JP3379846B2 - Fully automatic finishing method and apparatus for laundry with rectangular cloth pieces - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for automating the entire process of laundering a dirty rectangular cloth piece in a laundry factory or the like.

[0002]

2. Description of the Related Art Conventionally, in a laundry factory, soiled square shaped cloth pieces that have arrived are washed together with water or a detergent, and after the dirt is removed in a washing process,
Introduced into the dehydration process, dehydrating the cloth piece with a dehydrator, then,
The cloth pieces are conveyed to a drying and unraveling process to dry the cloth pieces, and at the same time, the cloth pieces that become entangled and become lumps are untangled, and piles are formed in the untangled state. However, in order to take out one of the pieces of cloth from the pile of pieces of cloth and iron it, the edge (side) of the piece of cloth in the state in which the piece of cloth is spread on the ironing device.
Must be prepared and supplied.

Therefore, the untangled fabric pieces are unfolded manually and supplied to the edging process, and the edges of the cloth pieces are aligned in parallel with the apparatus by an edging device. The unfolded and even edged piece of cloth was introduced into an ironing step to be ironed, wrapped in a folding step in a folding step, temporarily stored, and then shipped.

[0004]

In order to wash and finish the cloth piece, the above steps are taken. However, in finishing the laundry of the conventional rectangular cloth piece, washing, dehydration,
It is already mechanized in each process of drying, unraveling, edging, ironing, folding, and packing and storing, and each device can be operated without human hands. But,
Since there is no device for deploying in the process of deploying the piece of cloth between the drying and unraveling step and the edging step, several workers take out one piece from the pile of the piece of cloth and untwist it. Then, an arbitrary corner of the cloth piece and an edge extending from the corner are searched for, and each piece is grasped and expanded to be supplied to the edging device in the next step.

For this reason, heavy labor is required in a bad environment of high temperature and high humidity, resulting in poor work efficiency and high cost. In addition, since the cloth piece is flexible and easily loses its shape in a part of the whole process, it cannot be mechanized and relies on human labor. Therefore, all the steps of finishing the laundry of the dirty cloth piece are automated. It was not possible to do so, and there were problems such as obstacles to unmanned factories in bad environments.

According to the present invention, one of the piled pieces of cloth is grabbed, hung and deployed, and the edge line of the piece of cloth in the next step is aligned parallel to the apparatus (for example, Japanese Patent Publication No. -49119
It is an object of the present invention to provide a method and a device for unmanning a laundry factory and automating all the steps of a series of laundry finishing of the cloth piece by developing a method and a device for supplying the same to a laundry machine.

[0007]

In order to achieve the above object, the present invention provides a step of washing a large number of soiled rectangular cloth pieces in a washing machine, washing the cloth pieces, dehydrating the cloth pieces, and the cloth pieces. Drying and untangling steps, grasping and unfolding one of the piled pieces of cloth, aligning the edge of the spread piece of cloth with the axis of the device, ironing the piece of cloth A series of steps including a step of hanging, a step of folding the cloth piece, a step of temporarily storing the folded cloth piece in a package and a step by any selective combination of the respective steps were automated in a continuous manner.

Further, in order to automate the whole process, one piece is picked up from a pile of the cloth pieces that have been washed, dehydrated, dried, and unraveled, and one arbitrary corner and one corner extending from one corner. The method and apparatus described below are provided as a means for grasping and deploying a point having an arbitrary width.

One of the rectangular pieces of cloth in the piled state is gripped by the first chuck (the piece of cloth gripping member) that moves the lifting column up and down, and the lifting column moves upward. When the cloth piece is hung by means of its own weight, the cloth piece hangs down by its own weight. Unless the cloth piece is entangled, the corner (the corner or a portion near the corner) of the cloth piece that is at the maximum distance from the grip point is the maximum. Come to the bottom. The piece of cloth is placed in a device for ejecting a corner of the piece of cloth adjacent to the lifting column, one corner of the piece of cloth at the lowermost end is grasped by a second chuck, and the first chuck is removed from the piece of cloth. .

The cloth piece hangs under the second chuck due to its own weight, and the lowermost end is a diagonal corner of the corner gripped by the second chuck. A diagonal corner portion is taken out by a device for discharging the corner portion of the cloth piece, the diagonal corner portion is grasped by a third chuck, and the second and third chucks are horizontally moved laterally to move the cloth piece. When stretched, the cloth piece folds with the diagonal lines of the corners grasped by the second and third chucks as ridges and hangs down in an inverted triangular shape. From this state, it is supplied to each of the first to third developing steps.

