JP6133161B2 - Cloth sowing device - Google Patents

Description

  The present invention is used when, for example, supplying laundry to a finishing loader (or a stretcher) one by one in a laundry washing factory or the like in order to load the laundry into an ironing roller. The present invention relates to a cloth sowing apparatus for unraveling a cloth lump made of the above-mentioned cloth.

  For example, a conventional cloth spreading device is known as described in Patent Document 1. This cloth spreading device includes a carriage that moves up and down in a vertical direction, a clamp provided at the lower end of the carriage, An air jet injection mechanism provided in an intermediate portion of the carriage lifting path, a belt conveyor having one end facing the air jet injection mechanism across the carriage lifting path and swinging in the vertical direction, and the belt conveyor And a pinching roller that is pressed against the belt at one end by a spring.

  In such a conventional cloth sowing device, when the carriage is lowered and a part of the cloth lump in the laundry container is picked up by the clamp, the carriage is lifted right above and the cloth is picked up by the clamp and the carriage is lifted. When it reaches the limit position, the clamp releases the cloth and at the same time, the air jet spray mechanism blows an air jet to drive the middle part of the cloth to the belt conveyor, and the belt conveyor is sandwiched between the rollers and the middle part of the cloth. And is fed to the other end of the belt conveyor while unraveling the cloth by swinging up and down.

JP 2000-51593 A

  However, in the above-described conventional cloth sowing device, if the cloths in the clothes lump in the laundry container are severely entangled, the cloth falls too heavy when the carriage is lifted and the cloth is picked up by the clamp. Even if it is picked up, it may fall because it cannot be driven to the belt conveyor by blowing an air jet. For this reason, the cloth lump in the laundry container needs to be unraveled to some extent by manual work in advance, and there is a problem that it takes time and labor.

  Therefore, by providing a plurality of clamps side by side on the carriage that moves up and down in such a cloth sowing device and simultaneously opening and closing the plurality of clamps, it is possible to lift even heavy cloths that are severely tangled. Although it has been studied, there is a problem that even if a fabric that is severely entangled is lifted in this way, the fabric cannot be completely caught between the belt conveyor and the sandwiching roller, and the belt conveyor is stopped due to overload. It was.

  In order to solve this problem, we also considered opening and closing some of the clamps without opening and closing all the clamps at the same time, and picking up the loosely entangled fabrics. However, in this way, depending on the gripping location, the clamp that is opened and closed may fail to pick up the fabric, and it takes time to carry out the fabric to the next process, leaving room for improvement. .

The present invention solves the problems of the conventional cloth spreading device as described above, and the cloth spreading device of the present invention is a cloth spreading method for unraveling a cloth lump comprising a plurality of cloths entangled with each other. In the apparatus, a cloth picking mechanism for picking up a part of the cloth on the cloth conveying conveyor and picking up the cloth while hanging down, and a cloth for controlling the operation of the cloth picking mechanism A width of the conveyor for conveying the cloth as a clamp that opens and closes the gripping portion at a part of the width of the conveyor for conveying the cloth. A plurality of clamps that are arranged in the direction and each open and close the gripping part at a part of the cloth conveying conveyor in the width direction, and a clamp that moves up and down a moving member equipped with the plurality of clamps as the clamps Lifting mechanism The cloth picking up control means has cloth undulation detecting means for detecting the height of the cloth on the cloth conveying conveyor along the width direction of the cloth conveying conveyor. As the moving member descends , the grip portion of one or more clamps corresponding to a position where the fabric height detected by the fabric undulation detecting means is high among the plurality of clamps is opened and closed. Then, the grip part of the clamp is opened and closed at a position where the height of the cloth detected by the cloth undulation detecting means is high.

  In the cloth sowing device of the present invention, the cloth picking mechanism is a clamp raising / lowering mechanism, and a moving member equipped with a clamp that opens and closes the gripping part at a part of the cloth conveying conveyor in the width direction is provided. By lowering and bringing the clamps into contact with the cloth on the cloth conveying conveyor, the cloth on the cloth conveying conveyor can be gripped by the clamp, and the cloth picking control means moves the moving member downward. At the same time, a part of the cloth on the cloth conveying conveyor is gripped by opening and closing the clamp gripping part, and in this state, the cloth picking mechanism moves the moving member carrying the clamp with the clamp lifting mechanism. Raise the cloth and pick up the cloth in a state of hanging. Moreover, the cloth picking control means detects the height of the cloth on the cloth conveying conveyor in advance along the width direction of the cloth conveying conveyor by the cloth undulation detecting means, and the moving member descends. Accordingly, the gripping portion of the clamp is opened and closed at a position where the height of the cloth detected by the cloth undulation detecting means is high. As a result, the clamp picks up a part of the cloth at a position where the height of the cloth on the cloth conveying conveyor is high, so even if the cloth on the cloth conveying conveyor is severely tangled, The cloth is picked up while being unraveled, and the clamp ensures that the grip for picking up the cloth does not fail. In addition, the raising / lowering moving direction of the moving member by the cloth picking control means may be an oblique up / down direction or a vertical up / down direction.

  Therefore, according to the cloth milling apparatus of the present invention, even if the cloths on the conveyor for transporting the cloth are severely entangled, the cloths are picked up while the entanglement is unraveled and transported downstream of the conveyor or the like. Since it will be handed over to the means, it is not necessary to manually unravel the lump of cloth in the laundry container in advance to some extent, so that it is possible to reduce the labor and manpower of unraveling. Moreover, since the cloths are not picked up while being entangled, it is possible to prevent a decrease in work efficiency due to the stoppage caused by the overload of the downstream conveying means, and the clamp reliably picks up the cloth. Further, it is possible to prevent the work efficiency from being lowered due to the lack of the cloth conveyed by the downstream conveying means.

Moreover, in the cloth picking device according to the present invention, the cloth picking mechanism has a plurality of clamps that are arranged in the width direction of the cloth conveying conveyor and that each open and close the gripping portion, The control means opens and closes the grip portion of one or more clamps corresponding to a position where the cloth height detected by the cloth undulation detecting means is high among the plurality of clamps as the moving member moves downward. since make, it can be made easier to control the clamp by cloth knob up control means.

