WO2022157890A1

WO2022157890A1 - Cloth pick-up device

Info

Publication number: WO2022157890A1
Application number: PCT/JP2021/002067
Authority: WO
Inventors: 祐介前嶋; 法行小林
Original assignee: 東都フォルダー工業株式会社
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2022-07-28
Also published as: JPWO2022157890A1

Abstract

[Problem] To provide a cloth pick-up device for extracting one cloth from multiple cloths that are entangled. [Solution] A cloth pick-up device comprising: a conveyor unit for conveying a plurality of cloths; a sensor unit for detecting the top portion of one cloth among the plurality of cloths conveyed by the conveyor unit; and a cloth grasping device for pulling up the top portion of the one cloth detected by the sensor unit. Selected drawing: Figure 1

Description

Cloth pick-up device

TECHNICAL FIELD The present invention relates to a cloth pick-up device that supplies one cloth from a plurality of cloths to a worker in order to load the cloth into a cloth loading device for the next process.

Cloths handled by the so-called linen supply industry include linen products such as sheets and towels, and when these linen products and other cloths are collected from customers, they are washed, ironed, and folded. The work of delivering to the customer's destination is repeated. At that time, the cloths are picked up one by one from a state in which a plurality of washed cloths are clumped, and conveyed to the next process for further spreading and folding the cloths. Put it in the cloth throwing device.

However, it is a burden on the worker to untie the lumped cloths and pick up the cloths one by one. To be more specific, the cloths that have finished washing are brought half-dried. At that time, a plurality of cloths are conveyed in a tangled mass. The worker finds out one piece of cloth from the tangled mass of cloths and picks it up. In such work, the worker must bend down and the work load is heavy.

Japanese Patent Application Laid-Open No. 7-112100 discloses a method for assisting such work. The cloth take-out device as a device for picking up cloth disclosed in the above-mentioned publication has a grasping device capable of grasping an arbitrary portion of the cloth, which is moved to a lower cloth grasping position and an upper cloth grasping position by a vertical movement device. In a cloth take-out device capable of moving up and down between a cloth lifting position and picking up one piece of cloth from a group of piled cloth in a suspended state, a pair of left and right gripping devices are provided. a chuck having chuck pieces, the outer ends of each chuck piece being pivotally attached to each link by a shaft so that the inner side of each chuck piece can swing up and down; each link; A chuck opening/closing device that opens and closes each chuck piece in the mutually approaching/separating direction by operating each, and the tip gripping part of each chuck piece in the chuck closed state joins below the line connecting each axis of each chuck piece and a chuck piece rocking device for rocking each chuck piece upward so as to displace it from a position where the chuck pieces are joined to a position where the chuck pieces are joined on the upper side beyond a line connecting the axes.

However, since the gripping device in the above device grips the cloth at the same position, it cannot grip the cloth if the cloth is not placed at that position. In addition, even when the cloths are arranged at that position, the cloths positioned below the mass of cloths may be dragged out. Therefore, the burden on the worker cannot be reduced.

JP-A-7-112100

The present invention has been made by paying attention to the above points, and its object is to provide a cloth pick-up device for picking up one cloth from a plurality of tangled cloths.

In order to solve the above-mentioned problems, a cloth pick-up device according to a first aspect includes a conveying section for conveying a plurality of cloths, and a vertex portion of one of the plurality of cloths conveyed by the conveying section. and a cloth grasping device for grasping the vertex of one piece of cloth detected by the sensor.

Further, in the first aspect, the cloth pick-up device of the second aspect further includes a body portion serving as a housing for arranging the conveying portion and the sensor portion, and the body portion is positioned at a predetermined position in the front-rear direction. , the cloth gripping device has an XY plane consisting of the width direction X and the up-down direction Y, and includes a first driving section that moves up and down, a second driving section that moves up and down, and a first driving section a first link portion rotatably attached to the second driving portion; a second link portion rotatably attached to the second driving portion; a grip portion for gripping a cloth attached to the first link portion and the second link portion; and the sensor unit drives the first driving unit and the second driving unit respectively to search the XY plane and grasp the vertex portion located in one of the XY planes. , the gripping portion is moved to the vertex portion so that the cloth gripping device grips the vertex portion.

