WO2020262397A1 - Pickup device and pickup method - Google Patents

Pickup device and pickup method Download PDF

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Publication number
WO2020262397A1
WO2020262397A1 PCT/JP2020/024647 JP2020024647W WO2020262397A1 WO 2020262397 A1 WO2020262397 A1 WO 2020262397A1 JP 2020024647 W JP2020024647 W JP 2020024647W WO 2020262397 A1 WO2020262397 A1 WO 2020262397A1
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WO
WIPO (PCT)
Prior art keywords
laundry
grip portion
unit
grip
pickup
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PCT/JP2020/024647
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French (fr)
Japanese (ja)
Inventor
秀明 宮島
茂 井原
秀巨 小泉
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株式会社アサヒ製作所
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Publication of WO2020262397A1 publication Critical patent/WO2020262397A1/en

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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
    • D06F93/00—Counting, sorting, or marking arrangements specially adapted for laundry purposes

Definitions

  • the present invention relates to a laundry pick-up device and a pick-up method.
  • Patent Document 1 Japanese Unexamined Patent Publication No. 2000-51593 discloses a laundry separating device for separating a mass of laundry after washing.
  • the laundry separating device includes a gripping mechanism that drives up and down, and the gripping mechanism includes a small jaw and a large jaw that is larger than the small jaw and has a stronger gripping force.
  • the gripping mechanism is dropped to randomly land the gripping mechanism on the lump and close the small jaw.
  • the small jaw grips the laundry.
  • the gripping mechanism is moved upward by a predetermined distance, and the large jaw is closed.
  • the laundry is pulled out of the lump, and the large jaw firmly grips the dough.
  • the grip mechanism then moves to the highest vertical stroke, where the laundry is delivered to the conveyor.
  • Patent Document 1 there is a risk that a plurality of pieces of laundry may be picked up at the same time.
  • An object of the present invention is to provide a technique for picking up laundry one by one from a plurality of accumulated laundry.
  • the first aspect of the present invention it is a pickup device that picks up laundry one by one from a plurality of accumulated laundry, and has a first gripping portion capable of gripping the laundry and capable of gripping the laundry.
  • a second grip portion and a control unit are provided, and the control unit locally raises the laundry upward in the vicinity of the first grip portion when the first grip portion grips the laundry.
  • a pickup device is provided that controls the operation of the first grip portion and the second grip portion so that the second grip portion grips the raised portion as the raised portion.
  • it is a pick-up method of picking up laundry one by one from a plurality of accumulated laundry, and the first grip portion grips the laundry by gripping the first grip portion.
  • a pick-up method is provided that includes a step of locally raising the laundry upward in the vicinity and a step of gripping the raised portion as the raised portion by the second grip portion.
  • laundry can be picked up one by one from a plurality of accumulated laundry.
  • the pick-up device 1 is a device for picking up one laundry p from a deposit Q composed of a plurality of deposited laundry ps.
  • the pickup device 1 is used, for example, in a laundry factory. Specifically, in the laundry factory, for example, the laundry p received from the accommodation facility or the medical facility can be picked up one by one, the laundry p discharged from the continuous washing machine can be picked up one by one, or a dryer. It is used to pick up the laundry p discharged from the laundry one by one.
  • laundry p examples include, but are not limited to, sheets, duvet covers, wrapping cloths, yukatas, pillow covers, towels and the like.
  • the pickup device 1 has a lower transfer conveyor unit 2, a partition plate 3, a transfer detection sensor 4, a main frame 5, a pickup unit support bar 6, a pickup unit 7, a pickup detection sensor 10, and two movements. It includes a mounting unit 11, an upper conveyor unit 15, a hopper unit 16, a pick-up unit 17, and a control device 18.
  • the lower conveyor unit 2 includes two pulleys 2a, an endless belt 2b wound around the two pulleys 2a, and a lower conveyor motor 2c (see FIG. 3) that rotationally drives one of the two pulleys 2a. I have.
  • the transport direction of the deposit Q by the lower transport conveyor unit 2 is simply referred to as a transport direction.
  • the partition plate 3 prevents the deposit Q from spilling from the endless belt 2b of the lower transfer conveyor unit 2 so as to surround the endless belt 2b of the lower transfer conveyor unit 2 in a plan view. It is provided in.
  • the main frame 5 is arranged above the lower conveyor unit 2.
  • the main frame 5 includes two upstream columns 5a arranged at the upstream end of the lower conveyor unit 2 in the transport direction, two downstream columns 5b arranged at the downstream end of the lower conveyor unit 2 in the transport direction, and 2 It includes an upper end of one upstream support column 5a and a rectangular beam 5c arranged in a rectangular frame shape so that the upper ends of the two downstream side columns 5b are four corners.
  • the transport detection sensor 4 is a sensor for detecting that the deposit Q has been transported between the two downstream columns 5b, and is provided on either one of the two downstream columns 5b. ..
  • the transport detection sensor 4 may be provided on the partition plate 3 instead of being provided on the main frame 5.
  • the transport detection sensor 4 may employ, for example, a regression reflection type or diffuse reflection type photoelectric sensor, but is not limited thereto.
  • the pickup unit support bar 6 supports the pickup unit 7 so as to be horizontally movable, and is supported so as to be vertically movable with respect to the two downstream support columns 5b. As shown in FIG. 3, the pickup device 1 further drives the pickup unit support bar 6 up and down with respect to the main frame 5 and the pickup unit 7 horizontally with respect to the pickup unit support bar 6. It includes a horizontal drive unit 6b.
  • the pickup unit 7 is supported so as to be horizontally movable with respect to the pickup unit support bar 6, and is driven by the horizontal drive unit 6b along the longitudinal direction of the pickup unit support bar 6.
  • the longitudinal direction of the pickup unit support bar 6 is referred to as a width direction. That is, the direction in which the pickup unit 7 can move horizontally is the width direction.
  • the width direction is a direction orthogonal to the transport direction in a plan view.
  • the elevating drive unit 6a and the horizontal drive unit 6b constitute a pickup unit drive unit that moves the pickup unit 7 in the vertical direction and the horizontal direction.
  • the pickup unit 7 includes a unit support main body 30, a first grip portion 31, a first grip portion elevating drive unit 32, a first grip portion opening / closing drive unit 33, a bottom dead center mechanical switch 34, and a second.
  • the grip portion 35, the second grip portion elevating drive unit 36, the second grip portion opening / closing drive unit 37, and the distance sensor 38 are included.
  • the unit support main body 30 is a portion that is horizontally movablely connected to the pickup unit support bar 6.
  • the first grip portion 31 is supported up and down by the unit support main body 30, and is configured to be lifted and lowered with respect to the unit support main body 30 by the first grip portion elevating drive unit 32.
  • the first gripping portion elevating drive portion 32 for example, an air cylinder or a linear motor can be adopted, but the present invention is not limited thereto.
  • the first grip portion 31 includes a grip portion main body 31a and a pair of movable portions 31b.
  • the pair of movable portions 31b are supported by the grip portion main body 31a so as to be linearly movable in the horizontal direction at the lower end of the grip portion main body 31a.
  • the pair of movable portions 31b are configured to be openable and closable with respect to the pickup unit support bar 6 in the width direction in which the pickup unit 7 can move.
  • Each movable portion 31b is formed in a plate shape bent into an L shape.
  • each movable portion 31b is a supported portion 31c that extends in the width direction and is supported by the grip portion main body 31a, and an end portion of the supported portion 31c that is closer to the other movable portion 31b.
  • a gripping execution unit 31d extending downward from the unit is included. Therefore, the gripping execution portions 31d of the pair of movable portions 31b are opposed to each other in the width direction, and are arranged so that the plate thickness directions coincide with the width direction.
  • the pair of movable portions 31b are driven to open and close in the width direction so as to approach and separate from each other by the first grip portion opening / closing driving portion 33.
  • the first gripping portion opening / closing drive portion 33 for example, a motor may be adopted, but the present invention is not limited thereto.
  • the first grip portion 31 has an elevating stroke of a predetermined length with respect to the unit support main body 30.
  • the bottom dead center mechanical switch 34 is configured to detect that the first grip portion 31 has reached the bottom dead center of the elevating stroke.
  • the elevating stroke is 70 mm, but the elevating stroke is not limited to this, and may be 50 mm or 150 mm.
  • the second grip portion 35 is supported by the first grip portion 31 so as to be vertically movable, and is driven up and down with respect to the first grip portion 31 by the second grip portion elevating drive unit 36.
  • the second gripping portion elevating drive portion 36 for example, an air cylinder or a linear motion motor may be adopted, but the present invention is not limited thereto.
  • the second grip portion 35 includes a grip portion main body 35a and a pair of movable portions 35b.
  • the pair of movable portions 35b are supported by the grip portion main body 35a so as to be linearly movable in the horizontal direction at the lower end of the grip portion main body 35a.
  • the pair of movable portions 35b are configured to be openable and closable with respect to the pickup unit support bar 6 in the width direction in which the pickup unit 7 can move.
  • Each movable portion 35b is formed in a plate shape bent into an L shape.
  • each movable portion 35b has a supported portion 35c extending in the width direction and supported by the grip portion main body 35a, and an end portion of the supported portion 35c that is closer to the other movable portion 35b.
  • a gripping execution unit 35d extending downward from the unit is included. Therefore, the gripping execution portions 35d of the pair of movable portions 35b are opposed to each other in the width direction, and are arranged so that the plate thickness directions coincide with the width direction.
  • the pair of movable portions 35b are driven to open and close in the width direction so as to approach and separate from each other by the second grip portion opening / closing driving portion 37.
  • the second grip portion opening / closing drive portion 37 for example, a motor can be adopted, but the present invention is not limited thereto.
  • the distance sensor 38 is a specific example of the contour measuring unit that measures the surface contour of the deposit Q.
  • a TOF (Time-Of-Flight) type or a triangular distance measuring type can be adopted, but the distance sensor 38 is not limited thereto.
  • the distance sensor 38 is fixed to the second grip portion 35.
  • the distance sensor 38 is configured so that the surface contour of the deposit Q between the pair of downstream columns 5b can be measured two-dimensionally by moving the pickup unit 7 in the width direction.
  • a line sensor or a 3D sensor may be used to measure the surface contour of the deposit Q.
  • the first grip portion 31, the second grip portion 35, and the distance sensor 38 are arranged in this order in the transport direction.
  • the first grip portion 31, the second grip portion 35, and the distance sensor 38 may be arranged in this order in the width direction.
  • the distance sensor 38 may be arranged between the first grip portion 31 and the second grip portion 35.
  • the pickup detection sensor 10 is a sensor for detecting the laundry p picked up by the pickup unit 7, and is provided on, for example, one of a pair of downstream columns 5b.
  • the pickup detection sensor 10 for example, a photoelectric sensor can be adopted, but the pickup detection sensor 10 is not limited to this.
  • Each transfer unit 11 is for transferring the laundry p picked up by the pickup unit 7 to the upper transfer conveyor unit 15, and is provided on the rectangular beam 5c of the main frame 5.
  • each transfer unit 11 includes a transfer rail 11a, a transfer grip 11b, a transfer grip traveling drive unit 11c, and a transfer grip opening / closing drive unit 11d. ..
  • the transfer rail 11a extends from the pair of downstream columns 5b toward the pair of upstream columns 5a so as to be slightly uphill.
  • the transfer grip 11b is supported by the transfer rail 11a so as to be movable along the transfer rail 11a.
  • the transfer grip 11b is travel-driven along the transfer rail 11a by the transfer grip traveling drive unit 11c.
  • the transfer grip 11b is configured to grip or release the laundry p by being driven to open and close by the transfer grip opening / closing drive unit 11d.
  • the pickup device 1 includes two transfer units 11 in order to secure the transfer capacity from the pickup unit 7 to the upper transfer conveyor unit 15.
  • the pickup device 1 may include only one transfer unit 11 or may include three or more transfer units 11.
  • the hopper unit 16 temporarily holds the laundry p loaded by the transfer unit 11 and forms it compactly.
  • the hopper unit 16 has a tubular peripheral wall portion 16a and a peripheral wall portion 16a. It is provided with an opening / closing portion 16b provided at the lower end of the hopper, and a hopper opening / closing drive portion 16c (see FIG. 3) for opening / closing the opening / closing portion 16b.
  • a motor can be adopted, but the present invention is not limited thereto.
  • the hoisting unit 17 is for hoisting the laundry p conveyed by the transfer unit 11 and throwing it into the hopper unit 16, and is a hoisting roller 17a for rotating and driving the hoisting roller 17a and the hoisting roller 17a. It includes a roller drive unit 17b (see FIG. 3). For example, a motor may be adopted as the lift roller drive unit 17b, but the method is not limited thereto.
  • the upper conveyor unit 15 rotates and drives one of the two pulleys 15a, the endless belt 15b wound around the two pulleys 15a, and the two pulleys 15a (FIG. 3). See) and.
  • the control device 18 includes a lower conveyor motor 2c, a transport detection sensor 4, an elevating drive unit 6a, a horizontal drive unit 6b, a first gripping unit elevating drive unit 32, and a first gripping unit opening / closing drive unit 33.
  • control device 18 transports the deposit Q charged into the pickup device 1 in the transport direction by traveling the endless belt 2b of the lower transport conveyor unit 2.
  • the control device 18 stops the running of the endless belt 2b of the lower transport conveyor unit 2.
  • the control device 18 picks up one piece of laundry p from the deposit Q by controlling the operation of the pickup unit 7. Then, the control device 18 delivers the laundry p picked up by the pickup unit 7 to the transfer grip 11b of the transfer unit 11. Next, the control device 18 pulls the upper end of the laundry p above the hopper unit 16 by running the transfer grip 11b along the transfer rail 11a.
  • the control device 18 drives the hoisting unit 17 to hoist the laundry p held by the transfer grip 11b and put it into the hopper unit 16.
  • the control device 18 discharges the laundry p contained in the hopper unit 16 to the upper conveyor unit 15.
  • the control device 18 conveys the laundry p discharged to the upper transfer conveyor unit 15 to the downstream device by running the endless belt 15b of the upper transfer conveyor unit 15.
  • the device on the downstream side include, but are not limited to, a type determination device for determining the type of the laundry p, a finishing device for finishing the laundry p, and the like.
  • the control device 18 moves the distance sensor 38 of the pickup unit 7 in the width direction to scan the surface contour of the deposit Q, thereby scanning the surface contour of the deposit Q, specifically, the surface contour of the deposit Q. Measure the height of.
  • the control device 18 moves the pickup unit 7 from the home position as indicated by reference numeral W1.
  • the elevating drive unit 6a and the horizontal drive unit 6b are controlled so as to move diagonally and linearly in the horizontal direction and downward.
  • the home position of the pickup unit 7 is the position of the pickup unit 7 when the pickup unit support bar 6 is located at the top dead center of the elevating stroke and the pickup unit 7 is located at one end in the longitudinal direction of the pickup unit support bar 6.
  • the height of the surface contour R of the deposit Q can be obtained from the difference between the height position of the distance sensor 38 and the output value of the distance sensor 38.
  • the control device 18 detects all the protrusions i (protruding parts) protruding above the deposit Q based on the measurement result by the distance sensor 38.
  • a known method can be adopted for the detection of the protrusion i.
  • the vertical direction is the Y-axis
  • the measurement resolution in the X-axis direction is d
  • the height of the deposit Q at the position Xi is y (Xi).
  • the protrusion i exists at the position Xi that satisfies y (Xi) -y (Xi-d)> 0 and y (Xi) -y (Xi + d)> 0. In some cases, only one protrusion i can be detected, and in other cases, two or more protrusions i can be detected.
  • control device 18 verifies whether or not a protrusion i suitable for being gripped by the pickup unit 7 exists. Specifically, it is as follows.
  • the control device 18 calculates the first steepness Tp1i of all the protrusions i based on the measurement result by the distance sensor 38.
  • the first steepness Tp1i is an index indicating the degree of steepness of each protrusion i in the width direction.
  • the control device 18 calculates the first steepness Tp1i by the following formula.
  • Xi is the X coordinate value of the protrusion i.
  • Tp1i 2y (Xi) -y (Xi + s) -y (Xi-s)
  • the larger the first steepness Tp1i the greater the dip in the width direction of the corresponding protrusion i. Therefore, among all the protrusions i, the protrusion i having the largest first steepness Tp1i can be a promising candidate to be gripped by the pickup unit 7.
  • the variable s is set to be at least less than half of the maximum gap D between the two gripping execution units 31d of the first gripping unit 31. The reason is that the steepness of the protrusion i between the two gripping execution portions 31d is directly linked to the ease of gripping the protrusion i by the first grip portion 31.
  • the variable s is set to 1/3 to 1/5 of the maximum gap D.
  • the control device 18 can determine whether the protrusion i having the maximum first steepness Tp1i has a sufficient head on both sides in the width direction.
  • the predetermined value is set between 3 mm and 5 mm, but the present invention is not limited to this. Then, when the control device 18 determines that the left head ⁇ 1 and the right head ⁇ 2 are equal to or higher than the predetermined values, the control device 18 advances the process to S160. On the other hand, when the control device 18 determines that the left head ⁇ 1 and the right head ⁇ 2 are not equal to or more than the predetermined values, the control device 18 advances the process to S140.
  • S140 In S130, when it is determined that the protrusion i having the maximum first steepness Tp1i is not suitable for gripping by the pickup unit 7 (S130: NO), the control device 18 is based on the measurement result by the distance sensor 38. , Calculate the second steepness Tp2i of all the protrusions i.
  • the second steepness Tp2i is an index showing the degree of steepness in the width direction of each protrusion i, like the first steepness Tp1i.
  • the control device 18 calculates the second steepness Tp2i by the following formula. However, Xi is the X coordinate value of the protrusion i.
  • Tp2i 2y (Xi) -y (Xi + 2s) -y (Xi-2s)
  • the control device 18 relaxes the candidate condition regarding the steepness of the protrusion i to be gripped.
  • the control device 18 can determine whether the protrusion i having the maximum second steepness Tp2i has a sufficient head on both sides in the width direction.
  • the predetermined value is set between 3 mm and 5 mm, but the present invention is not limited to this. Then, when the control device 18 determines that the left head ⁇ 3 and the right head ⁇ 4 are equal to or higher than the predetermined values (S150: YES), the control device 18 advances the process to S160.
  • control device 18 determines that the left head ⁇ 3 and the right head ⁇ 4 are not equal to or higher than the predetermined values (S150: NO), it is assumed that the protrusion i suitable for gripping by the pickup unit 7 cannot be found, and the lower stage conveyor is conveyed.
  • the endless belt 2b of the conveyor unit 2 is driven by a predetermined distance (S170), and the process is returned to S100.
  • the control device 18 uses the protrusion i (hereinafter, the protrusion to be gripped J) determined to be suitable for gripping by the pickup unit 7 in S130 or S150 to pick up the laundry p by the pickup unit 7. Pick up.
  • the control device 18 moves the pickup unit 7 for which the scanning operation has been completed directly above the gripping target protrusion J, as indicated by reference numeral W2.
  • the pair of movable portions 31b of the first grip portion 31 of the pickup unit 7 is directly above the grip target protrusion J with respect to the grip target protrusion J.
  • the pickup unit 7 is moved so as to be as close as possible.
  • control device 18 controls the first grip portion elevating drive unit 32 to further lower the first grip portion 31 with respect to the unit support main body 30. Then, the pair of movable portions 31b of the first grip portion 31 come into contact with the laundry p, and the laundry p is pushed downward to be compressed.
  • the control device 18 transfers the first grip portion elevating drive unit 32.
  • the tip of the first grip portion 31 is lowered so as to come into contact with the laundry p, or is lowered by the amount of the elevating stroke, and the first grip portion 31 is further lowered with respect to the unit support main body 30.
  • the control device 18 causes the first grip portion 31 to grip the gripping target protrusion J of the laundry p.
  • the control device 18 controls the second grip portion elevating drive portion 36 and the second grip portion opening / closing drive portion 37 to cause the second grip portion 35 to grip the raised portion K.
  • the control device 18 measures the height of the peak of the raised portion K by the distance sensor 38 in the state of FIG. 9B, and the peak of the raised portion K is a pair of movable portions 35b of the second grip portion 35.
  • the second grip portion 35 is lowered with respect to the first grip portion 31 so as to enter between them by about 1 mm to 3 mm in the height direction, and in this state, as shown in FIG. 9C, a raised portion is formed on the second grip portion 35. Grip K.
  • the control device 18 raises the pickup unit 7 by a predetermined amount.
  • the predetermined amount is, for example, 100 mm or 200 mm, but is not limited thereto.
  • the control device 18 temporarily releases the grip of the gripping target protrusion J by the first gripping portion 31, and causes the first gripping portion 31 to grip the laundry p again.
  • the first grip portion 31 grips the laundry p in addition to the second grip portion 35, so that the relatively heavy laundry p can be picked up without any problem.
  • the control device 18 controls the elevating drive unit 6a to raise the pickup unit 7 to the top dead center of the elevating stroke. Then, the control device 18 determines whether or not the pickup unit 7 has successfully picked up the laundry p based on the detection result of the pickup detection sensor 10.
  • the control device 18 If it is determined that the pickup unit 7 has failed to pick up the laundry p (S180: NO), the control device 18 returns the process to S160 and again if the failure is the first time (S190: YES). , Try to pick up the laundry p using the gripping target protrusion J. On the other hand, if the failure is the second time (S190: NO), the endless belt 2b of the lower transfer conveyor unit 2 is driven by a predetermined distance (S200), and the process is returned to S100. In this way, only when the failure is the first time, the same gripping target protrusion J is used to try to pick up the laundry p when the gripping target protrusion J and the raised portion K fail last time in the first trial.
  • the control device 18 delivers the laundry p from the pickup unit 7 to the transfer unit 11 (S210), and returns the process to S100. .. As a result, the control device 18 advances the pickup of another laundry p.
  • the pickup device 1 that picks up the laundry p one by one from the plurality of accumulated laundry p has a first grip portion 31 capable of gripping the laundry p and a second grip portion 35 capable of gripping the laundry p.
  • a control device 18 control unit
  • the first grip portion 31 grips the laundry p to locally raise the laundry p upward in the vicinity of the first grip portion 31.
  • the operations of the first grip portion 31 and the second grip portion 35 are controlled so that the second grip portion 35 grips the raised portion K as the raised portion.
  • the laundry p since the laundry p is separated from the other laundry p in the raised portion K, the laundry p can be picked up one by one by grasping the raised portion K.
  • the first grip portion 31 has a pair of movable portions 31b, and is configured to grip the laundry p when the pair of movable portions 31b approach each other.
  • the raised portion K is adjacent to the gripping object protrusion J (grasped portion) gripped by the first gripping portion 31 in a direction orthogonal to the direction in which the pair of movable portions 31b approach each other in a plan view. It is formed.
  • the first grip portion 31 has a pair of movable portions 31b for gripping the laundry p and a grip portion main body 31a that slidably supports the pair of movable portions 31b.
  • the pair of movable portions 31b are supported by the grip portion main body 31a so as to be slidable linearly in the horizontal direction with respect to the grip portion main body 31a.
  • the pair of movable portions 31b can easily grip the laundry p as compared with the case where the pair of movable portions 31b move in a curved manner with respect to the grip portion main body 31a.
  • the second grip portion 35 is also configured in the same manner as the first grip portion 31. However, only one of the first grip portion 31 and the second grip portion 35 may be configured as described above.
  • the pickup device 1 further includes a distance sensor 38 (contour measuring unit) for measuring the surface contour R of the deposit Q composed of a plurality of piled laundry ps.
  • the control device 18 detects the protrusion i (protruding portion) protruding upward from the deposit Q based on the measurement result by the distance sensor 38, and the first grip portion 31 grips the protrusion i to obtain the first.
  • the operation of the first grip portion 31 is controlled so that the laundry p is locally raised upward in the vicinity of the grip portion 31. According to the above configuration, since the first grip portion 31 can reliably grip the laundry p, the probability that the raised portion K is formed can be increased.
  • the pickup device 1 includes a first grip portion 31, a second grip portion 35, a pickup unit 7 including a distance sensor 38 (contour measuring unit), and a pickup unit drive unit that moves the pickup unit 7 in the vertical direction and the horizontal direction. And further prepare.
  • the pickup unit drive unit is composed of an elevating drive unit 6a and a horizontal drive unit 6b.
  • the distance sensor 38 is configured to scan and measure the surface contour R of the deposit Q with at least horizontal movement.
  • the control device 18 moves the pickup unit 7 diagonally in the horizontal direction and downward as shown by reference numeral W1 in FIG.
  • the pickup unit drive unit is controlled so as to. According to the above configuration, it is possible to shorten the time required for the first grip portion 31 to move to the grip target protrusion J after the distance sensor 38 measures the surface contour R of the deposit Q.
  • the first grip is performed by gripping the laundry p with the first grip portion 31.
  • the step includes a step of locally raising the laundry p upward in the vicinity of the portion 31, and a step of gripping the raised portion K as the raised portion by the second grip portion 35.
  • This pickup device and pickup method can be used when picking up various forms of cloth products.

