, when another sensor 68 disposed in the vicinity of the base plate 64 detects the end Yb of the cloth Y (or when the sensor 68 wants to detect the cloth Y) , Horizontal pulling is stopped. At this time, the cloth Y is arranged on the side of the long side in the hanging portion, with the remaining two corner edges other than the corner edge Ya held by the chuck 61 and the corner edge Yb held down by the upper pressing plate 65 being lined back and forth. One edge Yc appears (triangular shape).

  As shown in FIG. 15, on the right side of the base plate 64 and the upper pressing plate 65, an edged conveyor 8 driven by a motor 81 is installed. The edged conveyor 8 has a plurality of (nine in the illustrated example) narrow belts 8a extending in the left-right direction spaced from each other in the front-rear direction.

  As shown in FIGS. 15 to 20, the two-position holding device 7 includes two chucks 71 and 72 attached to the rear end and the front end of the connecting rod 70 extending in the front and rear direction (hereinafter referred to as middle part holding chuck 71 and corner And elevating cylinders 73 for moving the chucks 71 and 72 up and down, and advancing and retracting devices for advancing and retracting the chucks 71 and 72 together with the elevating cylinders 73 to the left and right. The advancing and retracting device comprises a drive belt 75 for holding the lifting and lowering cylinder 73 in a suspended state, and a motor 74 for rotating a pulley wound around the drive belt 75, as long as the chucks 71 and 72 can be moved in the lateral direction. It may be of such a structure, and may use an advancing and retracting cylinder. For the distance between the chucks 71 and 72, for example, the length of the connection rod 70 can be adjusted, or the attachment position of the chucks 71 and 72 to the connection rod 70 can be changed so Depending on the size etc., it may be possible to change as appropriate.

  As shown in FIG. 15, the corner end holding chuck 72 is in a position where it can hold the front end (corner end) Yb of the cloth Y laid by the lateral pulling device 6, and the middle part holding chuck 71 is It is in the position which can hold the suitable place of the back side middle part of cloth Y which was laid down.

  In the shortened state, the elevating cylinder 73 stands by at the upper position of the cloth Y on which the chucks 71 and 72 are laid (the state illustrated by the solid line in FIG. 15), and in the extended state, the chucks 71 and 72 are illustrated. It is lowered to a position where it can hold the upper edge of the laid cloth Y as illustrated by a phantom line at 15.

  When the two-position holding device 7 is lowered by the extension of the elevating cylinder 73, the corner end holding chuck 72 holds the front end (corner end) Yb of the cloth Y as shown in FIG. Hold the rear middle portion of the cloth Y. At this time, as shown in FIG. 15, the corner end holding chuck 72 is made of cloth Y by narrowing the opening degree of the chuck 69 provided near the rear of the upper holding plate 65 from a wide open state indicated by reference numeral 69 ′. Can be made easier to hold. Thereafter, the cloth Y is released from the holding or restraint by the chuck 61, the upper pressure plate 65 and the chuck 69 of the transverse pulling device 6. Next, as shown in FIG. 17, the two-position holding device 7 is moved toward the end side of the edged conveyor 8 by the advancing and retracting device at the upper position of the edged conveyor 8. The belt of the edged conveyor 8 is moving in the direction of the arrow in FIG. 17, and the triangular portion (in the vicinity of Yc) of the cloth Y can contact the conveyor 8. Further, due to the action of the air blow of the blow device 82 installed between the upper and lower belts of the conveyor 8, the triangular portion is wound (along) in the flow direction of the conveyor 8.

  Subsequently, as shown in FIG. 18, the chuck 71 at the rear of the two-position holding device 7 releases the cloth Y, and one side of the cloth Y (a portion on the rear side of the corner end Yb) It falls on a moving belt. Since the front end (corner Yb) of the cloth Y is held by the corner holding chuck 72, only the falling portion of the cloth Y moves to the right as shown in FIG. When the falling portion of the cloth Y moves a predetermined distance, one side edge Yc on the long side of the cloth Y has an arrangement relationship in which the side edge Yc of the rounding conveyor 8 is substantially orthogonal to the flow direction. In this arrangement, as shown in FIG. 20, the other chuck 72 releases the cloth Y, and the cloth Y is completely dropped onto the outline conveyor 8. Near the end of the edged conveyor 8, two sensors 83 for detecting the leading side edge Yc of the cloth Y transported on the edged conveyor 8 are installed, and this sensor 83 is used to When Y is detected, the outline conveyor 8 is switched to low speed.

