JP3801758B2 - Device for grasping rectangular cloth such as towel - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, after washing a relatively small rectangular cloth piece such as a wet towel or naphthkin in a laundry factory, the cloth piece is automatically grasped at the diagonal corners of the cloth piece when folded and folded. The present invention relates to a device for folding and hanging in a triangular shape.
[0002]
[Problems to be solved by the invention]
Conventionally, in a laundry factory, soiled rectangular cloth pieces received are collected and washed together or washed with water or a cleaning agent, and the cloth pieces are cleaned in a washing process, and then introduced into a dehydration process. The cloth pieces are dehydrated, and the pieces of cloth in which the pieces of cloth are entangled with each other are entangled to form a pile of cloth pieces.
[0003]
The cloth piece is flexible and easily deformed, so that it is difficult to mechanize the cloth piece automatically and it is difficult to take out one piece of the cloth piece from the pile and unfold it. The cloth pieces were spread and folded by hand, or the cloth pieces were spread by hand, and then the edges (sides) of the cloth pieces were aligned and supplied to the folding device for folding.
[0004]
However, it takes a lot of labor to pick up each piece of cloth piled up by hand under a hot and humid adverse environment and arrange it in a folding device. There were problems such as high.
[0005]
Therefore, a device for folding cloth pieces was devised, but the cloth pieces after washing and dewatering were piled up, picked up one by one from the piled cloth pieces, and the diagonal corners of the cloth pieces were ridged However, the conventional apparatus has a problem that the operation is complicated and time-consuming and the folding accuracy is poor.
[0006]
After the cloth piece is folded in a triangular shape, the cloth piece folded in a triangular shape is developed on a conveyor and folded and wrapped by a conventional apparatus (for example, see Japanese Patent Application Laid-Open No. 9-263345). Yes.
In order to solve the above-mentioned problems, the present invention aims to provide an apparatus for suspending a cloth piece in a triangular shape quickly and accurately and then placing the cloth piece in a triangular shape on a belt conveyor. It is.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, a first gripping member such as a chuck or a clip that moves up and down from a pile of rectangular cloth pieces and grips and hangs one piece of cloth pieces is provided, and one of the front faces of the first gripping member is provided. A plate-like wall to which a piece of cloth suspended from one side is attached, and an end retainer plate that pushes the lower part (hem) of the piece of cloth is provided on the other side. A sensor for detecting the lowermost end is provided, and a second gripping member for holding the lowermost end portion of the detected cloth piece is provided.
In addition, the first gripping member, the end pressing plate, and the sensor are arranged side by side symmetrically about the wall.
[0008]
Then, a third gripping member is provided which grips and hangs the cloth piece held and suspended by the second gripping member and reciprocates.
A lower roller that rotates during the reciprocation of the third gripping member, an upper roller that moves up and down above the lower roller, a base (frame) provided in parallel with the upper and lower rollers, and a cloth piece that moves up and down toward the base A presser plate that is temporarily pressed is provided.
The third gripping member moves up and down, and reciprocates between the upper and lower rollers and between the base and the presser plate.
A sensor for detecting a corner portion of the cloth piece coming to the front surface of the table is provided, and a fourth gripping member for holding the corner portion of the cloth piece detected by the sensor is provided.
[0009]
A fifth gripping member that reciprocates the column by gripping the corner of the cloth piece, and a fifth gripping member that is attached to the lower end of the column, to each of the cross-shaped columns in which the vertical and horizontal columns are combined at right angles A sixth gripping member is provided for gripping the diagonal corners of the suspended cloth piece.
In addition, an air blow nozzle that blows compressed air toward the cloth piece in which the diagonal corners of the upper and lower ends of the cloth piece are gripped by the fifth and sixth gripping members is provided, and A rotating device is provided for rotating or reversing the cross-shaped column 180 degrees by attaching a rotation axis in the direction of 45 degrees between the column and the column.
Sensors for detecting the corners of the cloth pieces are attached to the fifth and sixth gripping members.
[0010]
From the above configuration, the gripping member that moves up and down grips and hangs one piece of cloth piled in the lower part of the gripping member, and moves the gripping member upward.
When the lowermost end of the suspended cloth piece is caught by the sensor, the upward movement of the gripping member is stopped, and the suspended cloth piece is moved sideways to approach the vertical wall surface. Like that.
Then, the lower part of the cloth piece is pressed against the wall by the end pressing plate from the lateral direction, and the cloth piece is temporarily fixed so that the hem of the cloth piece does not move due to wind or mechanical vibration.