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  • Textile Engineering (AREA)
  • Manipulator (AREA)

Abstract

This pickup device (1) which picks up articles of laundry (p) one at a time from a plurality of articles of laundry (p) in a pile is provided with a first grip part (31) which can grip the articles of laundry (p); a second grip part (35) which can grip the articles of laundry (p); and a control device (18). The control device (18) controls the movements of the first grip part (31) and the second grip part (35) such that the first grip part (31) grips an article of laundry (p) so that a portion of the article of laundry (p) is raised upward near the first grip part (31) and such that the second grip part (35) grips the raised portion (K). Articles of laundry can thus be picked up one at a time from a plurality of articles of laundry in a pile.

Description

ピックアップ装置及びピックアップ方法Pickup device and pickup method
本発明は、洗濯物のピックアップ装置及びピックアップ方法に関する。 The present invention relates to a laundry pick-up device and a pick-up method.
特許文献１（特開２０００－５１５９３号公報）は、洗濯後の洗濯物のかたまりを分離する洗濯物分離装置を開示する。洗濯物分離装置は、上下に駆動する把持機構を備え、把持機構は、小型ジョウと、小型ジョウよりも大型で把持力の強い大型ジョウと、を備える。そして、洗濯物をかたまりから引き抜くに際しては、まず、把持機構を落下させて把持機構をかたまりに無作為に着地させると共に小型ジョウを閉じる。これにより、小型ジョウが洗濯物を把持する。次に、小型ジョウが洗濯物を把持した状態で把持機構を所定距離だけ上方に移動させると共に、大型ジョウを閉じる。これにより、洗濯物がかたまりから引き抜かれると共に、大型ジョウが生地を堅固に把持する。そして、把持機構が垂直ストロークの最高位まで移動し、そこで洗濯物はコンベアに受け渡される。 Patent Document 1 (Japanese Unexamined Patent Publication No. 2000-51593) discloses a laundry separating device for separating a mass of laundry after washing. The laundry separating device includes a gripping mechanism that drives up and down, and the gripping mechanism includes a small jaw and a large jaw that is larger than the small jaw and has a stronger gripping force. Then, when pulling out the laundry from the lump, first, the gripping mechanism is dropped to randomly land the gripping mechanism on the lump and close the small jaw. As a result, the small jaw grips the laundry. Next, while the small jaw grips the laundry, the gripping mechanism is moved upward by a predetermined distance, and the large jaw is closed. As a result, the laundry is pulled out of the lump, and the large jaw firmly grips the dough. The grip mechanism then moves to the highest vertical stroke, where the laundry is delivered to the conveyor.
しかしながら、上記特許文献１の構成では、複数枚の洗濯物を同時にピックアップしてしまう虞があった。 However, in the configuration of Patent Document 1, there is a risk that a plurality of pieces of laundry may be picked up at the same time.
本発明の目的は、堆積した複数の洗濯物から洗濯物を１枚ずつピックアップする技術を提供することにある。 An object of the present invention is to provide a technique for picking up laundry one by one from a plurality of accumulated laundry.
本願発明の第１の観点によれば、堆積した複数の洗濯物から洗濯物を１枚ずつピックアップするピックアップ装置であって、洗濯物を把持可能な第１把持部と、洗濯物を把持可能な第２把持部と、制御部と、を備え、前記制御部は、前記第１把持部が洗濯物を把持することで前記第１把持部の近傍において洗濯物を上方に向かって局所的に隆起させると共に、前記第２把持部が上記隆起した部分としての隆起部分を把持するように、前記第１把持部及び前記第２把持部の動作を制御する、ピックアップ装置が提供される。
本願発明の第２の観点によれば、堆積した複数の洗濯物から洗濯物を１枚ずつピックアップするピックアップ方法であって、第１把持部で洗濯物を把持することで前記第１把持部の近傍において洗濯物を上方に向かって局所的に隆起させるステップと、第２把持部で上記隆起した部分としての隆起部分を把持するステップと、を含む、ピックアップ方法が提供される。 According to the first aspect of the present invention, it is a pickup device that picks up laundry one by one from a plurality of accumulated laundry, and has a first gripping portion capable of gripping the laundry and capable of gripping the laundry. A second grip portion and a control unit are provided, and the control unit locally raises the laundry upward in the vicinity of the first grip portion when the first grip portion grips the laundry. A pickup device is provided that controls the operation of the first grip portion and the second grip portion so that the second grip portion grips the raised portion as the raised portion.
According to the second aspect of the present invention, it is a pick-up method of picking up laundry one by one from a plurality of accumulated laundry, and the first grip portion grips the laundry by gripping the first grip portion. A pick-up method is provided that includes a step of locally raising the laundry upward in the vicinity and a step of gripping the raised portion as the raised portion by the second grip portion.
　本発明によれば、堆積した複数の洗濯物から洗濯物を１枚ずつピックアップすることができる。 According to the present invention, laundry can be picked up one by one from a plurality of accumulated laundry.
ピックアップ装置の全体斜視図である。It is an overall perspective view of a pickup device. ピックアップ装置の概略側面図である。It is a schematic side view of a pickup device. ピックアップ装置の機能ブロック図である。It is a functional block diagram of a pickup device. ピックアップユニットの側面図である。It is a side view of a pickup unit. 第１把持部の正面図である。It is a front view of the 1st grip part. 第２把持部の正面図である。It is a front view of the 2nd gripping part. ピックアップ装置の制御フローである。This is the control flow of the pickup device. ピックアップユニットによるピックアップ動作を示す図である。It is a figure which shows the pickup operation by a pickup unit. ピックアップユニットが洗濯物を把持する様子を示す図である。It is a figure which shows the state which a pickup unit holds a laundry. ピックアップユニットが洗濯物を把持する様子を示す図である。It is a figure which shows the state which a pickup unit holds a laundry. ピックアップユニットが洗濯物を把持する様子を示す図である。It is a figure which shows the state which a pickup unit holds a laundry.
以下、図面を参照して、本発明の実施形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図１及び図２は、ピックアップ装置１を示している。図２に示すように、ピックアップ装置１は、堆積した複数の洗濯物ｐから成る堆積物Qから洗濯物ｐを１枚ずつピックアップするための装置である。 1 and 2 show the pickup device 1. As shown in FIG. 2, the pick-up device 1 is a device for picking up one laundry p from a deposit Q composed of a plurality of deposited laundry ps.
ピックアップ装置１は、例えば、ランドリー工場において使用される。具体的には、ランドリー工場内において、例えば宿泊施設や医療施設から入荷した洗濯物ｐを１枚ずつピックアップしたり、連続洗濯機から排出された洗濯物ｐを１枚ずつピックアップしたり、乾燥機から排出された洗濯物ｐを１枚ずつピックアップするのに用いられる。 The pickup device 1 is used, for example, in a laundry factory. Specifically, in the laundry factory, for example, the laundry p received from the accommodation facility or the medical facility can be picked up one by one, the laundry p discharged from the continuous washing machine can be picked up one by one, or a dryer. It is used to pick up the laundry p discharged from the laundry one by one.
洗濯物ｐは、例えば、シーツやデュベカバー、包布、浴衣、ピローカバー、タオルなどが挙げられるがこれに限定されない。 Examples of the laundry p include, but are not limited to, sheets, duvet covers, wrapping cloths, yukatas, pillow covers, towels and the like.
図１に示すように、ピックアップ装置１は、下段搬送コンベアユニット２と、仕切り板３、搬送検出センサ４、メインフレーム５、ピックアップユニット支持バー６、ピックアップユニット７、ピックアップ検出センサ１０、２つの移載ユニット１１、上段搬送コンベアユニット１５、ホッパーユニット１６と、たくし上げユニット１７と、制御装置１８と、を備えている。 As shown in FIG. 1, the pickup device 1 has a lower transfer conveyor unit 2, a partition plate 3, a transfer detection sensor 4, a main frame 5, a pickup unit support bar 6, a pickup unit 7, a pickup detection sensor 10, and two movements. It includes a mounting unit 11, an upper conveyor unit 15, a hopper unit 16, a pick-up unit 17, and a control device 18.
下段搬送コンベアユニット２は、２つのプーリ２ａと、２つのプーリ２ａに巻回された無端ベルト２ｂと、２つのプーリ２ａのうち一方を回転駆動する下段コンベアモータ２ｃ（図３参照）と、を備えている。以下、図２に示すように、下段搬送コンベアユニット２による堆積物Qの搬送方向を単に搬送方向と称する。 The lower conveyor unit 2 includes two pulleys 2a, an endless belt 2b wound around the two pulleys 2a, and a lower conveyor motor 2c (see FIG. 3) that rotationally drives one of the two pulleys 2a. I have. Hereinafter, as shown in FIG. 2, the transport direction of the deposit Q by the lower transport conveyor unit 2 is simply referred to as a transport direction.
図１に戻り、仕切り板３は、下段搬送コンベアユニット２の無端ベルト２ｂから堆積物Qがこぼれ落ちることを防止するものであって、下段搬送コンベアユニット２の無端ベルト２ｂを平面視で取り囲むように設けられている。 Returning to FIG. 1, the partition plate 3 prevents the deposit Q from spilling from the endless belt 2b of the lower transfer conveyor unit 2 so as to surround the endless belt 2b of the lower transfer conveyor unit 2 in a plan view. It is provided in.
メインフレーム５は、下段搬送コンベアユニット２の上方に配置されている。メインフレーム５は、下段搬送コンベアユニット２の搬送方向上流端に配置された２つの上流側支柱５ａと、下段搬送コンベアユニット２の搬送方向下流端に配置された２つの下流側支柱５ｂと、２つの上流側支柱５ａの上端、及び、２つの下流側支柱５ｂの上端を四隅とするように矩形枠状に配置された矩形梁５ｃと、を含む。 The main frame 5 is arranged above the lower conveyor unit 2. The main frame 5 includes two upstream columns 5a arranged at the upstream end of the lower conveyor unit 2 in the transport direction, two downstream columns 5b arranged at the downstream end of the lower conveyor unit 2 in the transport direction, and 2 It includes an upper end of one upstream support column 5a and a rectangular beam 5c arranged in a rectangular frame shape so that the upper ends of the two downstream side columns 5b are four corners.
搬送検出センサ４は、２つの下流側支柱５ｂの間に堆積物Qが搬送されてきたことを検出するためのセンサであって、２つの下流側支柱５ｂのうち何れか一方に設けられている。搬送検出センサ４は、メインフレーム５に設けることに代えて仕切り板３に設けてもよい。搬送検出センサ４は、例えば、回帰反射型又は拡散反射型の光電センサを採用し得るがこれに限定されない。 The transport detection sensor 4 is a sensor for detecting that the deposit Q has been transported between the two downstream columns 5b, and is provided on either one of the two downstream columns 5b. .. The transport detection sensor 4 may be provided on the partition plate 3 instead of being provided on the main frame 5. The transport detection sensor 4 may employ, for example, a regression reflection type or diffuse reflection type photoelectric sensor, but is not limited thereto.
ピックアップユニット支持バー６は、ピックアップユニット７を水平移動自在に支持するものであって、２つの下流側支柱５ｂに対して昇降自在に支持されている。図３に示すように、ピックアップ装置１は、更に、ピックアップユニット支持バー６をメインフレーム５に対して昇降駆動する昇降駆動部６ａと、ピックアップユニット７をピックアップユニット支持バー６に対して水平駆動する水平駆動部６ｂと、を備える。 The pickup unit support bar 6 supports the pickup unit 7 so as to be horizontally movable, and is supported so as to be vertically movable with respect to the two downstream support columns 5b. As shown in FIG. 3, the pickup device 1 further drives the pickup unit support bar 6 up and down with respect to the main frame 5 and the pickup unit 7 horizontally with respect to the pickup unit support bar 6. It includes a horizontal drive unit 6b.
ピックアップユニット７は、ピックアップユニット支持バー６に対して水平移動自在に支持されており、水平駆動部６ｂによってピックアップユニット支持バー６の長手方向に沿って駆動される。以下、ピックアップユニット支持バー６の長手方向を幅方向と称する。即ち、ピックアップユニット７が水平移動可能な方向は幅方向である。幅方向は、平面視で、搬送方向と直交する方向である。 The pickup unit 7 is supported so as to be horizontally movable with respect to the pickup unit support bar 6, and is driven by the horizontal drive unit 6b along the longitudinal direction of the pickup unit support bar 6. Hereinafter, the longitudinal direction of the pickup unit support bar 6 is referred to as a width direction. That is, the direction in which the pickup unit 7 can move horizontally is the width direction. The width direction is a direction orthogonal to the transport direction in a plan view.
昇降駆動部６ａ及び水平駆動部６ｂは、ピックアップユニット７を鉛直方向及び水平方向に移動させるピックアップユニット駆動部を構成している。 The elevating drive unit 6a and the horizontal drive unit 6b constitute a pickup unit drive unit that moves the pickup unit 7 in the vertical direction and the horizontal direction.