  As shown in FIG. 21, the vertical reversing device 9 is disposed in the vicinity of the end of the edging conveyor 8, and includes two chucks 92 and 93 for gripping one side edge Yc of the long side of the cloth Y, and It has two sensors 94 and 95 provided in the vicinity of the chucks 92 and 93, a reversing shaft 96 for supporting the chucks 92 and 93, and a rotating cylinder 91 for rotating the reversing shaft 96. It should be noted that any mechanism may be used as long as the cloth Y gripped by the two chucks 92 and 93 can be reversed, and instead of the rotation cylinder 91, using a motor that rotates the reversing shaft 96 forward and reverse. It is also good. The two chucks 92, 93 are configured to operate independently of each other based on a detection signal of the side edge Yc of the cloth Y by the sensors 94, 95, whereby the side rim Yc of the cloth Y is Straight between chucks 92 and 93 can be held.

  The up-down reversing device 9 operates as follows. First, as shown in FIG. 20, each of the chucks 92 and 93 is substantially in a horizontal direction (as shown in FIG. 20) until the leading side edge Yc of the cloth transferred on the edging conveyor 8 is detected by the sensors 94 and 95. When the sensor 94, 95 detects the leading side edge Yc of the cloth Y transported on the edged conveyor 8 while standing by in a slightly upward inclined posture, the detection signal from the sensor 94, 95 The respective chucks 92, 93 hold the side edge Yc on the leading side of the cloth based on the above. Then, immediately after that, the rotation cylinder 91 is shortened, and the chucks 92, 93 rotate at high speed downward while holding the side edge Yc of the cloth, and the posture shown in FIG. At this time, the cloth Y held by each of the chucks 92 and 93 is rapidly shaken down (dropping action occurs in the direction of the short side of the cloth) and dropped down. Then, when the chucks 92 and 93 holding the side edge Yc of the cloth in the downward posture pass the holding portions of the side edge Yc to the chucks 111 and 112 of the loading device 11 described later. Immediately after that, it is pivoted upward and returned to the original standby position.

  As shown in FIG. 23, the roller 10 and the loading device 11 for loading the cloth Y on the roller 10 are disposed directly under the front side portion of the edged conveyor 8. The roller 10 is installed at the upper side and the lower side.

  The loading device 11 is an advancing and retracting table 110 directed to the vertical reversing device 9 side, and two chucks 111 disposed on both sides of the advancing and retracting table 110 and receiving the cloth Y from the chucks 92 and 93 of the vertical reversing device 9 And chuck sensors 113 and 114. The loading device 11 is advanced and retracted in the left-right direction (rotational axis direction of the roller 10) by the advancing and retracting device. In the illustrated example, the advancing and retracting apparatus comprises a drive belt 116 for holding the advancing and retracting table 110 and a motor 115 for rotating the pulley around which the drive belt 116 is wound, but it is possible to move the chucks 111 and 112 in the lateral direction. It may be of a structure, for example, a forward and backward cylinder may be used.

  The loading device 11 moves from the standby position shown in FIG. 23 to the cloth Y held by the vertical reversing device 9, and as shown in FIG. 24, when the chuck sensors 113 and 114 detect the cloth Y, the chuck 111 and 112 are closed toward both sides of the platform 110 to hold the cloth Y. Here, the holding position of the cloth Y by the chucks 111 and 112 is close to the holding position of the cloth Y by the chucks 92 and 93 of the vertical reversing device 9. The two chucks 111 and 112 may be configured to operate independently, and in this way, the portion between the two chucks 111 and 112 of the side edge Yc of the cloth Y can be held more straightly. can do. After delivery of the cloth Y, as shown in FIG. 25, the vertical reversing device 9 reverses back to the original position, and retracts from the track of the loading device 11. The roller 10 is disposed so that the rotation axis thereof is parallel to the advancing / retracting direction of the loading device 11. Therefore, when the loading device 11 that holds the cloth Y suspended is retracted, as shown in FIG. Y is put on the roller 10 and hangs down from above the roller 10. At that time, the side edge Yd opposite to the side edge Yc held by the chucks 111 and 112 is detected by the sensor 101, and the chucks 111 and 112 are cloth Y after a predetermined time has elapsed after the detection. Release The predetermined time is appropriately set so that the chucks 111 and 112 release the cloth Y when the widthwise center of the cloth Y substantially coincides with the width center of the roller 10. The loading device 11 continues to retract by a predetermined distance even after the chucks 111 and 112 release the cloth Y.