In the second aspect, the cloth pick-up device of the third aspect further includes a third link portion rotatably attached to the second drive portion, the third link portion being attached to the center of the grip portion. That's what it means.

In addition, the cloth pick-up device of the fourth aspect is, in the second aspect, two lanes of a take-up clamp section that further clamps the one cloth grabbed by the gripping device, a first unloading conveying section, and a second discharging conveying section. and a cloth carry-out conveyor for separating and conveying the cloth, and the pick-up clamp unit distributes the clamped one cloth to either the first carry-out conveyer or the second carry-out conveyer.

In the second aspect, the cloth pick-up device of the fifth aspect further includes a control unit that transmits the position of the vertex portion on the XY plane searched by the sensor unit to the first driving unit and the second driving unit. That's what it means.

Since the present invention is constructed and operates as described above, it is possible to provide a cloth pick-up device for picking up one cloth from a plurality of tangled cloths.

It is a side view of a cloth pick-up device and a cloth supply conveyor. It is a top view of a cloth pick-up device and a cloth supply conveyor. A is a front view of the cloth pick-up device. B is a rear view of the cloth pick-up device. 1 is a front view of a cloth gripping device in a cloth pick-up device; FIG. FIG. 4 is a side view of a cloth gripping device in the cloth pick-up device; FIG. 4 is a plan view of a cloth gripping device in the cloth pick-up device; A is a cross-sectional view taken along line VIIA-VIIA of FIG. 5B is a sectional view taken along line VIIB-VIIB of FIG. A is a diagram illustrating a state before the cloth gripping device specifies the position of the vertex portion of the cloth. B is a diagram for explaining a state in which the cloth gripping device specifies the position of the vertex portion of the cloth. A is a diagram showing a state in which the cloth gripping device grips the top portion of the cloth. B is a diagram showing a state in which the cloth gripping device has grasped and lifted the top portion of the cloth. FIG. 10 is a diagram showing a state in which the cloth, which is held by the cloth gripping device and lifted by its vertex portion, is delivered to the take-up clamp portion that clamps the cloth. A is a conceptual side view showing a state in which the take-up clamp portion moves the cloth backward. B is a conceptual plan view of the state of A. FIG. A is a conceptual side view showing a state in which the take-up clamp portion places the gripped cloth on the first discharge conveying portion of the cloth discharge conveyor. B is a conceptual plan view of A. FIG. A is a conceptual side view showing a state in which the take-up clamp portion places the gripped cloth on the second discharge conveying portion of the cloth discharge conveyor. B is a conceptual plan view of A. FIG. A is a conceptual side view showing the cloth conveyed by the first discharge conveying part sandwiched between the second discharge roll part of the first discharge conveying part and the first sandwiching conveyor. B is a conceptual plan view of A. FIG. It is a side view of the cloth pick-up apparatus of 2nd Example, and a cloth supply conveyor. It is a top view of the cloth pick-up apparatus of 2nd Example, and a cloth supply conveyor. A is a front view of the cloth pick-up apparatus of 2nd Example. B is a rear view of the cloth pick-up device of the second embodiment.

The cloth pick-up device 10 will be described below with reference to the illustrated embodiments. The cloth pick-up device 10 includes a body portion 15 forming an outer shell of the cloth pick-up device 10, a transport portion 20, and a sensor portion 30. As shown in FIG. The body portion 15 serves as a housing for arranging the transport portion 20 and the sensor portion 30 described above. Also, the cloth pick-up device 10 can receive a supply of a plurality of cloths W from the cloth supply conveyor 250 .

Further, the conveying section 20 is for conveying a plurality of cloths W, and the sensor section 30 detects the vertex portion Wt of one cloth W1 among the plurality of cloths W arranged in the conveying section 20. is detected. The cloth pick-up device 10 also has a cloth gripping device 40 that picks up the top portion Wt of one piece of cloth W1 detected by the sensor section 30 thereof. Here, the vertex portion Wt of the one cloth W1 among the plurality of cloths W means the vertex portion Wt of the one cloth W1 existing at the highest position among the plurality of cloths W. As shown in FIG. This is because it has been found that the entanglement of a plurality of pieces of cloth W is relatively small by picking up the vertex portion Wt.

