JPH0712862B2 - Method and device for gripping edge of cloth piece - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is applicable to a cloth piece spreading device, a linen or other textile product sorting device, a linen spreading device before washing, and the like. The present invention relates to a method and an apparatus.

(Prior Art) Generally, in a laundry factory, the sheets, towels, wrapping cloth, etc. (hereinafter referred to as cloth pieces) received as shown in FIG. 27 are washed with a continuous washing machine, etc., and then dehydrated and then dried. throw into.
After the drying process, the cloth pieces are unfolded, developed, ironed, and then folded and shipped. At this time, between the drying process and the ironing process, the cloth pieces taken out from the dryer are conveyed to a certain place by a belt conveyor, and the cloth pieces are piled up by 5 to 6 workers by one worker. They are taken out one by one, unfolded, and sent to the ironing device or its auxiliary devices (spreaders, feeders, etc.).

Since the work of unfolding the piece of cloth after the drying process is a work in a hot and humid atmosphere, it is a heavy labor for the worker in a vicious circle. Therefore, it has been desired to develop a device for automating the work of unfolding the cloth, but such an automatic device does not exist in the industry at present, and the conventional technique is disclosed in Japanese Examined Patent Publication No. 59-24685. Only the method of holding the piece in place is proposed.

In this method, the first step of holding and suspending a part of the cloth piece and the lowermost end of the cloth piece suspended in the first step are held, and the holding of the first step is released to suspend the cloth piece. A second step of lowering, a third step of holding the lowermost end of the cloth piece suspended in the second step, and a fourth step of holding the two points held in the second and third steps substantially horizontally. It is composed of steps and is explained as follows in the case of a rectangular cloth.

That is, when one arbitrary point of the rectangular cloth piece S is held and hung as the first step, it becomes as shown in FIG. 28, and the straight line passing through the held point 27 and the center of gravity 28 becomes vertical. Next, as the second step, as shown in FIG. 29, which holds and suspends the lowermost end 29 in this state and releases the holding of the first step, the upper end 29 and the lower end 30 have a constant distance, 29th as the 3rd process
Hold the bottom edge 30 of the figure. Next, as the fourth step, the upper end 29 and the lower end 30, which are the holding points in the second and third steps, are held substantially horizontally, as shown in FIG. In this state, it may be held at a fixed position and the process may be moved to the next step. Again 1
To hold the sheets in the unfolded state, as the fifth step, one of the lower ends 31, 32 of FIG. 30 is held.

FIG. 31 is a front view of a cloth piece fixed position holding device used for carrying out the cloth piece fixed position holding method described above, and this device is divided into four sections A to D for convenience of explanation. The configuration of this cloth piece fixed position holding device performs holding of the cloth piece and detection of holding one corner of the cloth piece in section A, and detection of the diagonal of the corner held in section A in section B. A piece of cloth that holds diagonals in sections B and C is held horizontally with its diagonal line, and only one of the corners of the bottom two overlapping sheets is held, and cloths in sections C and D are held. The two adjacent corners of the piece are held to hold the piece of cloth in place. In the figure, the ironing rod 70 is provided near the right end of the chuck 68 so as to move up and down along the moving hole 71.

The chuck 72 has a moving hole 73 below the right end of the chuck 68.
It is designed so that it can move up and down along with and can move up and down diagonally from the bottom dead center to the upper right. The ironing rod 74 is provided near the top dead center of the diagonal movement of the chuck 72 so as to move up and down along the moving hole 75. The chuck 76 is provided so as to be able to move obliquely up and down along the moving hole 77, with the lower part of the top dead center being the bottom dead center in the oblique vertical movement of the chuck 72. Chuck 78 includes chuck 72 and chuck 76.
Is provided below the midpoint of the line connecting the upper fulcrums of each slant vertical movement so as to move vertically along the moving hole 79, and its top dead center is set as the bottom dead center of the slant vertical movement. It is provided to do so. The chucks 68, 72, 76, 78 and the ironing rods 70, 74 are driven by an air cylinder (not shown) according to the moving holes.

In order to hold a rectangular cloth piece in a fixed position with this cloth piece fixed position holding device, the following steps are performed. First, in FIG. 32, a part of the cloth piece 80 to be held at a fixed position by the chuck 68 is detected and held, and the cloth piece 80 is moved up along the moving hole 69 and then moved rightward to the state shown in FIG. . In FIG. 33, the piece 80 of cloth suspended from the chuck 68 does not always come directly above the chuck 72, so the cloth piece 80 is squeezed with a circular squeezing rod 70 having a notch in a part thereof. The bottom end of the cloth piece 80 (which will be the corner portion of the cloth piece 80) will be located directly above the chuck 72 located right above the 68. This causes the chuck 72 to rise and hold one of the rectangular corners at the bottom end of the cloth piece 80 as shown in FIG. Thereafter, the chuck 68 releases the cloth piece 80, the chuck 72 descends, and further ascends to the upper right along the moving hole 73. At this time, the ironing rod 70 returns to the top dead center of the moving hole 71.