In the step of developing the first rectangular cloth piece, one corner of the cloth piece and a corner diagonal to the one corner are grasped by the second and third chucks to hang the cloth piece in an inverted triangular shape. After lowering, move the second and third chucks to the rectangular mounting table,
The cloth piece folded in the shape of an inverted triangle is laid down on the mounting table, and is moved on the mounting table by being dragged by the second and third chucks. A fulcrum pillar that prevents movement of the cloth piece is provided on the center line of the mounting table, and the second and third chucks are provided so that the second and third chucks move in parallel at positions separated from the center line of the mounting table.

At the same time when the edge of the cloth piece hits the fulcrum pillar, the other grip is released, and the cloth piece is moved so as to be dragged by only one grip, and the cloth piece is brought closer by the fulcrum pillar generated at the time of movement. When the side of the cloth piece is sensed by a line sensor provided on the movement of the chuck such that one side of the cloth piece is parallel to the center line of the mounting table, the movement of the chuck, that is, the movement of the cloth piece is stopped.

After that, when the chuck is removed from the cloth piece, a chuck which moves in a lateral direction perpendicular to the center line of the mounting table is provided, and the chuck allows the corner of the cloth piece and the side extending from the corner to be arbitrarily set. I decided to grab the point of the width and hang it and deploy it.

In the step of developing the second square-shaped cloth piece, the second and third chucks grip one corner of the cloth piece and a corner diagonally opposite to one corner of the cloth piece to form an inverted triangular shape. After folding and hanging, the overlap of the hanging pieces of cloth is opened to make the edge of the piece of cloth straight, and the rotating arm is brought closer to the edge of the piece of cloth by a chuck that slides on the rotating arm. Grasp the corner of the piece of cloth and a point of any width on the edge extending from the corner.

The rotating arm is attached to a rotating shaft provided in the vicinity of the gripping members at the corners of the cloth piece which are diagonal to each other, and the control device receives and controls the signal of the sensor for detecting the position of the edge of the cloth piece. Is connected to the servo motor that rotates according to the command. Further, the rotating arm is combined with a gear, a clutch, a universal joint, etc. to rotate three-dimensionally vertically and horizontally. The chuck has a structure capable of sliding on the rotary arm, and is configured so that the gripping position according to the size of the side of the cloth piece can be appropriately determined by the movement of the chuck.

When the edge of the cloth piece is grasped, the corners of the diagonals of each other are released, and the corners of the rectangular cloth piece and the points of an arbitrary width extending from the corner are grasped by the chuck of the rotating arm. I decided to hang it and deploy it.

As a third step of deploying the rectangular cloth piece, vertical rails extending in the front-rear direction are provided at the left and right side edges of the upper part of the mounting table. A horizontal rail extending in the left-right direction that moves on the left vertical rail is provided. Corner C of the cloth piece moving back and forth on the left vertical rail
Provide a left chuck to grasp the neighborhood. The left chuck can move in the front-rear direction on the left vertical rail, and at the same time, can move in the left-right direction by the horizontal rail extending in the left-right direction.

There is provided a right chuck for grasping one corner A of the cloth piece which moves rapidly back and forth on the right vertical rail. The left chuck and the right chuck are connected by a retractable link rod. A sensor for detecting that the edges of the cloth pieces are aligned is provided on the mounting table under the right vertical rail. A sensor for controlling the left and right chucks and a controller are provided. A chuck for moving by grasping a corner of the cloth piece and a point having an arbitrary width of an edge extending from the corner was provided to deploy the cloth piece.

[0019]

With the above structure, each developing step has the following actions. In the step of developing the first rectangular cloth piece, the diagonal corner portions of the rectangular cloth piece were respectively grasped and spread in the lateral direction, and the hanging cloth piece was laid down on the mounting table with the diagonal line as a ridge. Drag in the state. From this state, the advance of the midpoint of the edge of the cloth piece is blocked, and the grip of the cloth piece on the other side is removed,
The chuck is moved so as to drag the cloth piece by grasping the corner on one side of the middle point of the cloth piece.