Here, the conveying unit 20 includes a first conveying roll unit 21 that is a cylindrical roller, a second conveying roll unit 22 that is a cylindrical roller, and a first conveying belt unit 23 that is a band-shaped belt for them. is hung around. Further, the transport section 20 of the present embodiment is arranged substantially horizontally.

Further, a transport confirmation sensor 18a and a transport confirmation sensor 18b for detecting the presence of the cloth W on the transport portion 20 are arranged in order from the front to the rear Z in the main body portion 15 . It also has a position confirmation sensor 18c for detecting the cloth W conveyed directly below the cloth gripping device 40 and a position overrun confirmation sensor 18d for detecting that the cloth W has passed the position A.

A plurality of cloths W are detected in order by the conveyance confirmation sensor 18a and the conveyance confirmation sensor 18b, and the conveyance unit 20 stops conveyance of the cloths W when detected by the position confirmation sensor 18c. As will be described later, when the cloth gripping device 40 does not grip a plurality of cloths W placed directly under it, the cloths W may be transported further from the front to the rear Z. . In this case, when the position overrun confirmation sensor 18d detects the cloth, the conveying section 20 conveys the cloth W in the reverse direction (forward).

Further, the sensor unit 30 detects the vertex portions Wt of a plurality of pieces of cloth W as described above, and the sensor unit 30 detects an arbitrary position A on the main body 15 of the cloth pick-up device 10 in the width direction. It is possible to search on the XY plane consisting of X and Y in the height direction.

Here, the width direction X literally means the width direction of the main body 15 in the cloth pick-up device 10 , and the height direction Y literally means the height direction of the main body 15 in the cloth pick-up device 10 . That is, the sensor unit 30 is a so-called two-dimensional sensor capable of searching on the XY plane defined by the width direction X and the height direction Y at an arbitrary position A from the front to the rear Z in the cloth pick-up device 10 . It is preferable that the sensor unit 30 can measure cross sections of a plurality of cloths W on this arbitrary XY plane with high accuracy. By using a so-called two-dimensional sensor in this way, costs can be reduced without using a three-dimensional sensor.

Further, the sensor unit 30 searches the position A on the XY plane to detect the vertex Wt of one of the cloths W1 arranged at the highest position among the plurality of cloths W arranged at the position A. To detect.

The arbitrary position A in the cloth pick-up device 10 is preferably approximately three-quarters of the position from the front to the rear Z in the conveying section 20 . However, it is not limited to this position.

The cloth gripping device 40 detects the vertex portion Wt of one cloth W1 arranged at the highest position among the plurality of cloths W by the sensor section 30, and grasps the vertex portion Wt. That is, the sensor unit 30 detects where on the XY plane the vertex portion Wt of the one piece of cloth W1 is arranged, and the two-dimensional positional information on the XY plane is transferred to a PLC (not shown) (not shown). Programmable Logic Controller) is built in, and the control unit 80 transmits a command based on the position information to the cloth gripping device 40, and the first one is executed by a predetermined program. This is to grab the vertex portion Wt of the cloth W1.

The cloth gripping device 40 includes a first driving portion 41 that moves vertically, a second driving portion 51 that moves vertically, and a first link that connects the first driving portion 41 and the first connecting portion 43 via a first connecting portion 43. part 42, the second link part 52 connected via the second drive part 51 and the second connection part 53, and the cloth W attached to the first link part 42 and the second link part 52 connected 3A, 4, 5 and 6 (see particularly FIGS. 3A, 4, 5 and 6).

The first driving unit 41 includes a lifting servomotor 411 that serves as a driving force for moving up and down, a speed reducer 412 that slows down the rotation, a timing pulley 413 on the drive side, a timing pulley 414 on the driven side, and the like. has a timing belt 415 that is rotatably wound around. It also has a drive joint 416 as a joint between the speed reducer 412 and a timing pulley 413 on the drive side. The first driving portion 41 also has a plate-shaped bracket 417 that is connected to a timing belt 415 and moves up and down. and moves up and down. Furthermore, as will be described later, a turning servomotor 420 for turning the first link portion 42 rearward Z via the first connecting portion 43, a reduction gear 422 for reducing the rotation thereof, and a coupling 430 as a joint are provided. (see in particular FIGS. 3A, 4, 5 and 6).

