WO2019044191A1 - Mandrin de serrage de tissu et dispositif de manipulation de tissu - Google Patents

Mandrin de serrage de tissu et dispositif de manipulation de tissu Download PDF

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Publication number
WO2019044191A1
WO2019044191A1 PCT/JP2018/026147 JP2018026147W WO2019044191A1 WO 2019044191 A1 WO2019044191 A1 WO 2019044191A1 JP 2018026147 W JP2018026147 W JP 2018026147W WO 2019044191 A1 WO2019044191 A1 WO 2019044191A1
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WO
WIPO (PCT)
Prior art keywords
cloth
gripping
chuck
gripping claws
holding
Prior art date
Application number
PCT/JP2018/026147
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English (en)
Japanese (ja)
Inventor
誠 矢野
雄一郎 矢部
Original Assignee
株式会社プレックス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社プレックス filed Critical 株式会社プレックス
Priority to CN201880051874.6A priority Critical patent/CN111032943A/zh
Priority to US16/641,813 priority patent/US20200224348A1/en
Priority to KR1020207003606A priority patent/KR20200027983A/ko
Priority to EP18851311.3A priority patent/EP3677714A4/fr
Publication of WO2019044191A1 publication Critical patent/WO2019044191A1/fr

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F67/00—Details of ironing machines provided for in groups D06F61/00, D06F63/00, or D06F65/00
    • D06F67/04—Arrangements for feeding or spreading the linen
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
    • D06C3/00—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics
    • D06C3/02—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics by endless chain or like apparatus
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
    • D06C3/00—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics

Definitions

  • the present invention relates to a cloth gripping chuck for gripping and releasably holding cloths in a cloth laundry factory or the like, and cloth handling for moving the cloth gripping chucks and performing operations such as lifting, pulling or delivery of cloths. It relates to the device.
  • Cloths used in cloth washing factories etc. are automatic spreader (spreading) machines for spreading cloths and cloth spinning machines that untwist cloth masses consisting of a plurality of cloths tangled with each other.
  • a large number of cloth handling devices are mounted to perform operations such as lifting, pulling out, and delivery, and the automatic spreader of Patent Document 1 includes, for example, a lifting device, a temporary holding device, a corner end device, a cross pulling device Etc. correspond to this.
  • the chuck in the cloth handling device of this type has a pair of gripping claws, and the pair of gripping claws is opened and closed using a driving means such as an air cylinder or a motor to grip or release the cloth or the like. It is configured to do.
  • a driving means such as an air cylinder or a motor to grip or release the cloth or the like. It is configured to do.
  • FIG. 41 As a conventional cloth gripping chuck, as shown in FIG. 41, there is a type in which the entire gripping surface of the gripping claws is flat, and the entire gripping surface contacts each other when the chuck is fully closed.
  • the tip of the gripping claw is in close contact with the chuck in the fully closed state, so as shown in FIG. For example, taking a pile, there is a problem that damage such as fraying occurs.
  • the present invention solves the above-mentioned problems of the prior art, and provides a cloth gripping chuck and a cloth handling device capable of reducing the dropping of cloth while avoiding damage to the cloth when handling the cloth.
  • the purpose is to
  • the present invention is a cloth grasping chuck comprising a pair of opposing gripping claws and an opening / closing means for relatively moving the pair of gripping claws closer to and away from each other, in order to achieve the above object.
  • a gap be formed between the projecting portions facing each other at the fully closed position of the pair of gripping claws, and the gap is a gripping target. More preferably, the thickness is set to be approximately equal to the thickness of two cloths.
  • At least one of the pair of gripping claws extends in both the extending direction, which is a direction from the proximal end to the distal end of the gripping claws, and the opposing direction.
  • it is provided so as to be swingable about a swing axis extending in a direction perpendicular to the center.
  • the present invention comprises a cloth gripping chuck having a pair of opposing gripping claws and an opening / closing means for relatively moving the pair of gripping claws closer to and away from each other, and a moving member for moving the cloth gripping chuck.
  • each grasping nail has an overhanging portion projecting toward the other opposing grasping nail at the tip, and the base of the grasping nail of the overhanging portion
  • the end-side surface is formed as a flat surface parallel to the opposing direction of the pair of gripping claws, or formed as an inclined surface inclined in a direction approaching the proximal end side toward the other overhanging portion opposed ing.
  • a gap be formed between the projecting portions facing each other at the fully closed position of the pair of gripping claws, and the gap is a gripping target. More preferably, the thickness is set to be approximately equal to the thickness of two cloths.
  • At least one of the pair of gripping claws extends in both the extending direction, which is a direction from the proximal end to the distal end of the gripping claws, and the opposing direction.
  • it is provided so as to be swingable about a swing axis extending in a direction perpendicular to the center.
  • the cloth gripping chuck when a part of the cloth is brought into contact between the pair of gripping claws in the open position and the pair of gripping claws is closed by the opening / closing means, the cloth is partially interposed therebetween
  • the cloth can be lifted by, for example, moving the cloth handling device upward in this state.
  • the back surface when load from the cloth is applied to the surface (back surface) of the proximal end side of the gripping claws of the protruding portion of the gripping claws, the back surface is in the opposing direction of the pair of gripping claws in the fully closed position of the gripping claws.
  • the gripping claw is further pivoted in the closing direction by being formed as a parallel plane or as an inclined surface which is inclined in the direction approaching the base end side toward the other overhanging portion facing the other. , The cloth part on the back side of the overhang part is caught on the back of the overhang part. Therefore, the omission of the cloth Y is reduced.
  • the cloth gripping chuck of the present invention when the gap is maintained between the overhanging parts even in the fully closed position of the gripping claws, the cloth gripped by the cloth gripping chuck is likely to fall off. In this case, since the overhanging portion does not forcibly hold the cloths and allows them to come off, it is possible to more reliably prevent the cloth from being damaged by the gripping claws. Moreover, when the dimension of the said clearance gap is made substantially equal to the thickness for two sheets of cloths, damage loss of cloths can be prevented more reliably, reducing omission of cloths.
  • FIG. 2 is an enlarged perspective view of a temporary holding device and a corner end device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a corner end-out device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a cornering device and a cornering device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a corner end taker and a side draw device of the automatic deployment machine of FIG. 1;
  • It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG. It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG. It is an expansion perspective view of the horizontal pulling apparatus of the cloth automatic deployment machine of FIG.
  • FIG. 2 is an enlarged perspective view of a lateral pulling device, a two-position holding device, an edging conveyor, and a vertical inverting device of the fabric automatic developing machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 1 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of a two-position holding device, an edging conveyor, and an upside-down reversing device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of an edged conveyor and an upside-down reversing device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of an edged conveyor and an upside-down reversing device of the automatic deployment machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1.
  • FIG. 2 is an enlarged perspective view of an edging conveyor, an upside-down reversing device, a roller and a loading device of the automatic deployment machine of FIG. 1. It is an expansion perspective view of a roller and loading device of a cloth automatic deployment machine of FIG. It is an enlarged perspective view of the roller of the cloth automatic deployment machine of FIG. FIG.
  • FIG. 2 is an enlarged perspective view of a roller, an advancing and retracting device, and a conveyer of the cloth automatic unfolding machine of FIG. 1;
  • FIG. 2 is an enlarged perspective view of a roller, an advancing and retracting device, and a conveyer of the cloth automatic unfolding machine of FIG. 1;
  • It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer.
  • It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG. 1, and a conveyer.
  • It is an expansion perspective view of the advancing and retreating apparatus of the cloth automatic deployment machine of FIG.
  • FIG. 35 shows a fully closed state of a holding claw
  • FIG. 36 shows the cloth gripping chuck of FIG. 35 gripping and lifting the cloth.
  • the cloth holding chuck of FIG. 35 holds and lifts the cloth, it is a view showing the cloth falling out from the gap between the overhanging parts.
  • the fabric gripping chuck of the present invention and the fabric handling device including the same can perform operations such as lifting, pulling out or delivery of the fabric in a fabric automatic developing machine or a fabric milling machine installed in a fabric laundry factory or the like.
