JPS63139864A - Retaining method for cloth piece end and device therefor - Google Patents

Abstract

PURPOSE:To expand automatically a cloth piece from a drier by providing a drive device for lifting approximately vertically one of retaining points of the cloth piece retained with first and second chuck conveyors, and a chuck brake device for giving a brake force to the other retaining point. CONSTITUTION:A second chuck conveyor C, while squeezing a cloth piece S delivered from a first chuck conveyor B with a squeezing device 111, detects the lowest end of the cloth piece S with a photoelectric sensor and the like 112, and carries the cloth piece S to a third chuck conveyor D with the lowest end thereof retained on and hung from a chuck 114. A third chuck conveyor D, while squeezing the cloth piece S with a squeezing device 117, detects the lowest end thereof with a photoelectric sensor and the like 118 and a chuck 120 retains said lowest end. And the chuck 120 retaining the cloth piece S is pulled by the chuck 114 via the cloth piece S and moves to a fourth chuck conveyor E along a rail 151. And the end of the cloth piece S adjacent to the retaining point of the chuck 120 is detected and retained with a chuck 124.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is a device for spreading cloth pieces, a device for sorting linen or other textile products, a device for spreading linen, etc. before washing, etc. The present invention relates to a gripping method and device.

(Prior Art) Generally, at a laundry factory, sheets, towels, wrapping cloths, etc. (hereinafter referred to as cloth pieces) that arrive at a laundry factory are washed in a tunnel washer, etc., as shown in Fig. 27, and then passed through a dehydration process and placed in a dryer. throw into. After the drying process, the pieces of cloth are loosened, unfolded, ironed, folded, and shipped. At this time, between the drying process and the ironing process, the pieces of cloth taken out from the dryer are conveyed to a fixed place by a belt conveyor, and 5 to 6 workers remove the pieces of cloth from the pile of cloth pieces. The sheets are taken out one by one, spread out, and sent to an ironing device or its auxiliary devices (spreader, feeder, etc.).

The work of unfolding the pieces of cloth after the drying process is done in a hot and humid atmosphere, making it hard work for the workers under adverse conditions. Therefore, it has been desired to develop a device that automates the conventional work of unfolding cloth pieces, but such an automated device does not currently exist in the industry. Only a method for holding a piece of cloth in a fixed position has been proposed in .

This method consists of a first step of holding and hanging a piece of cloth, and a second step of holding the lowest end of the piece of cloth suspended in the first step, releasing the hold in this first step, and hanging it. A second step of lowering the piece of cloth, a third step of holding the lowest end of the piece of cloth suspended in the second step, and a fourth step of holding the two points held in the second and third steps almost horizontally. It consists of several steps, and the case of rectangular cloth is explained as follows.

That is, if an arbitrary point of the rectangular piece of cloth S is held and hung in the first step, the result will be as shown in FIG. 28, and a straight line passing through the held point 27 and the center of gravity 28 will be vertical. Next, in the second step, the lowermost end 29 in this state is held and suspended, and when the holding in the first step is released, the result will be as shown in Fig. 29, and the distance between the upper end 29 and the lower end 30 will be a constant, so As a third step, the lower end 30 in FIG. 29 is held. Next, in the fourth step, when the upper end 29 and the lower end 30, which are the holding points in the second and third steps, are held substantially horizontally, the result is as shown in FIG. 30. It may be held in a fixed position in this state and may be moved to the next step. Further, in order to hold one sheet in the unfolded state, as a fifth step, one of the lower ends 31 and 32 in FIG. 30 is held.

FIG. 31 is a front view of a device for holding a piece of cloth in a fixed position used to carry out the above-described method of holding a piece of cloth in a fixed position, and for convenience of explanation, the device is divided into four sections A to D. The configuration of this cloth piece fixed position holding device is to hold the cloth piece in area A and detect the holding of one corner of the cloth piece, and to detect the diagonal of the corner held in area A in area B. Hold the diagonal of the cloth piece held in sections B and C horizontally, hold only one of the two overlapping corners that are the bottom edge, and hold the cloth piece in sections C and D. Two adjacent corners of the strip are held together to hold the strip in place. In the figure, the ironing rod 70 is
The chuck 68 is provided near the end of its rightward movement so that it can move up and down along the movement hole 71.