In FIG. 35, the cloth piece 80 hung on the chuck 72 that has come to the top dead center of the moving hole 73 and faces downward is again the ironing rod.
Since the cloth piece 80 is squeezed by the 74 and the lowermost end of the cloth piece 80 (the diagonal corner of the corner held by the chuck 72) comes to the position of the chuck 76 (which is a fixed position depending on the size of the cloth piece 80), the chuck 76 Detected and held by. The chuck 76 holding the bottom end of the cloth piece 80 rises to the top dead center along the moving hole 77, and
As shown in FIG. 36, the two diagonals of the cloth piece 80 are held horizontally by the chucks 72 and 76. At this time, the ironing rod 70 is a moving hole.
Return to top dead center of 75.

Next, referring to FIG. 36, a cloth piece 80 whose two diagonals are horizontally held by chucks 72 and 76 is provided with a chuck 81 corresponding to the chuck 76 at one position of the hanging corners. , The lower corners are held to release the chuck 72, and the cloth pieces 80 can be held vertically in a fixed position by the chucks 76 and 81. In this cloth piece fixed position holding device, the distance between the upper right end position of the chuck 72 and the lower left end position of the chuck 76 is set to be substantially equal to the diagonal line of the cloth piece to be applied. If the chuck 72 holds two adjacent corners of the cloth piece 80 in the figure, the chuck
76 cannot hold the cloth piece 80, and the cloth piece 80 is held again.

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

That is, since the chucks 72, 76, 81 are in fixed positions,
Only rectangular cloth with specified dimensions can be developed, and it was not practical for cloth pieces with various sizes.

Also, since the chuck 72 cannot move its fixed position until the chuck 81 holds the cloth piece 80, many same devices are required for high-speed unfolding, and there are problems such as low unfolding ability. It was

The present invention has been proposed to solve the above-mentioned conventional problems, and automatically deploys a piece of cloth discharged from a dryer,
An object of the present invention is to provide a method and an apparatus for grasping an end of a cloth piece, which can relieve a worker from a work in a vicious circle and can automate a laundry factory.

(Means for Solving the Problems) Therefore, the present invention grasps an arbitrary position of a rectangular cloth piece and hangs and conveys it, and grips the lowermost end of the hung cloth piece with a chuck, The grip at any of the above positions is released, then the other bottom end of the suspended piece of cloth is gripped by another chuck, and one of these chucks is lifted almost vertically and the other A braking force is applied to the gripping points to give tension to the cloth pieces, then one side of the cloth piece having the ends adjacent to these gripping points is made substantially horizontal, and the adjacent ends are gripped, and then the vertical The gripping point that has been lifted up or the gripping point to which a braking force is applied is released, and this serves as a means for solving the problem.

Further, the present invention provides a first chuck conveyor that holds and suspends an arbitrary position of a rectangular cloth piece, and a bottom end of the cloth piece that is hung by the first chuck conveyor is held by the first chuck conhair. The second chuck conveyor which is held in the released state, and the third chuck conveyor which holds the lowest end of the cloth piece suspended by the second chuck conveyor are provided and are held by the second and third chuck conveyors. A driving device for lifting one gripping point of the cloth piece substantially vertically and a chuck braking device for applying a braking force to the other gripping point,
The second or third chuck conveyor is arranged so that one side of the cloth piece can be held substantially horizontally, and a fourth chuck conveyor that holds the end of the cloth piece adjacent to the second and third chuck conveyors, The present invention is provided with a fifth chuck conveyor to which the chucks of the third, second and fourth chuck conveyors are transferred in a state where the second or third chuck conveyor is released from gripping. It is a means to

(Operation) While holding the lowermost end of the rectangular piece of cloth that is grasped at an arbitrary position and hung and conveyed, the chuck releases the grasped position of the arbitrary position and the other end of the suspended piece of cloth at the lowest end Hold the bottom end of the other chuck with one of the two chucks, lift one of the two chucks almost vertically, apply a braking force to the other gripping point to apply tension to the cloth piece, and add an edge adjacent to these gripping points. A cloth piece having a part is made substantially horizontal on one side and the same end is gripped, and then the gripping point vertically lifted or the gripping point to which a braking force is applied is released from gripping, which conventionally relies on human hands. It is possible to automate the work of spreading the pieces or sorting the pieces of cloth. Therefore, the operator can be freed from the work in a hygienic or poor environment, and the laundry factory can be automated.

(Embodiment) The present invention will be described below with reference to embodiments of the drawings.
1 and 2 show an embodiment of a cloth piece expanding device to which the cloth piece edge gripping device of the present invention is applied, and FIG. 1 shows a configuration for expanding a rectangular cloth piece in the long side direction. FIG. 2 shows the configuration when the rectangular cloth piece is developed in the short side direction. It should be noted that FIG. 2 shows only the portions different in configuration from those in FIG. 1, and the common portions are omitted.