Then, since the cloth piece on the other side of the intermediate point is prevented from moving by the fulcrum column which is the movement preventing member at the intermediate point, the cloth piece is slid from the other side to the one side while wrapping around the fulcrum column. To do. As a result, the cloth piece on one side is pushed by the cloth piece on the other side, and the entire cloth piece slides to one side while being dragged by the grip of the corner portion. Therefore, one side of the cloth piece moves so as to rotate around the grip of the corner and becomes parallel to the center line of the mounting table.

When one side of the cloth piece is parallel to the center line, the chuck is extended from the lateral direction perpendicular to the center line to grip the one side. Thereby, the center of gravity of the cloth piece is on the gripping side of the arbitrary point on one side in order to hold the corner of the cloth piece and the point of any width of the side extending from the corner without biasing one side,
The side suspended by gripping the corner portion hangs down due to the weight of the side and becomes vertical, and the cloth piece is unfolded.

In the step of developing the second rectangular cloth piece, the cloth piece is chucked so that the center of rotation is located on the extension of the diagonal line of the rectangular cloth piece which holds the diagonal corners of each other. A rotating arm is provided, the corners of the cloth pieces that are diagonal to each other are grasped and hung in an inverted triangular shape, and then the hem of the cloth piece is widened to release the overlap of the cloth pieces. The rotary arm is rotated according to the inclination of an arbitrary side, and a corner of the cloth piece and a point of an arbitrary width extending from the corner are hung by a chuck attached to the rotary arm. Then, since the center of gravity of the cloth piece comes under an arbitrary point on one side, only the weight of the edge is applied to the edge hanging under the corner grip, and the hanging edge becomes vertical. The piece is expanded.

In the step of developing the third rectangular cloth piece, one corner of the cloth piece gripped by the second chuck is replaced by the right chuck that moves in the front-back direction of the mounting table, and the front-back direction of the mounting table is changed. And the left chuck that moves in the left-right direction re-grasps the neighborhood of a diagonal corner of one corner of the cloth piece that is gripped by the third chuck, and then quickly moves the right chuck to the rear of the mounting table. At the same time, slowly move the left chuck backwards,
Move to the right at the same time. As a result, the entire cloth piece spreads in a triangular shape on the surface of the mounting table and lays on the surface of the mounting table, and while sliding sideways to the right, the cloth piece rotates about the right chuck and moves rearward.

By this rotation, one side of the cloth piece also rotates around the right chuck, and when the straight line of one side of the cloth piece is aligned with the movement line of the right chuck, that is, below the right vertical rail, the sensor detects and mounts it. The two chucks are moved from the direction perpendicular to the side edge of the mounting table, and the corner of the cloth piece and a point of an arbitrary width of the side extending from the corner are grasped and suspended to unfold the cloth piece.

[0025]

Embodiments of the present invention will be described with reference to the drawings.
However, the direction of the mounting table 8 is as shown in the drawing, and the position placed before the cloth piece 1 moves on the mounting table 8 is the front,
The left and right sides of the mounting table 8 face the front.

In a laundry factory, a large number of items to be washed are put in a washing machine at the same time for washing. The articles to be washed are entangled with each other for washing while rotating in the washing machine, and are dehydrated in the dehydration step in an entangled state. In order to dry and iron the laundry to be processed into a finished product, the laundry entangled in a lump must be loosened and taken out one by one. Therefore, a rotating drum type cloth loosening machine is used for the entangled and lumped laundry (for example, Japanese Patent Laid-Open No. 6-1544).
(Refer to Japanese Patent Laid-Open No. 98), and while rolling in the rotating drum, the entanglement of the cloth pieces is unraveled and separated into individual pieces to form a lump. The unraveled pieces of cloth are taken out, conveyed to a developing device by a conveyor, and piled up in a supply section of the developing device.

As shown in FIG. 1, the corners of the square-shaped cloth pieces 1 that have been conveyed to the supply section of the spreading device and piled up are marked with A, B, C, and D.
And The series of operations described below are performed by commands from the sensor and the control device.