  • the cloth gripping chuck of the embodiment and the cloth handling apparatus including the same are applied to an automatic cloth developing machine as an example of use as an example.
  • FIG. 1 shows an overall view of an automatic cloth loading machine
  • FIGS. 2 to 34 show individual devices of the automatic cloth loading machine of FIG.
  • each direction of front, back, right, left, upper, and lower shall show each direction in the state of FIG.
  • the cloth automatic developing machine automatically develops cloths such as towels, sheets, wrappings, pillow covers, and yukatas which have been washed and dried, and as shown in FIG. , Lifting device 2, temporary holding device 3, corner end positioning device 4, corner end positioning device 5, side pulling device 6, 2 position holding device 7, outline conveyor 8, up-down reversing device 9 and , A loading device 11, an advancing and retracting device 12, a conveyer 13, and a control device (not shown) for controlling the operation of each of the devices 1 to 13. Further, in FIG. 1, a suction conveyer A, a push-out device B, a return conveyer C, and a cloth folding machine D are illustrated as auxiliary or related devices. The return conveyor C is for returning the fabric dropped in the middle of the process to the supply conveyor 1.
  • the cloth automatic developing machine operates as follows. That is, the supply conveyor 1 supplies the washed and dried cloths to the lower side of the lifting device 2, the lifting device 2 lifts the cloths to a predetermined height, and the temporary holding device 3 receives the lifted cloths. Hold and move to the delivery position to the corner ender 4, and the corner ender 4 receives an arbitrary portion of the hanging cloth from the temporary holder 3 to reveal the corner end of the cloth, While the corner end device 5 holds the corner end and holds and supports the cloths and moves them to the side pulling device 6 side, the side pulling device 6 makes the cloths horizontally lie in the front and rear direction, 2
  • the position holding device 7 holds the two positions of the vicinity of the corner of the cloth in a state of lying and the middle position separated from the position by an appropriate distance at the same height and moves it above the trimming conveyor 8 Release the intermediate portion of the fabric, and the edged conveyor 8 The other part of the cloth holding the vicinity of the end is placed and moved to reveal one side edge of the long side of the cloth, and the up-down
  • the side edge is received from the up-down reversing device 9, and the hanging cloth is placed on the roller 10, and the cloth on which the roller 10 is placed remains on the advancing / retracting device 12 side leaving the edge on the short side , And the advancing and retracting device 12 advances to receive the short side edge of the cloth remaining from the roller 10 and then retract while holding the short edge of the cloth and conveying conveyor 13 Transfer the cloth in the unfolded state, and the conveyer 13 unfolds the unfolded cloth.
  • the feeding conveyor 1 may be continuously driven by the motor 1 a during operation.
  • a mass X consisting of about 10 to 50 sheets of rectangular cloth Y, which remains rounded after drying, is dropped.
  • the feed conveyor 1 conveys the lump X of cloth Y to the lower side of the lifting device 2 (indicated by a symbol X 'in FIG. 2).
  • a suction conveyor A is provided at the end of the feed conveyor 1 in the transport direction.
  • the suction conveyor A includes a perforated belt A1, a suction fan A2 that sucks the cloth Y on the supply conveyor 1 through the perforated belt A1, and a cloth lifting device 2 that rotationally sucks and sucks the perforated belt A1. And a motor A3 for conveying immediately below (shown by symbol X '' in FIG. 3). In the vicinity of the end portion of the perforated belt A1, a wall 1b is erected to prevent the lump X from falling from the supply conveyor 1.
  • an extruding device B for pushing the cloth on the supply conveyor 1 directly below the lifting device 2 is provided at the end of the conveying direction of the supply conveyor 1 in the transport direction. You may The pushing device B comprises a cylinder B1 and a pushing rod B2 advanced and retracted by the cylinder B1.
  • the lifting device 2 has a chuck 21 for holding an arbitrary part of the cloth Y and a lifting device for moving the chuck 21 up and down.
  • the lifting device comprises a drive belt 23 and a motor 22.
  • the elevating device may be of any structure as long as the chuck 21 can be moved up and down between the predetermined height and the conveyance surface of the supply conveyor 1, for example, a chain type or a slider unit traveling up and down on rails. Good.
  • the lifting device 2 moves the chuck 21 to the lowermost position (position illustrated by an imaginary line and reference numeral 21 ′ in FIG.
  • the chuck 21 is the end of the feeding conveyor 1
  • the cloth 21 in contact with the cloth Y is placed in contact with the cloth Y and the chuck 21 holds the contact portion of the cloth Y.
  • the cloth holding portion by the chuck 21 may be any place.
  • the chuck 21 moves upward, the chuck 21 moves upward to a predetermined height (uppermost position) shown by a solid line in FIG. 4 while holding the cloth Y by the chuck 21 and suspends the cloth Y It is supposed to hold. At this time, two or more cloths Y may be held by the chuck 21 and lifted.
  • the temporary holding device 3 has a chuck 31 and an advancing and retracting device (an extension cylinder 32) for advancing and retracting the chuck 31 in the front-rear direction.
  • an extension cylinder 32 for advancing and retracting the chuck 31 in the front-rear direction.
  • the extension cylinder 32 extends.
  • the chuck 31 advances to a position (indicated by reference numeral 31 ') indicated by a phantom line in FIG.
  • the telescopic cylinder 32 shortens and retracts to the predetermined position while the cloth Y is suspended by the chuck 31 as illustrated by the solid line in FIG. It is supposed to In most cases, one of the corner ends of the cloth appears at the lowermost end (indicated by a symbol Ya in FIG. 4) of the cloth Y suspended by the chuck 31.
  • the corner edger 4 receives the cloth Y suspended and held at its retracted position by the chuck 31 of the temporary holding device 3, and the chuck 41 And a base plate 43 on which the cloth Y is placed on the upper surface, and a phototube for detecting the end (corner edge Ya) of the cloth Y which can be dragged on the base plate 43.
  • a sensor 49 a presser plate 47 holding a central portion of the cloth Y on the base plate 43 between the base plate 43 and a telescopic cylinder 48 for moving the presser plate 47 up and down, and a pair of corner end-out rollers 44 , 45, and a telescopic cylinder 46 which brings one corner end roller 45 closer to or away from the other corner end roller 44.
  • the chuck 41 When the chuck 31 of the temporary holding device 3 holds the cloth Y as shown in FIG. 5 and operates to the retracted position as shown in FIG. Forward, the chuck 41 receives the cloth Y from the chuck 31 of the temporary holding device 3, and then, as shown in FIG. 6, the telescopic cylinder 42 is shortened and the cloth 41 is held with the cloth Y held. Y is pulled in a predetermined distance on the base plate 43, and then the chuck 41 releases the cloth Y, and then, as shown in FIG.
  • the leading end of the cloth Y is sandwiched between the corner end-out roller 44 on the front side, and the presser plate 47 is lowered from the raised position indicated by the reference numeral 47 ′ and the center of the cloth Y is between the base plate 43 and As shown in FIG. 8 in this state.
  • the cloth Y is in a drooping state by the rotation of both corner end-out rollers 44, 45 in the direction of the arrow, and the end portion (corner end Ya) of the cloth Y dragged on the base plate 43 becomes the sensor 49, 49.
  • the rotational speeds of both corner end-out rollers 44, 45 are switched to a low speed.
  • the cloth Y lifted by the lifting device 2 is temporarily held by the temporary holding device 3 temporarily, and then held by the chuck 41 of the corner end tapping device 4.
  • the temporary holding device 3 can be omitted, and the cloth Y being lifted by the lifting device 2 can be directly held by the chuck 41 of the corner end tapping device 4.
