JPH08257298A - Method and device for grasping and hanging one of corner parts of rectangular cloth piece - Google Patents

Abstract

PURPOSE: To improve operation efficiency and to lower a cost by grasping and hanging the optional part of a rectangular cloth piece, then spreading the bottom of the cloth piece, loosening the overlapping of the hung corner parts of the cloth piece and grasping and hanging one of the corner parts of the cloth piece. CONSTITUTION: After the optional part of the piled cloth pieces 1 is grasped and hung by a first grasping device 2, the first grasping device 2 is moved upwards. Also, at the point of time of detecting the lowest end of the cloth piece 1 by an area sensor 3, the upward movement of the first grasping device 2 is stopped. Further, while ejecting air from a pressure air blow-off port 5 and loosening and spreading the tangle of the bottom part of the cloth piece 1, a plate 4 is brought closer. Then, one of the corner parts of the cloth piece 1 arranged on a straight line is found by a cloth piece corner detection sensor 8 and one of the corner parts is grasped by a second grasping device 7. Thereafter, the grasp of the first grasping device 2 and the clamping of the plate 4 are released, one of the corner parts is grasped and hung by the second grasping device 7 and a retreat is performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an oscillating napkin, a napkin after washing and drying, for example, in a laundry factory.
The present invention relates to a method and a device for finding, grasping and hanging one of the corners of a rectangular cloth piece such as a table cloth, a sheet and a wrapping cloth by mechanically deploying it.

[0002]

2. Description of the Related Art Conventionally, generally in a laundry factory, after washing and dehydrating square shaped cloth pieces such as dirty napkins, napkins, table cloths, sheets and wrapping cloths, they are unfolded, ironed and folded. Shipping. By the way, the square-shaped cloth pieces that have undergone the dehydration process are piled up in a twisted state by untangling each other. In order to feed the cloth piece to a subsequent process or a folding machine, it is necessary to untwist the square cloth piece in advance and spread it to align the edges. When manually deploying the piece of cloth,
An operator takes out the piled pieces of cloth one by one, and the corners of the taken-out square pieces of cloth and a point of a certain width of an edge (side) extending from the corner or one side is shared with the corner. Each corner was searched for, and each was grabbed and aligned to supply to subsequent processes.

Alternatively, when the work of unfolding the cloth pieces is performed by a device, the piled up cloth pieces are gripped by an arbitrary part of the cloth pieces and lifted up, and the lowermost end of the hanging down cloth pieces is lifted. One of the corners of the cloth piece was taken out by grasping and hanging, and thereafter, the cloth piece was fed to a spreading device for spreading the cloth piece, the edges were aligned, and the cloth piece was fed to a subsequent process.

[0004]

DISCLOSURE OF THE INVENTION In the development of the above-mentioned conventional rectangular cloth piece, any one corner portion of the rectangular cloth piece by hand and a corner portion or an edge sharing one side with one corner portion. In a part of the gripping work, the piled square-shaped cloth pieces are taken out one by one, and one corner (corner) and one corner or edge sharing one side with the one corner are taken out while loosening the twist. Since it is necessary to find a part, it takes a lot of time and labor to find any one corner and deploy the cloth piece, the number of workers becomes large, and the number of workers is high. There is a problem in that the work efficiency is poor and the cost is high due to the fact that the simple work is repeated in a bad environment of high humidity and the work becomes long.

Therefore, in order to solve the above problems, the work of unfolding the cloth pieces is mechanized. However, in the case of mechanized ones (see, for example, Japanese Patent Application No. 335527), heaps are piled up. When an arbitrary portion of the cloth piece is grasped, when the grasping position is the peripheral portion of the cloth piece, one corner of the cloth piece comes to the lowermost end of the suspended cloth piece. By grasping the lower end, one corner of the cloth piece can be grasped and hung.

However, the gripping position of an arbitrary portion of the piled cloth pieces is not always the peripheral portion of the cloth piece,
Frequently, the center or the vicinity of the center of the cloth piece is often grasped, and in addition, two or three pieces of the cloth piece are grasped at the same time. In such a case, when the cloth piece is gripped and hung, the lower end has four corners or three corners or two corners and a large number of corners. When a large number of corners are gathered and piled up, it is difficult to grab and hang only one corner, so after grabbing and hanging an arbitrary part of the piled cloth pieces, it is hung. Further, there is a problem that the yield of hanging and hanging one corner of the lower end of the cloth piece is about 70%, and the other 30% must be gripped again from the beginning.

In order to solve the above-mentioned problems, the present invention grasps an arbitrary portion of the cloth piece and unfolds the suspended hem portion, and unravels the overlap of the many corners at the lower end. As a result, it is an object of the present invention to provide a method and a device for selecting, gripping and hanging only one corner of the cloth piece.