In FIG. 2, the first chuck 3 which moves up and down from above the piled cloth pieces 1 through the elevating columns 2.
With this, one piece of the cloth piece 1 is grasped and suspended and moved upward. In FIG. 3, when the cloth piece 1 hung on the first chuck 3 comes to the meshing position of the pair of upper and lower meshing rollers 4 of the squaring device for ejecting the corner portion A of the cloth piece 1 located above, the cloth piece 1 is pushed in. The plate 5 is moved in the direction of the upper and lower rollers 4, and a part of the cloth piece 1 is pushed between the upper and lower rollers 4, and at the same time, the upper and lower rollers 4 are rotated so that the cloth piece 1 is caught.
After that, when the first chuck 3 is removed from the cloth piece 1, the cloth piece 1
Is in a state of hanging on the front surface of the upper and lower rollers 4.

In FIG. 4, the piece of cloth 1 is sent to the rear of the upper and lower rollers 4 by the rotation of the upper and lower rollers 4, and one corner A of the piece of cloth 1 at the lower end of the front surface of the upper and lower rollers 4 moves up and down. Appears on the front surface of the roller 4. Therefore, the rotation of the vertical roller 4 is stopped, the second chuck 6 is moved to the front surface of the vertical roller 4, and one corner portion A of the cloth piece 1 on the front surface of the vertical roller 4 is moved to the second chuck 6. Grab it.

In FIG. 5, when the upper and lower rollers 4 are rotated in the reverse direction and the cloth piece 1 is sent to the front of the upper and lower rollers 4, the pair of corners A of the cloth piece 1 that hang down behind the upper and lower rollers 4 and are at the lowermost ends. The corner C of the corner appears on the rear surface of the upper and lower rollers 4.
At this time, the upper and lower rollers 4 are stopped, the third chuck 7 is moved to the rear surface of the upper and lower rollers 4, and the corner C of the cloth piece is grasped.

In FIG. 6, the cloth piece 1 is placed on the upper and lower rollers 4
Remove from the bite. As shown in FIG. 7, a corner A of the cloth piece 1 and a corner C diagonal to the corner A are grasped and hung by the second chuck 6 and the third chuck 7, and both chucks 6 and 7 are horizontally moved. When the cloth piece 1 is moved and stretched, the cloth piece is folded at the diagonal line of the corner A and the corner C and hangs down in an inverted triangular shape with the diagonal line as a ridge.

(Embodiment 1) Referring to the drawings, an embodiment of the developing process of the first rectangular cloth piece will be described.
After the corners A and C of the rectangular cloth piece 1 are respectively grasped by the second chuck 6 and the third chuck 7 and hung down so as to be folded with the diagonal line as the ridge, the cloth is placed on the front surface of the rectangular mounting table 8. Move piece 1. In FIG. 9, after aligning the left and right center lines of the mounting table 8 and the intermediate positions of the second chuck 6 and the third chuck 7, the rectangular cloth piece 1 is laid on the mounting table 8 and dragged backward. The second and third chucks 6 and 7 are moved parallel to the center line.

In FIG. 10, a ridge formed by folding the cloth piece 1 comes into contact with a fulcrum column 9 provided on the center line of the mounting table 8 in the traveling direction of the rectangular cloth piece 1. The grip is removed from the corner C of the cloth piece, and the cloth piece 1 is dragged by the second chuck 6 only by gripping the corner A of the cloth piece 1. Then,
The right side portion of the cloth piece 1 on the side of the third chuck 7 of the cloth piece 1 is blocked by the fulcrum pillar 9 and moves around the fulcrum pillar to the side of the second chuck 6, so that the entire cloth piece slides. Side of the cloth piece 1 (side AD
(Although it may be) also slides laterally so as to be pushed backward by the cloth piece and moves to the second chuck 6 side. When the line sensor 10 provided on the movement of the second chuck 6 in parallel with the center line of the mounting table 8 in the front-back direction detects the side AB of the cloth piece, the second chuck 6 is detected.
Of the cloth piece 1 is stopped, and the side AB of the cloth piece 1 is mounted on the mounting table 8 in line with the line sensor 10.

In FIG. 11, the fourth chuck 11 having a bifurcated claw is advanced toward the side AB of the rectangular cloth piece 1 from the lateral direction perpendicular to the line sensor 10, and the corner B (corner D may be used). ) And a point of arbitrary width on the side AB extending from the corner B are grasped by the fourth chuck 11. In FIG. 12, the fourth chuck 11 having a bifurcated claw is retracted to lift the rectangular cloth piece 1.