図４に示すように、ピックアップユニット７は、ユニット支持本体３０、第１把持部３１、第１把持部昇降駆動部３２、第１把持部開閉駆動部３３、下死点メカニカルスイッチ３４、第２把持部３５、第２把持部昇降駆動部３６、第２把持部開閉駆動部３７、距離センサ３８を含む。 As shown in FIG. 4, the pickup unit 7 includes a unit support main body 30, a first grip portion 31, a first grip portion elevating drive unit 32, a first grip portion opening / closing drive unit 33, a bottom dead center mechanical switch 34, and a second. The grip portion 35, the second grip portion elevating drive unit 36, the second grip portion opening / closing drive unit 37, and the distance sensor 38 are included.
ユニット支持本体３０は、ピックアップユニット支持バー６に対して水平移動自在に連結する部分である。 The unit support main body 30 is a portion that is horizontally movablely connected to the pickup unit support bar 6.
第１把持部３１は、ユニット支持本体３０によって昇降自在に支持されており、第１把持部昇降駆動部３２によってユニット支持本体３０に対して昇降駆動されるように構成されている。第１把持部昇降駆動部３２としては、例えばエアシリンダや直動モータを採用し得るが、これに限定されない。 The first grip portion 31 is supported up and down by the unit support main body 30, and is configured to be lifted and lowered with respect to the unit support main body 30 by the first grip portion elevating drive unit 32. As the first gripping portion elevating drive portion 32, for example, an air cylinder or a linear motor can be adopted, but the present invention is not limited thereto.
図５に示すように、第１把持部３１は、把持部本体３１ａと、一対の可動部３１ｂと、を備える。一対の可動部３１ｂは、把持部本体３１ａの下端において水平方向に直線的に移動自在となるように、把持部本体３１ａに支持されている。一対の可動部３１ｂは、ピックアップユニット支持バー６に対してピックアップユニット７が移動可能な方向である幅方向において開閉可能に構成されている。各可動部３１ｂは、L字状に折り曲げられた板状に構成されている。具体的には、各可動部３１ｂは、幅方向に延びて把持部本体３１ａに支持される被支持部３１ｃと、被支持部３１ｃの端部であって他方の可動部３１ｂに近い方の端部から下方に向かって延びる把持実行部３１ｄと、を含む。従って、一対の可動部３１ｂの把持実行部３１ｄは、幅方向において対向しており、板厚方向が幅方向に一致するように配置されている。そして、一対の可動部３１ｂは、第１把持部開閉駆動部３３によって互いに近づき離れるように、幅方向において開閉駆動されるようになっている。第１把持部開閉駆動部３３としては、例えばモータを採用し得るがこれに限定されない。 As shown in FIG. 5, the first grip portion 31 includes a grip portion main body 31a and a pair of movable portions 31b. The pair of movable portions 31b are supported by the grip portion main body 31a so as to be linearly movable in the horizontal direction at the lower end of the grip portion main body 31a. The pair of movable portions 31b are configured to be openable and closable with respect to the pickup unit support bar 6 in the width direction in which the pickup unit 7 can move. Each movable portion 31b is formed in a plate shape bent into an L shape. Specifically, each movable portion 31b is a supported portion 31c that extends in the width direction and is supported by the grip portion main body 31a, and an end portion of the supported portion 31c that is closer to the other movable portion 31b. A gripping execution unit 31d extending downward from the unit is included. Therefore, the gripping execution portions 31d of the pair of movable portions 31b are opposed to each other in the width direction, and are arranged so that the plate thickness directions coincide with the width direction. The pair of movable portions 31b are driven to open and close in the width direction so as to approach and separate from each other by the first grip portion opening / closing driving portion 33. As the first gripping portion opening / closing drive portion 33, for example, a motor may be adopted, but the present invention is not limited thereto.
図４に戻り、第１把持部３１はユニット支持本体３０に対して所定長の昇降ストロークを有する。そして、下死点メカニカルスイッチ３４は、第１把持部３１が昇降ストロークの下死点に達したことを検出するように構成されている。本実施形態において昇降ストロークは70mmであるが、これに限定されず、50mmでもよいし、150mmでもよい。 Returning to FIG. 4, the first grip portion 31 has an elevating stroke of a predetermined length with respect to the unit support main body 30. The bottom dead center mechanical switch 34 is configured to detect that the first grip portion 31 has reached the bottom dead center of the elevating stroke. In the present embodiment, the elevating stroke is 70 mm, but the elevating stroke is not limited to this, and may be 50 mm or 150 mm.
図４を引き続き参照して、第２把持部３５は、第１把持部３１によって昇降自在に支持されており、第２把持部昇降駆動部３６によって第１把持部３１に対して昇降駆動されるように構成されている。第２把持部昇降駆動部３６としては、例えばエアシリンダや直動モータを採用し得るが、これに限定されない。 With reference to FIG. 4, the second grip portion 35 is supported by the first grip portion 31 so as to be vertically movable, and is driven up and down with respect to the first grip portion 31 by the second grip portion elevating drive unit 36. It is configured as follows. As the second gripping portion elevating drive portion 36, for example, an air cylinder or a linear motion motor may be adopted, but the present invention is not limited thereto.
図６に示すように、第２把持部３５は、把持部本体３５ａと、一対の可動部３５ｂと、を備える。一対の可動部３５ｂは、把持部本体３５ａの下端において水平方向に直線的に移動自在となるように、把持部本体３５ａに支持されている。一対の可動部３５ｂは、ピックアップユニット支持バー６に対してピックアップユニット７が移動可能な方向である幅方向において開閉可能に構成されている。各可動部３５ｂは、L字状に折り曲げられた板状に構成されている。具体的には、各可動部３５ｂは、幅方向に延びて把持部本体３５ａに支持される被支持部３５ｃと、被支持部３５ｃの端部であって他方の可動部３５ｂに近い方の端部から下方に向かって延びる把持実行部３５ｄと、を含む。従って、一対の可動部３５ｂの把持実行部３５ｄは、幅方向において対向しており、板厚方向が幅方向に一致するように配置されている。そして、一対の可動部３５ｂは、第２把持部開閉駆動部３７によって互いに近づき離れるように、幅方向において開閉駆動されるようになっている。第２把持部開閉駆動部３７としては、例えばモータを採用し得るがこれに限定されない。 As shown in FIG. 6, the second grip portion 35 includes a grip portion main body 35a and a pair of movable portions 35b. The pair of movable portions 35b are supported by the grip portion main body 35a so as to be linearly movable in the horizontal direction at the lower end of the grip portion main body 35a. The pair of movable portions 35b are configured to be openable and closable with respect to the pickup unit support bar 6 in the width direction in which the pickup unit 7 can move. Each movable portion 35b is formed in a plate shape bent into an L shape. Specifically, each movable portion 35b has a supported portion 35c extending in the width direction and supported by the grip portion main body 35a, and an end portion of the supported portion 35c that is closer to the other movable portion 35b. A gripping execution unit 35d extending downward from the unit is included. Therefore, the gripping execution portions 35d of the pair of movable portions 35b are opposed to each other in the width direction, and are arranged so that the plate thickness directions coincide with the width direction. The pair of movable portions 35b are driven to open and close in the width direction so as to approach and separate from each other by the second grip portion opening / closing driving portion 37. As the second grip portion opening / closing drive portion 37, for example, a motor can be adopted, but the present invention is not limited thereto.
図４に戻り、距離センサ３８は、堆積物Qの表面輪郭を測定する輪郭測定部の一具体例である。距離センサ３８は、例えばTOF(Time-Of-Flight)式や三角測距式のものを採用し得るが、これに限定されない。距離センサ３８は、第２把持部３５に固定されている。距離センサ３８は、ピックアップユニット７が幅方向に移動することで、一対の下流側支柱５ｂの間における堆積物Qの表面輪郭を二次元的に測定可能に構成されている。なお、水平移動することで堆積物Qの表面輪郭を測定することに代えて、例えばラインセンサや３Dセンサを用いて堆積物Qの表面輪郭を測定するようにしてもよい。 Returning to FIG. 4, the distance sensor 38 is a specific example of the contour measuring unit that measures the surface contour of the deposit Q. As the distance sensor 38, for example, a TOF (Time-Of-Flight) type or a triangular distance measuring type can be adopted, but the distance sensor 38 is not limited thereto. The distance sensor 38 is fixed to the second grip portion 35. The distance sensor 38 is configured so that the surface contour of the deposit Q between the pair of downstream columns 5b can be measured two-dimensionally by moving the pickup unit 7 in the width direction. Instead of measuring the surface contour of the deposit Q by moving horizontally, for example, a line sensor or a 3D sensor may be used to measure the surface contour of the deposit Q.
図４に示すように、第１把持部３１、第２把持部３５、距離センサ３８は、搬送方向においてこの順となるように配置されている。しかし、これに代えて、第１把持部３１、第２把持部３５、距離センサ３８は、幅方向においてこの順となるように配置されてもよい。また、距離センサ３８は、第１把持部３１と第２把持部３５の間に配置されてもよい。 As shown in FIG. 4, the first grip portion 31, the second grip portion 35, and the distance sensor 38 are arranged in this order in the transport direction. However, instead of this, the first grip portion 31, the second grip portion 35, and the distance sensor 38 may be arranged in this order in the width direction. Further, the distance sensor 38 may be arranged between the first grip portion 31 and the second grip portion 35.
図１に戻り、ピックアップ検出センサ１０は、ピックアップユニット７によってピックアップされた洗濯物ｐを検出するためのセンサであって、例えば一対の下流側支柱５ｂの何れかに設けられている。ピックアップ検出センサ１０としては、例えば光電センサを採用し得るが、これに限定されない。 Returning to FIG. 1, the pickup detection sensor 10 is a sensor for detecting the laundry p picked up by the pickup unit 7, and is provided on, for example, one of a pair of downstream columns 5b. As the pickup detection sensor 10, for example, a photoelectric sensor can be adopted, but the pickup detection sensor 10 is not limited to this.
各移載ユニット１１は、ピックアップユニット７によってピックアップされた洗濯物ｐを上段搬送コンベアユニット１５に移載するためのものであって、メインフレーム５の矩形梁５ｃに設けられている。 Each transfer unit 11 is for transferring the laundry p picked up by the pickup unit 7 to the upper transfer conveyor unit 15, and is provided on the rectangular beam 5c of the main frame 5.
具体的には、図１から図３に示すように、各移載ユニット１１は、移載レール１１ａと、移載グリップ１１ｂ、移載グリップ走行駆動部１１ｃ、移載グリップ開閉駆動部１１ｄを備える。 Specifically, as shown in FIGS. 1 to 3, each transfer unit 11 includes a transfer rail 11a, a transfer grip 11b, a transfer grip traveling drive unit 11c, and a transfer grip opening / closing drive unit 11d. ..
移載レール１１ａは、一対の下流側支柱５ｂから一対の上流側支柱５ａに向かって若干上り坂となるように延びている。移載グリップ１１ｂは、移載レール１１ａに沿って移動自在となるように移載レール１１ａに支持されている。移載グリップ１１ｂは、移載グリップ走行駆動部１１ｃによって移載レール１１ａに沿って走行駆動される。移載グリップ１１ｂは、移載グリップ開閉駆動部１１ｄによって開閉駆動されることで洗濯物ｐを把持し又は解放するように構成されている。 The transfer rail 11a extends from the pair of downstream columns 5b toward the pair of upstream columns 5a so as to be slightly uphill. The transfer grip 11b is supported by the transfer rail 11a so as to be movable along the transfer rail 11a. The transfer grip 11b is travel-driven along the transfer rail 11a by the transfer grip traveling drive unit 11c. The transfer grip 11b is configured to grip or release the laundry p by being driven to open and close by the transfer grip opening / closing drive unit 11d.
本実施形態では、ピックアップ装置１は、ピックアップユニット７から上段搬送コンベアユニット１５への移載能力を確保するために、移載ユニット１１を２つ備えている。しかしながら、ピックアップ装置１は、移載ユニット１１を１つのみ備えてもよいし、３つ以上備えてもよい。 In the present embodiment, the pickup device 1 includes two transfer units 11 in order to secure the transfer capacity from the pickup unit 7 to the upper transfer conveyor unit 15. However, the pickup device 1 may include only one transfer unit 11 or may include three or more transfer units 11.
ホッパーユニット１６は、移載ユニット１１によって投入された洗濯物ｐを一時的に保持してコンパクトに成形するものであって、図２に示すように、筒状の周壁部１６ａと、周壁部１６ａの下端に設けられた開閉部１６ｂと、開閉部１６ｂを開閉駆動するホッパー開閉駆動部１６ｃ（図３参照）と、を備えている。ホッパー開閉駆動部１６ｃとして、例えばモータを採用し得るがこれに限定されない。 The hopper unit 16 temporarily holds the laundry p loaded by the transfer unit 11 and forms it compactly. As shown in FIG. 2, the hopper unit 16 has a tubular peripheral wall portion 16a and a peripheral wall portion 16a. It is provided with an opening / closing portion 16b provided at the lower end of the hopper, and a hopper opening / closing drive portion 16c (see FIG. 3) for opening / closing the opening / closing portion 16b. As the hopper opening / closing drive unit 16c, for example, a motor can be adopted, but the present invention is not limited thereto.