[0008]

In order to achieve the above object, the constitution of the present invention will be described. After washing and dewatering, a first gripping device for untangling the square-shaped cloth pieces and gripping an arbitrary part of the piled cloth pieces, and an elevating column for moving the gripping apparatus up and down are provided, and adjacent to the elevating column A second gripping device that is provided with a member that spreads the hem of the cloth piece that is grabbed and hung, and a member that fixes the spread hem of the cloth piece, and that grips one of the corners of the fixed cloth piece. It is provided with.

[0009]

In the gripping device configured as described above, when the central portion of the rectangular cloth piece or the vicinity of the central portion or one point near the center line is grasped and hung, the four corners or three corners of the cloth piece are placed at the lower end, or The two corners overlap and hang down. Therefore, by spreading the overlap of the corners at the lower end of the cloth piece on a substantially straight line, the overlap of the corners is released and scattered. By fixing the hem part of the cloth piece suspended in this state, the corners at the lower end of the cloth piece spread out in a straight line, and the corners are scattered and do not move. It is easy to grab one of them and hang it.

[0010]

An embodiment of the present invention will be described with reference to the drawings. (Embodiment 1) In the embodiment shown in FIGS. 1 to 6, a first gripping device 2 for gripping an arbitrary part of a pile of rectangular cloth pieces 1 and an elevating column in which the first gripping device 2 moves up and down. (Not shown) is provided, an area sensor 3 for detecting the lifting height of the cloth piece 1 is provided, and left and right flat plates 4 for securely sandwiching and fixing the hem of the hanging cloth piece 1 in a wide range are provided. 4 is provided with a pressure air outlet 5 for expanding the hem of the cloth piece 1 that hangs down. The pressure air outlet 5 is connected to a compressor or the like by an air pipe 6. A configuration in which a second gripping device 7 that moves forward and backward from the extension direction of the sandwiching surface is provided, and a cloth piece angle detection sensor 8 that detects the hanging angle of the cloth piece 1 is attached to the tip of the second gripping device 7. Has become.

From the above-mentioned structure, in FIG. 1, after the arbitrary portion of the piled cloth pieces 1 is grasped and lifted by the first grasping device 2, the first grasping device 2 moves the elevating column upward. In FIG. 2, when the bottom end of the cloth piece 1 hung down by the area sensor 3 reaches a certain position, the upward movement of the first gripping device 2 is stopped.

In FIG. 3, the flat plate 4 is moved closer to the flat plate 4 while unraveling and unfolding the hem of the hanging piece 1 of the cloth piece 1 by injecting air from the pressure air outlet 5. In FIG. 4, the hanging hem of the cloth piece 1 is sandwiched between the left and right flat plates 4 in a state where the corner of the cloth piece 1 is seen from below the flat plate 4, and the corners of the cloth piece 1 are aligned and fixed. To do. Figure 5
In the above, the second gripping device 7 is advanced from the straight line direction at the corners of the cloth pieces 1 arranged in a straight line, and the cloth piece angle detection sensor 8 provided in the second gripping device 7 makes the cloth pieces 1 arranged in a straight line. Only one of the corners of the cloth piece 1 is found, and one of the corners of the cloth piece 1 is gripped by the second gripping device 7. In FIG. 6, the grip of the first gripping device 2 of the cloth piece 1 and the flat plate 4 are removed, and one of the corners of the cloth piece 1 is gripped by the second gripping device 7 and hung and retracted.

(Embodiment 2) In the embodiment shown in FIGS. 7 and 8, the first gripping device 2 for gripping an arbitrary part of the piled cloth pieces 1 and the lifting and lowering movement of the first gripping device 2 are performed. Area sensor 3 provided with a pillar to detect the lifting height of the cloth piece 1
And the left and right rollers 9 that rotate by sandwiching the hem of the hanging piece 1 of cloth, the cloth piece 1 that hangs by the rotation of the roller 9 regardless of which position of the piece of cloth 1 is sandwiched by the roller 9.
The height of the corners of the can be adjusted.
An end portion of the hem of the cloth piece 1 that hangs down below the roller 9 is provided so that an arc-shaped expansion member 10 can be moved forward and backward in the lateral direction of the hanging cloth piece 1. Left and right rollers 9
The second gripping device 7 that moves back and forth from the axial direction of the cloth piece 1 and grips the hanging corner of the cloth piece 1 is provided, and the cloth piece angle detection for detecting the hanging corner of the cloth piece 1 is provided at the tip of the second gripping device 7. The sensor 8 is attached.

From the above-mentioned structure, in FIG. 1, an arbitrary portion of the piled cloth pieces 1 is grasped by the first grasping device 2 and moved upward to be hung up.
10 is advanced from the lateral direction of the hanging cloth piece 1, and the hem of the cloth piece 1 is pushed by the arcuate portion of the tip of the expansion member 10 to spread the hem of the cloth piece 1 and then spread. The left and right rollers 9 are moved so that the left and right rollers 9 sandwich the cloth piece 1 along the spread of the hem portion of the hanging cloth piece 1.