Similarly, the second driving unit 51 includes a lifting servomotor 511 that serves as a driving force for moving up and down, a speed reducer 512 that slows down the rotation, a timing pulley 513 on the drive side, and a timing pulley on the driven side. 514 and a timing belt 515 around which they are rotatable (see FIG. 6 in particular).

It also has a drive joint 516 as a joint between the speed reducer 512 and a timing pulley 513 on the drive side. The second driving portion 51 also has a plate-like bracket 517 that is connected to a timing belt 515 and moves up and down. and moves up and down.

Further, as will be described later, a turning servomotor 520 for turning the second link portion 52 rearward Z via the second connecting portion 53, a reduction gear 522 for reducing the rotation thereof, and a coupling 530 as a joint. and

The gripping portion 60 literally grips the cloth W, and has a bracket portion 61, a clamp portion 62, and

cloth detection sensors

63, 63 for detecting the presence of the cloth W. As shown in FIG.

Moreover, the cloth gripping device 40 further has a third link portion 65 . The third link portion 65 is connected together with the second link portion 52 via the distal end portion of the second connection portion 53 . The third link portion 65 extends from the right first connection portion 52a connecting the second connection portion 53 and the second link portion 52 to the center portion 61 arranged in the center of the grip portion 60 of the cloth gripping device 40. It is placed in a horizontally extended position 65a. In this case, the third link portion 65 is arranged parallel to the second link portion 52 . As a result, even when the grip portion 60 is raised or lowered, the third link portion 65 keeps the grip portion 60 parallel to the floor surface. In this way, the third link portion 65 keeps the gripping portion 60 parallel, so that the gripping portion 60 can reliably grip the vertex portion Wt of one piece of cloth W1.

8A and 8B, a brief description will be given of how the cloth gripping device 40 reaches the vertex Wt of the cloth W arranged on the XY plane. As an example, the lengths of the first link portion 42 and the second link portion 52 are both 550 millimeters. A left first connection portion 42a, which is a connection portion between the first link portion 42 and the tip portion of the first connection portion 43, and a left second connection portion 42b, which is a connection portion between the first link portion 42 and the grip portion 60. The length when the distance is projected in the width direction X1 is set to 170 millimeters.

Similarly, a right first connection portion 52a that is a connection portion between the second link portion 52 and the tip portion of the second connection portion 53, and a second connection portion that is a connection portion between the second link portion 52 and the grip portion 60. The length of the connecting portion 42B projected in the width direction X2 is set to 170 millimeters.

In such a case, the case where the vertex WT of one piece of cloth W1 is arranged at the position X3 shifted 100 mm to the right from the center line C will be described. For example, according to the Pythagorean theorem, the length Y1 projected in the height direction Y of the tilted first link portion 42 by the control unit 80 is between 170 mm and 100 mm from the square of 550 mm. It is shown by subtracting the square of the sum (270 mm) and taking the square root of the difference. In that case, the length Y1 when the distance between the left first connection portion 42a and the left second connection portion 42b of the first link portion 42 is projected in the height direction Y is 479 millimeters.

According to the Pythagorean theorem, for example, the length Y2 projected in the height direction Y of the inclined second link portion 52 by the control unit 80 is between 170 mm and 100 mm from the square of 550 mm. It is shown by subtracting the square of the difference (70 millimeters) and taking the square root of the difference. In that case, the length Y2 when the distance between the right first connection portion 52a and the right second connection portion 52B of the second link portion 52 is projected in the height direction Y is 545 millimeters.

By moving the first link portion 42 to a position lower than the second link portion 52 by 545-479=66 mm by the elevation servo motor 411 in the first drive portion 41, the grip portion 60 is moved in the width direction X. It can be placed directly above the vertex Wt of the cloth W1, which is 100 mm off the center. Thereafter, both the first link portion 42 and the second link portion 52 are lowered until the vertex Wt of the cloth W1 is reached, so that the grip portion 60 can grasp the vertex Wt of the cloth W1.