たくし上げユニット１７は、移載ユニット１１によって搬送される洗濯物ｐをたくし上げてホッパーユニット１６に投入するためのものであって、たくし上げローラ１７ａと、たくし上げローラ１７ａを回転駆動するたくし上げローラ駆動部１７ｂ（図３参照）と、を備えている。たくし上げローラ駆動部１７ｂとして、例えばモータを採用し得るがこれに限定されない。 The hoisting unit 17 is for hoisting the laundry p conveyed by the transfer unit 11 and throwing it into the hopper unit 16, and is a hoisting roller 17a for rotating and driving the hoisting roller 17a and the hoisting roller 17a. It includes a roller drive unit 17b (see FIG. 3). For example, a motor may be adopted as the lift roller drive unit 17b, but the method is not limited thereto.
図１に戻り、上段搬送コンベアユニット１５は、２つのプーリ１５ａと、２つのプーリ１５ａに巻回された無端ベルト１５ｂと、２つのプーリ１５ａのうち一方を回転駆動する上段コンベアモータ１５ｃ（図３参照）と、を備えている。 Returning to FIG. 1, the upper conveyor unit 15 rotates and drives one of the two pulleys 15a, the endless belt 15b wound around the two pulleys 15a, and the two pulleys 15a (FIG. 3). See) and.
図３に示すように、制御装置１８は、下段コンベアモータ２ｃ、搬送検出センサ４、昇降駆動部６ａ、水平駆動部６ｂ、第１把持部昇降駆動部３２、第１把持部開閉駆動部３３、下死点メカニカルスイッチ３４、第２把持部昇降駆動部３６、第２把持部開閉駆動部３７、距離センサ３８、ピックアップ検出センサ１０、移載グリップ走行駆動部１１ｃ、移載グリップ開閉駆動部１１ｄ、たくし上げローラ駆動部１７ｂ、ホッパー開閉駆動部１６ｃ、上段コンベアモータ１５ｃと電気的に接続されている。 As shown in FIG. 3, the control device 18 includes a lower conveyor motor 2c, a transport detection sensor 4, an elevating drive unit 6a, a horizontal drive unit 6b, a first gripping unit elevating drive unit 32, and a first gripping unit opening / closing drive unit 33. Bottom dead center mechanical switch 34, second grip part elevating drive part 36, second grip part opening / closing drive part 37, distance sensor 38, pickup detection sensor 10, transfer grip traveling drive part 11c, transfer grip opening / closing drive part 11d, It is electrically connected to the hoisting roller drive unit 17b, the hopper opening / closing drive unit 16c, and the upper conveyor motor 15c.
次に、図２を参照して、ピックアップ装置１の動作を概略的に説明する。 Next, the operation of the pickup device 1 will be schematically described with reference to FIG.
まず、制御装置１８は、下段搬送コンベアユニット２の無端ベルト２ｂを走行させることにより、ピックアップ装置１に投入された堆積物Qを搬送方向に搬送する。搬送検出センサ４が堆積物Qを検出したら、制御装置１８は、下段搬送コンベアユニット２の無端ベルト２ｂの走行を停止させる。 First, the control device 18 transports the deposit Q charged into the pickup device 1 in the transport direction by traveling the endless belt 2b of the lower transport conveyor unit 2. When the transport detection sensor 4 detects the deposit Q, the control device 18 stops the running of the endless belt 2b of the lower transport conveyor unit 2.
制御装置１８は、ピックアップユニット７の動作を制御することにより、堆積物Qから洗濯物ｐを１枚ピックアップする。そして、制御装置１８は、ピックアップユニット７によりピックアップした洗濯物ｐを移載ユニット１１の移載グリップ１１ｂに受け渡す。次に、制御装置１８は、移載グリップ１１ｂを移載レール１１ａに沿って走行させることにより、洗濯物ｐの上端をホッパーユニット１６の上方に引き上げる。 The control device 18 picks up one piece of laundry p from the deposit Q by controlling the operation of the pickup unit 7. Then, the control device 18 delivers the laundry p picked up by the pickup unit 7 to the transfer grip 11b of the transfer unit 11. Next, the control device 18 pulls the upper end of the laundry p above the hopper unit 16 by running the transfer grip 11b along the transfer rail 11a.
この状態で、制御装置１８は、たくし上げユニット１７を駆動することで、移載グリップ１１ｂに保持されている洗濯物ｐをたくし上げてホッパーユニット１６に投入する。制御装置１８は、ホッパーユニット１６の開閉部１６ｂを開くことにより、ホッパーユニット１６に収容されている洗濯物ｐを上段搬送コンベアユニット１５に排出する。そして、制御装置１８は、上段搬送コンベアユニット１５の無端ベルト１５ｂを走行させることにより、上段搬送コンベアユニット１５に排出された洗濯物ｐを下流側の装置に搬送する。ここで、下流側の装置とは、例えば、洗濯物ｐの品種を判定するための品種判定装置、洗濯物ｐを仕上げるための仕上げ装置などが挙げられるがこれに限定されない。 In this state, the control device 18 drives the hoisting unit 17 to hoist the laundry p held by the transfer grip 11b and put it into the hopper unit 16. By opening the opening / closing portion 16b of the hopper unit 16, the control device 18 discharges the laundry p contained in the hopper unit 16 to the upper conveyor unit 15. Then, the control device 18 conveys the laundry p discharged to the upper transfer conveyor unit 15 to the downstream device by running the endless belt 15b of the upper transfer conveyor unit 15. Here, examples of the device on the downstream side include, but are not limited to, a type determination device for determining the type of the laundry p, a finishing device for finishing the laundry p, and the like.
次に、図７、図８、図９Ａ，図９Ｂ及び図９Ｃを参照して、ピックアップユニット７の動作を詳細に説明する。 Next, the operation of the pickup unit 7 will be described in detail with reference to FIGS. 7, 8, 9A, 9B, and 9C.
S100:
まず、制御装置１８は、ピックアップユニット７の距離センサ３８を幅方向に移動させて堆積物Qの表面輪郭を走査することで、堆積物Qの表面輪郭、具体的には堆積物Qの表面輪郭の高さを測定する。本実施形態では、図８に示すように、制御装置１８は、距離センサ３８が堆積物Qの表面輪郭Rを走査して測定するに際し、符号W1で示すように、ピックアップユニット７をホームポジションから水平方向及び下方に向かって斜めに直線的に移動させるように昇降駆動部６ａ及び水平駆動部６ｂを制御する。なお、ピックアップユニット７のホームポジションとは、ピックアップユニット支持バー６が昇降ストロークの上死点に位置し、ピックアップユニット７がピックアップユニット支持バー６の長手方向一端に位置するときのピックアップユニット７の位置を意味する。そして、堆積物Qの表面輪郭Rの高さは、距離センサ３８の高さ位置と距離センサ３８の出力値の差分により求めることができる。 S100:
First, the control device 18 moves the distance sensor 38 of the pickup unit 7 in the width direction to scan the surface contour of the deposit Q, thereby scanning the surface contour of the deposit Q, specifically, the surface contour of the deposit Q. Measure the height of. In the present embodiment, as shown in FIG. 8, when the distance sensor 38 scans and measures the surface contour R of the deposit Q, the control device 18 moves the pickup unit 7 from the home position as indicated by reference numeral W1. The elevating drive unit 6a and the horizontal drive unit 6b are controlled so as to move diagonally and linearly in the horizontal direction and downward. The home position of the pickup unit 7 is the position of the pickup unit 7 when the pickup unit support bar 6 is located at the top dead center of the elevating stroke and the pickup unit 7 is located at one end in the longitudinal direction of the pickup unit support bar 6. Means. The height of the surface contour R of the deposit Q can be obtained from the difference between the height position of the distance sensor 38 and the output value of the distance sensor 38.
S110:
次に、制御装置１８は、距離センサ３８による測定結果に基づいて、堆積物Qの上方に突出したすべての突部ｉ（突出部分）を検出する。突部ｉの検出は、公知の方法を採用し得る。例えば、距離センサ３８の走査方向（＝幅方向）をX軸とし、鉛直方向をY軸とし、X軸方向における測定分解能をｄとし、位置Xiにおける堆積物Qの高さをy(Xi)と表現できるとすると、y(Xi)-y(Xi-d)>0、y(Xi)-y(Xi+d)>0を満足する位置Xiに突部ｉが存在することになる。突部ｉは、１つしか検出できない場合もあれば、２つ以上検出できる場合もある。 S110:
Next, the control device 18 detects all the protrusions i (protruding parts) protruding above the deposit Q based on the measurement result by the distance sensor 38. A known method can be adopted for the detection of the protrusion i. For example, the scanning direction (= width direction) of the distance sensor 38 is the X-axis, the vertical direction is the Y-axis, the measurement resolution in the X-axis direction is d, and the height of the deposit Q at the position Xi is y (Xi). If it can be expressed, the protrusion i exists at the position Xi that satisfies y (Xi) -y (Xi-d)> 0 and y (Xi) -y (Xi + d)> 0. In some cases, only one protrusion i can be detected, and in other cases, two or more protrusions i can be detected.
S120-S150:
次に、制御装置１８は、ピックアップユニット７によって把持するのに適した突部ｉが存在するか検証する。具体的には、以下の通りである。 S120-S150:
Next, the control device 18 verifies whether or not a protrusion i suitable for being gripped by the pickup unit 7 exists. Specifically, it is as follows.
S120:
制御装置１８は、距離センサ３８による測定結果に基づいて、すべての突部ｉの第１急峻度Tp1iを算出する。第１急峻度Tp1iは、各突部ｉの幅方向における急峻さの度合いを示す指標である。制御装置１８は、第１急峻度Tp1iを以下の式により算出する。ただし、Xiは、突部ｉのX座標値である。
Tp1i=2y(Xi)-y(Xi+s)-y(Xi-s)
第１急峻度Tp1iが大きければ大きいほど、対応する突部ｉの幅方向に大きな落ち込みが存在することになる。従って、すべての突部ｉのうち、第１急峻度Tp1iが最も大きい突部ｉがピックアップユニット７による把持対象の有力候補となり得る。 S120:
The control device 18 calculates the first steepness Tp1i of all the protrusions i based on the measurement result by the distance sensor 38. The first steepness Tp1i is an index indicating the degree of steepness of each protrusion i in the width direction. The control device 18 calculates the first steepness Tp1i by the following formula. However, Xi is the X coordinate value of the protrusion i.
Tp1i = 2y (Xi) -y (Xi + s) -y (Xi-s)
The larger the first steepness Tp1i, the greater the dip in the width direction of the corresponding protrusion i. Therefore, among all the protrusions i, the protrusion i having the largest first steepness Tp1i can be a promising candidate to be gripped by the pickup unit 7.
なお、第１急峻度Tp1iを算出するに際し、変数sは、少なくとも、第１把持部３１の２つの把持実行部３１ｄ間の最大間隙Dの２分の１よりも小さく設定することが好ましい。その理由は、２つの把持実行部３１ｄの間における突部ｉの急峻さが第１把持部３１による突部ｉの把持のし易さに直結するからである。本実施形態では、変数ｓは、最大間隙Dの３分の１から５分の１としている。このように変数ｓを十分小さく設定することで、突部ｉが幅方向において狭い範囲で大きく突出していることを第１急峻度Tp1iとして評価できるようになる。 When calculating the first steepness Tp1i, it is preferable that the variable s is set to be at least less than half of the maximum gap D between the two gripping execution units 31d of the first gripping unit 31. The reason is that the steepness of the protrusion i between the two gripping execution portions 31d is directly linked to the ease of gripping the protrusion i by the first grip portion 31. In the present embodiment, the variable s is set to 1/3 to 1/5 of the maximum gap D. By setting the variable s sufficiently small in this way, it becomes possible to evaluate that the protrusion i greatly protrudes in a narrow range in the width direction as the first steepness Tp1i.
S130:
次に、制御装置１８は、第１急峻度Tp1iが最大である突部ｉを有力候補とし、第１急峻度Tp1iが最大である突部ｉがピックアップユニット７による把持に適しているか更に具体的に検証する。
即ち、制御装置１８は、第１急峻度Tp1iが最大である突部ｉの左落差Δ1及び右落差Δ2を以下の式により算出する。そして、制御装置１８は、左落差Δ1及び右落差Δ2が所定値以上であるか判定する。
Δ1=y(Xi)-y(Xi-s)
Δ2=y(Xi)-y(Xi+s) S130:
Next, the control device 18 makes the protrusion i having the maximum first steepness Tp1i a promising candidate, and more specifically whether the protrusion i having the maximum first steepness Tp1i is suitable for gripping by the pickup unit 7. To verify.
That is, the control device 18 calculates the left head Δ1 and the right head Δ2 of the protrusion i having the maximum first steepness Tp1i by the following equations. Then, the control device 18 determines whether the left head Δ1 and the right head Δ2 are equal to or higher than a predetermined value.
Δ1 = y (Xi) -y (Xi-s)
Δ2 = y (Xi) -y (Xi + s)
これにより、制御装置１８は、第１急峻度Tp1iが最大である突部ｉが幅方向における両側において十分な落差を有するか判定することができる。本実施形態では、所定値を3mmから5mmの間で設定しているが、これに限定されない。そして、制御装置１８は、左落差Δ1及び右落差Δ2が所定値以上であると判定した場合、処理をS160に進める。一方、制御装置１８は、左落差Δ1及び右落差Δ2が所定値以上でないと判定した場合、処理をS140に進める。 Thereby, the control device 18 can determine whether the protrusion i having the maximum first steepness Tp1i has a sufficient head on both sides in the width direction. In the present embodiment, the predetermined value is set between 3 mm and 5 mm, but the present invention is not limited to this. Then, when the control device 18 determines that the left head Δ1 and the right head Δ2 are equal to or higher than the predetermined values, the control device 18 advances the process to S160. On the other hand, when the control device 18 determines that the left head Δ1 and the right head Δ2 are not equal to or more than the predetermined values, the control device 18 advances the process to S140.
S140:
S130において、第１急峻度Tp1iが最大である突部ｉがピックアップユニット７による把持に適していないと判断された場合（S130:NO）、制御装置１８は、距離センサ３８による測定結果に基づいて、すべての突部ｉの第２急峻度Tp2iを算出する。第２急峻度Tp2iは、第１急峻度Tp1iと同様、各突部ｉの幅方向における急峻さの度合いを示す指標である。制御装置１８は、第２急峻度Tp2iを以下の式により算出する。ただし、Xiは、突部ｉのX座標値である。
Tp2i=2y(Xi)-y(Xi+2s)-y(Xi-2s)
第２急峻度Tp2iが大きければ大きいほど、対応する突部ｉの幅方向に大きな落ち込みが存在することになる。従って、すべての突部ｉのうち、第２急峻度Tp2iが最も大きい突部ｉがピックアップユニット７による把持対象の有力候補となり得る。 S140:
In S130, when it is determined that the protrusion i having the maximum first steepness Tp1i is not suitable for gripping by the pickup unit 7 (S130: NO), the control device 18 is based on the measurement result by the distance sensor 38. , Calculate the second steepness Tp2i of all the protrusions i. The second steepness Tp2i is an index showing the degree of steepness in the width direction of each protrusion i, like the first steepness Tp1i. The control device 18 calculates the second steepness Tp2i by the following formula. However, Xi is the X coordinate value of the protrusion i.
Tp2i = 2y (Xi) -y (Xi + 2s) -y (Xi-2s)
The larger the second steepness Tp2i, the greater the dip in the width direction of the corresponding protrusion i. Therefore, among all the protrusions i, the protrusion i having the largest second steepness Tp2i can be a promising candidate to be gripped by the pickup unit 7.
なお、第２急峻度Tp2iを算出するに際し、第１急峻度Tp1iを算出する際に使用した変数sに２を掛けている。これにより、より緩やかに突出する突部もピックアップユニット７による把持の候補となり得る。即ち、S140において、制御装置１８は、把持対象とする突部ｉの急峻さに関する候補条件を緩和している。 When calculating the second steepness Tp2i, the variable s used when calculating the first steepness Tp1i is multiplied by 2. As a result, the protruding portion that protrudes more gently can also be a candidate for gripping by the pickup unit 7. That is, in S140, the control device 18 relaxes the candidate condition regarding the steepness of the protrusion i to be gripped.
S150:
次に、制御装置１８は、第２急峻度Tp2iが最大である突部ｉを有力候補とし、第２急峻度Tp2iが最大である突部ｉがピックアップユニット７による把持に適しているか更に具体的に検証する。
即ち、制御装置１８は、第２急峻度Tp2iが最大である突部ｉの左落差Δ3及び右落差Δ4を以下の式により算出する。そして、制御装置１８は、左落差Δ3及び右落差Δ4が所定値以上であるか判定する。
Δ3=y(Xi)-y(Xi-2s)
Δ4=y(Xi)-y(Xi+2s) S150:
Next, the control device 18 makes the protrusion i having the maximum second steepness Tp2i a promising candidate, and more specifically whether the protrusion i having the maximum second steepness Tp2i is suitable for gripping by the pickup unit 7. To verify.
That is, the control device 18 calculates the left head Δ3 and the right head Δ4 of the protrusion i having the maximum second steepness Tp2i by the following equations. Then, the control device 18 determines whether the left head Δ3 and the right head Δ4 are equal to or higher than a predetermined value.
Δ3 = y (Xi) -y (Xi-2s)
Δ4 = y (Xi) -y (Xi + 2s)
これにより、制御装置１８は、第２急峻度Tp2iが最大である突部ｉが幅方向における両側において十分な落差を有するか判定することができる。本実施形態では、所定値を3mmから5mmの間で設定しているが、これに限定されない。そして、制御装置１８は、左落差Δ3及び右落差Δ4が所定値以上であると判定した場合（S150:YES）、処理をS160に進める。一方、制御装置１８は、左落差Δ3及び右落差Δ4が所定値以上でないと判定した場合（S150:NO）、ピックアップユニット７による把持に適した突部ｉを見出だせなかったとして、下段搬送コンベアユニット２の無端ベルト２ｂを所定距離だけ走行させ（S170）、処理をS100に戻す。 Thereby, the control device 18 can determine whether the protrusion i having the maximum second steepness Tp2i has a sufficient head on both sides in the width direction. In the present embodiment, the predetermined value is set between 3 mm and 5 mm, but the present invention is not limited to this. Then, when the control device 18 determines that the left head Δ3 and the right head Δ4 are equal to or higher than the predetermined values (S150: YES), the control device 18 advances the process to S160. On the other hand, when the control device 18 determines that the left head Δ3 and the right head Δ4 are not equal to or higher than the predetermined values (S150: NO), it is assumed that the protrusion i suitable for gripping by the pickup unit 7 cannot be found, and the lower stage conveyor is conveyed. The endless belt 2b of the conveyor unit 2 is driven by a predetermined distance (S170), and the process is returned to S100.
S160:
次に、制御装置１８は、S130やS150においてピックアップユニット７による把持に適していると判定された突部ｉ（以下、把持対象突部Ｊ）を利用して、洗濯物ｐをピックアップユニット７でピックアップする。 S160:
Next, the control device 18 uses the protrusion i (hereinafter, the protrusion to be gripped J) determined to be suitable for gripping by the pickup unit 7 in S130 or S150 to pick up the laundry p by the pickup unit 7. Pick up.
具体的には、図８に示すように、制御装置１８は、符号W2で示すように、走査動作が完了したピックアップユニット７を把持対象突部Ｊの直上に移動させる。具体的には、図９Ａに示すように、制御装置１８は、ピックアップユニット７の第１把持部３１の一対の可動部３１ｂが把持対象突部Ｊの直上であって把持対象突部Ｊに対して可及的に近づくように、ピックアップユニット７を移動させる。 Specifically, as shown in FIG. 8, the control device 18 moves the pickup unit 7 for which the scanning operation has been completed directly above the gripping target protrusion J, as indicated by reference numeral W2. Specifically, as shown in FIG. 9A, in the control device 18, the pair of movable portions 31b of the first grip portion 31 of the pickup unit 7 is directly above the grip target protrusion J with respect to the grip target protrusion J. The pickup unit 7 is moved so as to be as close as possible.
この状態で、制御装置１８は、第１把持部昇降駆動部３２を制御して、第１把持部３１をユニット支持本体３０に対して更に降下させる。すると、第１把持部３１の一対の可動部３１ｂが洗濯物ｐに接触すると共に、洗濯物ｐを下方へ向かって押し下げて圧縮させる。 In this state, the control device 18 controls the first grip portion elevating drive unit 32 to further lower the first grip portion 31 with respect to the unit support main body 30. Then, the pair of movable portions 31b of the first grip portion 31 come into contact with the laundry p, and the laundry p is pushed downward to be compressed.
このとき、もし、第１把持部３１がユニット支持本体３０に対する昇降ストロークの下死点に到達したことを下死点メカニカルスイッチ３４が検出したら、制御装置１８は、第１把持部昇降駆動部３２を制御して、第１把持部３１をユニット支持本体３０に対する昇降ストロークの上死点に戻し、ピックアップユニット７全体を、距離センサ３８でピックアップユニット７と洗濯物ｐの間の鉛直距離を測長し第１把持部３１の先端が洗濯物ｐに接触するように降下させるか、又は、上記昇降ストローク分だけ降下させ、改めて第１把持部３１をユニット支持本体３０に対して更に降下させる。 At this time, if the bottom dead center mechanical switch 34 detects that the first grip portion 31 has reached the bottom dead center of the elevating stroke with respect to the unit support main body 30, the control device 18 transfers the first grip portion elevating drive unit 32. To return the first grip portion 31 to the top dead center of the elevating stroke with respect to the unit support main body 30, and measure the vertical distance between the pickup unit 7 and the laundry p with the distance sensor 38 for the entire pickup unit 7. The tip of the first grip portion 31 is lowered so as to come into contact with the laundry p, or is lowered by the amount of the elevating stroke, and the first grip portion 31 is further lowered with respect to the unit support main body 30.
このとき、もし、第１把持部３１がユニット支持本体３０に対する昇降ストロークの下死点に到達したことを下死点メカニカルスイッチ３４が所定時間内に検出しなかったら、第１把持部３１が洗濯物ｐから受ける上方への反発力と、第１把持部昇降駆動部３２による下方への駆動力が釣り合って、第１把持部３１が鉛直方向で静止しているとみなせる。この状態で、制御装置１８は、図９Ｂに示すように、第１把持部３１に洗濯物ｐの把持対象突部Ｊを把持させる。 At this time, if the bottom dead center mechanical switch 34 does not detect that the first grip portion 31 has reached the bottom dead center of the vertical stroke with respect to the unit support main body 30 within a predetermined time, the first grip portion 31 is washed. The upward repulsive force received from the object p and the downward driving force of the first grip portion elevating drive unit 32 are balanced, and it can be considered that the first grip portion 31 is stationary in the vertical direction. In this state, as shown in FIG. 9B, the control device 18 causes the first grip portion 31 to grip the gripping target protrusion J of the laundry p.
すると、把持対象突部Ｊが把持方向（＝幅方向）で圧縮されることで把持対象突部Ｊ自体が鉛直方向上方に更に突出すると共に、第１把持部３１の近傍において洗濯物ｐが上方に向かって局所的に隆起して隆起部分Ｋが形成される。具体的には、隆起部分Ｋは、平面視で、把持対象突部Ｊに対して、第１把持部３１の一対の可動部３１ｂが互いに近づく方向である把持方向（＝幅方向）と直交する方向に隣り合うように形成される。 Then, the gripping target protrusion J is compressed in the gripping direction (= width direction), so that the gripping target protrusion J itself further protrudes upward in the vertical direction, and the laundry p moves upward in the vicinity of the first gripping portion 31. A raised portion K is formed by locally raising toward. Specifically, the raised portion K is orthogonal to the gripping direction (= width direction) in which the pair of movable portions 31b of the first gripping portion 31 approach each other with respect to the gripping target protrusion J in a plan view. It is formed so as to be adjacent to each other in the direction.
そして、制御装置１８は、図９Ｃに示すように、第２把持部昇降駆動部３６及び第２把持部開閉駆動部３７を制御することで、第２把持部３５に隆起部分Ｋを把持させる。具体的には、制御装置１８は、図９Ｂの状態で、距離センサ３８によって隆起部分Ｋの峰の高さを測定し、隆起部分Ｋの峰が第２把持部３５の一対の可動部３５ｂの間に高さ方向で1mmから3mm程度入り込むように、第２把持部３５を第１把持部３１に対して降下させ、この状態で、図９Ｃに示すように、第２把持部３５に隆起部分Ｋを把持させる。 Then, as shown in FIG. 9C, the control device 18 controls the second grip portion elevating drive portion 36 and the second grip portion opening / closing drive portion 37 to cause the second grip portion 35 to grip the raised portion K. Specifically, the control device 18 measures the height of the peak of the raised portion K by the distance sensor 38 in the state of FIG. 9B, and the peak of the raised portion K is a pair of movable portions 35b of the second grip portion 35. The second grip portion 35 is lowered with respect to the first grip portion 31 so as to enter between them by about 1 mm to 3 mm in the height direction, and in this state, as shown in FIG. 9C, a raised portion is formed on the second grip portion 35. Grip K.
本願発明者らの研究により、図９Ｂに示すように、洗濯物ｐに隆起部分Ｋを形成したとき、洗濯物ｐは、隆起部分Ｋにおいて他の洗濯物ｐから鉛直方向で分離する知見が得られている。従って、第２把持部３５で隆起部分Ｋの峰を把持させることにより、洗濯物ｐを一枚だけで確実に把持できるようになる。 According to the research by the inventors of the present application, as shown in FIG. 9B, when the raised portion K is formed on the laundry p, the laundry p is separated from the other laundry p in the vertical direction at the raised portion K. Has been done. Therefore, by gripping the peak of the raised portion K with the second grip portion 35, the laundry p can be reliably gripped with only one sheet.
上記の通り、第２把持部３５が隆起部分Ｋを把持したら、制御装置１８は、ピックアップユニット７を所定量、上昇させる。所定量は、例えば、100mmや200mmであるがこれに限定されない。そして、ピックアップユニット７の上昇後、制御装置１８は、第１把持部３１による把持対象突部Ｊの把持を一旦解放し、再度、第１把持部３１に洗濯物ｐを把持させる。これにより、第２把持部３５に加えて第１把持部３１が洗濯物ｐを把持することで、比較的重量のある洗濯物ｐも問題なくピックアップできるようになる。 As described above, when the second grip portion 35 grips the raised portion K, the control device 18 raises the pickup unit 7 by a predetermined amount. The predetermined amount is, for example, 100 mm or 200 mm, but is not limited thereto. Then, after the pickup unit 7 is raised, the control device 18 temporarily releases the grip of the gripping target protrusion J by the first gripping portion 31, and causes the first gripping portion 31 to grip the laundry p again. As a result, the first grip portion 31 grips the laundry p in addition to the second grip portion 35, so that the relatively heavy laundry p can be picked up without any problem.
S180:
次に、制御装置１８は、図２において実線で示すように、昇降駆動部６ａを制御して、ピックアップユニット７を昇降ストロークの上死点まで上昇させる。そして、制御装置１８は、ピックアップ検出センサ１０による検出結果に基づいて、ピックアップユニット７による洗濯物ｐのピックアップが成功したか判定する。 S180:
Next, as shown by the solid line in FIG. 2, the control device 18 controls the elevating drive unit 6a to raise the pickup unit 7 to the top dead center of the elevating stroke. Then, the control device 18 determines whether or not the pickup unit 7 has successfully picked up the laundry p based on the detection result of the pickup detection sensor 10.
