WO2020262397A1 - Dispositif de saisie et procédé de saisie - Google Patents

Dispositif de saisie et procédé de saisie 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
Prior art date
Application number
PCT/JP2020/024647
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English (en)
Japanese (ja)
Inventor
秀明 宮島
茂 井原
秀巨 小泉
Original Assignee
株式会社アサヒ製作所
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Filing date
Publication date
Application filed by 株式会社アサヒ製作所 filed Critical 株式会社アサヒ製作所
Publication of WO2020262397A1 publication Critical patent/WO2020262397A1/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
    • 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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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de saisie (1) qui prend des articles de linge (p) un à la fois parmi une pluralité d'articles de linge (p) dans une pile, qui est pourvu d'une première partie de préhension (31) qui peut saisir les articles de linge (p); d'une seconde partie de préhension (35) qui peut saisir les articles de linge (p); et d'un dispositif de commande (18). Le dispositif de commande (18) commande les mouvements de la première partie de préhension (31) et de la seconde partie de préhension (35) de telle sorte que la première partie de préhension (31) saisisse un article de linge (p) de telle sorte qu'une partie de l'article de linge (p) soit soulevée vers le haut à proximité de la première partie de préhension (31) et de telle sorte que la seconde partie de préhension (35) saisisse la partie surélevée (K). Des articles de linge peuvent ainsi être pris un à la fois parmi une pluralité d'articles de linge dans une pile.
PCT/JP2020/024647 2019-06-26 2020-06-23 Dispositif de saisie et procédé de saisie WO2020262397A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022157890A1 (fr) * 2021-01-21 2022-07-28 東都フォルダー工業株式会社 Dispositif de saisie de tissu
WO2022239664A1 (fr) * 2021-05-11 2022-11-17 株式会社アサヒ製作所 Appareil de ramassage

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WO2022239664A1 (fr) * 2021-05-11 2022-11-17 株式会社アサヒ製作所 Appareil de ramassage
JP7455282B2 (ja) 2021-05-11 2024-03-25 株式会社アサヒ製作所 ピックアップ装置

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