In FIG. 13, the side BC of the piece of cloth 1 hanging down while being held by the fourth chuck 11 at the corner B extends linearly due to the weight of the piece of cloth. As a result, the cloth piece is hung in a state in which the edge of the cloth piece is straightened out and unfolded.
The fourth chuck 11 moves and supplies the cloth piece 1 to the edging device in the next step in a suspended state.

(Embodiment 2) An embodiment of the step of developing the second rectangular cloth piece will be described with reference to the drawings.
By gripping the diagonal corners A and C of the cloth piece 1 in the vicinity of the second chuck 6 of the rectangular cloth piece 1, the cloth piece folds in an inverted triangular shape and hangs down. A rotary arm 13 having a rotary shaft 12 as a center is provided on an extension line of a ridge line formed on a diagonal line of the cloth piece,
A fifth chuck (14) that slides on the rotating arm (13) is provided. The axis of the rotating arm 13 is connected to the servo motor 15,
15 is rotated by receiving a command from a control device 17 which is controlled by a signal from a sensor 16 which detects the position of the edge AB. The servomotor 15 three-dimensionally rotates the rotating arm 13 vertically and horizontally through a gear and a clutch incorporated in the rotating shaft 12.

In FIG. 7, the rectangular cloth piece 1 has diagonal corners A and C, which are held by the second and third chucks 6 and 7, respectively, and hangs down. It is introduced into the deployment process consisting of, but at this point, the hanging corner B,
When D overlaps, the hanging corners B and D of the cloth piece 1 are sucked up by a suction device or the like, the cloth piece is folded and the hanging hem is opened, and the two overlapping corners B and D are separated. The cloth piece is hung.

In FIG. 15, the rotary arm 13 with the fifth chuck 14 is rotated and repeated in accordance with the instruction of the sensor 16 for detecting the position of the edge AB according to the inclination of the edge of the rectangular cloth piece 1. put out. When the rotary arm 13 becomes parallel to the edge AB, the movement of the rotary arm 13 is stopped. The fifth chuck 14 provided on the rotary arm 13 grasps two points of the cloth piece 1, that is, a corner portion B and a point of an arbitrary width of a side extending from the corner B.

In FIG. 16, the corners A, C of the rectangular cloth piece 1
When the grips of the second and third chucks 6 and 7 that have been gripped are released, the cloth piece 1 is gripped by the fifth chuck 14 on the rotary arm 13 and hangs down. When the rotating arm 13 is rotated to be horizontal, the edge BC hanging below the corner B of the rectangular cloth piece 1 becomes vertical. With the cloth piece 1 suspended, the rotary arm 13 moves and supplies it to the edging device in the next step.

(Embodiment 3) Referring to the drawings, an embodiment of the step of developing the third rectangular cloth piece will be described.
After the corner A of the rectangular cloth piece 1 and the corner C diagonal to the corner A are gripped by the second chuck 6 and the third chuck 7, respectively, and then hanged down so as to be folded with the diagonal line of the gripped corner as a ridge. Then, the cloth piece 1 is moved to the rectangular mounting table 8.

As shown in FIG. 17, a vertical direction extending in the front-rear direction is provided in parallel with the side edge of the mounting table 8 above the rectangular mounting table 8 with a space corresponding to the size of the cloth piece 1 left and right. Rails 18, 19
The left and right vertical rails 18, 19 are respectively provided with left and right rail slide members 20, 21 that move on the vertical rails 18, 19 in the front-rear direction. Or attach it via a screw shaft.

The left rail slide member 20 is provided with a horizontal rail 24 extending in the left-right direction, and the left chuck mounting member 22 can be moved in the left-right direction on the horizontal rail 24. The left chuck attachment member 22 and the right chuck attachment member 23 provided on the right rail slide member 21 are connected by a link rod 26 which can be expanded and contracted by an air cylinder 25 or the like, and the left and right chuck attachment members 22 and 23 are respectively attached to the left and right chucks 27, 28 is attached.

The cloth piece 1 which has been moved by gripping the corners A and C of the rectangular cloth piece 1 which are opposite to each other by the second chuck 6 and the third chuck 7, respectively, is moved in front of the mounting table 8 by the cloth piece 1. The grip of the corner A of the second chuck 6 is replaced by the right chuck 28,
At the same time, the corner C of the cloth piece grasped by the third chuck 7
The neighborhood is re-grasped by the left chuck 27.