The chuck 72 is movable up and down along the movement hole 73 below the rightward end of the chuck 68, and is movable obliquely up and down to the right from the bottom dead center. The squeezing rod 74 is attached to the chuck 72
It is provided in the vicinity of the top dead center of the diagonal vertical movement to move vertically along the movement hole 75. The chuck 76 is provided so as to be able to move obliquely up and down along the movement hole 77, with the bottom dead center being below the top dead center of the chuck 72 when the chuck 72 moves up and down. The chuck 78 is provided below the midpoint of a line connecting the top dead centers of the diagonal vertical movements of the chuck 72 and the chuck 76 so that it can move up and down along the movement hole 79, and the chuck 78 has its top dead center. is set as the bottom dead center of the vertical movement. In addition, the chucks 68, 7
2, 76, 78 and the ironing rod 70, 74 are driven by an air cylinder (not shown) according to the movement hole.

To hold a rectangular piece of cloth in a fixed position with this cloth piece fixed position holding device, the following steps are performed.

First, as shown in FIG.
, and then move to the right to reach the state shown in FIG. 33. In FIG. 33, the lowermost end of the piece of cloth 80 suspended from the chuck 68 is not necessarily directly above the chuck 72, so it is squeezed with a circular ironing rod 70 having a notch in the chuck. The lowermost end of the cloth piece 80 (the corner portion of the cloth piece 80) is placed directly above the chuck 72 located directly below the chuck 68. This causes the chuck 72 to rise and hold one of the lowermost rectangular corners of the piece of cloth 80, as shown in FIG. Thereafter, the chuck 68 releases the cloth piece 80, and the chuck 72 descends and further rises to the upper right along the movement hole 73. At this time, the squeezing rod 70 returns to the top dead center of the moving hole 71.

In Fig. 35, when the moving hole 73 reaches the top dead center, the bottom is its lowest end (the diagonal of the corner held by the chuck 72).
comes to the position of the chuck 76 (a fixed position depending on the size of the cloth piece 80), and is detected and held by the chuck 76. The chuck 76 holding the lowest end of the cloth piece 80 moves up to the top dead center along the moving hole 77, and as shown in FIG. 36, the chucks 72 and 76 hold the two diagonal corners of the cloth piece 80 horizontally. .

At this time, the squeezing rod 70 returns to the top dead center of the moving hole 75.

Next, in FIG. 36, a piece of cloth 80 whose two diagonal corners are held horizontally by chucks 72 and 76 has a chuck 81 corresponding to chuck 76 provided at one of its hanging corners. , the chuck 72 can be released by holding the lowered corner, and the piece of cloth 80 can be held in position vertically by the chuck 76.81. In addition, in this cloth piece fixed position holding device, the distance between the upper right end position of the chuck 72 and the lower left end position of the chuck 76 is approximately equal to the diagonal of the cloth piece to be applied. If the chuck 72 were to hold two adjacent corners of the piece of cloth 80 in the figure, the chuck 76 would not be able to hold the piece of cloth 80 and the piece of cloth 80 would have to be held again.

(Problems to be Solved by the Invention) By the way, the cloth gripping device used in the conventional cloth piece fixed position holding device has the following problems.

I mean, Chuck? Since 2, 76, and 81 are each in a fixed position, only rectangular cloth of a specified size can be developed, and this is not practical for cloth pieces of various sizes.

In addition, since the chuck 72 cannot move from its fixed position until the chuck 81 holds the piece of cloth 80, multiple devices of the same type are required for high-speed deployment, resulting in problems such as low deployment capacity. Ta.

The present invention was proposed to solve the above-mentioned conventional problems, and it automatically unfolds the cloth pieces discharged from the dryer.
It is an object of the present invention to provide a method and device for gripping the edges of pieces of cloth, which can free workers from working in adverse environments and can automate laundry factories.