もし、ピックアップユニット７による洗濯物ｐのピックアップが失敗したと判定した場合（S180:NO）、制御装置１８は、その失敗が１回目であれば（S190:YES）、処理をS160に戻し、再度、把持対象突部Ｊを利用して洗濯物ｐのピックアップを試行する。一方、その失敗が２回目であれば（S190:NO）、下段搬送コンベアユニット２の無端ベルト２ｂを所定距離だけ走行させ（S200）、処理をS100に戻す。このように失敗が１回目の場合に限り、同じ把持対象突部Ｊを利用して洗濯物ｐのピックアップを試行するのは、最初の試行により把持対象突部Ｊや隆起部分Ｋが前回失敗時よりも把持に適した状態に好転している可能性があるからである。これに対し、失敗が２回目以降の場合は、把持対象突部Ｊや隆起部分Ｋが現状よりも把持に適した状態に好転している可能性を期待できないので、把持対象突部Ｊを利用した洗濯物ｐのピックアップを断念した方が好ましい。 If it is determined that the pickup unit 7 has failed to pick up the laundry p (S180: NO), the control device 18 returns the process to S160 and again if the failure is the first time (S190: YES). , Try to pick up the laundry p using the gripping target protrusion J. On the other hand, if the failure is the second time (S190: NO), the endless belt 2b of the lower transfer conveyor unit 2 is driven by a predetermined distance (S200), and the process is returned to S100. In this way, only when the failure is the first time, the same gripping target protrusion J is used to try to pick up the laundry p when the gripping target protrusion J and the raised portion K fail last time in the first trial. This is because there is a possibility that the condition is more suitable for gripping. On the other hand, when the failure is the second time or later, it cannot be expected that the gripping target protrusion J and the raised portion K have improved to a state more suitable for gripping than the current state, so the gripping target protrusion J is used. It is preferable to give up picking up the laundry p.
ピックアップユニット７による洗濯物ｐのピックアップが成功したと判定した場合（S180:YES）、制御装置１８は、ピックアップユニット７から移載ユニット１１へ洗濯物ｐを受け渡し（S210）、処理をS100に戻す。これにより、制御装置１８は、別の洗濯物ｐのピックアップを進めることになる。 When it is determined that the pickup unit 7 has successfully picked up the laundry p (S180: YES), the control device 18 delivers the laundry p from the pickup unit 7 to the transfer unit 11 (S210), and returns the process to S100. .. As a result, the control device 18 advances the pickup of another laundry p.
以上のように構成されたピックアップ装置１を用いることで、本願出願人らによる検証試験の結果、概ね３秒に１枚程度の洗濯物ｐを成功裏にピックアップできることを確認している。 As a result of the verification test by the applicants of the present application, it has been confirmed that by using the pickup device 1 configured as described above, it is possible to successfully pick up about one piece of laundry p every 3 seconds.
以上に本願発明の好適な実施形態を説明したが、上記実施形態は以下の特徴を有する。 Although the preferred embodiment of the present invention has been described above, the above-described embodiment has the following features.
即ち、堆積した複数の洗濯物ｐから洗濯物ｐを１枚ずつピックアップするピックアップ装置１は、洗濯物ｐを把持可能な第１把持部３１と、洗濯物ｐを把持可能な第２把持部３５と、制御装置１８（制御部）と、を備える。図９Ａ～図９Ｃに示すように、制御装置１８は、第１把持部３１が洗濯物ｐを把持することで第１把持部３１の近傍において洗濯物ｐを上方に向かって局所的に隆起させると共に、第２把持部３５が上記隆起した部分としての隆起部分Ｋを把持するように、第１把持部３１及び第２把持部３５の動作を制御する。以上の構成によれば、上記隆起部分Ｋでは洗濯物ｐが他の洗濯物ｐから分離することから、上記隆起部分Ｋを把持することにより洗濯物ｐを１枚ずつピックアップすることができる。 That is, the pickup device 1 that picks up the laundry p one by one from the plurality of accumulated laundry p has a first grip portion 31 capable of gripping the laundry p and a second grip portion 35 capable of gripping the laundry p. And a control device 18 (control unit). As shown in FIGS. 9A to 9C, in the control device 18, the first grip portion 31 grips the laundry p to locally raise the laundry p upward in the vicinity of the first grip portion 31. At the same time, the operations of the first grip portion 31 and the second grip portion 35 are controlled so that the second grip portion 35 grips the raised portion K as the raised portion. According to the above configuration, since the laundry p is separated from the other laundry p in the raised portion K, the laundry p can be picked up one by one by grasping the raised portion K.
また、図９Ｂに示すように、第１把持部３１は、一対の可動部３１ｂを有し、一対の可動部３１ｂが互いに近づくことで洗濯物ｐを把持するように構成されている。隆起部分Ｋは、平面視で、第１把持部３１によって把持された把持対象突部Ｊ（被把持部）に対して、一対の可動部３１ｂが互いに近づく方向と直交する方向に隣り合うように形成される。 Further, as shown in FIG. 9B, the first grip portion 31 has a pair of movable portions 31b, and is configured to grip the laundry p when the pair of movable portions 31b approach each other. The raised portion K is adjacent to the gripping object protrusion J (grasped portion) gripped by the first gripping portion 31 in a direction orthogonal to the direction in which the pair of movable portions 31b approach each other in a plan view. It is formed.
また、第１把持部３１は、洗濯物ｐを把持するための一対の可動部３１ｂと、一対の可動部３１ｂをスライド可能に支持する把持部本体３１ａと、を有する。一対の可動部３１ｂは、把持部本体３１ａに対して水平方向に直線的にスライド可能となるように把持部本体３１ａに支持されている。以上の構成によれば、一対の可動部３１ｂが把持部本体３１ａに対して曲線的に移動する場合と比較して、一対の可動部３１ｂが洗濯物ｐを把持しやすくなる。本実施形態では、第２把持部３５も第１把持部３１と同様に構成されている。しかし、第１把持部３１及び第２把持部３５のうち何れか一方のみが上記のように構成されていてもよい。 Further, the first grip portion 31 has a pair of movable portions 31b for gripping the laundry p and a grip portion main body 31a that slidably supports the pair of movable portions 31b. The pair of movable portions 31b are supported by the grip portion main body 31a so as to be slidable linearly in the horizontal direction with respect to the grip portion main body 31a. According to the above configuration, the pair of movable portions 31b can easily grip the laundry p as compared with the case where the pair of movable portions 31b move in a curved manner with respect to the grip portion main body 31a. In the present embodiment, the second grip portion 35 is also configured in the same manner as the first grip portion 31. However, only one of the first grip portion 31 and the second grip portion 35 may be configured as described above.
また、ピックアップ装置１は、堆積した複数の洗濯物ｐから成る堆積物Qの表面輪郭Rを測定する距離センサ３８（輪郭測定部）を更に備える。制御装置１８は、距離センサ３８による測定結果に基づいて、堆積物Qの上方に突出した突部ｉ（突出部分）を検出し、第１把持部３１が突部ｉを把持することで第１把持部３１の近傍において洗濯物ｐを上方に向かって局所的に隆起させるように、第１把持部３１の動作を制御する。以上の構成によれば、第１把持部３１が洗濯物ｐを確実に把持できるようになるので、隆起部分Ｋが形成される確率を高めることができる。 Further, the pickup device 1 further includes a distance sensor 38 (contour measuring unit) for measuring the surface contour R of the deposit Q composed of a plurality of piled laundry ps. The control device 18 detects the protrusion i (protruding portion) protruding upward from the deposit Q based on the measurement result by the distance sensor 38, and the first grip portion 31 grips the protrusion i to obtain the first. The operation of the first grip portion 31 is controlled so that the laundry p is locally raised upward in the vicinity of the grip portion 31. According to the above configuration, since the first grip portion 31 can reliably grip the laundry p, the probability that the raised portion K is formed can be increased.
また、ピックアップ装置１は、第１把持部３１と第２把持部３５、距離センサ３８（輪郭測定部）を含むピックアップユニット７と、ピックアップユニット７を鉛直方向及び水平方向に移動させるピックアップユニット駆動部と、を更に備える。ピックアップユニット駆動部は、本実施形態において、昇降駆動部６ａ及び水平駆動部６ｂにより構成されている。距離センサ３８は、少なくとも水平方向の移動を伴って堆積物Qの表面輪郭Rを走査して測定するように構成されている。制御装置１８は、距離センサ３８が堆積物Qの表面輪郭Rを走査して測定する際は、図８において符号W1で示すように、ピックアップユニット７を水平方向及び下方に向かって斜めに移動させるように、ピックアップユニット駆動部を制御する。以上の構成によれば、距離センサ３８が堆積物Qの表面輪郭Rを測定した後に第１把持部３１が把持対象突部Ｊへ移動するのに要する時間を短縮することができる。 Further, the pickup device 1 includes a first grip portion 31, a second grip portion 35, a pickup unit 7 including a distance sensor 38 (contour measuring unit), and a pickup unit drive unit that moves the pickup unit 7 in the vertical direction and the horizontal direction. And further prepare. In the present embodiment, the pickup unit drive unit is composed of an elevating drive unit 6a and a horizontal drive unit 6b. The distance sensor 38 is configured to scan and measure the surface contour R of the deposit Q with at least horizontal movement. When the distance sensor 38 scans and measures the surface contour R of the deposit Q, the control device 18 moves the pickup unit 7 diagonally in the horizontal direction and downward as shown by reference numeral W1 in FIG. The pickup unit drive unit is controlled so as to. According to the above configuration, it is possible to shorten the time required for the first grip portion 31 to move to the grip target protrusion J after the distance sensor 38 measures the surface contour R of the deposit Q.
また、図９Ａ～図９Ｃに示すように、堆積した複数の洗濯物ｐから洗濯物ｐを１枚ずつピックアップするピックアップ方法は、第１把持部３１で洗濯物ｐを把持することで第１把持部３１の近傍において洗濯物ｐを上方に向かって局所的に隆起させるステップと、第２把持部３５で上記隆起した部分としての隆起部分Ｋを把持するステップと、を含む。以上の方法によれば、上記隆起部分Ｋでは洗濯物ｐが他の洗濯物ｐから分離することから、上記隆起部分Ｋを把持することにより洗濯物ｐを１枚ずつピックアップすることができる。 Further, as shown in FIGS. 9A to 9C, in the pick-up method of picking up the laundry p one by one from the plurality of accumulated laundry p, the first grip is performed by gripping the laundry p with the first grip portion 31. The step includes a step of locally raising the laundry p upward in the vicinity of the portion 31, and a step of gripping the raised portion K as the raised portion by the second grip portion 35. According to the above method, since the laundry p is separated from the other laundry p in the raised portion K, the laundry p can be picked up one by one by grasping the raised portion K.
　この出願は、２０１９年６月２６日に出願された日本出願特願２０１９－１１８１４２を基礎とする優先権を主張し、その開示の全てをここに取り込む。 This application claims priority based on Japanese application Japanese Patent Application No. 2019-118142 filed on June 26, 2019, and incorporates all of its disclosures herein.
　このピックアップ装置及びピックアップ方法は、様々な形態の布製品のピックアップを行う際に利用することができる。 This pickup device and pickup method can be used when picking up various forms of cloth products.
１　ピックアップ装置
２　下段搬送コンベアユニット
２ａ　プーリ
２ｂ　無端ベルト
２ｃ　下段コンベアモータ
３　仕切り板
４　搬送検出センサ
５　メインフレーム
５ａ　上流側支柱
５ｂ　下流側支柱
５ｃ　矩形梁
６　ピックアップユニット支持バー
６ａ　昇降駆動部
６ｂ　水平駆動部
７　ピックアップユニット
１０　ピックアップ検出センサ
１１　移載ユニット
１１ａ　移載レール
１１ｂ　移載グリップ
１１ｃ　移載グリップ走行駆動部
１１ｄ　移載グリップ開閉駆動部
１５　上段搬送コンベアユニット
１５ａ　プーリ
１５ｂ　無端ベルト
１５ｃ　上段コンベアモータ
１６　ホッパーユニット
１６ａ　周壁部
１６ｂ　開閉部
１６ｃ　ホッパー開閉駆動部
１７　たくし上げユニット
１７ａ　たくし上げローラ
１７ｂ　たくし上げローラ駆動部
１８　制御装置
３０　ユニット支持本体
３１　第１把持部
３１ａ　把持部本体
３１ｂ　可動部
３１ｃ　被支持部
３１ｄ　把持実行部
３２　第１把持部昇降駆動部
３３　第１把持部開閉駆動部
３４　下死点メカニカルスイッチ
３５　第２把持部
３５ａ　把持部本体
３５ｂ　可動部
３５ｃ　被支持部
３５ｄ　把持実行部
３６　第２把持部昇降駆動部
３７　第２把持部開閉駆動部
３８　距離センサ
ｉ　突部
Ｊ　把持対象突部
Ｋ　隆起部分
ｐ　洗濯物
Q　堆積物
R　表面輪郭 1 Pick-up device 2 Lower-stage conveyor unit 2a Pulley 2b Endless belt 2c Lower-stage conveyor motor 3 Partition plate 4 Conveyor detection sensor 5 Main frame 5a Upstream side support 5b Downstream side support 5c Rectangular beam 6 Pickup unit support bar 6a Lifting drive 6b Horizontal drive Part 7 Pickup unit 10 Pickup detection sensor 11 Transfer unit 11a Transfer rail 11b Transfer grip 11c Transfer grip Travel drive unit 11d Transfer grip Open / close drive unit 15 Upper conveyor unit 15a Pulley 15b Endless belt 15c Upper conveyor motor 16 Hopper Unit 16a Peripheral wall part 16b Opening / closing part 16c Hopper opening / closing drive part 17 Tucking up unit 17a Tucking up roller 17b Tucking up roller driving part 18 Control device 30 Unit support body 31 First gripping part 31a Gripping part body 31b Movable part 31c Supported part 31d Gripping execution unit 32 1st gripping unit elevating drive unit 33 1st gripping unit opening / closing drive unit 34 Bottom dead center mechanical switch 35 2nd gripping unit 35a Gripping unit main body 35b Movable part 35c Supported part 35d Gripping execution unit 36 2nd gripping unit Elevating drive unit 37 Second gripping unit Opening / closing drive unit 38 Distance sensor i Protrusion J
Q deposits
R surface contour