  • the corner end removing device 5 includes a chuck 51 disposed below the corner end-out rollers 44, 45 and the chuck 51 in the range right below the contact portion of the corner end-out rollers 44, 45. And an advancing / retracting device (extension cylinder 52) for advancing and retracting in the direction (see FIG. 1).
  • extension cylinder 52 for advancing and retracting in the direction (see FIG. 1).
  • the corner end trimming device 5 when the corner end Ya of the cloth Y is held at or near the corner edge Ya of the cloth Y by the pair of corner end feeding rollers 44, 45 of the corner end effector 4, the telescopic cylinder 52 is extended and the chuck 51 is extended. Moves forward in the left direction as shown by a phantom line in FIG.
  • a sensor 53 for detecting the cloth Y is attached to the chuck 51.
  • the sensor 53 detects that the chuck 51 approaches the cloth Y and operates the chuck 51, whereby the cloth Y is detected. It can be held securely.
  • a base plate 64 is provided at a position close to the lower rear side of the chuck 51 in a state in which the extension cylinder 52 of the corner end trimming device 5 is shortened (see FIG. 11).
  • the base plate 64 is for supporting the end side of the cloth Y when the cloth pulling apparatus 6 described next receives the vicinity of the upper end (corner end Ya) of the cloth and moves it backward. It is.
  • the rectangular cloth in a curled state is obtained.
  • this fabric edge cornering operation may be made so that a worker manually finds out one corner edge from, for example, fabric Y in a curled state. .
  • the lateral pulling device 6 has a chuck 61 and an advancing and retracting device for advancing and retracting the chuck 61 in the front-rear direction, as shown in FIGS.
  • the advancing and retracting device comprises a drive belt 63 for holding the chuck 61, and a motor 62 for rotating the pulley on which the drive belt 63 is wound to advance and retract the chuck 61 in the longitudinal direction.
  • a telescopic cylinder can be used.
  • FIG. 11 when the chucks 51 of the corner end removing device 5 retract and hold the cloth Y, the lateral pulling device 6 advances to a position shown by an imaginary line and reference numeral 61 '.
  • the chuck 61 'in the forward position holds the position slightly below the upper end (corner Ya) of the cloth. Subsequently, after the chuck 51 of the corner end removing device 5 releases the cloth Y, as shown in FIG. 12, with the chuck 61 holding the vicinity of the cloth corner end Ya, the chuck 61 is moved backward; The cloth Y is pulled horizontally on the base plate 64. Then, as shown in FIG.
  • the upper holding plate 65 is lowered from the raised position indicated by reference numeral 65 'by the cylinder 66 after a predetermined distance lateral pulling, and the cloth Y is sandwiched between the upper holding plate 65 and the base plate 64 Is continued, and when the sensor 67 arranged below the base plate 64 detects the end Yb of the cloth Y (or when the sensor 67 no longer detects the cloth Y), the lateral pulling speed is switched to a low speed.
  • FIG. 14 when another sensor 68 disposed in the vicinity of the base plate 64 detects the end Yb of the cloth Y (or when the sensor 68 wants to detect the cloth Y) , Horizontal pulling is stopped.
  • the cloth Y is arranged on the side of the long side in the hanging portion, with the remaining two corner edges other than the corner edge Ya held by the chuck 61 and the corner edge Yb held down by the upper pressing plate 65 being lined back and forth.
  • One edge Yc appears (triangular shape).
  • an edged conveyor 8 driven by a motor 81 is installed on the right side of the base plate 64 and the upper pressing plate 65.
  • the edged conveyor 8 has a plurality of (nine in the illustrated example) narrow belts 8a extending in the left-right direction spaced from each other in the front-rear direction.
  • the two-position holding device 7 includes two chucks 71 and 72 attached to the rear end and the front end of the connecting rod 70 extending in the front and rear direction (hereinafter referred to as middle part holding chuck 71 and corner And elevating cylinders 73 for moving the chucks 71 and 72 up and down, and advancing and retracting devices for advancing and retracting the chucks 71 and 72 together with the elevating cylinders 73 to the left and right.
  • the advancing and retracting device comprises a drive belt 75 for holding the lifting and lowering cylinder 73 in a suspended state, and a motor 74 for rotating a pulley wound around the drive belt 75, as long as the chucks 71 and 72 can be moved in the lateral direction. It may be of such a structure, and may use an advancing and retracting cylinder. For the distance between the chucks 71 and 72, for example, the length of the connection rod 70 can be adjusted, or the attachment position of the chucks 71 and 72 to the connection rod 70 can be changed so Depending on the size, etc., it may be changed appropriately.
  • the corner end holding chuck 72 is in a position where it can hold the front end (corner end) Yb of the cloth Y laid by the lateral pulling device 6, and the middle part holding chuck 71 is It is in the position which can hold the suitable place of the back side middle part of cloth Y which was laid down.
  • the elevating cylinder 73 stands by at the upper position of the cloth Y on which the chucks 71 and 72 are laid (the state illustrated by the solid line in FIG. 15), and in the extended state, the chucks 71 and 72 are illustrated. It is lowered to a position where it can hold the upper edge of the laid cloth Y as illustrated by a phantom line at 15.
  • the corner end holding chuck 72 holds the front end (corner end) Yb of the cloth Y as shown in FIG. Hold the rear middle portion of the cloth Y.
  • the corner end holding chuck 72 is made of cloth Y by narrowing the opening degree of the chuck 69 provided near the rear of the upper holding plate 65 from a wide open state indicated by reference numeral 69 ′. Can be made easier to hold.
  • the cloth Y is released from the holding or restraint by the chuck 61, the upper pressure plate 65 and the chuck 69 of the transverse pulling device 6.
  • the two-position holding device 7 is moved toward the end side of the edged conveyor 8 by the advancing and retracting device at the upper position of the edged conveyor 8.
  • the belt of the edged conveyor 8 is moving in the direction of the arrow in FIG. 17, and the triangular portion (in the vicinity of Yc) of the cloth Y can contact the conveyor 8. Further, due to the action of the air blow of the blow device 82 installed between the upper and lower belts of the conveyor 8, the triangular portion is wound (along) in the flow direction of the conveyor 8.
  • the chuck 71 at the rear of the two-position holding device 7 releases the cloth Y, and one side of the cloth Y (a portion on the rear side of the corner end Yb) It falls on a moving belt. Since the front end (corner Yb) of the cloth Y is held by the corner holding chuck 72, only the falling portion of the cloth Y moves to the right as shown in FIG. When the falling portion of the cloth Y moves a predetermined distance, one side edge Yc on the long side of the cloth Y has an arrangement relationship in which the side edge Yc of the rounding conveyor 8 is substantially orthogonal to the flow direction. In this arrangement, as shown in FIG.
  • the other chuck 72 releases the cloth Y, and the cloth Y is completely dropped onto the outline conveyor 8.
  • two sensors 83 for detecting the leading side edge Yc of the cloth Y transported on the edged conveyor 8 are installed, and this sensor 83 is used to When Y is detected, the outline conveyor 8 is switched to low speed.
  • the vertical reversing device 9 is disposed in the vicinity of the end of the edging conveyor 8, and includes two chucks 92 and 93 for gripping one side edge Yc of the long side of the cloth Y, and It has two sensors 94 and 95 provided in the vicinity of the chucks 92 and 93, a reversing shaft 96 for supporting the chucks 92 and 93, and a rotating cylinder 91 for rotating the reversing shaft 96. It should be noted that any mechanism may be used as long as the cloth Y gripped by the two chucks 92 and 93 can be reversed, and instead of the rotation cylinder 91, using a motor that rotates the reversing shaft 96 forward and reverse.
  • the two chucks 92, 93 are configured to operate independently of each other based on a detection signal of the side edge Yc of the cloth Y by the sensors 94, 95, whereby the side rim Yc of the cloth Y is Straight between chucks 92 and 93 can be held.