(Means and effects for solving the problems) Therefore, the present invention provides a first step of grasping and hanging one end of a rectangular piece of cloth, and a lowermost end of the piece of cloth suspended in the first step. a second step of gripping the piece of cloth, and a third step of lifting almost vertically one gripping point of the piece of cloth gripped in the first and second steps.
and a fourth step of applying a braking force to the other gripping point to apply tension to the cloth piece, making one side of the cloth piece having an end adjacent to these gripping points substantially horizontal, the first step, This method includes a fifth step of gripping the end of the piece of cloth adjacent to the gripping point in the second step, and this is a means and action for solving the problem.

Further, the present invention includes a first chuck conveyor that grips and suspends one end of a rectangular piece of cloth, and a second chuck conveyor that grips the lowest end of the cloth piece suspended by the first chuck conveyor. , comprising a driving device for almost vertically lifting one gripping point of the cloth piece gripped by the first and second chuck conveyors, and a chuck braking device for applying a braking force to the other gripping point, the second chuck conveyor It is arranged so that one side of the cloth can be held almost horizontally, and is equipped with a third chuck conveyor that grips the end of the cloth adjacent to the first and second chuck conveyors. is used as a means to solve problems.

(Example) Hereinafter, the present invention will be explained with reference to the embodiments shown in the drawings.
2 and 2 show an embodiment of a cloth unfolding device to which the cloth edge gripping device of the present invention is applied, and FIG. 1 shows a configuration for unfolding a rectangular cloth in the long side direction. FIG. 2 shows the configuration when a rectangular piece of cloth is unfolded in the short side direction. Note that FIG. 2 shows only the parts that are different in configuration from FIG. 1, and common parts are omitted.

In FIG. 1, 100 is a belt conveyor that conveys rectangular cloth pieces S discharged from a dryer (not shown) to this apparatus;
01 and 102 are belt conveyors that receive and circulate the pieces of cloth S from the belt conveyor 100. These belt conveyors 100, 101, and 102 are shown in Figure 3 (
a) They are installed in the arrangement shown in (b), and the belt conveyors 101 and 102 form a circulation path together with the sliding plates 130 and 131. In addition, belt conveyor 1
32 is for collecting cloth pieces that have failed to unfold. In addition, A in FIG. 1 is a pick-up device that suctions the piece of cloth S on the belt conveyors 101, 102 with an air vacuum 104 and mechanically holds it with a chuck 103, and this pick-up device A holds the piece of cloth S. A device 105 is provided for lifting the chuck 103 and passing it to the first chuck conveyor B.

The first chuck conhair B picks up the piece of cloth S from the pick-up device A, holds it with a chuck 106, and holds the piece of cloth S from the pick-up device A.
The chuck 106 holding the piece of cloth S is conveyed to the second chuck conveyor C while being suspended.
07.109, it moves along rail 1)0.

The second chuck conveyor C squeezes the piece of cloth S conveyed by the first chuck conveyor B with the squeezing device 1)1.
The lowest end of the piece of cloth S is detected by a photoelectric sensor 1) 2, and the lowermost end of the piece of cloth S is held and suspended by a chuck 1) 4 while being conveyed to the third chuck conveyor D. The chuck 1) 4 holding the holder is moved along a rail 150 by a drive device 1) 5, 129.

The third chuck conveyor D squeezes the piece of cloth S conveyed by the second chuck conveyor C with the squeezing device 1) 7.
The lowest end of the cloth S is detected by a photoelectric sensor 1) 8, and the chuck 120 holds the lowest end of the cloth S.
The chuck 120 holding the
.

It is designed to move along a rail 151 that continues to F. Note that the chuck 1) 4 of the second chuck conveyor C rises almost vertically before the fourth chuck conveyor E.