In FIG. 8, the expansion member 10 is retracted to
When the area sensor 3 detects the corner of the cloth piece 1 by rotating the left and right rollers 9 and pulling up the hanging hem of the cloth piece 1, the rotation of the roller 9 is stopped. At this time, the cloth piece 1
The corners are fixed side by side with the axis of the roller 9 as seen from the lower end of the roller 9.

In FIG. 5, the second gripping device 7 is moved by moving the second gripping device 7 from the axial direction of the roller 9 (the flat plate 4 in FIG. 5 is referred to as the roller 9) at the corners of the arranged cloth pieces 1. Only one of the corners of the cloth piece 1 is found by the cloth piece angle detection sensor 8 provided in 7, and one of the corners of the cloth piece 1 is detected by the second gripping device 7. grab. In FIG. 6, the grip of the first gripping device 2 of the cloth piece 1 and the nip of the roller 9 are removed, one of the corners of the cloth piece 1 is gripped by the second gripping device 7, and the cloth piece 1 is retracted.

[0017]

Since the present invention is constructed as described above, it has the following effects. No matter which position of the rectangular cloth piece is gripped, or when several pieces of the cloth piece are gripped at the same time, one of the corners of the cloth piece can be almost certainly gripped and hung, so that the efficiency of the spreading operation of the cloth piece is improved. Has improved.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view showing an embodiment when a cloth piece is hung from a pile of square-shaped cloth pieces by a first gripping device and suspended.

FIG. 2 is a schematic explanatory view showing an embodiment in which the suspended piece of cloth is lifted and stopped.

FIG. 3 is a schematic explanatory view showing an embodiment at the time of expanding the hem portion of the suspended cloth piece.

FIG. 4 is a schematic explanatory view showing an example when the suspended cloth piece is sandwiched by flat plates.

FIG. 5 is a schematic explanatory view showing an embodiment at the time when the suspended cloth piece is sandwiched by flat plates and a corner portion of the cloth piece at the lower end is gripped by a second gripping device.

FIG. 6 is a schematic explanatory view showing an example at the time when the corner portion of the cloth piece is grasped and hung by the second grasping device.

FIG. 7 is a schematic explanatory view showing another embodiment when the hem of the cloth piece is expanded by an expansion member and sandwiched by rollers.

FIG. 8 is a schematic explanatory view showing another embodiment at a time point when a hem of the cloth piece is sandwiched by rollers and a corner portion of the cloth piece is pulled up to a constant height.

[Explanation of symbols]

 1 square shaped cloth piece 2 first gripping device 3 area sensor 4 flat plate 5 pressure air outlet 6 air tube 7 second gripping device 8 cloth piece angle detection sensor 9 roller 10 expansion member

Claims (5)

[Claims] 1. A rectangular piece (1) of cloth is grasped and hung up, and then the hem of the hanging piece (1) is widened,
A method of releasing the overlapping of the hanging corners of the cloth piece (1) and grasping and hanging one of the corners of the rectangular cloth piece (1). 2. A rectangular cloth piece (1) is grabbed and hung from an arbitrary portion, and then the hem of the hanging cloth piece (1) is expanded,
The cloth piece (1) is sandwiched so that its corners are aligned in a straight line, and the gripping device (7) is moved in a straight line direction to grip one of the corners of the square-shaped cloth piece (1) arranged in a straight line. How to hang. 3. A first gripping device (2) for grabbing and suspending an arbitrary part of a rectangular cloth piece (1) and members (5, 10) for expanding the hem of the suspended cloth piece (1), One in which members (4, 9) for fixing the spread hem of the cloth piece (1) are provided, and a second gripping device (7) for holding one of the corners of the fixed cloth piece (1) is provided. A device that holds and hangs one of the corners of a shaped piece of cloth. 4. A first gripping device (2) for gripping and suspending an arbitrary portion of a rectangular cloth piece (1) and a pressure air outlet for expanding the hem of the suspended cloth piece (1) by compressed air. (5) A flat plate (4) sandwiching the hem portion of the cloth piece (1) attached to the flat piece (4) is provided, and one of the corners of the cloth piece (1) sandwiched by the flat plate (4) is grasped to detect a piece of cloth angle. A device for grabbing and hanging one of the corners of a rectangular cloth piece provided with a second gripping device (7) having a sensor (8) attached to the tip. 5. The cloth is provided with a first gripping device (2) for gripping and suspending an arbitrary portion of the rectangular cloth piece (1) and an expansion member (10) for expanding the hem of the suspended cloth piece (1). A cloth piece for holding left and right rotating rollers (9) sandwiching the spread hem of the piece (1), and moving forward and backward in the axial direction of the roller (9) to grip one of the corners of the cloth piece (1). A device for grabbing and hanging one of the corners of a rectangular cloth piece provided with a second gripping device (7) having a corner detection sensor (8) attached to the tip.