The second gripping member moves and grips the lowermost end of the cloth piece that has stopped moving.
[0011]
The corner of the cloth gripped by the second gripping member is replaced with the third gripping member, moved between the opened base, the presser plate and the upper and lower rollers, and the tip of the cloth gripped by the third gripping member is moved to the roller. After pulling forward, close the upper and lower rollers and rotate the rollers to pull out the cloth piece.
The sensor detects when the corner of the bottom of the suspended cloth approaches the front of the table, raises the upper roller, and presses the bottom of the cloth against the table with the presser plate, causing the corner of the cloth to swing. Fix so that there is no.
At this time, since the corner portion of the cloth piece is in a state of eating out from the table, the corner portion is brought into a state in which the fourth gripping member has moved and gripped.
[0012]
The fourth gripping member moves to the position of the fifth gripping member attached to the cross-shaped column, and the corner portion of the cloth piece is gripped by the fifth gripping member.
The fifth gripping member that grips and hangs the corner of the cloth piece moves up the vertical column of the cruciform column, and the sensor of the sixth gripping member at the lower end of the cruciform column hangs the lower end of the cloth piece. When the corner portion is detected, the sixth gripping member grips the corner portion at the lower end of the cloth piece.
[0013]
By gripping the corners of the cloth pieces of the fifth and sixth gripping members, the square cloth pieces are gripped by the opposite corners of the cloth. From this state, the cloth is moved by moving the fifth gripping member. When the piece is stretched and compressed air is blown toward the piece of cloth and the cruciform column is rotated 180 degrees from the 45 degree direction by a rotating device, the cloth piece is removed from the hem by the centrifugal force of rotation. In addition, the cloth piece is blown by the flow of air blown out from the air blow nozzle, the wrinkles and twists of the cloth piece are loosened, the pillar rotates 180 degrees, and the pillar and the fifth and sixth gripping members become horizontal. When it reaches the state, the cloth piece is folded in half with the diagonal line horizontal and hangs down in a triangular shape.
[0014]
The slide conveyor of the next process advances to the cloth piece hanging down in a triangular shape, and the cloth piece is put on the slide conveyor in a triangular shape, and then retracted and supplied to the cloth piece developing device of the next process.
The above-mentioned gripping of the corner portion of the cloth piece of the gripping device is all performed by a command from the control device that has received a signal from the sensor.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, two columns are arranged side by side, and a first gripping member 2 that grips the square cloth piece 1 by alternately moving up and down on each column is provided via an arm. One of the arms is attached to a fulcrum provided on the column, and the first gripping member 2 is attached to the other tip. The first gripping member 2 is swiveled around a column by a cylinder attached to the arm.
[0016]
A vertical wall 3 is provided on the side of the column so as to partition the two columns. An end presser plate 4 is provided on the surface facing the wall 3 and is attached to a rod that moves up and down in combination with a cylinder and moves along a rail. A sensor 5 for detecting the lowermost end of the cloth piece 1 is provided below the wall 3. A bottom end gripping device having a configuration in which the bottom end of the cloth piece 1 is gripped and a second gripping member 6 reciprocating back and forth on the front surface of the column is provided.
[0017]
A third gripping member 7 that reciprocates between the cylinder and the rod is provided at the tip of the rod. A base (frame) 8 is provided in the middle of the reciprocation of the third gripping member 3, a presser plate 9 that moves up and down on the base 8, a lower roller 11 that rotates in parallel with the base 8, and a cylinder and a rod centered on a fulcrum. And an upper roller 10 that moves up and down on the lower roller 11 is provided. And the sensor which detects the corner | angular part of the cloth piece 1 which came to the front surface of the base 8 is provided. The upper and lower rollers 10 and the vertical movement of the presser plate 9 are provided with a corner gripping device on the front surface of the lowermost gripping device, which is configured to operate according to a command from a control device that processes a signal detected by a sensor.
[0018]
A fourth gripping member 12 is provided in front of the corner gripping device to grip and move the corner taken out by the corner gripping device in the front-rear direction.
Provided in front of the fourth gripping member 12 are cross-shaped columns 13 in which substantially vertical and horizontal columns are combined at right angles, and reciprocate along the columns according to commands from the control device in each column of the cross-shaped columns 13. A fifth gripping member 14 and a sixth gripping member 15 attached to the lower end of the column are provided. An air blow nozzle 18 that blows compressed air toward the cloth piece 1 is provided in the vicinity of the intersection of the cruciform column 13, and the angle between the column and the center of the column that is perpendicular to the intersection of the cruciform column 13 is 45. A rotating device 16 for rotating the cross-shaped column 13 from the degree direction is provided.