On the other hand, in one reference aspect of the cloth sowing device of the present invention, the cloth picking mechanism includes one or a plurality of clamps each for opening and closing the gripping portion, and the one or a plurality of clamps being the cloth conveying conveyor. A lateral movement mechanism of the clamp, and the cloth picking control means controls the operation of the lateral movement mechanism of the clamp in accordance with the downward movement of the moving member, and the one or a plurality of clamps, the cloth undulation detection means is moved to a position corresponding to a height position higher of cloth was detected, Ru is opened and closed the Kuwae portion of the one or more clamps. In this way, the number of clamps can be reduced as compared with the case where the clamps are not moved laterally, and the cloth can be reliably gripped by the clamps.

In the cloth sowing device according to the present invention, the cloth undulation detecting means is provided on the moving member or the clamp, and on the cloth transporting conveyor along the width direction of the cloth transporting conveyor. One or more non-contact type distance sensors that detect the height of the cloth are preferable. In this way, since the height of the cloth on the cloth conveying conveyor along the width direction of the cloth conveying conveyor is directly detected by, for example, a non-contact distance sensor such as a laser distance sensor, The cloth undulation detecting means can be configured easily and inexpensively. Here, when a plurality of non-contact type distance sensors are used, the non-contact type distance sensors may be arranged side by side in the width direction of the cloth conveying conveyor, and when only one non-contact type distance sensor is used, For example, the contact-type distance sensor may be arranged on a clamp that moves laterally in the width direction of the cloth conveying conveyor to scan the height of the cloth.

  On the other hand, in the cloth sowing device according to the present invention, the cloth undulation detecting means crosses the width direction of the cloth transport conveyor and also crosses the lifting and lowering movement direction of the moving member. From the camera that captures the cloth on the conveyor and the outline of the cloth in the image captured by the camera, for example, the cloth on the cloth transport conveyor along the width direction of the cloth transport conveyor It is also preferable to have an image processing device that detects the height. If it does in this way, the height of the cloth on the cloth conveyance conveyor can be detected continuously and with high precision along the width direction of the cloth conveyance conveyor.

  And in the cloth sowing apparatus of this invention, the said cloth undulation detection means is arranged in multiple numbers in the width direction of the said cloth conveyance conveyor, and the cloth along the width direction of the said cloth conveyance conveyor A plurality of contact-type distance sensors that detect the height of the cloth on the conveyor for conveyance are also preferable. In this way, since the contact type distance sensor that is simpler and cheaper than the non-contact type distance sensor is generally used, the cloth undulation detecting means can be configured more easily and inexpensively.

It is a side view seeing through and showing the composition of one example of the cloth sowing device of this invention. (A), (b) and (c) is a front view which shows sequentially operation | movement of the cloth picking mechanism in the cloth sowing apparatus of the said Example. (A), (b) and (c) is explanatory drawing which shows the operation | movement of the cloth sowing apparatus of the said Example sequentially. (A), (b) and (c) is explanatory drawing which shows the further operation | movement of the cloth sowing apparatus of the said Example sequentially. (A), (b) and (c) are the front views which show sequentially the operation | movement of the cloth picking-up mechanism in the cloth sowing apparatus of one reference example of this invention. (A) is a side view showing a configuration of a modified example of the cloth spreading device of the above-described embodiment with a part cut away, and FIGS. (B) and (c) sequentially show the operation of the modified device. It is explanatory drawing shown. (A) is a side view showing a configuration of another modification of the cloth spreading device of the above-mentioned embodiment with a part cut away, and (b) and (c) showing the operation of the device of the modification. It is explanatory drawing shown sequentially. (A), (b) and (c) is explanatory drawing which shows in order the operation | movement of another modification of the cloth sowing apparatus of the said Example one by one. (A), (b) and (c) is explanatory drawing which shows the further operation | movement of the cloth sowing apparatus of the said modification sequentially.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, FIG. 1 is a side view showing the perspective configuration of one embodiment corresponding to an embodiment of the textiles handling apparatus of the present invention, FIG. 2 (a), (b) and (c), the FIG. 3A, FIG. 3B, and FIG. 3C sequentially show the operation of the fabric picking mechanism in the fabric sowing apparatus of the embodiment. FIGS. 4 (a), 4 (b) and 4 (c) are explanatory views sequentially showing further operations of the cloth spreading device of the above-described embodiment. Funnel-shaped hoppers 3, 4, and 5 respectively indicate guide plates for guiding the falling cloth.

  The cloth sowing apparatus of this embodiment is also used when supplying the washed cloth one by one to a finishing charging machine or the like in order to put the washed cloth into the iron roller in a cloth laundry factory or the like, A cloth lump made of a piece of cloth is unraveled, and a housing 1 here is a frame 1a having a substantially rectangular parallelepiped frame shape extending in the vertical and horizontal directions in FIG. 1 and a left end in the figure of the frame 1a. 1 and a side plate 1b that entirely closes the side portions in the front-rear direction in FIG. 1 of the frames 1a and 1c, and the hopper 2 has an upper end portion of the casing 1 And fixed to the frames 1a and 1c.

  The guide plate 3 is fixed to the frame 1c and the side plate 1b so as to close the opening of the frame 1c and to extend vertically below the left end portion of the hopper 2 in FIG. The guide plate 4 is fixed to the frame 1c and the side plate 1b so that the guide plate 4 is inclined downward toward the center below the guide plate 3, and the guide plate 5 extends from the upper portion of the casing 1 to the lower portion. In FIG. 1, the opening of the frame 1a is closed at the right end portion, and the frame 1a and the side plate 1b are fixedly inclined so as to approach the center as going downward.

  Above the hopper 2, as shown in FIG. 3 (a), a transport bag B is transported and stopped by a transport system (not shown), and the transport bag B is washed by a continuous washing machine and dehydrated by a dehydrator. A large number of sheets, for example, about 80 sheets, which have been dehydrated and dried to a semi-dried state by a dryer, are intertwined and stored in a lump, and the lower end of the transport bag B is usually squeezed with a string. If the string is loosened by the operator's operation, the string is released and the massive cloth F in the transport bag B is dropped into the hopper 2 as shown in the figure.

  Two belt conveyors, a main unwinding conveyor 6 and a preliminary unwinding conveyor 7, are arranged in the upper part of the housing 1, and the left end of the main unwinding conveyor 6 is below the hopper 2. And the right end portion is positioned higher than the left end portion, and is inclined and extended at the central portion in the housing 1, and the cloth lump F is placed at the left end portion as shown in FIG. The cloth lump is fed from the hopper 2 so as to be hung, and the cloth lump F is lifted and conveyed rightward in FIG. 1 toward the right end portion, and the cloth lump F is broken by its own weight and loosened as described later. .