Claims (6)

  1. 堆積した複数の洗濯物から洗濯物を１枚ずつピックアップするピックアップ装置であって、
    洗濯物を把持可能な第１把持部と、
    洗濯物を把持可能な第２把持部と、
    制御部と、
    を備え、
    前記制御部は、
    前記第１把持部が洗濯物を把持することで前記第１把持部の近傍において洗濯物を上方に向かって局所的に隆起させると共に、前記第２把持部が上記隆起した部分としての隆起部分を把持するように、前記第１把持部及び前記第２把持部の動作を制御する、
    ピックアップ装置。     It is a pickup device that picks up laundry one by one from multiple piled laundry.
    The first grip that can grip the laundry and
    A second grip that can grip the laundry,
    Control unit and
    With
    The control unit
    When the first grip portion grips the laundry, the laundry is locally raised upward in the vicinity of the first grip portion, and the raised portion as the raised portion of the second grip portion is raised. The operation of the first grip portion and the second grip portion is controlled so as to grip.
    Pickup device.
  2. 請求項１に記載のピックアップ装置であって、
    前記第１把持部は、一対の可動部を有し、前記一対の可動部が互いに近づくことで洗濯物を把持するように構成され、
    前記隆起部分は、平面視で、前記第１把持部によって把持された被把持部に対して、前記一対の可動部が互いに近づく方向と直交する方向に隣り合うように形成される、
    ピックアップ装置。     The pickup device according to claim 1.
    The first grip portion has a pair of movable portions, and is configured to grip the laundry when the pair of movable portions approach each other.
    The raised portion is formed so as to be adjacent to the gripped portion gripped by the first gripped portion in a direction orthogonal to the direction in which the pair of movable portions approach each other in a plan view.
    Pickup device.
  3. 請求項１に記載のピックアップ装置であって、
    前記第１把持部及び前記第２把持部のうち少なくとも何れか一方は、洗濯物を把持するための一対の可動部と、前記一対の可動部をスライド可能に支持する把持部本体と、を有し、
    前記一対の可動部は、前記把持部本体に対して水平方向に直線的にスライド可能となるように前記把持部本体に支持されている、
    ピックアップ装置。     The pickup device according to claim 1.
    At least one of the first grip portion and the second grip portion has a pair of movable portions for gripping the laundry and a grip portion main body that slidably supports the pair of movable portions. And
    The pair of movable portions are supported by the grip portion main body so as to be slidable linearly in the horizontal direction with respect to the grip portion main body.
    Pickup device.
  4. 請求項１から３までの何れか１項に記載のピックアップ装置であって、
    堆積した複数の洗濯物から成る堆積物の表面輪郭を測定する輪郭測定部を更に備え、
    前記制御部は、
    前記輪郭測定部による測定結果に基づいて、前記堆積物の上方に突出した突出部分を検出し、
    前記第１把持部が前記突出部分を把持することで前記第１把持部の近傍において洗濯物を上方に向かって局所的に隆起させるように、前記第１把持部の動作を制御する、
    ピックアップ装置。     The pickup device according to any one of claims 1 to 3.
    Further provided with a contour measuring unit for measuring the surface contour of a deposit consisting of a plurality of deposited laundry,
    The control unit
    Based on the measurement result by the contour measuring unit, the protruding portion protruding upward of the deposit is detected.
    The operation of the first grip portion is controlled so that the first grip portion grips the protruding portion to locally raise the laundry upward in the vicinity of the first grip portion.
    Pickup device.
  5. 請求項４に記載のピックアップ装置であって、
    前記第１把持部と前記第２把持部、前記輪郭測定部を含むピックアップユニットと、
    前記ピックアップユニットを鉛直方向及び水平方向に移動させるピックアップユニット駆動部と、
    を更に備え、
    前記輪郭測定部は、少なくとも水平方向の移動を伴って前記堆積物の前記表面輪郭を走査して測定するように構成され、
    前記制御部は、前記輪郭測定部が前記堆積物の前記表面輪郭を走査して測定する際は、前記ピックアップユニットを水平方向及び下方に向かって斜めに移動させるように、前記ピックアップユニット駆動部を制御する、
    ピックアップ装置。     The pickup device according to claim 4.
    A pickup unit including the first grip portion, the second grip portion, and the contour measuring portion,
    A pickup unit drive unit that moves the pickup unit vertically and horizontally, and
    With more
    The contour measuring unit is configured to scan and measure the surface contour of the deposit with at least horizontal movement.
    The control unit causes the pickup unit drive unit to move the pickup unit diagonally in the horizontal direction and downward when the contour measurement unit scans and measures the surface contour of the deposit. Control,
    Pickup device.
  6. 堆積した複数の洗濯物から洗濯物を１枚ずつピックアップするピックアップ方法であって、
    第１把持部で洗濯物を把持することで前記第１把持部の近傍において洗濯物を上方に向かって局所的に隆起させるステップと、
    第２把持部で上記隆起した部分としての隆起部分を把持するステップと、
    を含む、
    ピックアップ方法。     It is a pickup method that picks up one piece of laundry from multiple piled laundry items.
    A step of locally raising the laundry upward in the vicinity of the first grip portion by gripping the laundry with the first grip portion.
    A step of gripping the raised portion as the raised portion by the second gripping portion, and
    including,
    Pickup method.
PCT/JP2020/024647 2019-06-26 2020-06-23 Pickup device and pickup method WO2020262397A1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022157890A1 (en) * 2021-01-21 2022-07-28 東都フォルダー工業株式会社 Cloth pick-up device
WO2022239664A1 (en) * 2021-05-11 2022-11-17 株式会社アサヒ製作所 Pickup apparatus