  • the up-down reversing device 9 operates as follows. First, as shown in FIG. 20, each of the chucks 92 and 93 is substantially in a horizontal direction (as shown in FIG. 20) until the leading side edge Yc of the cloth transferred on the edging conveyor 8 is detected by the sensors 94 and 95. When the sensor 94, 95 detects the leading side edge Yc of the cloth Y transported on the edged conveyor 8 while standing by in a slightly upward inclined posture, the detection signal from the sensor 94, 95 The respective chucks 92, 93 hold the side edge Yc on the leading side of the cloth based on the above.
  • the roller 10 and the loading device 11 for loading the cloth Y on the roller 10 are disposed directly under the front side portion of the edged conveyor 8.
  • the roller 10 is installed at the upper side and the lower side.
  • the loading device 11 is an advancing and retracting table 110 directed to the vertical reversing device 9 side, and two chucks 111 disposed on both sides of the advancing and retracting table 110 and receiving the cloth Y from the chucks 92 and 93 of the vertical reversing device 9 And chuck sensors 113 and 114.
  • the loading device 11 is advanced and retracted in the left-right direction (rotational axis direction of the roller 10) by the advancing and retracting device.
  • the advancing and retracting apparatus comprises a drive belt 116 for holding the advancing and retracting table 110 and a motor 115 for rotating the pulley around which the drive belt 116 is wound, but it is possible to move the chucks 111 and 112 in the lateral direction. It may be of a structure, for example, a forward and backward cylinder may be used.
  • the loading device 11 moves from the standby position shown in FIG. 23 to the cloth Y held by the vertical reversing device 9, and as shown in FIG. 24, when the chuck sensors 113 and 114 detect the cloth Y, the chuck 111 and 112 are closed toward both sides of the platform 110 to hold the cloth Y.
  • the holding position of the cloth Y by the chucks 111 and 112 is close to the holding position of the cloth Y by the chucks 92 and 93 of the vertical reversing device 9.
  • the two chucks 111 and 112 may be configured to operate independently, and in this way, the portion between the two chucks 111 and 112 of the side edge Yc of the cloth Y can be held more straightly. can do.
  • the vertical reversing device 9 reverses back to the original position, and retracts from the track of the loading device 11.
  • the roller 10 is disposed so that the rotation axis thereof is parallel to the advancing / retracting direction of the loading device 11. Therefore, when the loading device 11 that holds the cloth Y suspended is retracted, as shown in FIG. Y is put on the roller 10 and hangs down from above the roller 10. At that time, the side edge Yd opposite to the side edge Yc held by the chucks 111 and 112 is detected by the sensor 101, and the chucks 111 and 112 are cloth Y after a predetermined time has elapsed after the detection.
  • the predetermined time is appropriately set so that the chucks 111 and 112 release the cloth Y when the widthwise center of the cloth Y substantially coincides with the width center of the roller 10.
  • the loading device 11 continues to retract by a predetermined distance even after the chucks 111 and 112 release the cloth Y.
  • the roller 10 is composed of a first partial roller 102 and a second partial roller 103 disposed adjacent to each other on the same axis.
  • the first partial roller 102 is connected to a motor 104 via a drive belt 105 and is rotationally driven by the motor 104.
  • the second partial roller 103 is connected to a motor 106 via a drive belt 107 and is rotationally driven by the motor 106.
  • the rotational directions and rotational speeds of the motors 104 and 106 can be independently controlled, and preferably, a plurality of parallel arranged in parallel with the rotational axis of the rollers below each of the partial rollers 102 and 103 as shown in FIG.
  • the direction of the cloth Y on the roller 10 can be corrected to the correct direction (for example, the direction in which the longitudinal direction of the cloth Y coincides with the front-back direction) based on the detection signals from the sensor groups 108 and 109 Be done.
  • the cloth Y is obliquely placed on the roller 10
  • only the sensor group 109 out of the sensor groups 108 and 109 is on the short side of the cloth Y.
  • the side edge Ye becomes parallel to the sensor groups 108, 109 based on the detection result, and both sensor groups 108, 109 simultaneously reach the side of the short side of the cloth Y.
  • each of the sensor groups 108 and 109 includes five sensors, but the number of sensors is not limited thereto, and may be four or less or six or more depending on the width of the cloth Y to be processed. Alternatively, the sensor to be operated may be switched according to the cloth Y to be processed.
  • the advancing / retracting device 12 transfers the cloth Y, which is correctly oriented on the roller 10, onto the transport conveyor 13.
  • the cloth having a gripping width larger than the width of the cloth Y is used. It has a grasping part which grasps the end by the side of the short side of class Y, and an advancing and retreating mechanism which makes a grasping part move forward and backward.
  • the holding portion includes a holding table 123a that is inclined toward the roller 10 and a holding plate 123b that is opened and closed by the cylinder 124 or the like with respect to the holding table 123a.
  • the advancing and retracting mechanism includes the drive belt 122 coupled to the holding table 123a and the motor 121 for rotating the pulley around which the drive belt 122 is wound, a advancing and retracting cylinder may be used.
  • the first partial roller 102 and the second partial roller 103 are simultaneously moved to the advancing / retracting device 12 at the same speed.
  • the side edge Ye of the cloth Y which is located in the vicinity of the sensor groups 108 and 109, is brought closer to the advancing / retracting device 12 side, and the gripping portion of the advancing / retracting device 12 is advanced as shown in FIG.
  • the front end of the holding table 123a of the holding portion with the holding plate 123b opened is pressed against the blow member 10a installed at the lower part of the roller 10, and the roller 10 is placed between the front end of the holding table 123a and the blow member 10a.
  • the portion on the transport conveyor 13 side of the cloth Y is sandwiched, and in this state, air is ejected from the blow member 10a as shown in FIG. 30, and at the same time, the first partial roller 102 and Further rotating the two parts roller 103 in advancing and retracting device 12 side.
  • the side edge Ye of the cloth Y is placed on the holding table 123a. Thereafter, as shown in FIG.
  • the holding plate 123b is closed, and the side edge Ye of the cloth Y is held between the holding plate 123a and the holding plate 123b.
  • the portion of the cloth Y other than the portion held by the holding base 123a of the holding portion and the holding plate 123b is in a state of hanging down from the holding base 123a.
  • the gripping portion of the advancing and retracting device 12 is moved to the transport conveyor 13 side as shown in FIG.
  • the holding plate 123b is again opened as shown in FIG. 33, and the cloth Y is loaded onto the transport conveyor 13.
  • the gripping portion of the advancing and retracting device 12 continues to retract by a predetermined distance.
  • the conveyer 13 sucks the cloth Y on the belt 133 through the belt 133 having a large number of through holes, the motor 132 for driving the belt 133, and the through holes formed in the belt 133, as shown in FIG.
  • the suction fan 131 is provided.
  • the transport conveyor 13 carries out the cloth Y and transports (into) the next step (here, the cloth folding machine D).
  • the conveyor 13 does not have to drive the belt 133 when the gripping portion of the advancing and retracting apparatus 12 transfers the cloth Y onto the conveyor 13.
  • the belt 133 is driven. Is preferred.
  • the lifting device 2, the temporary holding device 3, the corner end tapping device 4, and the corner end can be obtained simply by throwing the laundry Y after being washed and dried onto the supply conveyor 1.