  On the other hand, the preliminary unwinding conveyor 7 is shorter than the main unraveling conveyor 6, and its right end is located below the hopper 2 and adjacent to the left end of the main unraveling conveyor 6 and obliquely above it. 1 in FIG. 1 extends substantially horizontally at the left end, and the cloth lump F is introduced from the hopper 2 so that a part of the lump is hooked on the right end, and is spared by collision with the cloth lump F. In addition to functioning as a preliminary unraveling member that performs unraveling, a part of the cloth lump F that has been placed on the preliminary unwinding conveyor 7 during the preliminary unwinding is conveyed to the right in FIG. Also fulfills the function of transferring. A gap between the right end portion of the preliminary unwinding conveyor 7 and the left end portion of the main unwinding conveyor 6 can pass a certain amount of cloth in a horizontal direction but smaller than the entire cloth lump F at the time of dropping. G is opened.

  In the lower part of the housing 1, a cloth made of a belt conveyor that conveys the cloth P loosened from the cloth lump F at the beginning of dropping, which is dropped from the right end in the figure of the main unwinding conveyor 6, to the left in FIG. 1. A conveyor 8 for conveying the material is disposed so as to extend substantially horizontally, and in FIG. 1, the left end portion is located below the gap G in FIG. An intermediate conveyor 9 consisting of a belt conveyor that is loosened and dropped from the gap G to the right in FIG. 1 and supplies the cloth P to the cloth conveying conveyor 8 extends substantially horizontally. In the left end of the frame 1c, a cloth carry-out conveyor 10 composed of a belt conveyor that conveys the cloth P to the left in FIG. 1 protrudes out of the frame 1a with its left end positioned higher than the right end. In addition, the conveyor 10 for conveying the cloth is inclined and extended. Before passing, another cloth conveying conveyor which is connected to the cloth conveying conveyor 8 and which conveys the cloth P received from the cloth conveying conveyor 8 to the left in FIG. 1 is also a belt conveyor. 14 extends substantially horizontally, and a partition plate 15 is erected at the left end of the cloth conveyor 14 in FIG.

  Furthermore, in the cloth spreading device of this embodiment, the limit roller 11 that restricts the passage of the excessive cloth lump F at the center of the upper end of the frame 1a and the lower right end of the frame 1c is a front-rear direction in FIG. It extends horizontally and is rotatably arranged. Further, the main unraveling conveyor 6 here is supported at its left end by a frame 1a so as to be movable in the vertical direction, and a normal load cell 12 is interposed between the right end and the frame 1a. ing. A control panel 13 having a controller (not shown) having a normal computer is provided at the lower right portion of the housing 1 in FIG. 1, and the controller operates based on a program given in advance, In addition to inputting a signal from the load cell 12 continuously indicating the weight of the cloth lump F on the main loosening conveyor 6, in addition to controlling the operation of drive motors (not shown) of the conveyors 6 to 10, It also controls the operation of other conveyors and clamps, which will be described later.

  A cloth picking mechanism 16 is also provided in the frame 1c, and the cloth picking mechanism 16 is arranged in the width direction of the cloth conveyor 14 as shown in FIGS. 2 (a) to 2 (c). A plurality of, for example, three clamps 17 (that is, three clamps 17a, 17c in the figure) that are gripped and released by opening and closing the gripping portion by opening and closing the gripping portion by opening and closing the gripping portion at the lower end portion. 17b, 17c) and a slide mechanism 18 for moving these clamps 17 up and down obliquely in the vertical direction.

  Here, in FIGS. 2A to 2C, the slide mechanism 18 extends in the left-right direction to support the three clamps 17 and has a support plate 18a as a moving member having a slider at each of the left and right ends. 2 (a) to 2 (c), two cloth belts 14 are arranged in parallel in the left-right direction with the cloth conveyor 14 interposed therebetween, and extend obliquely up and down as shown in FIG. A guide rail 18b is provided, and sliders at the left and right ends of the support plate 18a are fitted to the guide rail 18b so as to be movable up and down by rollers, and the guide rail 18b is lifted and lowered in the diagonally up and down direction of the support plate 18a through the slider. Guide the move. The slide mechanism 18 also includes a motor 18c that drives the support plate 18a to move up and down in a diagonal direction, and a belt-type transmission mechanism 18d that transmits the driving force of the motor 18c to the support plate 18a. Thus, from the standby state shown in FIG. 2 (a), the support plate 18a that supports the three clamps 17 is moved obliquely downward by the slide mechanism 18, as shown in FIG. 2 (b). A part of the cloth P on the cloth conveying conveyor 14 is held by any of the three clamps 17 and the support plate 18a supporting the clamps 17 is moved upward and obliquely upward by the slide mechanism 18. Thus, the cloth P on the cloth conveying conveyor 14 can be picked up obliquely upward in a state where it is hung.

  Further, here, the plurality of clamps 17 (that is, the clamps 17a, 17b, and 17c in the figure) are each provided with a further guide rail 17d provided on the support plate 18a and, for example, a ball circulation type slider fitted therein. 2a, and is supported by the support plate 18a so as to be movable up and down, and is urged upward by, for example, a gas spring 17e having an urging force slightly weaker than the weight of the clamp 17, so that FIGS. As shown in FIG. 2B, when the support plate 18a is raised, it is positioned at the lower limit position of the slider along the guide rail 17d relative to the support plate 18a. As shown, the support plate 18a is lowered and the support plate 18a is further in a state where the gripping portion of the clamp 17 is in contact with the fabric P on the fabric conveying conveyor 14. When lowered, relative to the upward movement relative to the support plate 18a in accordance with the height of the pile of cloth P below of the clamp 17. Therefore, even if there is a difference in the height of the cloth P below the plurality of clamps 17, each of the plurality of clamps 17 abuts against a part of the cloth P with a constant force, and the cloth is opened and closed by opening and closing the gripping portion A part of the class P can be grasped and released.