  As shown in FIG. 26, the roller 10 is composed of a first partial roller 102 and a second partial roller 103 disposed adjacent to each other on the same axis. The first partial roller 102 is connected to a motor 104 via a drive belt 105 and is rotationally driven by the motor 104. The second partial roller 103 is connected to a motor 106 via a drive belt 107 and is rotationally driven by the motor 106. The rotational directions and rotational speeds of the motors 104 and 106 can be independently controlled, and preferably, a plurality of parallel arranged in parallel with the rotational axis of the rollers below each of the partial rollers 102 and 103 as shown in FIG. Independently controlled so that the direction of the cloth Y on the roller 10 can be corrected to the correct direction (for example, the direction in which the longitudinal direction of the cloth Y coincides with the front-back direction) based on the detection signals from the sensor groups 108 and 109 Be done. For example, as shown in FIG. 26, the cloth Y is obliquely placed on the roller 10, and as shown in FIG. 27, only the sensor group 109 out of the sensor groups 108 and 109 is on the short side of the cloth Y. When the side edge Ye is detected, the side edge Ye becomes parallel to the sensor groups 108, 109 based on the detection result, and both sensor groups 108, 109 simultaneously reach the side of the short side of the cloth Y. The stop, forward rotation, and reverse rotation of the first partial roller 102 and the second partial roller 103 are repeated until the edge Ye is detected. In the illustrated example, each of the sensor groups 108 and 109 includes five sensors, but the number of sensors is not limited thereto, and may be four or less or six or more depending on the width of the cloth Y to be processed. Alternatively, the sensor to be operated may be switched according to the cloth Y to be processed.

  The advancing / retracting device 12 transfers the cloth Y, which is correctly oriented on the roller 10, onto the transport conveyor 13. As shown in FIG. 28, the cloth having a gripping width larger than the width of the cloth Y is used. It has a grasping part which grasps the end by the side of the short side of class Y, and an advancing and retreating mechanism which makes a grasping part move forward and backward. In the illustrated example, the holding portion includes a holding table 123a that is inclined toward the roller 10 and a holding plate 123b that is opened and closed by the cylinder 124 or the like with respect to the holding table 123a. Further, although the advancing and retracting mechanism includes the drive belt 122 coupled to the holding table 123a and the motor 121 for rotating the pulley around which the drive belt 122 is wound, a advancing and retracting cylinder may be used.

  When loading / unloading the cloth Y on the rollers 10 onto the transport conveyor 13 by the advancing / retracting device 12, as shown in FIG. 28, the first partial roller 102 and the second partial roller 103 are simultaneously moved to the advancing / retracting device 12 at the same speed. The side edge Ye of the cloth Y, which is located in the vicinity of the sensor groups 108 and 109, is brought closer to the advancing / retracting device 12 side, and the gripping portion of the advancing / retracting device 12 is advanced as shown in FIG. The front end of the holding table 123a of the holding portion with the holding plate 123b opened is pressed against the blow member 10a installed at the lower part of the roller 10, and the roller 10 is placed between the front end of the holding table 123a and the blow member 10a. The portion on the transport conveyor 13 side of the fabric Y is sandwiched, and in this state, air is jetted from the blow member 10a as shown in FIG. 30, and at the same time, the first partial roller 102 and the Further rotating the partial rollers 103 in advancing and retracting device 12 side. As a result, the side edge Ye of the cloth Y is placed on the holding table 123a. Thereafter, as shown in FIG. 31, the holding plate 123b is closed, and the side edge Ye of the cloth Y is held between the holding plate 123a and the holding plate 123b. The portion of the cloth Y other than the portion held by the holding base 123a of the holding portion and the holding plate 123b is in a state of hanging down from the holding base 123a. In this state, the gripping portion of the advancing and retracting device 12 is moved to the transport conveyor 13 side as shown in FIG. After the gripping portion is retracted by a predetermined distance, the holding plate 123b is again opened as shown in FIG. 33, and the cloth Y is loaded onto the transport conveyor 13. In addition, even after the holding plate 123b releases the cloth Y, the gripping portion of the advancing and retracting device 12 continues to retract by a predetermined distance.