The fourth chuck conveyor E carries the ends of the pieces of cloth S (chuck 120
(the end adjacent to the holding point) is detected by a photoelectric sensor or the like 122, and the end is held by a chuck 124. Or 6th chuck conveyor G
It is now being transported to. The fifth and sixth chuck conveyors F and G carry cloth pieces S from the fourth chuck conveyor E.
The receiver picks up the cloth piece S, holds the adjacent ends of the cloth piece S with a chuck as shown in the figure, and conveys it to the next process (ironing is a process) by the drive device 126. In the case of Fig. 1, the cloth piece S Since this is a case where the long side of the chuck 120 and the
24 to hold the cloth piece S. In addition, in the case of Fig. 2, the short side of the cloth piece S is unfolded, so the chuck 1) 4
and 124 hold the cloth piece S. In addition, 108.1 in the figure
) 6 is a chuck 106° that holds the piece of cloth S; 1) a frame feeding device that temporarily stops 4 and removes the kinks; 1) 3.1
)9.123 Air suction of laddering device 1) L1) 7 and end gripping device 121.

Fig. 4 fa) (bl is chuck 106, 1) 4, 12
0. i24 (7) One example is shown.
By constantly pushing down the bottle 134 by the spring force of the spring 135, the piece of cloth S is moved to the lever 133.
．． It has a structure in which it is held between 133. and lever 1
33. When the upper end side of 133 is pushed up by an external force in the direction of the arrow in the figure, the lever 133 moves as shown by the two-dot chain line.
It has a structure in which the cloth piece S is released from being held by rotating around the bin 134. Also, these chucks 106.1
) 4.120.124 moves along the guide rail 139 by the roller 136 running inside the guide rail 139, and the driving force is applied to the chain 138 as shown in the figure.
transmitted by. Note that if the guide rail 139 faces downward, the chuck 106.1)4.120.1
24 can be moved by gravity without the chain 138. Further, in the figure, 137 is a cover, 140 is a resin rail that guides the roller 136 and the chain 138,
141 is a guide rail on the return side of the chain 138.

FIG. 5 shows the structure of the ironing devices 1) 1.1) 7. These ironing devices 1) 1.1) 7 introduce the piece of cloth S into the ironing groove 142 and insert it into the chuck 143 (the first Figure 10
6.1) Corresponding to 4) while pulling in the direction of the arrow in the figure, near suction 144 (corresponding to 1) 3° 1) 9 in Figure 1)
The structure is such that the lower half of the piece of cloth S is squeezed by suction.

Next, a method of unfolding a piece of cloth according to the present invention will be explained with reference to FIGS. 6 to 15.

First, the cloth pieces flowing on the belt conveyor 100 are
As shown in Fig. 3, a belt conveyor 101, a sliding plate 131
, the belt conveyor 102, and the sliding plate 130. Here, there is a drop in the transfer from the belt conveyor 102 to the sliding plate 130, and the cloth pieces S are naturally loosened by this drop and piled up in the circulation path. Next, select an arbitrary point
, the chuck 10 of the pick-up device A as shown in FIG.
3, pick it up and pass it to the first chuck conveyor B. On the first chuck conveyor B, the arbitrary point X of the piece of cloth S picked up by the chuck 103 is held again by the chuck 106 as shown in FIG. 1)
The cloth piece S is introduced into the straining groove shown in FIG. Hold the corner a of the piece of cloth S with the chuck 1) 4 as shown. and,
Release the holding of the chuck 106 and put the linen S in the chuck 1
) 4, and conveyed to the third chuck conveyor D while removing kinks using the frame feeder 1) 6.

On the third chuck conveyor D, the cloth piece S is
While squeezing the lower half of the body with the squeezing device 1) 7, the lowest end (corner C) is detected with the sensor 1) 8, and the chuck 12
Hold the corner C of the cloth piece S at 0. The chuck 120 holding the corner C of the piece of cloth S is pulled through the piece of cloth S by the chuck 1) 4 moved by the drive device 129, and the chuck 120 holds the corner C of the piece of cloth S.
51. Then, the chuck 1) 4 rises almost vertically in front of the fourth chuck conveyor E, and as shown in FIG. .