  The frame 1c is further provided with compression conveyors 19 and 20, each being a belt conveyor. Here, the lower compression conveyor 19 has a conveyor belt 19a hung on three rollers at the right end in FIG. 1, while the upper compression conveyor 20 is inclined so as to be slightly lowered from the inlet side end portion toward the outlet side end portion, the conveyor belt 20a hung on three rollers is an inlet at the right end portion in FIG. Inclined so as to be greatly lowered from the side end portion toward the outlet side end portion, whereby the inlet side end portion is located opposite to the intermediate portion of the cloth P picked up in a hanging state, and the inlet The distance from each other is narrowed from the side end toward the outlet side end. Further, the lowermost roller of the upper compression conveyor 20 is supported so as to be swingable in an obliquely vertical direction and is urged downward by, for example, an air cylinder 20b, whereby the compression conveyors 19 and 20 are interposed between them. The pushed-in cloth P can be sent out to the outlet side end portion while being clamped with a predetermined pressing force regardless of the amount of the cloth P. Note that the lowermost roller of the lower compression conveyor 19 and the uppermost roller of the upper compression conveyor 20 are each supported movably and pulled by tensioner springs 19b and 20c to be conveyed by a conveyor belt 19a. , 20a is given a predetermined tension.

  Further, a cloth pushing mechanism 21 is provided in the frame 1c. The cloth pushing mechanism 21 includes a rotatable pushing roller 21a that extends horizontally in the front-rear direction in FIG. 1 and an upper support shaft 21b. It is supported by a support arm 21c that can swing around, and is pushed and pulled by, for example, an air cylinder 21d and is swung around the support shaft 21b through the two guide rails 18b. The part can be pushed into the entrances of the compression conveyors 19,20.

  A cloth rear end pulling mechanism 22 is provided between the inlets of the compression conveyors 19 and 20 and the upper end of the partition plate 15. The lifting roller 22a extending horizontally in the direction is rotated counterclockwise in FIG. 1 by a motor (not shown) so that the lifting roller 22a of the cloth P picked up by the cloth picking mechanism 16 is dropped. The rear end portion on the upper side can be lifted and dropped to the left side in FIG. 1 of the pulling roller 22a to be separated from the cloth picking mechanism 16.

  Furthermore, as shown in FIG. 2, side plates 14a are provided on both side portions of the cloth conveying conveyor 14, and both side portions of the support plate 18a pass through slits formed in the side plates 14a and are outside the side plates 14a. And the presence of the cloth P on the cloth transporting conveyor 14 through an opening provided in the side plate 14a on one outer side of the side plate 14a. Is provided.

  Further, a laser type distance sensor 31 as a non-contact type distance sensor is directed downward as a cloth undulation detecting means included in the controller of the control panel 13 as a cloth picking up control means. Each of the laser-type distance sensors 31 irradiates laser light obliquely downward along the guide rail 18b when the support plate 18a is lowered, and the cloth on the cloth transporting conveyor 14 is provided. Non-contact detection of the distance between the vicinity of the portion where the clamp 17 abuts on the lowering of the support plate 18a and the laser type distance sensor 31 and transmitting the detected distance data to the controller of the control panel 13; As a result, the controller can know the height of the cloth P on the cloth conveying conveyor 14 along the width direction of the cloth conveying conveyor 14, and Kuwae unit classes transporting conveyor belt 14 on the cloth P to each clamp 17 can be detected that abuts.

In the cloth sowing apparatus of this embodiment , as shown in FIG. 3A, when the cloth lump F is dropped from the transport bag B through the hopper 2, first, A part of the belt is applied to the right end of the preliminary unwinding conveyor 7 and then the preliminary unwinding conveyor 7 performs preliminary unraveling by the collision with the cloth lump F based on the control performed by the controller of the control panel 13. A part of the cloth lump F on the preliminary unwinding conveyor 7 is slowly conveyed to the right in the drawing and transferred onto the main unwinding conveyor 6. Immediately after a part of the cloth lump F is applied to the right end of the preliminary unwinding conveyor 7, most of the cloth lump F falls on the left end of the main unwinding conveyor 6, The remaining part of the fabric P falls onto the intermediate conveyor 9 from the gap G with the momentum of the fall of the fabric lump F.

  Next, as shown in FIG. 3 (b), the main unwinding conveyor 6 slowly lifts and conveys the cloth lump F on the conveyor belt obliquely upward, and the cloth at the beginning of the fall is conveyed during the conveyance. The agglomerate F is unraveled while rotating to the left under its own weight as indicated by the arrow in the figure. Then, the cloth P unraveled and separated from the cloth lump F is gradually dropped from the right end of the main unwinding conveyor 6 onto the cloth conveying conveyor 8 as shown in FIG. If the cloth lump F on the conveyor belt of the main unwinding conveyor 6 is still too large, the limit roller 11 is engaged with the upper part of the cloth lump F. To restrict passage and encourage loosening. The controller of the control panel 13 also determines the weight of the cloth lump F on the main loosening conveyor 6 based on a signal from the load cell 12 that continuously indicates the weight of the cloth lump F on the main unwinding conveyor 6. So as to gradually decrease, the operation speed of the main unwinding conveyor 6 is delayed, or the stop and start of the operation are repeated, so that the unraveling of the cloth mass F is promoted.

  An optical sensor (not shown) connected to the controller of the control panel 13 is also arranged near the right end of the intermediate conveyor 9, and the presence of the cloth P on the intermediate conveyor 9 is detected by a signal from the optical sensor. Then, the controller, as shown in FIG. 3 (c), at the timing between the drop of the cloth P from the cloth lump F on the conveyor belt of the main unwinding conveyor 6 onto the cloth conveying conveyor 8, Control is performed such that the operation speed of the intermediate conveyor 9 is delayed or the stop and start of the operation are repeated so that the cloth P on the intermediate conveyor 9 falls onto the cloth conveying conveyor 8. As a result, the cloth P that has been leveled and dropped onto the cloth transporting conveyor 8 is delivered to the conveyor belt of the cloth transporting conveyor 14 approximately evenly or in groups of about 10 sheets.

In the cloth spreading device of this embodiment , when the controller of the control panel 13 detects that the cloth P is present on the cloth transporting conveyor 14 by the signal from the optical sensor 23, the controller Based on the control performed as the picking control means, the cloth picking mechanism 16 uses the slide mechanism 18 to move the support plate 18a and the three clamps 17 (that is, the clamps 17a, 17b, 17c) as shown in FIG. The three clamps 17 are moved obliquely downward and brought into contact with the three parts of the cloth P on the cloth conveyor 14, and at that time, the laser distance sensors 31 provided in the respective clamps 17 are The distance between the vicinity of the portion of the cloth P on the cloth transporting conveyor 14 where the clamp 17 abuts by the lowering of the support plate 18a and the laser distance sensor 31 is detected. Is transmitted to the controller of the control panel 13 so that the controller first knows the height of the cloth P on the cloth conveying conveyor 14 along the width direction of the cloth conveying conveyor 14, and then Then, it is detected that the gripping portion of each clamp 17 is in contact with the cloth P on the cloth conveying conveyor 14.