  The conveyer 13 sucks the cloth Y on the belt 133 through the belt 133 having a large number of through holes, the motor 132 for driving the belt 133, and the through holes formed in the belt 133, as shown in FIG. The suction fan 131 is provided. By suctioning the cloth Y on the transport conveyor 13 in this manner, the side edge Ye of the cloth Y held by the gripping portion of the advancing and retracting device 12 can be dropped onto the transport conveyor 13 and smoothly transferred. it can. Thereafter, as shown in FIG. 34, the transport conveyor 13 carries out the cloth Y and transports (into) the next step (here, the cloth folding machine D). The conveyor 13 does not have to drive the belt 133 when the gripping portion of the advancing and retracting apparatus 12 transfers the cloth Y onto the conveyor 13. However, from the viewpoint of increasing the number of processed sheets, the belt 133 is driven. Is preferred.

  According to the automatic spreader having the above configuration, the lifting device 2, the temporary holding device 3, the corner end tapping device 4, and the corner end can be obtained simply by throwing the laundry Y after being washed and dried onto the supply conveyor 1. The cloth Y is automatically made by the take-out device 5, the transverse pulling device 6, the two-position holding device 7, the outline conveyor 8, the vertical reversing device 9, the roller 10, the loading device 11, the advancing and retracting device 12, the transport conveyor 13 and the like. It can be developed and transported (charged) to the next process.

  Next, an embodiment of the cloth gripping chuck of the present invention will be described in detail with reference to FIGS. 35 to 40. The fabric gripping chuck according to the embodiment is the lifting device 2 as a fabric handling device, the temporary holding device 3, the corner edger 4, the corner edger 5, and the side edge puller in the above-mentioned example of the fabric automatic deployment machine. The present invention can be applied to the chucks 21, 31, 41, 51, 61, 71, 72, etc. in the apparatus 6, the two-position holding apparatus 7, etc. In this case, the lifting device of the lifting device 2, the advancing and retracting device of the temporary holding device 3, the advancing and retracting device of the cornering device 4, the advancing and retracting device of the cornering device 5, the advancing and retracting device of the lateral pulling device 6, and the two position holding device 7 The elevating cylinder 73 and the advancing and retracting device correspond to the moving means of the cloth handling device of the present invention. The following description demonstrates based on the example which applied the cloth handling apparatus of this invention to the lifting apparatus 2. FIG.

  First, FIG. 35 is a plan view showing a cloth gripping chuck according to an embodiment of the present invention, and the cloth gripping chuck 21 of the present embodiment is held by a main body 211 and the main body 211 and arranged opposite to each other. A pair of gripping claws 212 and 213 which can be relatively approached and separated relatively is provided. In the illustrated example, both gripping claws 212 and 213 are configured to open and close by swinging around swinging axis lines x1 and x2 (shown schematically as points in the figure). However, in a modification not shown, one gripping claw 212 or 213 can be pivoted while the other gripping claw 213 or 212 is fixed while the other gripping claw 213 or 212 is fixed to the other gripping claw 213 or 212. It may be close to or away from each other. The rocking axes x1 and x2 extend in a direction perpendicular to the opposing direction and an extending direction (direction shown by an alternate long and short dash line in FIG. 35) which is a direction from the base end to the tip of the gripping claws 212 and 213. .

  At the tip of each gripping claw 212, 213, an overhanging portion 214, 215 protruding toward the other opposing gripping claw 213, 212 is formed, and each gripping claw portion outside the main body 211 is a plan view It has a substantially L shape. The overhanging portions 214 and 215 are formed separately from the nail main bodies 216 and 217 that project straight from the main body 211, but may be integrally formed with the nail main bodies 216 and 217. In addition, the nail | claw main bodies 216 and 217 and the overhang | projection parts 214 and 215 can be formed from a different material by making it mutually different body. For example, the claw main bodies 216 and 217 can be formed of a high strength material, for example, a metal such as carbon steel, and the overhanging portions 214 and 215 can be formed of a material that can be easily molded, for example, a synthetic resin. Further, by separately forming the nail main bodies 216 and 217 and the overhanging portions 214 and 215, it is possible to replace the overhanging portions 214 and 215 having different sizes and shapes according to the use purpose and the like. The overhanging portions 214 and 215 may be detachably fixed to the claw main bodies 216 and 217 via fixing tools such as screws and bolts, or may be fixed using an adhesive or the like.