As the chuck 1) 4 rises vertically, the corner d of the cloth piece S hangs down below the chuck 1) 4 as shown in FIG.
It is held by the chuck 124 of the chuck conveyor E. Then, the corner a of the cloth piece S is taken by the chuck 1) 4 of the second chuck conveyor B, and the corner C is taken by the chuck 12 of the third chuck conveyor.
0, the angle d is the chuck 124 of the fourth chuck conveyor E.
chuck 1) by the drive device 129 while holding the
4 and at the same time chuck 120.1 through the cloth piece S.
24 will also be towed. Next, in this state, the chucks 120 and 1
Transfer only chuck 24 to the fifth chuck conveyor F, and chuck 1
) If only the hold in No. 4 is released and conveyed, the cloth piece S
As shown in the figure, it can be transported to the next process (ironing is the process) in a state where it is unfolded in the long side direction. Furthermore, if only the chucks 1) 4 and 124 are transferred to the sixth chuck conveyor G in the state shown in FIG. It can be transported to the next process (ironing is a process) in the unfolded state.

Next, the cloth piece gripping device of the present invention will be described in detail.
6 to 18, reference numeral 151 denotes a rail on which the chuck 120, which grips the C end of the piece of cloth S, moves. Note that normally in this case, no driving force is applied. 149 is a rail on which the chuck 124 that grips the d end of the piece of cloth S moves.

Note that, in this case as well, no driving force is normally applied. 150
is a rail to which a drive device 129 is attached, which transports the chuck 1) 4 almost vertically. A guide bar 161 is provided to prevent the cloth S from swinging (flapping), and is installed so as to sandwich the cloth S. Reference numeral 162 denotes a rail that transports the piece of cloth S to the next process (ironing is a process), and on which the empty chuck 155, which has released its grip on the piece of cloth S, returns one after another.

163 is the chuck 120 inside the rail 151 and the rail 1
The chucks 124 in the rails 49 are connected to each other, and a merging plate 192 is interposed at the merging point as shown in FIG. 165 is a bar, chuck 1)
4.120 faces upward, so it is provided between the cloth piece S and the rail 150 to prevent the cloth piece S and the rail 150 from coming into contact with each other.

A brush 170 is rotatably supported by a driving force (not shown) below the rails 150 and 151 in order to smooth out wrinkles on the sides of the cloth piece S and make it easier to grip the end d.
Figure 1). 175 is an air nozzle, which is provided below the rails 150 and 151 to produce the same effect as the nozzle 17.
Compressed air is blown out from 5 (Figures 20 and 21).

Reference numeral 180 denotes a chuck supply device, and as shown in FIG.
A cam 184 is rotatably attached to the tip of the air cylinder 182 about a pin 185. The cam 184 is rotated by the operation of the air cylinder 182, and the chucks 155 are supplied downward one by one.

Reference numeral 186 denotes a chuck supply/rotation device, which is installed below the rails 149 and 162 as shown in FIG. Plate 1 attached to the rotation shaft of indexing device 187 attached to a fixed frame (not shown)
The receiving rail 189 fixed on the rail 1
49 and 162, and is installed in a position where the chuck from the same rail can enter smoothly. An air cylinder 190 for opening the chuck 155 and an arm 191 for transmitting the power of the air cylinder 190 to the chunk 155 are attached to the plate 188 (FIG. 19). Reference numeral 193 denotes a return stopper, and the chuck 124 in the rail 149 grips the d end of the piece of cloth S and is pulled by the chuck 1)4 through the piece of cloth S and moves up inside the rail 149. This is prepared in case the grip on the cloth piece S comes off. Further, the chuck 124 moves upward within the rail 149 with the bin 194 as the center of rotation and by pushing up the holding force of a spring (not shown) attached as shown in FIG.