  Next, as shown in FIG. 4A, the cloth picking mechanism 16 has a relatively high height of the cloth P along the width direction of the cloth conveying conveyor 14 among the three clamps 17. By closing the gripping part of one or two clamps 17 positioned at a position, a part of the cloth P on the cloth transporting conveyor 14 (about 1 to 3 sheets at a high position) is gripped. Then, the support plate 18a and the three clamps 17 are moved upward and obliquely upward by the slide mechanism 18, and the fabric on the fabric transporting conveyor 14 as shown in FIGS. 2 (c) and 4 (a). In a state where a part of P hangs down, it is picked up obliquely upward, and the cloth push-in mechanism 21 passes the push roller 21a between the two guide rails 18b as shown in FIG. The cloth is moved by the pushing roller 21a. Of pushing the middle portion where hanging from one or two clamps 17 to the inlet of the compression conveyor 19.

  Next, here, the pressure conveyors 19 and 20 sandwich the cloth P pushed into the inlet and send it to the left outlet in FIG. 4 (b). At this time, the cloth rear end pulling mechanism 22 The rear end, that is, the lower end of the cloth P is pulled up by the pulling roller 22a to be separated from the cloth picking mechanism 16, and as a result, as shown in FIG. 4 (c), the cloth is discharged from the outlet of the compression conveyors 19 and 20. The kind P falls onto the cloth carry-out conveyor 10 and is carried out by the cloth carry-out conveyor 10. As long as the controller carries out the cloth P on the cloth carry-out conveyor 10 and detects that the cloth P is present on the cloth-conveyor 14 by the signal from the optical sensor 23. The slide mechanism 18 moves the support plate 18a and the three clamps 17 obliquely downward to grip the next cloth P, and the cloth pushing mechanism 21 swings the pushing roller 21a to the right in the figure. Move it back to its original position.

  Therefore, according to the cloth unwinding apparatus of this embodiment, the main unwinding conveyor 6 automatically unravels the cloth lump F made up of a plurality of cloths entangled with each other to make it approximately uniform or about 10 sheets. Since it can be conveyed by the cloth conveying conveyor 14 through the cloth conveying conveyor 8 one by one, it is possible to reduce labor and labor for unraveling the cloth lump manually to some extent in advance. A preliminary unwinding conveyor 7 which is located adjacent to one end of the main unwinding conveyor 6 and which is loaded so that a part of the cloth lump F is applied and preliminarily unraveled by collision with the cloth lump. Therefore, the cloth lump F is easily unraveled by the impact of the preliminary unraveling caused by the collision with the preliminary unraveling conveyor 7, so that the subsequent main unraveling can be easily and reliably performed. Since the cloth lump F is conveyed toward one end of the main unwinding conveyor 6, the cloth lump F placed on the pre-unwinding conveyor 7 is preliminarily unwound. 6 can be moved.

  Furthermore, according to the cloth spreading device of this embodiment, the cloth loosened from the cloth lump F located below the right end portion of the main unwinding conveyor 6 and falling from the right end portion of the main unwinding conveyor 6. The cloth conveying conveyor 8 for conveying P, the preliminary unwinding conveyor 7 and the main unwinding conveyor 6 are positioned below the gap G which is vacated in the horizontal direction. Since there is an intermediate conveyor 9 for supplying the cloth P dropped from G to the cloth conveying conveyor 8, the cloth P falling from the gap G is timed by the intermediate conveyor 9 to convey the cloth. 8, the cloth P that has fallen from the cloth lump F and the cloth P that has fallen from the gap G are dropped in one place. Level the cloth so that it does not accumulate, It can be conveyed by Ya 8 and textiles transporting conveyor belt 14.

  Then, according to the cloth sowing device of this embodiment, the cloth picking mechanism 16 holds a part of the cloth P on the cloth conveying conveyor 14 and hangs the cloth P obliquely. A pair of upper and lower parts in which the cloth push-in mechanism 21 is picked up and the entrance is located opposite to the middle part of the cloth P picked up in the sagging state and the distance from the entrance toward the exit decreases. The intermediate part of the cloth P is pushed into the inlets of the compression conveyors 19 and 20, and the cloth carry-out conveyor 10 sequentially carries out the cloths P discharged from the outlets of the compression conveyors 19 and 20, Further, the cloth P on the conveyor 14 can be further loosened and can be carried out by the cloth carry-out conveyor 10 about 1 to 3 sheets or 10 sheets at a time. Diagonally above with the class P hanging Since the cloth is picked up, the cloth picking mechanism 16 can be lowered for picking up the next cloth P without interfering with the cloth P hanging at the entrance of the compression conveyors 19 and 20 even if it remains. Therefore, the tact time for picking can be shortened.

  Furthermore, according to the cloth sowing device of this embodiment, the controller of the control panel 13 follows the width direction of the cloth transporting conveyor 14 among the three clamps 17 as the support plate 18a moves downward. Since the gripping part of one or two clamps 17 corresponding to the position where the height of the cloth P is high is opened and closed and a part of the high position of the cloth P is picked up, the cloth on the cloth transporting conveyor 14 Even if the entanglement between the classes P is severe, the cloth P is picked up while being unraveled and delivered to the compression conveyors 19 and 20 on the downstream side. Therefore, it is not necessary to manually unravel to some extent, so that the labor and manpower of unraveling can be reduced. Moreover, since the cloth P is not picked up by a large lump that is entangled, it is possible to prevent a reduction in work efficiency due to the stoppage of the pressure conveyors 19 and 20 due to an overload. Since the clamp 17 reliably grips and picks up a part of the cloth P, it is possible to prevent a decrease in work efficiency due to the lack of the cloth P conveyed by the compression conveyors 19 and 20.

  Furthermore, according to the cloth sowing device of this embodiment, the cloth rear end pulling mechanism 22 pulls up the rear end part, that is, the lower end part of the cloth P picked up in a suspended state, and picks up the cloth. Therefore, even if the cloth P hanging from the entrance of the compression conveyors 19 and 20 remains, interference with the cloth P is prevented more reliably, and the clamp 17 of the cloth picking mechanism 16 is moved to the next cloth P. Therefore, the tact time of picking can be further shortened.