  The important point here is the surface on the base end side of the gripping claws 212 and 213 (a surface on the main body 211 side, hereinafter also referred to as “rear surface”) 214 a and 215 a of the overhanging portions 214 and 215. It is to be formed as a plane parallel to the opposing direction of the gripping claws 212 and 213 (a plane orthogonal to the extending direction indicated by a dashed-dotted line in FIG. 35). Further, in a more advantageous mode, a gap g is formed between the facing projecting portions 214 and 215 at the fully closed position of the pair of holding claws 212 and 213. In a more preferred embodiment, the gap g is set to be substantially equal to the thickness of two pieces of cloth to be gripped. Here, the “fully closed position” means a position where the pair of gripping claws 212 and 213 are closest to each other in structure.

  FIG. 36 shows a drive unit as an opening / closing means which is provided inside the main body 211 and swings the pair of holding claws 212 and 213 around the swing axes x1 and x2. As shown in FIG. 36 (a), the gripping claws inside the main body 211 are also bent toward the other gripping claws 212 and 213, and each gripping claw 212 and 213 is formed in a substantially U shape as a whole. There is. The gripping claws 212 and 213 are swingably held by the main body 211 by fulcrum pins 218 and 219 as swinging axis lines x1 and x2, respectively. In addition, notches 221 are formed at the ends of the gripping claws 212 and 213 located inside the main body 211, into which the drive pin 222b formed at the tip of the rod 222a of the cylinder 222 described later is press-fitted. .

  In the illustrated example, the drive unit is constituted by a cylinder 222 which advances and retracts the rod 222a by the pressure of air. FIG. 36B shows a state in which both gripping claws 212 and 213 are simultaneously swung around the fulcrum pins 218 and 219 by advancing the rod 222a, and the gripping claws 212 and 213 are opened. As the drive unit, any known drive mechanism such as a solenoid or a ball screw mechanism may be used as long as the gripping claws 212 and 213 can be swung.

  In the cloth gripping chuck 21 of the present embodiment, as shown in FIG. 37, a part of cloth Y is brought into contact between the pair of holding claws 212 and 213 in the open position, and the rod 222a of the cylinder 222 is retracted. Then, the pair of gripping claws 212 and 213 are closed by swinging around the fulcrum pins 218 and 219, and a part of the cloth Y is sandwiched between them, and from this state, as a cloth handling device By moving the lifting device 2 upward, the cloth Y can be lifted. At this time, when a load load from the cloth Y is applied to the back surfaces 214a and 215a of the protruding portions 214 and 215 of the gripping claws 212 and 213, the back surfaces 214a and 215a are at the fully closed position. Since the holding claws 212 and 213 swing further in the closing direction by being formed as flat surfaces parallel to the opposing direction, the cloth portion on the back side (main body side) of the overhanging portions 214 and 215 overhangs. It hooks on the back surfaces 214a, 215a of the parts 214, 215. Therefore, the omission of the cloth Y is reduced.

  Further, according to the cloth gripping chuck 21 of the present embodiment, the gap g is maintained between the projecting portions 214 and 215 even at the fully closed position of the gripping claws 212 and 213, as shown in FIG. When the cloth Y gripped by the cloth gripping chuck 21 is about to fall off, the overhanging portions 214 and 215 do not forcibly hold the cloth Y and allow the falling off. It is possible to avoid the situation of damaging Y. Further, by making the dimension of the gap g substantially equal to the thickness of two sheets of the cloth Y, damage of the cloth Y can be more reliably prevented while reducing the omission of the cloth Y.