[0019]
A close-up rod 17 that pulls the hem of the cloth piece 1 suspended below the cross-shaped column 13 in the direction of the sixth gripping member 15 is provided at the tip of the rod that reciprocates with the cylinder. Grasping the opposite corners of the cloth piece 1 having a configuration in which a slide conveyor 19 for moving the cloth piece 1 folded in a triangular shape by moving in the left-right direction below the cross-shaped column 13 is grasped in a triangular shape A diagonal gripping device was provided. The gripping device for the rectangular cloth piece 1 of the present invention comprises the above-mentioned bottom end gripping device, corner portion gripping device, and diagonal portion gripping device.
[0020]
As shown in FIG. 2, from a piece of cloth 1 washed and dewatered and piled up, a piece of cloth 1 is gripped by a first gripping member 2 and the column is moved upward to move the piece of cloth 1 When the lowermost end of the sensor reaches the position of the sensor 5, the sensor 5 detects the lowermost end of the cloth piece 1 and stops the movement of the first gripping member 2.
[0021]
As shown in FIG. 3, by rotating the arm laterally toward the wall 3, the first gripping member 2 turns around the column so that the cloth piece 1 that hangs down contacts the surface of the wall 3. Along. After that, the tip of the end presser plate 4 is moved in the direction of the wall 3 by the cylinder attached to the end presser plate 4, and the lower part of the cloth piece 1 that hangs down along the wall 3 is pressed by the end presser plate 4. Prevent the lower part of the piece 1 from moving.
[0022]
As shown in FIG. 4, the lowermost corner portion of the cloth piece 1 that hangs down protrudes below the wall 3 and the end presser plate 4 and is sandwiched between the wall 3 and the end presser plate 4. The second gripping member 6 moves and grips the lowermost end of the cloth piece 1. When the second gripping member 6 grips the lowermost end of the cloth piece 1, the end presser plate 4 retreats, and after releasing the pressing of the lower part of the cloth piece 1, the cloth piece 1 is gripped by the second gripping member 6 and hangs down. . The second gripping member 6 moves to the front of the corner gripping device.
[0023]
The lowermost gripping device out take lowermost end of raised gripping removed one from pieces of cloth 1 became pile cloth piece 1, since there is provided in parallel symmetrically around the wall 3, the first grip of one Since the work piece 1 can be picked up from the piled cloth pieces 1 by the other first gripping member 2 while the lower end of the cloth piece 1 is taken out by the member 2, the waiting time of the apparatus is reduced. Work efficiently.
[0024]
As shown in FIG. 5, the cloth piece 1 that is hung down by the second gripping member 6 that has moved to the front of the corner gripping device 6 is suspended between the opened upper and lower rollers 10 and 11 and the presser plate 9. Is gripped by the third gripping member 7 that moves forward.
The second gripping member 6 which has removed the grip of the cloth piece 1 instantaneously moves to the lowermost end gripping device and grips the lowermost end of the next piece of cloth 1.
[0025]
As shown in FIG. 6, the third gripping member 7 pulls the gripped cloth piece 1 onto the base 8 and the lower roller 11. After the third gripping member 7 removes the grip of the cloth piece 1, the upper roller 10 is lowered on the rotating lower roller 11 to sandwich the cloth piece 1 between the upper and lower rollers 10 and 11.
[0026]
As shown in FIG. 7, the cloth piece 1 sandwiched between the upper and lower rollers 10, 11 is pulled in by the rotation of the upper and lower rollers 10, 11, and the lowermost corner of the suspended cloth piece 1 is placed on the front surface of the base 8. When it comes, the sensor attached to the front surface of the base 8 detects and raises the upper roller 10. Instead, the presser plate 9 descends from above the base 8, and the cloth piece 1 is placed between the base 8 and the presser plate 9. Fix the corner in an accurate position so that the corner does not move due to machine vibration or wind.
[0027]
As shown in FIG. 8, the fourth gripping member 12 moves to the corner of the cloth piece 1 protruding from the base 8 on the front surface of the base 8, and the corner of the tip of the cloth piece 1 is moved to the fourth gripping member 12. After being detected by the sensor attached to the tip of the arm, the upper roller 10 and the presser plate 9 are raised upward, the cloth piece 1 is removed from the corner gripping device, the fourth gripping member 12 is moved, and the fourth gripping member is moved. 12, the corner of the cloth piece 1 is gripped and hung down.