  • the cloth Y is automatically made by the take-out device 5, the transverse pulling device 6, the two-position holding device 7, the outline conveyor 8, the vertical reversing device 9, the roller 10, the loading device 11, the advancing and retracting device 12, the transport conveyor 13 and the like. It can be developed and transported (charged) to the next process.
  • the fabric gripping chuck according to the embodiment is the lifting device 2 as a fabric handling device, the temporary holding device 3, the corner edger 4, the corner edger 5, and the side edge puller in the above-mentioned example of the fabric automatic deployment machine.
  • the present invention can be applied to the chucks 21, 31, 41, 51, 61, 71, 72, etc. in the apparatus 6, the two-position holding apparatus 7, etc.
  • the lifting device of the lifting device 2 the advancing and retracting device of the temporary holding device 3, the advancing and retracting device of the cornering device 4, the advancing and retracting device of the cornering device 5, the advancing and retracting device of the lateral pulling device 6, and the two position holding device 7
  • the lifting cylinder 73 and the advancing and retracting device correspond to the moving means of the cloth handling device of the present invention. The following description demonstrates based on the example which applied the cloth handling apparatus of this invention to the lifting apparatus 2.
  • FIG. 35 is a plan view showing a cloth gripping chuck according to an embodiment of the present invention, and the cloth gripping chuck 21 of the present embodiment is held by a main body 211 and the main body 211 and arranged opposite to each other.
  • a pair of gripping claws 212 and 213 which can be relatively approached and separated relatively is provided.
  • both gripping claws 212 and 213 are configured to open and close by swinging around swinging axis lines x1 and x2 (shown schematically as points in the figure).
  • one gripping claw 212 or 213 can be pivoted while the other gripping claw 213 or 212 is fixed while the other gripping claw 213 or 212 is fixed to the other gripping claw 213 or 212. It may be close to or away from each other.
  • the swing axes x1 and x2 extend in the direction orthogonal to both the extending direction (direction shown by the alternate long and short dash line in FIG. 35) which is the direction from the base end to the tip of the gripping claws 212 and 213 Exist.
  • each gripping claw 212, 213, an overhanging portion 214, 215 protruding toward the other opposing gripping claw 213, 212 is formed, and each gripping claw portion outside the main body 211 is a plan view It has a substantially L shape.
  • the overhanging portions 214 and 215 are formed separately from the nail main bodies 216 and 217 that project straight from the main body 211, but may be integrally formed with the nail main bodies 216 and 217.
  • projection parts 214 and 215 can be formed from a different material by making it mutually different body.
  • the claw main bodies 216 and 217 can be formed of a high strength material, for example, a metal such as carbon steel, and the overhanging portions 214 and 215 can be formed of a material that can be easily molded, such as a synthetic resin. Further, by separately forming the nail main bodies 216 and 217 and the overhanging portions 214 and 215, it is possible to replace the overhanging portions 214 and 215 having different sizes and shapes according to the use purpose and the like.
  • the overhanging portions 214 and 215 may be detachably fixed to the claw main bodies 216 and 217 via fixing tools such as screws and bolts, or may be fixed using an adhesive or the like.
  • the surface on the base end side of the gripping claws 212 and 213 (a surface on the main body 211 side, hereinafter also referred to as “rear surface”) 214 a and 215 a of the overhanging portions 214 and 215. It is to be formed as a plane parallel to the opposing direction of the gripping claws 212 and 213 (a plane orthogonal to the extending direction indicated by a dashed-dotted line in FIG. 35). Further, in a more advantageous mode, a gap g is formed between the facing projecting portions 214 and 215 at the fully closed position of the pair of holding claws 212 and 213. In a more preferred embodiment, the gap g is set to be substantially equal to the thickness of two pieces of cloth to be gripped.
  • the “fully closed position” means a position where the pair of gripping claws 212 and 213 are closest to each other in structure.
  • FIG. 36 shows a drive unit as an opening / closing means which is provided inside the main body 211 and swings the pair of holding claws 212 and 213 around the swing axes x1 and x2.
  • the gripping claws inside the main body 211 are also bent toward the other gripping claws 212 and 213, and each gripping claw 212 and 213 is formed in a substantially U shape as a whole.
  • the gripping claws 212 and 213 are swingably held by the main body 211 by fulcrum pins 218 and 219 as swinging axis lines x1 and x2, respectively.
  • notches 221 are formed at the ends of the gripping claws 212 and 213 located inside the main body 211, into which the drive pin 222b formed at the tip of the rod 222a of the cylinder 222 described later is press-fitted. .
  • the drive unit is constituted by a cylinder 222 which advances and retracts the rod 222a by the pressure of air.
  • FIG. 36B shows a state in which both gripping claws 212 and 213 are simultaneously swung around the fulcrum pins 218 and 219 by advancing the rod 222a, and the gripping claws 212 and 213 are opened.
  • any known drive mechanism such as a solenoid or a ball screw mechanism may be used as long as the gripping claws 212 and 213 can be swung.
  • the gap g is maintained between the projecting portions 214 and 215 even at the fully closed position of the gripping claws 212 and 213, as shown in FIG.
  • the overhanging portions 214 and 215 do not forcibly hold the cloth Y and allow the falling off. It is possible to avoid the situation of damaging Y.
  • the dimension of the gap g substantially equal to the thickness of two sheets of the cloth Y, damage of the cloth Y can be more reliably prevented while reducing the omission of the cloth Y.
  • the back surfaces 214a and 215a of the overhanging portions 214 and 215 are inclined surfaces that are inclined toward the main body 211 toward the other overhanging portions 214 and 215 facing each other.
  • the other configuration is the same in that it is formed.
  • the cloth Y can be hooked between the overhanging portions 214 and 215 when the cloth Y is gripped.
  • claw main bodies 216 and 217 from the main body 211 is 75 degrees or more and 90 degrees or less. If the inclination angle of the back surfaces 214a and 215a is less than 75 °, the cloth Y may be excessively caught on the overhanging portions 214 and 215, and the cloth Y may not be released smoothly from the cloth gripping chuck 21. It is.
  • FIG. 40 is a plan view showing the main part of a cloth gripping chuck according to another embodiment of the present invention.
  • the gripping claws 212 and 213 are configured to open and close by swinging about the swinging axis, but in the cloth gripping chuck of the present embodiment, the pair of gripping claws 212 and 213 have It is configured to open and close by sliding along the opposite direction.
  • the cloth gripping chuck is mainly provided with a rail 224 laid along the front side surface of the main body 211, a pair of sliders 225 and 226 traveling on the rail 224, and a slider 225 provided inside the main body 211. And a gripping claw 212 and 213 fixed to the sliders 225 and 226, respectively.
  • the drive unit may use any known drive mechanism such as an air cylinder, a solenoid, or a ball screw mechanism as long as the sliders 225 and 226 can be moved along the rail 224.
  • Each gripping claw 212, 213 has an overhanging portion 214, 215, and the cloth portion on the back side (the main body 211 side) of the overhanging portion 214, 215 is caught on the back surface 214a, 215a of the overhanging portion 214, 215 It is possible to reduce Y dropout (slip off) and maintain a gap between the two overhanging portions 214 and 215 at the fully closed position of the gripping claws 212 and 213, thereby preventing damage caused by dropout of the cloth Y. Since the points and the like are the same as those of the previous embodiment, the detailed description will be omitted.
  • the present invention it is possible to provide a cloth gripping chuck and a cloth handling device capable of reducing the dropping off of cloth while avoiding damage to the cloth when handling the cloth.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