Next, FIG. 24 shows an example of a chuck braking device (spring type). In the figure, reference numeral 195 is a chuck braking device, and as shown in FIG. Move smoothly. In order to reliably grip the d end of the cloth S, it is important to apply a braking force to the chuck 120 to prevent the a and c ends of the cloth S from sagging, and this device is designed for this purpose. rail 151
A pin 196 is fixed therein, and a braking piece 197 can be pressed against the back side of the chuck 120 by a spring 198 with the pin 196 as the center of rotation. The braking force can be easily adjusted by changing the tightening depth of POL199.

Next, a method of holding the d end of the cloth piece S will be explained with reference to FIG. First, as shown in FIG. 17 (al), the chuck 1) 4 grips the a end of the piece of cloth S, and is conveyed within the rail 150 by the drive device 129. On the other hand, the C end of the piece of cloth S is gripped by a chuck 120. Chuck 1) 4.
Since the point at which the piece of cloth S is gripped is set upward, a bar 165 is attached to the piece of cloth 120 to prevent staining and damage to the piece of cloth S, and the cloth piece S is conveyed as shown in the figure.

Here, since a chuck braking device 195 is attached to the chuck 120, the cloth piece S can increase the accuracy of gripping the end d by applying an appropriate tension between the ends a and C. The state of the piece of cloth S when no tension is applied is as shown in FIG. 23, and it is difficult to grip the end d of the piece of cloth S.

Further, the wrinkles in the piece of cloth S are smoothed out or the tangled state is released by any one of the brush 170, the air nozzle 175, the guide bar 161, or a combination thereof. If the conveyance speed is slow, these wrinkle smoothing mechanisms may not be necessary.

Next, as shown in FIG. 17(b), when the piece of cloth S comes to the position shown in this figure, the sensor 122 is turned on. At this time, the chuck supply device 180 supplies the empty chuck 155 to the receiving rail 189 of the chuck supply/rotation device 186, and then rotates the indexing device 187 by 180' to replace the empty chuck 155 and the chuck 124 with the cloth piece S. is waiting at a predetermined position (a position where it can be moved to the rail 149) in order to grasp the end d of.

Next, as shown in FIG. 17(C), when the chuck 1) 4 further moves up within the rail 150, the piece of cloth S moves out of the position of the sensor 122, and the sensor 122 becomes an OFF signal. At this time, the lower sides c and d of the cloth piece S are almost horizontal,
The end d of the cloth piece S is sucked into the air suction 123. After a time set by a timer (not shown) from the OFF signal of the sensor 122, the air cylinder 190 is actuated to separate the arm 191 from the chuck 124, close the chuck 124, and grip the end d.

Next, as shown in FIG. 17(d), when the chuck 1) 4 further rises within the rail 154, the chuck 120°12
4 holds the c and d ends of the piece of cloth S and slides it onto the rail 151.
149, it is pulled by the piece of cloth S and moves. Thereafter, the chuck 155 is rotationally moved to the position of the chuck 124 by the chuck supply/rotation device 186, and the next empty chuck 155 is sent to the chuck supply/rotation device 186 by the chuck supply device 180.

FIG. 25 shows an example of a chuck braking device (weight type). In the figure, 200 indicates the chuck braking device. This device brakes the movement of the chuck 120 with a weight 21), which is attached to the side of the rail 151. A slider 208 is slidably attached along the bar 209,
A hook 206 is attached to the slider 208 by a weight 21) about a pin 210 as shown in FIG. This hook 206 is connected to the rail 1
When it comes to the position of the opener 212 fixed to the slider 208, it opens as shown by the two-dot chain line in FIG.
is suspended and can be moved up and down via rollers 207. The braking force can be easily changed by changing the weight of this weight 21). In addition, although the case where the present invention is applied to a cloth spreader has been described above, the sorting of linen or other textile products can be similarly applied to the apparatus.

(Effects of the Invention) Since the present invention is configured as explained in detail above,
It is now possible to automate the unfolding and sorting of linen, which previously had to be done manually. Therefore, workers can be freed from working in sanitary or poor environments, and laundry factories can be automated.