[0028]
As shown in FIG. 9, the cloth piece 1 gripped and hung down by the fourth gripping member 12 moves to the fifth gripping member 14 in the vertical column of the cross-shaped column 13 of the diagonal gripping device.
[0029]
As shown in FIG. 10, the corner of the cloth piece 1 gripped by the fourth gripping member 12 is gripped by the fifth gripping member 14. While the fifth gripping member 14 is moved upward, the skirt of the cloth piece 1 hanging down is moved toward the sixth gripping member 15 by the approaching rod 17.
The fourth gripping member 12 that has removed the grip of the cloth piece 1 instantaneously moves to the corner gripping device and grips the corner of the next cloth piece 1.
[0030]
As shown in FIG. 11, the lowermost end of the cloth piece 1 gripped and hung by the fifth gripping member 14 is detected by a sensor attached to the fifth gripping member 14, and the corner of the lowermost end is gripped by the sixth gripping member 15. .
As a result, the fifth gripping member 14 and the sixth gripping member 15 grip the corner of the rectangular cloth piece 1 and the diagonal corner of the corner, respectively. After the fifth gripping member 14 is moved so that it is stretched at both ends of the opposite corners of the cloth piece 1, air is blown from the air blow nozzle 18 toward the cloth piece 1 while being cruciform by the rotating device 16. When the column 13 is rotated 180 degrees from the 45 degree direction so as to shake off the hem of the cloth piece 1, the cloth piece 1 is untwisted and wrinkled by centrifugal force and air blowing.
[0031]
As shown in FIG. 12, by rotating the cruciform column 13 by 180 degrees in the rotation device 16, the column that is perpendicular to the cruciform column 13 becomes horizontal, so that the fifth gripping member 14 and the sixth gripping member 15 simultaneously. The cloth pieces 1 that are gripped at the corners of each other are also ridges with diagonal lines that become horizontal and fold down into a triangular shape and hang down. At this time, the cloth piece 1 is in a state where it is spread by being twisted or wrinkled.
[0032]
As shown in FIG. 13, the slide conveyer 19 moves below the cloth piece 1 hanging down in a triangular shape, and the cloth piece 1 is put on the slide conveyer 19 and turned back in the triangular shape. At this time, the next cloth piece 1 has already been gripped by the fifth gripping member 14 and the sixth gripping member 15 of the column perpendicular to the cross-shaped column 13.
[0033]
The cross-shaped column 13 has a cloth piece by the fifth and sixth gripping members 14 and 15 of one vertical column because one column is vertical when the other column is horizontal. While gripping the diagonal corner of one, slide the cloth piece 1 that is gripped by the fifth gripping member 14 and the sixth gripping member 15 of the other horizontal pillar, folded in a triangular shape and suspended Since the work to be placed on the conveyor 19 can be performed, the waiting time of the apparatus is small and the work becomes efficient.
[0034]
【The invention's effect】
Since the present invention is configured as described above, the following effects can be obtained.
Since it is possible to perform washing and finishing of rectangular cloth pieces without using human hands, it can be operated in an environment that is harmful to the sterilization treatment and the human body, and can be operated continuously day and night, so it is safe and inexpensive. It can be processed quickly.
The folding work of the square cloth piece was performed more quickly and efficiently than the conventional device, and it was possible to carry out reliably.
[Brief description of the drawings]
FIG. 1 is an overall schematic view of a gripping device for a rectangular cloth piece of the present invention.
FIG. 2 is a schematic explanatory view of a gripping device showing a state in which a square cloth piece is gripped and suspended by a first gripping member.
FIG. 3 is a schematic explanatory view of a gripping device showing a state in which a skirt of a rectangular cloth piece is fixed.
FIG. 4 is a schematic explanatory view of a gripping device showing a state in which a lowermost end of a rectangular cloth piece is gripped by a second gripping member.
FIG. 5 is a schematic explanatory view of a gripping device showing a state in which a lowermost end of a rectangular cloth piece is gripped by a third gripping member.
FIG. 6 is a schematic explanatory view of the gripping device showing a state in which the third gripping member is moved and the cloth piece is pulled into the corner gripping device.