In this way, by using a two-dimensional sensor capable of searching on the XY plane at an arbitrary position A in the sensor unit 30, any position on the XY plane can be reached without using complicated calculations. The cloth W can be grasped by the cloth gripping device 40 which can be used. Therefore, the cloth pick-up device 10 does not unnecessarily increase the cost. In addition, although dust is generated from the cloth W in the linen factory, since the structure is relatively simple as described above, the possibility of the cloth pick-up device 10 being damaged by the dust can be reduced as much as possible. .

The cloth pick-up device 10 also has a second conveying section 70 that conveys a plurality of cloths W. As shown in FIG. The second conveying section 70 is arranged near the second conveying roll section 22 in the conveying section 20, and arranged so as to be inclined with respect to the horizontally arranged conveying section 20. As shown in FIG. The second conveying portion 70 is preferably 70 to 80 degrees with respect to the conveying portion 20, and preferably 75 degrees.

The second conveying unit 70 includes a third conveying roll unit 71 that is a cylindrical roller, a fourth conveying roll unit 72 that is a cylindrical roller, and a second conveying belt unit 75 that is a strip-shaped belt. It is hung around. Also, a certain third conveying roll portion 71 is arranged near the second conveying roll portion 22 in the conveying portion 20 .

When the plurality of cloths W conveyed by the conveying unit 20 are further conveyed, the second conveying unit 70 collides with the inclined second conveying unit 70 . The second conveying unit 70 conveys the cloths W in the upward direction. is agitated, and the effect of untangling a plurality of cloths W can be expected. In addition, when the cloth W dropped from the second conveying unit 70 is placed on the conveying unit 20 again, the apex portion of a different cloth W can be made to appear.

In addition, the cloth pick-up device 10 includes a take-up clamp section 100 that receives the cloth W, a cloth carry-out conveyor 120 that divides and conveys the cloth W into two lanes, a first carry-out conveyer section 131 and a second discharge conveyer section 141, and a second lane. It has a first sandwich 135 and a second sandwich conveyor 145 . Further, a plurality of first cloth sensors 132 for detecting the presence of the cloth W are provided in the first unloading/conveying section 131 . Similarly, the second discharging/conveying section 141 also has a plurality of second cloth sensors 142 for detecting the presence of the cloth W (see FIG. 13A).

The take-up clamp unit 100 for taking the cloth W grips the cloth W grasped by the gripping unit 60 of the cloth grasping device 40 and moves the cloth W to the rear Z. It can be distributed to one of the two lanes of the section 131 and the second discharge/conveyor section 141 . In this way, by arranging the workers at the discharge destinations S1 and S2 of the first carry-out conveyer 131 and the second discharge conveyer 141, two workers can operate one cloth pick-up device 10. Cloth W can be received at .

In addition, the above-mentioned first carry-out transport unit 131 is a conveyor that transports the cloth W, and the first carry-out transport unit 131 includes a first carry-out roll unit 131a that is a cylindrical roller, and a first carry-out roll unit 131a that is a cylindrical roller. Two carry-out rolls 131b and a first carry-out belt 131c, which is a strip-shaped belt, are wound around them. Also, the first nipping conveyor 135 is arranged so as to be in contact with the second carry-out roll portion 131b. In addition, the first sandwiching conveyor 135 is arranged so as to be substantially perpendicular to the first unloading/conveying section 131 in a side view and to descend.

The first pinching conveyor 135 has a first pinching roll portion 135a that is a cylindrical roller, a second pinching roll portion 135b that is a cylindrical roller, and a third pinching roll portion 135c that is a cylindrical roller. A first pinching belt portion 135d, which is a band-shaped belt, is wound around them. It also has a first scissors sensor 137 . As will be described later, the first scissor sensor 137 is for detecting a state in which the cloth W is sandwiched between the second delivery roll portion 131b of the first delivery transport portion 131 and the first sandwiching conveyor 135. .

The second pinching conveyor 145 has a fourth pinching roll portion 145a that is a cylindrical roller, a fifth pinching roll portion 145b that is a cylindrical roller, and a sixth pinching roll portion 145C that is a cylindrical roller. A second scissors belt portion 145d, which is a strip-shaped belt, is wound around them. It also has a second scissors sensor 147 . The second scissor sensor 147 is for detecting a state in which the cloth W is pinched between the second carry-out transport section 141 and the second pinch conveyor 145, as will be described later.