[Brief explanation of the drawing]

1 and 2 are process diagrams of a cloth spreading device equipped with a cloth edge gripping device showing an embodiment of the present invention, and FIG. 3(a)
is a plan view of the belt conveyor in the pick-up device section of FIG. 1, FIG. 3(b) is a side view of the same, and FIG.
Front view of the chuck used in Figures and Figure 2, Figure 4 (bl
Figure 5 is a sectional view of the same side, Figure 5 is a perspective view of the laddering device, Figure 6 is
Figure 7, Figure 8, Figure 9, Figure 1O, Figure 1), Figure 12
13, 14, and 15 are explanatory diagrams of the cloth unfolding method according to the present invention, and FIG. 16 is a detailed perspective view of a cloth end gripping device showing an embodiment of the present invention. Figure 17 (a) (b) (C) (dl is a side view of the edge gripping device for the same piece of cloth in different operating states, Figure 18 (al
(bl shows an empty chuck supply device according to one embodiment of the present invention, (a) is a view taken along the arrow in FIG. 16, (b) is a cross-sectional view taken along the line L-L in (a), and FIG. Chart showing an embodiment of the invention.
Figure 20 is a side view of the pick supply/rotation device, Figure 20 is a plan view of the mechanism for removing wrinkles around the edge of a piece of cloth (air blowing method is used), Figure 21 is
The figures are also a plan view of the wrinkle smoothing mechanism (brush type), Fig. 22 is a view in the direction of arrow N in Fig. 16, Fig. 23 is a side view showing the state of the cloth when the chuck does not have a braking device, Fig. 24 Figure (a) is a side sectional view showing an example of a chuck braking device (spring type), and Figure 24 fb) is a side sectional view showing an example of a chuck braking device (spring type).
P sectional view, FIG. 24(C) is R sectional view, FIG. 27 is a block diagram showing the cleaning process in a conventional laundry factory,
28, 29, and 30 are explanatory diagrams showing a conventional method of holding the edge of a piece of cloth, FIG. 31 is a front view showing an example of a conventional device for holding a piece of cloth in a fixed position, and FIGS. 33, 34, 35, and 36 are front views illustrating the operating sequence of the cloth piece fixed position holding device in FIG. 31. Explanation of the main parts of the figure B.--First chuck conveyor C--Second chuck conveyor D--Third chuck conveyor E--Fourth chuck conveyor F-Fifth chuck conveyor 1) 4, 120.124. 155- Chuck 122-
Sensor 123--Air suction 149, 150.15L 162.163--Rail 1
65--Par 170-Brush 175-Air nozzle 180-Chuck supply device 186-Chuck supply/rotation device 195.200--Chuck braking device Applicant Mitsubishi Heavy Industries, Ltd. Chuubishi Engineering Co., Ltd. No. 3 Figure <a> (b) Figure 5 Figure 6 Figure 7 Figure 8 Figure 15 Figure 17 Figure 19 Figure 20 Figure 21 Figure 24 (Q) (b)

Claims (2)

[Claims] (1) A first step of grasping and hanging one end of a rectangular piece of cloth; and a second step of grasping the lowest end of the piece of cloth suspended in the first step; , a third step in which one gripping point of the cloth piece to be gripped in the second step is lifted almost vertically.
and a fourth step of applying a braking force to the other gripping point to apply tension to the cloth piece, making one side of the cloth piece having an end adjacent to these gripping points substantially horizontal, the first step, A method for gripping an edge of a piece of cloth, comprising a fifth step of gripping an end of the piece of cloth adjacent to the gripping point in the second step. (2) A first chuck conveyor that grips and suspends one end of a rectangular piece of cloth, and a second chuck conveyor that grips the lowest end of the cloth piece suspended by the first chuck conveyor; The second chuck conveyor is equipped with a driving device that almost vertically lifts one gripping point of the cloth piece gripped by the first and second chuck conveyors, and a chuck braking device that applies a braking force to the other gripping point. A piece of cloth characterized in that it is arranged so that one side can be held substantially horizontally, and is equipped with a third chuck conveyor that grips the end of the piece of cloth adjacent to the first and second chuck conveyors. Edge gripping device.