FIG. 7 is a schematic explanatory view of the gripping device showing a state in which the corner portion of the square cloth piece is taken out by the corner gripping device.
FIG. 8 is a schematic explanatory view of a gripping device showing a state in which a corner portion of a rectangular cloth piece is held by a fourth gripping member and suspended.
FIG. 9 is a schematic explanatory view showing a state where a fourth gripping member in which a square cloth piece is suspended has moved to a diagonal portion gripping device.
FIG. 10 is a schematic explanatory view showing a state in which a corner portion of a square cloth piece is gripped by a fifth gripping member.
FIG. 11 is a schematic explanatory view showing a point in time when a diagonal corner of a rectangular cloth piece is gripped by fifth and sixth gripping members and a cross-shaped column is rotated.
FIG. 12 is a schematic explanatory view showing a state in which a cloth piece is folded in a triangular shape and suspended by rotating a cross-shaped column.
FIG. 13 is a schematic explanatory diagram showing a state in which a square cloth piece is transferred from a diagonal gripping device to a slide conveyor.
[Explanation of symbols]
1 rectangular cloth (wet towel)
2 First grip member 3 Wall 4 End pressing plate 5 Sensor 6 Second grip member 7 Third grip member 8 Stand (frame)
9 Presser plate
10 Upper roller
11 Lower roller
12 Fourth gripping member
13 Cross column
14 Fifth gripping member
15 Sixth gripping member
16 Rotating device
17 Picker
18 Air blow nozzle
19 Slide conveyor

Claims (3)

A first gripping member (2) that moves up and down from a pile of rectangular hand towels (1) and grips and hangs one piece of the cloth strip (1) is provided, and the first gripping member (2) A wall (3) to which the cloth piece (1) suspended from one side of the front face is applied, and a lower part of the cloth piece (1) to the other side of the front face of the first gripping member (2) is attached to the wall (3). end pressing plate temporarily fix the fabric piece (1) pressed toward the (4) is provided, a sensor for detecting the lowermost end of the first grip member lower down was cloth hanging (2) (1) (5) is provided, the sensor (5) a second grip member to grip and move the lowermost end (6) of the piece of cloth is detected (1) provided by, fabric hung in the second grip member (6) A third gripping member (7) that reciprocates to replace the piece (1) is provided, and the lower roller (11) and the lower roller (11) are provided during the reciprocating stroke of the third gripping member (7). An upper roller (10) that moves up and down above, a base (8) in parallel with the lower roller (11), and a presser plate (9) that moves up and down above the base (8), The third gripping member (7) reciprocates while the upper roller (10) and the presser plate (9) are raised and opened, and the corner of the cloth piece (1) coming to the front of the base (8) A fourth gripping member (12) that is detected by the sensor , moves to the corner of the cloth piece (1) detected by the sensor, and is gripped, and the cloth piece (1) gripped by the fourth gripping member (12) is provided. corners detected by the sensor, a piece of cloth which the sensor has detected the fifth grip member you move up and down instead of gripping the corner portion (1) (14) provided, was gripped in the fifth grip member (14) the lowermost end of the cloth piece (1) detected by the sensor, a sixth grip member gripping the corner portion of the lowermost end (15) provided in the cloth to which the sensor detects (1), fifth grip member 14) and the sixth grip member (15) is provided respectively provided with two partnered at right angles with pillars each rear cross-shaped column (13), between the pillars of the cross-shaped pillars (13) An air blow nozzle (18) that provides a rotating device (16) that rotates the cruciform column (13) around an angle of 45 degrees and blows air toward the cloth piece (1) in the vicinity of the intersection of the cruciform column ( 13 ) The fifth pillar is made horizontal by turning the cruciform pillar ( 13 ) 180 degrees by blowing off the hem of the cloth piece (1) while blowing air from the air blow nozzle ( 18 ). The hand towel or the like characterized in that the diagonal line of the cloth piece (1) gripped at the corners of the member ( 14 ) and the sixth gripping member ( 15 ) becomes a horizontal twill and is folded in a triangular shape and suspended . A device for grasping a rectangular cloth piece. A pair of first gripping members (2), second gripping members (6), and end presser plates (4) are provided in parallel symmetrically about the wall (3). A gripping device for a rectangular cloth piece such as a hand towel . Fifth grip member ( 14 ) The bottom end of the cloth piece (1) gripped by the sixth gripping member ( 15 ) 17 A gripping device for a rectangular cloth piece such as a hand towel.

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