A take-up clamp unit 100 for taking up and holding the cloth W has a chuck 101 for holding the cloth W and a chuck turning actuator 102 for turning the chuck 101 left and right. The take-up clamp unit 100 for taking in the cloth W is the first unloading/conveying unit 131 that does not detect the cloth W when the first cloth sensor 132 or the second cloth sensor 142 does not detect the cloth W. Alternatively, the cloth W is placed on the second discharging/conveying section 141 . In addition, when the cloth W does not exist in both the first unloading/conveying section 131 and the second discharging/conveying section 141 , it is preferable to place the cloth W on the first unloading/conveying section 131 .

Next, the operation of picking up the cloth W by the cloth pick-up device 10 will be described. A plurality of cloths W are supplied to the conveying section 20 from a cloth supply conveyor 250 for supplying the cloths W. As shown in FIG. The cloth W is conveyed from the front to the rear Z in a side view, and the cloth W is sequentially detected by the conveyance confirmation sensor 18a and the conveyance confirmation sensor 18b. When the cloths W are detected by the position confirmation sensor 18c, the plurality of cloths W reach the point A in the rear Z from the front (see FIG. 1).

At the point A described above, the sensor unit 30 searches the XY plane defined by the width direction X and the height direction Y at the position A, and detects the vertex portion Wt of one cloth W1 among the plurality of cloths W. As described above, when the vertex WT of the cloth W1 is located at a position shifted 100 mm to the right from the center line C (see FIG. 8B), the sensor unit 30 transmits the position information to the control unit 80 as described above. , the control unit 80 instructs the position of the vertex Wt of the first cloth W1 based on the position information, and the cloth gripping device 40, based on the instruction, detects the position of the first cloth W1. Grasp the vertex portion Wt (see FIG. 9A).

After that, the cloth gripping device 40 rises while grasping the top portion Wt of the cloth W1 and arranges it on the center line C (see FIG. 9B). In order to turn the cloth gripping device 40 rearward Z, the first link portion 42 is connected to a turning servomotor 420 via a coupling 430 as a joint.

That is, the first link portion 42 is rotated rearward Z like a pendulum by the turning servomotor 420 . At the same time, the second link portion 52 is connected to the turning servomotor 520 via a coupling 530 as a joint. The second link portion 52 is rotated rearward Z like a pendulum by a turning servomotor 520 (see FIG. 10).

In this way, the grip portion 60 where the first link portion 42 and the second link portion 52 are connected rotates rearward Z like a pendulum, and a chuck for holding the cloth W1 in the take-up clamp portion 100 for taking the cloth W1. 101 (see FIGS. 11A and 11B).

The take-up clamp section 100 that takes in the cloth W1 can be distributed to one of the two lanes of the first take-out conveyer section 131 and the second discharge conveyer section 141 of the cloth carry-out conveyor 120 . For example, in the plurality of first cloth sensors 132 and the plurality of second cloth sensors 142, the cloth W1 is distributed to the conveying section where the cloth W1 is not present. Specifically, when the cloth W1 does not exist in the first unloading/conveying unit 131, the chuck turning actuator 102 rotates the chuck 101, and the cloth W1 is placed on the first unloading/conveying unit 131 (FIG. 12A, B).

Further, when the cloth W1 does not exist in the second unloading/conveying unit 141, the chuck turning actuator 102 turns the chuck 101 holding the cloth W1, and places the cloth W1 on the second unloading/conveying unit 141 ( (see FIGS. 13A and 13B). In this manner, the take-up clamp section 100 can convey the cloth W1 by dividing it into two lanes, that is, the first unloading conveying section 131 and the second unloading conveying section 141 .

After that, for example, when the cloth W1 is conveyed to the first discharge conveying portion 131, the cloth W1 is sandwiched between the second discharge roll portion 131b of the first discharge conveying portion 131 and the first sandwiching conveyor 135. A worker (not shown) can take out the cloth W1 (see FIGS. 14A and 14B).