In FIG. 18, the right chuck 28 which holds the corner A of the cloth piece 1 slides the cloth piece 1 in a state where the cloth piece 1 is folded and laid out in a triangular shape on the mounting table 8. While moving it back along the right vertical rail 19. In addition, the left chuck 27 holding the corner C is moved backward on the left vertical rail 18 to the right chuck 28.
If you move it later than, the left and right chuck mounting members 2
When the lengths of the link rods 26 attached to 2 and 23 are constant, the left chuck 27 is pulled rightward by the link rods 26 according to the difference in the backward movement distance between the left chuck 27 and the right chuck 28. It is moved and moves along the horizontal rail 24 provided on the left rail slide member 20.

When the cloth piece 1 is moved to the right, if the length of the link rod 26 is shortened by the air cylinder 25 attached to the link rod 26, the left chuck 27 is moved further to the right and left. The corner portion C of the cloth piece 1 gripped by the chuck 27 is moved rightward. By this pushing out, the cloth piece 1 suddenly rotates around the corner A on the surface of the mounting table 8 and slides sideways. Therefore, even if the movement path of the right chuck 28 on the right vertical rail 19 is small, it is parallel to the right vertical rail 19. The edge of the cloth piece 1 comes to a certain position.

As a result, the entire cloth piece 1 laid out and spread on the mounting table 8 moves backward and rightward while rotating on the surface of the mounting table 8, and one side of the cloth piece 1 is mounted. When it reaches the rail line of the right vertical rail 19 of the mounting table 8 or when it is aligned in parallel, the sensor senses and stops the movement of the left and right chucks 27, 28, and removes the grips of the left and right chucks 27, 28, and places it on the mounting table 8. The cloth piece 1 is placed on.

In FIG. 19, two chucks spaced apart from the right side of the mounting table 8 are extended to extend from the corner B of the rectangular cloth piece 1 at a distance from the corner B. When the cloth piece 1 is stretched while grasping a part of the edge and lifting it, the cloth piece is unfolded and suspended. The two chucks feed and move the cloth piece 1 to the edging device in the next step in a suspended state.

The piece of cloth supplied to the edging device is moved so as to be scooped by the triangular protrusion provided on the front part of the edging device, expanded, and twisted to be removed, and then the cloth is horizontally installed. By moving in parallel on the rectangular mounting table constituted by the belt, the side of the mounting table and the edge of the cloth piece are mounted in parallel. When the edges of the cloth pieces are aligned in parallel, they are sent to the ironing and folding device in the next step.

[0049]

Since the present invention is constructed as described above, it has the following effects. Since the whole process of washing and finishing the rectangular piece of cloth can be automated, employees can be freed from harsh working conditions. Since long-term continuous operation is possible, efficient finishing is possible. In the case of deploying a rectangular cloth piece using a mounting table, since the cloth piece is in a stationary state on the mounting table, a point of an arbitrary width of a corner portion of the cloth piece and an edge extending from the corner It becomes easy to grab.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a developed state of a rectangular cloth piece.

FIG. 2 is a conceptual diagram showing an example of an elevating column at a position for gripping a pile of square-shaped cloth pieces.

FIG. 3 is a conceptual diagram showing an embodiment at a position where a rectangular piece of cloth is lifted and caught by upper and lower rollers.

FIG. 4 is a conceptual diagram showing an embodiment at a position where a square-shaped cloth piece is gripped by a second chuck.

FIG. 5 is a conceptual diagram showing an embodiment at a position where a square-shaped cloth piece is gripped by a third chuck.

FIG. 6 is a conceptual diagram showing an embodiment at a position where a rectangular cloth piece is removed from the upper and lower rollers.

FIG. 7 is a conceptual diagram showing an embodiment in a position where the diagonal corners of the rectangular cloth piece are grasped and extended.

FIG. 8 is a conceptual diagram showing an example in which the diagonal corners of the rectangular cloth pieces are gripped and moved onto the mounting table.

FIG. 9 is a conceptual diagram showing an embodiment in which a rectangular piece of cloth moves in a state of lying on a mounting table.

FIG. 10 is a conceptual diagram showing an embodiment at a position where a rectangular piece of cloth hits a fulcrum pillar and slides sideways on a mounting table.

FIG. 11 is a conceptual diagram showing an embodiment in which one side of the rectangular cloth piece is parallel to the center line on the mounting table.