  FIG. 39 is a plan view showing the main part of a modification of the cloth gripping chuck 21 shown in FIG. 35 to FIG. In the cloth gripping chuck 21 according to the present modification, the back surfaces 214a and 215a of the overhanging portions 214 and 215 are inclined surfaces that are inclined toward the main body 211 toward the other overhanging portions 214 and 215 facing each other. Unlike the cloth gripping chuck described with reference to FIGS. 35 to 38, the rest of the configuration is the same in that it is formed. As described above, even when the back surfaces 214a and 215a of the overhanging portions 214 and 215 are formed as inclined surfaces, the cloth Y can be hooked between the overhanging portions 214 and 215 when the cloth Y is gripped. Dropout of class Y can be reduced. In addition, it is preferable that inclination-angle (theta) of back surface 214a, 215a with respect to the protrusion direction of the nail | claw main bodies 216 and 217 from the main body 211 is 75 degrees or more and 90 degrees or less. If the inclination angle of the back surfaces 214a and 215a is less than 75 °, the cloth Y may be excessively caught on the overhanging portions 214 and 215, and the cloth Y may not be released smoothly from the cloth gripping chuck 21. It is.

  FIG. 40 is a plan view showing the main part of a cloth gripping chuck according to another embodiment of the present invention. In the previous embodiment, the gripping claws 212 and 213 are configured to open and close by swinging about the swinging axis, but in the cloth gripping chuck of the present embodiment, the pair of gripping claws 212 and 213 have It is configured to open and close by sliding along the opposite direction.

  That is, the cloth gripping chuck is mainly provided with a rail 224 laid along the front side surface of the main body 211, a pair of sliders 225 and 226 traveling on the rail 224, and a slider 225 provided inside the main body 211. And a gripping claw 212 and 213 fixed to the sliders 225 and 226, respectively. The drive unit may use any known drive mechanism such as an air cylinder, a solenoid, or a ball screw mechanism as long as the sliders 225 and 226 can be moved along the rail 224. Each gripping claw 212, 213 has an overhanging portion 214, 215, and the cloth portion on the back side (the main body 211 side) of the overhanging portion 214, 215 is caught on the back surface 214a, 215a of the overhanging portion 214, 215 It is possible to reduce Y dropout (slip off) and maintain a gap between the two overhanging portions 214 and 215 at the fully closed position of the gripping claws 212 and 213, thereby preventing damage caused by dropout of the cloth Y. Since the points and the like are the same as those of the previous embodiment, the detailed description will be omitted.

  According to the present invention, it is possible to provide a cloth gripping chuck and a cloth handling device capable of reducing the dropping off of cloth while avoiding damage to the cloth when handling the cloth.

DESCRIPTION OF SYMBOLS 1 Supply conveyor 2 Lifting device 3 Temporary holding device 4 Corner edger 5 Corner edger 6 Horizontal pulling device 7 2 Position holding device 8 Edged conveyor 9 Vertical reversing device 10 Roller 11 Loading device 12 Advancement device 13 Transport conveyor 21 Cloth grasping chuck 211 body 212, 213 grasping claw 214, 215 overhanging portion 214a, 215a rear surface 216, 217 claw body 218, 219 fulcrum pin 221 notch 222 cylinder 222a rod 222b drive pin 224 rail 225, 226 slider g clearance x 1, 1 x2 rocking axis

Claims (5)

What is claimed is: 1. A cloth gripping chuck comprising: a pair of oppositely disposed gripping claws; and an opening / closing means for relatively approaching and separating the pair of gripping claws,
Each gripping claw has at its tip an overhanging portion projecting toward the other opposing gripping claw,
The proximal end side surface of the gripping claws of the overhanging portion is formed as a plane parallel to the opposing direction of the pair of gripping claws, or toward the proximal end along the other overhanging portion. A cloth gripping chuck characterized in that it is formed as an inclined surface inclined in an approaching direction.   The cloth gripping chuck according to claim 1, wherein a gap is formed between the facing projecting parts at the fully closed position of the pair of gripping claws.   The cloth gripping chuck according to claim 2, wherein the gap is set to be substantially equal to the thickness of two sheets of cloth to be gripped.   At least one of the pair of gripping claws pivots about a swing axis extending in a direction extending from the proximal end to the distal end of the gripping claws and in a direction orthogonal to the opposing direction A cloth gripping chuck according to any one of the preceding claims, which is provided as possible.   A cloth handling apparatus comprising: the cloth gripping chuck according to any one of claims 1 to 4; and moving means for moving the cloth gripping chuck.

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