L'invention concerne un mandrin de serrage de tissu et un dispositif de manipulation de tissu qui permettent d'éviter un endommagement de tissu et moins de cas de chute de tissu du mandrin pendant la manipulation, le mandrin de serrage de tissu 21 étant pourvu d'une paire de griffes de préhension 212, 213 qui sont disposés de manière opposée, et d'un moyen d'ouverture/de fermeture pour rapprocher et éloigner les griffes de la paire de griffes de préhension 212, 213 l'une de l'autre. Chacune des griffes de préhension 212, 213 a, au niveau de son embout d'attaque, une protubérance 214, 215 qui dépasse vers la griffe de préhension opposée 213, 212. Les faces 214a, 215a des protubérances 214, 215 vers les extrémités proximales des griffes de préhension 212, 213 se présentent soit sous la forme de faces plates parallèles à la direction dans laquelle les griffes de la paire de griffes de préhension 212, 213 s'opposent l'une à l'autre, soit sous la forme de faces penchées qui penchent vers la protubérance opposée 215, 214 de façon à s'approcher desdites extrémités proximales.
PCT/JP2018/026147 2017-08-31 2018-07-11 Mandrin de serrage de tissu et dispositif de manipulation de tissu WO2019044191A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201880051874.6A CN111032943A (zh) 2017-08-31 2018-07-11 布料抓持夹头及布料操作装置
US16/641,813 US20200224348A1 (en) 2017-08-31 2018-07-11 Cloth clamping chuck and cloth handling apparatus
KR1020207003606A KR20200027983A (ko) 2017-08-31 2018-07-11 직물류 클램핑 척 및 직물류 핸들링 장치
EP18851311.3A EP3677714A4 (fr) 2017-08-31 2018-07-11 Mandrin de serrage de tissu et dispositif de manipulation de tissu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017166972A JP2019044288A (ja) 2017-08-31 2017-08-31 布類掴みチャックおよび布類ハンドリング装置
JP2017-166972 2017-08-31