A worker (not shown) takes out the cloth W, and when the first scissor sensor 137 does not detect the existence of the cloth W, the next cloth W is transferred to the second conveying section 131 by the first conveying/unloading section 131. The cloth W is sandwiched between the roll portion 131b and the first sandwiching conveyor 135, and the above steps are repeated. Also, the second unloading/conveying section 141 is the same, and another operator (not shown) can take out the cloth W. As shown in FIG.

Thus, the cloth pick-up device 10 can pick up one cloth W from a plurality of cloths W and further supply the cloth W to two workers. In addition, in order to supply the cloth W, since two supply ports, the first unloading/conveying unit 131 and the second unloading unit 141, are provided, one cloth pick-up device is required for two workers. Since 10 is sufficient, there is no need for a dedicated area for two units, and improvement in work efficiency with respect to the installation area of the cloth pick-up device 10 can be achieved.

Next, the cloth pickup device 500 of the second embodiment will be described (see FIGS. 15, 16 and 17). The difference between the cloth pick-up device 10 and the cloth pick-up device 500 of the second embodiment is that it has a second sensor section 530 instead of the sensor section 30. Other configurations are the same as those of the first embodiment. Therefore, they are denoted by the same reference numerals and their description is omitted.

The second sensor section 530 is similar in that it detects the vertex portion Wt of one piece of cloth W from a plurality of pieces of cloth W, but has a different configuration. The second sensor section 530 has a sensor main body 531 and a sensor driving section 540 that moves the sensor main body 531 in the width direction X. As shown in FIG. By moving the sensor main body 531 in the width direction X by the sensor driving section 540, the vertex portion Wt of the cloth W1 is detected, and the positional information on the XY plane is transmitted to the control section 80. Since the subsequent steps are the same as those of the first embodiment, the explanation thereof is omitted.

10 cloth pick-up device 15 main body 20 conveying unit 30 sensor unit 40 cloth gripping device 41 first driving unit 42 first link unit 51 second driving unit 52 second link unit 60 grip unit 65 third link unit 70 second Conveying unit 80 Control unit 100 Take-up clamp unit 120 Cloth unloading conveyor 131 First unloading conveying unit 132 First cloth sensor 135 First clamping conveyor 141 Second discharge conveying unit 142 Second cloth sensor 145 Second clamping conveyor 250 Cloth Cloth supply conveyor 500 Cloth pick-up device 530 of the second embodiment Second sensor part A Position W Cloth W1 Cloth Wt of 1 Vertex X Width direction Y Height direction Z Backward

Claims

a conveying unit that conveys a plurality of cloths;
a sensor unit for detecting a vertex portion of one of the plurality of cloths conveyed by the conveying unit;
A cloth pick-up device comprising: a cloth grasping device for grasping the vertex of one piece of cloth detected by the sensor unit.
further comprising a body portion serving as a housing for arranging the conveying portion and the sensor portion;
The main body has an XY plane defined by a width direction X and a vertical direction Y at a predetermined position in the front-rear direction,
The cloth gripping device includes a first driving unit that moves up and down;
a second drive unit that moves up and down;
a first link portion rotatably attached to the first driving portion;
a second link portion rotatably attached to the second driving portion;
a grip portion for gripping cloth attached to the first link portion and the second link portion;
The sensor unit drives the first driving unit and the second driving unit respectively in order to grasp the vertex portion located on one of the XY planes by searching the XY plane, and 2. The cloth pick-up device according to claim 1, wherein said cloth gripping device grips said vertex portion by moving a gripping portion to said vertex portion.
a third link portion rotatably attached to the second driving portion,
3. The cloth pick-up device according to claim 2, wherein the third link portion is attached to the center of the grip portion.
a take-up clamp section that further clamps the one piece of cloth gripped by the gripping device;
a cloth carry-out conveyor that divides into two lanes, a first carry-out conveyer and a second discharge conveyer, and conveys them,
3. The cloth pick-up device according to claim 2, wherein the pick-up clamp unit distributes the clamped piece of cloth to either the first unloading transport unit or the second unloading transport unit.
3. The cloth pick-up device according to claim 2, further comprising a control section for transmitting the position of the vertex portion on the XY plane searched by the sensor section to the first driving section and the second driving section.