5 (a), 5 (b) and 5 (c) are front views sequentially showing the operation of the cloth picking mechanism in the cloth sowing apparatus of one reference example of the present invention. The same parts as are indicated by the same reference numerals. The cloth sowing apparatus of this reference example is different from the previous embodiment only in the cloth picking mechanism 16, and the other parts are configured in the same manner as in the previous embodiment. Only the picking mechanism 16 will be described, and description of other parts will be omitted.

That is, the cloth picking device 16 of this reference example grips a part of the cloth P on the cloth transporting conveyor 14 and picks up the cloth P in a state where the cloth P hangs down obliquely upward. 5 and a controller of the control panel 13 as cloth picking control means for controlling the operation of the cloth picking mechanism 16, and the cloth picking mechanism 16 opens and closes each gripping portion in FIG. 5. One clamp 17 and, for example, a rodless air cylinder 24 as a clamp lateral movement mechanism for laterally moving the clamp 17 in the width direction of the cloth conveying conveyor 14 as indicated by an arrow in FIG. And a slide mechanism 18 that moves the support plate 18a as a mounted moving member up and down obliquely in the vertical direction. Here, the controller of the control panel 13 includes the support plate 18a and a clamp. 7, the clamp 17 is moved by the rodless air cylinder 24 to the position where the height of the cloth P along the width direction of the cloth conveying conveyor 14 is high, and at the position moved laterally. The gripping portion of the clamp 17 is brought into contact with the cloth P on the cloth conveying conveyor 14 to be opened and closed.

In this reference example , a plurality of non-contact distance sensors, that is, three laser distance sensors 31 in the illustrated example, are arranged side by side along the width direction of the cloth conveyor 14 on the support plate 18a. The controller of the control panel 13 moves the clamp 17 laterally to a position where the height of the cloth P along the width direction of the cloth transporting conveyor 14 is high as the support plate 18a and the clamp 17 move downward. From the distance between the laser-type distance sensor 31 detected by each laser-type distance sensor 31 and output to the controller as the support plate 18a moves downward, and the corresponding part of the cloth P, for conveying the cloth. A position where the height of the cloth P along the width direction of the conveyor 14 is high is detected. Further, when it is detected that the clamp 17 has failed to grip the cloth P at the lowered position from the low load of the motor 18c of the slide mechanism 18 during the upward movement of the clamp 17, for example, it is temporarily supported. The operation of moving the plate 18a and the clamp 17 up to some extent and then moving the clamp 17 slightly laterally and then moving the support plate 18a and the clamp 17 down again to open and close the gripping portion is repeated until the cloth P is gripped. You may do it.

According to the cloth sowing device of this reference example, the same effect as the device of the previous embodiment can be obtained, and in addition, the number of clamps 17 can be reduced, so that the device can be configured at a lower cost. There are advantages.

FIG. 6 (a) is a side view showing a configuration of a modified example of the cloth sowing device of the above-mentioned embodiment with a part cut away, and FIGS. 6 (b) and (c) show the operation of the modified device. It is explanatory drawing shown sequentially, In the figure, the part similar to the previous Example is shown with the same code | symbol as it. The cloth sowing apparatus of this modification is different from the previous embodiment only in the cloth undulation detecting means included in the controller of the control panel 13 as the cloth picking up control means, and the other parts are the same as the previous embodiment. Since the configuration is the same, only the cloth undulation detecting means is mainly described here, and the description of the other parts is omitted.

  That is, in this modified example, as shown in FIG. 6A, instead of the laser-type distance sensor 31 as a non-contact type distance sensor, it intersects the width direction of the cloth conveying conveyor 14 and the support plate 18a It has a video camera 32 for photographing the cloth P on the cloth conveying conveyor 14 from the direction of the optical axis C intersecting with the up-and-down movement direction, and for example, the outline of the cloth P in the image photographed by the video camera 32 And an image processing device that detects the height of the cloth P on the cloth conveying conveyor 14 along the width direction of the cloth conveying conveyor 14, and the function of the image processing apparatus is as follows: For example, the controller of the control panel 13 executes.

  In the cloth sowing device of this modified example, before the support plate 18a moves downward and a plurality of, for example, three clamps 17 abut against the cloth P on the cloth conveying conveyor 14, FIG. As shown in a) and (b), the video camera 32 crosses the width direction of the cloth conveying conveyor 14 with the cloth P on the cloth conveying conveyor 14 and moves the support plate 18a up and down. Then, the controller of the control panel 13 takes the cloth along the width direction of the cloth conveying conveyor 14 from the outline of the cloth P in the photographed image, for example. The height of the cloth P on the conveyor 14 for conveyance is detected, and the cloth along the width direction of the cloth conveyor 14 among the three clamps 17 based on the detected height of the cloth P. One or two at a position where the height of P is relatively high By closing the gripping portion of the clamp 17, a part of the cloth P on the cloth conveying conveyor 14 (about 1 to 3 at a high position) is gripped, and then the support plate 18 a and the three pieces The clamp 17 is moved upward and obliquely upward by the slide mechanism 18, and as shown in FIG. 6C, a part of the cloth P on the cloth conveyance conveyor 14 is picked up obliquely upward.

Therefore, according to the cloth spreading device of this modification, the same operation effect as the device of the previous embodiment can be obtained, and in addition, the cloth along the width direction of the cloth conveying conveyor 14. Since the height of the cloth P on the conveyor 14 can be detected continuously and with high accuracy, the cloth P can be picked up more reliably.

FIG. 7A is a side view showing a configuration of another modified example of the cloth spreading device of the above-described embodiment with a part cut away, and FIGS. 7B and 7C are perspective views of the device of the modified example. It is explanatory drawing which shows operation | movement sequentially, In the figure, the part similar to the previous Example is shown with the same code | symbol. The cloth sowing device of this modification is different from the previous embodiment and the previous modification only in the cloth undulation detecting means included in the controller of the control panel 13 as the cloth picking control means, and the other parts are as follows. Since it is configured in the same way as the previous embodiment and the previous modification, only the cloth undulation detecting means will be described here, and the description of the other parts will be omitted.

  That is, in this modified example, as shown in FIG. 7A, instead of the laser-type distance sensor 31 as the non-contact type distance sensor and the video camera 32, the beam 1e horizontally passed to the frame 1c As shown in FIG. 7B, a plurality of, for example, three rotary encoders 33 are arranged along the width direction of the cloth conveying conveyor 14, and the upper end is coupled to the detection shaft of the rotary encoder 33 and is suspended. The rotary encoder 33 and the contact rod 34 are arranged so that the height of the cloth on the cloth conveying conveyor 14 is increased along the width direction of the cloth conveying conveyor 14. A contact-type distance sensor for detecting the length is configured.