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JPS62115900U (en) * 1986-01-14 1987-07-23
JPH08299699A (en) * 1995-04-28 1996-11-19 Tokai:Kk Cloth piece gripping device
JP2004065314A (en) * 2002-08-01 2004-03-04 Hakko Shokai:Kk Method and device for spreading cloth member, for unloading, method and device for guiding and carrying end of cloth member, cloth member transferring device, and cloth member processing device
JP2010273732A (en) * 2009-05-26 2010-12-09 Purex:Kk Apparatus for automatically developing/charging textile products
JP2011111265A (en) * 2009-11-26 2011-06-09 Gunze Ltd Pickup device
JP2014023906A (en) * 2012-06-18 2014-02-06 Plex International Design Co Ltd Clothing handling device
JP2015024062A (en) * 2013-07-27 2015-02-05 株式会社プレックス Cloth handling device
JP2019044288A (en) * 2017-08-31 2019-03-22 株式会社プレックス Cloth gripping chuck and cloth handling device

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JPS62115900U (en) * 1986-01-14 1987-07-23
JPH08299699A (en) * 1995-04-28 1996-11-19 Tokai:Kk Cloth piece gripping device
JP2004065314A (en) * 2002-08-01 2004-03-04 Hakko Shokai:Kk Method and device for spreading cloth member, for unloading, method and device for guiding and carrying end of cloth member, cloth member transferring device, and cloth member processing device
JP2010273732A (en) * 2009-05-26 2010-12-09 Purex:Kk Apparatus for automatically developing/charging textile products
JP2011111265A (en) * 2009-11-26 2011-06-09 Gunze Ltd Pickup device
JP2014023906A (en) * 2012-06-18 2014-02-06 Plex International Design Co Ltd Clothing handling device
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Publication number Priority date Publication date Assignee Title
WO2022157890A1 (en) * 2021-01-21 2022-07-28 東都フォルダー工業株式会社 Cloth pick-up device
WO2022239664A1 (en) * 2021-05-11 2022-11-17 株式会社アサヒ製作所 Pickup apparatus
JP7455282B2 (en) 2021-05-11 2024-03-25 株式会社アサヒ製作所 pickup device

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