FIG. 12 is a conceptual diagram showing an embodiment in which a corner of a rectangular cloth piece and a point of an arbitrary width extending from the corner are grasped and moved from the mounting table.

FIG. 13 is a conceptual diagram showing an embodiment in a state in which a corner of a rectangular cloth piece and a point of an arbitrary width on a side extending from the corner are grasped and hung up.

FIG. 14 is a configuration diagram of an embodiment in which a corner attached to a rectangular cloth piece and a point of an arbitrary width extending from the corner are grasped by a chuck attached to a rotary arm.

FIG. 15 is a conceptual diagram showing an embodiment in which a corner attached to a corner of a rectangular cloth piece and a point having an arbitrary width extending from the corner is grasped by a chuck attached to a rotary arm.

FIG. 16 is a conceptual diagram showing an embodiment at a position where a rectangular cloth piece is grasped and hung by a chuck of a rotating arm.

FIG. 17 is a conceptual diagram showing an embodiment at a position where the diagonal corners of the rectangular cloth piece are gripped and moved to the front of the mounting table.

FIG. 18 is a concept showing an embodiment in which the diagonal corners of the rectangular piece of cloth are grasped and moved backward while lying on the mounting table, and one side of the piece of cloth is aligned with a straight line. It is a figure.

FIG. 19 is a conceptual diagram showing an embodiment at a position where a corner of a rectangular cloth piece and a point having an arbitrary width on a side extending from the corner are grasped, extended, and hung down.

[Explanation of symbols]

1 square shaped piece of cloth 2 lifting columns 3 first chuck 4 upper and lower rollers 5 Push-in plate 6 Second chuck 7 Third chuck 8 table 9 fulcrum pillar 10 wire sensor 11 Fourth chuck 12 rotation axis 13 rotating arm 14 fifth chuck 15 Servo motor 16 sensor 17 Controller 18 Left vertical rail 19 Right vertical rail 20 Left rail slide member 21 Right rail slide member 22 Left chuck mounting member 23 Right chuck mounting member 24 horizontal rail 25 air cylinder 26 link rod 27 Left chuck 28 Right chuck

Claims (8)