  In the cloth sowing device of this modification, as shown in FIGS. 7 (a) and 7 (b), while the cloth transporting conveyor 14 transports the cloth P thereon, as shown in FIGS. 34 abuts the corresponding part of the cloth P and swings around the detection axis of the rotary encoder 33 to an angle corresponding to the height of the corresponding part of the cloth P, whereby each rotary encoder 33 is A signal indicating the height of the corresponding portion of the cloth P is output to the controller of the control panel 13. Then, the controller of the control panel 13 detects the height of the cloth P on the cloth conveying conveyor 14 along the width direction of the cloth conveying conveyor 14 from the output signals of the rotary encoders 33, Based on the detected height of the cloth P, one or two of the three clamps 17 positioned at a position where the height of the cloth P along the width direction of the cloth conveying conveyor 14 is relatively high. By closing the gripping portion of the clamp 17, a part of the cloth P (about 1 to 3 sheets at a high position) on the cloth conveying conveyor 14 is gripped, and then the support plate 18 a and three The clamp 17 is moved upward and obliquely upward by the slide mechanism 18, and as shown in FIG. 7C, a part of the cloth P on the cloth conveyance conveyor 14 is picked up obliquely upward. .

Therefore, according to the cloth spreading device of this modification, it is possible to achieve the same operational effect as the device of the previous embodiment , and in addition to this, the contact type distance is generally simpler and cheaper than the non-contact type distance sensor. Since the sensor is used, the cloth undulation detecting means can be configured more easily and inexpensively.

8 (a), (b) and (c) are explanatory diagrams sequentially showing the operation of still another modification of the cloth sowing device of the above embodiment , and FIGS. 9 (a), (b) and (C) is explanatory drawing which shows the further operation | movement of the cloth sowing apparatus of the said modification sequentially, In the figure, the part similar to the previous Example is shown with the same code | symbol. In this variation , the fabric picking device is different from the previous embodiment in that the fabric picking mechanism 16 is provided with a receiving conveyor 25 and a receiving conveyor swinging mechanism 26 instead of the compression conveyors 19 and 20. Since this part is configured in the same manner as in the previous embodiment , only the cloth picking mechanism 16, the receiving conveyor 25 and the receiving conveyor swinging mechanism 26 will be mainly described here, and the other parts will be described. Omitted.

That is, the cloth picking device 16 of this modified example grips a part of the cloth P on the cloth conveying conveyor 14 and picks up the cloth P in a state where the cloth P is hung down vertically. And a controller of the control panel 13 as cloth picking control means for controlling the operation of the cloth picking mechanism 16, and the cloth picking mechanism 16 is arranged in the width direction of the cloth conveying conveyor 14. And a plurality of, for example, three clamps 17 similar to those in the above embodiment , and a guide plate extending in the vertical direction as a moving member directly mounting these clamps 17. And a clamp lifting / lowering mechanism 18 that moves up and down vertically along the rail 18b. Here, the controller of the control panel 13 moves the support plate 18a and the clamp 17 downward. Thus, among the plurality of clamps 17, along the width direction of the cloth conveying conveyor 14, which is obtained based on the output data from the laser type distance sensor 31 provided at the gripping portion at the lower end of each clamp 17. The gripping portion of one or two clamps 17 positioned at a position where the height of the cloth P is relatively high is opened and closed while being in contact with the cloth P on the cloth conveying conveyor 14.

  The receiving conveyor 25 made up of a belt conveyor is provided on the upper side of a swing frame 26a having a substantially inverted triangular shape that is supported so that the lower end of the receiving conveyor swing mechanism 26 can swing around a horizontal support line. The conveyor belt 25a stretched between the two rollers is driven by the motor 25b, and the fabric P riding on the conveyor belt 25a is conveyed to the left in the figure as shown in FIG. 9B. And drop it onto the conveyor 10 for carrying out the cloth. Further, the receiving conveyor rocking mechanism 26 pushes and pulls the rocking frame 26a by, for example, the air cylinder 26b to rock around the support shaft, and the receiving conveyor 25 is caused to hang the cloth P shown in FIG. It can be moved back and forth between the receiving position pushed into the intermediate portion of the state and the standby position shown in FIG.

In the cloth sowing device of this modification, as shown in FIG. 8A, the cloth P is transported on the cloth transporting conveyor 14 in the same manner as in the previous embodiment , and the control is performed. When the controller of the panel 13 detects the presence of the cloth P on the cloth conveying conveyor 14 based on a signal from the optical sensor 23, the receiving conveyor swing mechanism is controlled based on the control performed by the controller as the cloth picking up control means. In the state where the receiving conveyor 25 is moved backward to the standby position, the cloth picking mechanism 16 moves the support plate 18a and the three clamps 17 vertically downward by the slide mechanism 18 as shown in FIG. The three clamps 17 are moved downward to come into contact with the three locations of the fabric P on the fabric transporting conveyor 14, respectively, and then a part of the fabric P on the fabric transporting conveyor 14 (1-3) About) Among the three clamps 17, the cloth P is held by one or two clamps 17 positioned at a relatively high height along the width direction of the cloth transfer conveyor 14, and then, FIG. ), The support plate 18a and the three clamps 17 are moved vertically upward by the slide mechanism 18 so that a part of the cloth P on the cloth transporting conveyor 14 hangs vertically upward. Pick up.

  Next, as shown in FIG. 9 (a), the receiving conveyor rocking mechanism 26 moves the receiving conveyor 25 forward to the receiving position and pushes it into the intermediate portion of the cloth P hanging from the clamp 17, in this state. Then, as shown in FIG. 9 (b), the clamp 17 opens the gripping part to release the gripping part of the cloth P, and the receiving conveyor 25 pulls up the cloth P falling on the receiving conveyor 25, As shown in FIG. 9C, a part of the cloth P on the cloth transporting conveyor 14 is dropped onto the cloth carrying-out conveyor 10, and the cloth carrying-out conveyor 10 carries out the cloth P. . As long as the controller carries out the cloth P on the cloth carry-out conveyor 10 and detects that the cloth P is present on the cloth-conveyor 14 by the signal from the optical sensor 23. Then, the receiving conveyor 25 is moved backward to the standby position by the receiving conveyor swing mechanism 26, and then the support plate 18a and the three clamps 17 are moved downward by the slide mechanism 18 to hold the next cloth P. Make it.