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WO2019044191A1 true WO2019044191A1 (fr) 2019-03-07

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EP (1) EP3677714A4 (fr)
JP (1) JP2019044288A (fr)
KR (1) KR20200027983A (fr)
CN (1) CN111032943A (fr)
WO (1) WO2019044191A1 (fr)

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WO2020262397A1 (fr) * 2019-06-26 2020-12-30 株式会社アサヒ製作所 Dispositif de saisie et procédé de saisie
EP4157595A1 (fr) 2020-05-28 2023-04-05 Monotony.AI, Inc. Dispositifs de blanchisserie robotisés et procédés d'utilisation

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JPS59216972A (ja) * 1983-05-25 1984-12-07 株式会社芦田製作所 足型に装着された靴下爪先部の縫目を修正する方法及びその装置
JPH073619A (ja) * 1991-04-10 1995-01-06 Ashida Mfg Co Ltd 靴下仕上機における靴下追い差し装置
JPH1029736A (ja) * 1996-07-12 1998-02-03 Hakko Shokai:Kk 布状体自動投入機
JP2010222724A (ja) 2009-03-23 2010-10-07 Purex:Kk 矩形布片展開方法

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DE4330911C2 (de) * 1993-09-11 1998-11-12 Kannegiesser H Gmbh Co Vorrichtung zum Zuführen von Wäschestücken zu einer Behandlungseinrichtung
CN2332283Y (zh) * 1998-06-16 1999-08-11 陈清煌 用于夹持衣物的衣夹
EP2392528A1 (fr) * 2009-01-28 2011-12-07 Fuji Electric Co., Ltd. Contrôleur de position pour substrat souple
JP7007909B2 (ja) * 2015-05-29 2022-01-25 ＳＢＩ Ｖｅｎｔｕｒｅｓ Ｔｗｏ株式会社 被処理物の処理装置
EP3146873B1 (fr) * 2015-09-25 2018-04-25 Matteo Andrea Benatti Dispositif de suspension d'un objet à un support

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JPS5932398U (ja) * 1982-08-24 1984-02-28 吉田　明 紐の所要長さ切断装置
JPS59216972A (ja) * 1983-05-25 1984-12-07 株式会社芦田製作所 足型に装着された靴下爪先部の縫目を修正する方法及びその装置
JPH073619A (ja) * 1991-04-10 1995-01-06 Ashida Mfg Co Ltd 靴下仕上機における靴下追い差し装置
JPH1029736A (ja) * 1996-07-12 1998-02-03 Hakko Shokai:Kk 布状体自動投入機
JP2010222724A (ja) 2009-03-23 2010-10-07 Purex:Kk 矩形布片展開方法

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Also Published As

Publication number Publication date
EP3677714A1 (fr) 2020-07-08
CN111032943A (zh) 2020-04-17
JP2019044288A (ja) 2019-03-22
KR20200027983A (ko) 2020-03-13
EP3677714A4 (fr) 2020-09-09
US20200224348A1 (en) 2020-07-16

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