(57) [Claims] 1. A rectangular cloth piece (1) which has been washed and piled up.
One of the corners (A) of the cloth piece (1) and one corner of the cloth piece (1) are taken out after the diagonal corners of the cloth piece (1) are taken out by a pair of rollers (4). Grab it near the corner (C) that is diagonal to the part (A), and place the cloth piece (1) on the mounting table (8).
After the straightness of one side (AB) is obtained, the cloth piece (1) is grasped at an arbitrary corner portion (B) and a point having an arbitrary width of an edge extending from the corner portion (B), and the cloth piece ( 1) A method for fully automatic washing of rectangular shaped cloth pieces, which is performed by suspending and unfolding. 2. The pair of rollers (4) can bring out the diagonal corners of the rectangular cloth piece (1) so that a part of the cloth piece (1) is caught between the upper and lower rollers (4). And suspending the cloth piece (1) and rotating the upper and lower rollers (4) to remove one corner (A) of the cloth piece (1) at the lowermost end in front of the upper and lower rollers (4). The upper and lower rollers (4) are grasped by the front surface, and the upper and lower rollers (4) are reversely rotated to diagonally cross one corner (A) of the cloth piece (1) at the lowermost end on the rear surface of the upper and lower rollers (4). When the corner (C) comes to the rear surface of the upper and lower rollers (4), it is grasped, the cloth piece (1) is removed from the upper and lower rollers (4), and one corner portion (A) of the cloth piece (1). The method for fully automatic finishing of laundry of rectangular cloth pieces according to claim 1, wherein a corner (C) diagonally opposite to one corner (A) is grasped and suspended. 3. A rectangular cloth piece (1) which has been washed and piled up.
One of the square pieces (1) of the square cloth (1)
A state in which the cloth piece (1) is laid on the mounting table (8) by grasping an arbitrary corner portion (A) and a corner portion (C) that is diagonal to the one corner portion (A), respectively. To stop the progress of the middle part of the ridgeline of the cloth piece (1) folded in the shape of an inverted triangle, and at the same time, remove the grip of the corner (C) and grasp the cloth by the grip of the corner (A). When the piece (1) is moved so that one side (AB) of the cloth piece (1) is brought close to and parallel to the center line of the mounting table (8), the corner (B) of the cloth piece (1). And the corner (B)
A method of fully automatic finishing of a rectangular cloth piece, which comprises grasping a point having an arbitrary width on an edge extending from the cloth piece (1) and linearly extending the hanging side of the cloth piece (1) to expand. 4. A rectangular cloth piece (1) which has been washed and piled up.
One of the square pieces (1) of the square cloth (1)
Grasping any one corner (A) and one corner (C) diagonal to the one corner (A), the cloth piece (1) is hung, and the hanging cloth piece (1) The corner (B) and a point of an arbitrary width extending from the corner (B) are grasped by the chuck (14) attached to the rotary arm (13) and hung down, and the cloth piece (1)
A fully automatic method of finishing rectangular shaped cloth pieces, which is characterized in that the hanging edge of the cloth is linearly stretched and expanded. 5. A piece of rectangular cloth (1) that has been washed and piled up.
Left chuck that moves back and forth on the left and right side edges of the upper part of the mounting table (8), after grasping one of the two pieces and releasing the diagonal corners of the grasped cloth piece (1) by the pair of rollers (4). (27) and a right chuck (28) are provided, and a left chuck (27) is provided so as to be movable in the left-right direction of the mounting table (8), and any one corner ( A) and a corner (C) diagonally opposite to one corner (A) are attached to the left and right chucks (2).
7 and 28) to quickly move the right chuck (28) rearward and slowly move the left chuck (27) rearward and rightward to move the cloth piece (1) to the mounting table (8). ) The cloth piece (1) is laid on top of the cloth piece (1) by dragging while rotating.
After aligning one side (AB) with a straight line, one corner (B) of the cloth piece (1) and a point of an arbitrary width of an edge extending from the corner (B) are grasped and developed. And a method of fully automatic washing of rectangular shaped cloth pieces. 6. A rectangular piece of cloth (1) that has been washed and piled up.
One of the square pieces (1) of the square cloth (1)
The second and third chucks (6, 7) that move in parallel with the center line of the mounting table (8) by gripping the corners (A, C) of the mounting table (8) are provided. 8) A fulcrum column (9) for partially blocking the movement of the cloth piece (1) is provided on the center line, and the cloth piece (1) is moved on the movement of the second and third chucks (6, 7). A line sensor (10) for detecting the edge is provided, and the corner (B) of the cloth piece (1) is moved by moving from the lateral direction of the mounting table (8).
And a fourth chuck (11) for grabbing and hanging the edge extending from the corner (B) and having an arbitrary width, and having a device for deploying the cloth piece (1). Automatic finishing device. 7. A square-shaped piece of cloth (1) which has been washed and piled up.
One of the square pieces (1) of the square cloth (1)
Second chuck (6) and third chuck for holding one arbitrary corner (A) and a corner (C) diagonal to the one corner (A) and hanging the cloth piece (1) (7) is provided, the rotary shaft (12) is provided near the second chuck (6), and the rotary shaft (1
2) A rotary arm (13) that rotates vertically and horizontally is provided, and the corner (B) of the cloth piece (1) and an edge extending from the corner (B) can be moved on the rotary arm (13). A fifth chuck (14) for grasping the width of the cloth and a sensor (16) for detecting the edge position of the cloth piece (1) and rotating the rotary arm (13) to the edge position, and a control device. (17) A fully-automatic finishing device for laundry of rectangular shaped cloth pieces, which is provided with and a device for expanding the cloth piece (1). 8. A rectangular cloth piece (1) which has been washed and piled up.
One of the left and right side edges of the left and right side edges of the upper part of the mounting table (8) is extended after the diagonal corners of the grasped cloth piece (1) are taken out by the pair of rollers (4). -Providing a rule (18) and a right vertical rail (19), and grasping any one corner (A) of the cloth piece (1) on the right vertical rail (19) on the right vertical rail (19) A right chuck (28) that moves in the direction is provided. The left vertical rail (18) is provided with a left rail slide member (20) that moves on the left vertical rail (18) in the front-rear direction, the left rail slide member (20) is provided with a horizontal rail (24), and the horizontal rail (2
4) Left chuck (27) that moves in the left-right direction by grasping a corner (C) diagonally facing one corner (A) of the cloth piece (1)
And a device for expanding and contracting the cloth piece (1) by providing an expandable link bar (26) for connecting the left and right chucks (27, 28) with each other.