Therefore, even with the cloth sowing device of this modification, the same effects as those of the device of the previous embodiment can be achieved.

Although the present invention has been described based on the illustrated example, the present invention is not limited to the above-described example, and can be appropriately changed within the scope of the claims. For example, in the above-described embodiment , the three clamps 17 are provided. However, the number of the clamps 17 is not limited to this and can be increased or decreased as appropriate. In the above reference example , one clamp 17 is laterally moved in the width direction of the cloth conveying conveyor 14. However, the number of the clamps 17 is not limited to this, and the number of the clamps 17 is suitably two or more within a laterally movable range. Can be increased.

Furthermore, although each said modification was applied to the Example , the same structure is applied to a reference example, and the slide mechanism 18 of the cloth picking mechanism 16 there moves the support plate 18a up and down diagonally up and down. You may change into the thing which moves the support plate 18a to a vertical up-down direction from a thing.

And in the said Example, reference example, and each modification, in order to supply the cloth P to the cloth conveyance conveyor 14, the main unwinding conveyor 6, the preliminary unwinding conveyor 7, and the cloth conveying conveyor 8 An intermediate conveyor 9 is provided, but any one or more of these can be omitted, and each conveyor is configured by a belt conveyor, but one or more or all of these conveyors are Other types of conveyors may be used.

Furthermore, in the said Example, reference example, and each modification, although the cloth conveyance conveyor 10 is provided in the carrying out of the unraveled cloth P, it replaces with this, and other conveyance means, for example, a cart with a cage, etc. are provided. You may use, or you may connect the carrying-in means of the apparatus of the next process, such as a finishing charging machine (or a stretcher). Further, in the above embodiment, the cloth lump F is input from the transport bag B to the cloth sowing apparatus, but the cloth lump F may be input from another transport system such as a belt conveyor to the cloth sowing apparatus.

Further, in the above reference example , a plurality of laser type distance sensors 31 are provided on the support plate 18a. Instead, the laser type distance sensors 31 are provided on the laterally moving clamp 17 so that the cloth on the cloth conveying conveyor 14 is provided. The fabric P on the fabric transporting conveyor 14 is moved by the laser distance by the lateral movement of the clamp 17 while the support plate 18a is lowered or until the support plate 18a is temporarily stopped until the clamp 17 is brought into contact with the fabric P. The height of the cloth P may be detected by scanning along the width direction of the cloth conveying conveyor 14 with the sensor 31.

  Thus, according to the cloth milling apparatus of the present invention, even if the cloths on the cloth transporting conveyor are severely entangled, the cloths are picked up while the entanglement is unraveled, and the conveying means on the downstream side of the conveyor or the like Therefore, since it is not necessary to unravel the lump of cloth in the laundry container to some extent by hand in advance, it is possible to reduce the labor and manpower of unraveling. Moreover, since the cloths are not picked up while being entangled, it is possible to prevent a decrease in work efficiency due to the stoppage caused by the overload of the downstream conveying means, and the clamp reliably picks up the cloth. Further, it is possible to prevent the work efficiency from being lowered due to the lack of the cloth conveyed by the downstream conveying means.

DESCRIPTION OF SYMBOLS 1 Housing | casing 1a, 1c Frame 1b Side plate 1e Beam material 2 Hopper 3, 4, 5 Guide plate 6 Main unwinding conveyor 7 Preliminary unwinding conveyor 8, 14, Cloth conveyance conveyor 9 Intermediate conveyor 10 Cloth carrying-out conveyor 11 Limitation Roller 12 Load cell 13 Control panel 14a Side plate 15 Partition plate 16 Cloth picking mechanism 17 Clamp 18 Slide mechanism 18a Support plate 18b Guide rail 18c Motor 18d Transmission mechanism 19, 20 Compression conveyor 19a, 20a Conveyor belt 19b, 20c Tensioner spring 20b Air Cylinder 21 Cloth push-in mechanism 21a Push-in roller 21b Support shaft 21c Support arm 21d Air cylinder 22 Cloth rear end pull-up mechanism 22a Pull-up roller 23 Optical sensor 24 Rodless air cylinder 25 Receiving conveyor 25a Conveyor belt 25b Motor 26 Receiving conveyor swing mechanism 26a Swing frame 26b Air cylinder 31 Laser distance sensor 32 Video camera 33 Rotary encoder 34 Contact rod B Transport bag C Optical axis F Cloth lump G Gap P Cloth lump Some cloths

Claims (4)

In a cloth spreading device for unraveling a lump of cloth made of a plurality of cloths entangled with each other,
A cloth picking mechanism for gripping a part of the cloth on the cloth transporting conveyor and picking up the cloth in a state of hanging down;
Cloth picking control means for controlling the operation of the cloth picking mechanism;
With
The cloth picking mechanism is
A plurality of clamps that are arranged in the width direction of the cloth conveying conveyor and that each open and close the gripping portion at a part of the width direction of the cloth conveying conveyor;
A clamp elevating mechanism for moving up and down a moving member carrying the plurality of clamps;
Have
The cloth picking control means is
Cloth undulation detecting means for detecting the height of the cloth on the cloth conveying conveyor along the width direction of the cloth conveying conveyor;
As the moving member moves downward , the gripping portion of one or a plurality of clamps corresponding to a position where the cloth height detected by the cloth undulation detecting means among the plurality of clamps is high is opened and closed. Characteristic cloth spreading device. The cloth undulation detecting means is provided on the moving member or the clamp, and detects one or more cloth heights on the cloth conveying conveyor along the width direction of the cloth conveying conveyor. 2. The cloth spreading device according to claim 1 , wherein the cloth spreading device is a non-contact type distance sensor. The cloth relief detecting means is
A camera that photographs the cloth on the cloth conveying conveyor from a direction that intersects with the width direction of the cloth conveying conveyor and intersects with the moving direction of the moving member;
An image processing device that detects the height of the cloth on the cloth conveying conveyor along the width direction of the cloth conveying conveyor from the image taken by the camera;
The cloth sowing apparatus according to claim 1, comprising: A plurality of the cloth undulation detecting means are arranged side by side in the width direction of the cloth conveying conveyor, and detect the height of the cloth on the cloth conveying conveyor along the width direction of the cloth conveying conveyor. wherein the plurality of the contact type distance sensor, textiles handling apparatus according to claim 1.

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