In FIG. 1, 100 is a belt conveyer for conveying a rectangular cloth piece S discharged from a dryer (not shown) to the apparatus, 101
Reference numerals 102 and 102 denote belt conveyors that receive and circulate the piece of cloth S from the belt conveyor 100. These belt conveyors 100, 101, 102 are installed in an arrangement as shown in FIGS. 3 (a) and (b), and the belt conveyors 101, 102 form a circulation path together with the sliding plates 130, 131. In addition,
The belt conveyor 132 is for collecting the unfolded pieces of cloth. Further, A in FIG. 1 is a knob lifting device for sucking the cloth S on the belt conveyors 101 and 102 by the air vacuum 104 and mechanically holding it by the chuck 103. This lifting device A is a chuck holding the cloth S. Lift at 103, first
A device 105 for delivering to the chuck conveyor B is provided.

The first chuck conveyor B receives the cloth piece S from the pick-up device A, holds the cloth piece S by the chuck 106, and conveys the cloth piece S to the second chuck conveyor C while suspending the cloth piece S, and holds the cloth piece S. The chuck 106 is a driving device 107, 109.
By this, it moves along the rail 110.
The second chuck conveyor C detects the lowermost end of the cloth piece S conveyed by the first chuck conveyor B by a squeezing device 111 while detecting it with a photoelectric sensor 112 and chucks 114
While the lowermost end of the cloth piece S is held and hung, the cloth piece S is conveyed to the third chuck conveyor D. The chuck 114 holding the cloth piece S is moved along the rail 150 by the driving devices 115 and 129. ing.

The third chuck conveyor D detects the bottom end of the cloth piece S conveyed by the second chuck conveyor C by the squeezing device 117 while detecting it with a photoelectric sensor 118 and the like.
, Which holds the bottom end of the cloth piece S, holds the cloth piece S, and the chuck 120 that holds the cloth piece S is pulled by the chuck 114 through the cloth piece S and continues to the fourth and fifth chuck conveyors E, F.
It is designed to move along 51. The chuck 114 of the second chuck conveyor C rises substantially vertically before the fourth chuck conveyor E.

The fourth chuck conveyor E detects the end portion (the end portion adjacent to the holding point of the chuck 120) of the cloth piece S conveyed by the second and third chuck conveyors C and D by the photoelectric sensor 122 and the like. The end portion is held by the chuck 124, and the chuck 124 holding the cloth piece S is conveyed by the driving device 125 to the fifth chuck conveyor F or the sixth chuck conveyor G. The fifth and sixth chuck conveyors F and G are
The cloth piece S is received from the fourth chuck conveyor E and the cloth piece S is received.
In the case of expanding the long side of the cloth piece S in the case of FIG. 1, the adjacent end portions of are held by a chuck as shown in the figure and conveyed to the next step (ironing step) by the drive device 126. Therefore, the cloth piece S is held by the chucks 120 and 124.
Further, in the case of FIG. 2, since the short side of the cloth piece S is developed, the cloth piece S is held by the chucks 114 and 124. In the figure, reference numerals 108 and 116 denote frame feed devices that perform a kink removal by temporarily stopping the chucks 106 and 114 holding the cloth piece S, and 113 and 11 respectively.
9,123 are air suctions of the ironing devices 111, 117 and the end gripping device 121.

4 (a) and (b) show an example of the chucks 106, 114, 120, 124. FIG. 4 (a) is a front view and FIG. 4 (b) is a side view showing a cross-sectional view. In the figure chuck 106,
114, 120, and 124 are pin 13 by the spring force of spring 135.
4 is pushed down at all times to move the piece of cloth S to the lever 1
It is structured to be sandwiched between 33 and 133. And lever 133,
When the upper end side portion of 133 is pushed up by an external force in the direction of the arrow in the figure, the lever 133 rotates around the pin 134 as shown by the chain double-dashed line to release the holding of the cloth piece S. . Further, these chucks 106, 114, 120, 124 move along the guide rail 139 as the roller 136 travels in the guide rail 139, and the driving force thereof is transmitted by the chain 138 as shown in the figure. The guide rail 1
If 39 is facing downwards, the chucks 106, 114, 120, 124 can move by gravity without the chain 138. In the figure, 137 is a cover, 140 is a resin rail that guides the roller 136 and the chain 138, and 141 is a guide rail on the return side of the chain 138.

FIG. 5 shows the structure of the ironing devices 111, 117. These ironing devices 111, 117 introduce the cloth piece S into the ironing groove 142, and use a chuck 143 (corresponding to 106, 114 in FIG. 1) in the direction of the arrow in the drawing. While pulling, pull the air suction 144 (1 in Fig. 1).
The lower half of the cloth piece S has a squeezed structure by sucking with (corresponding to 13,119).

Next, a method for developing a cloth piece according to the present invention will be described with reference to FIGS.

First, the piece of cloth flowing on the belt conveyor 100 is guided to a circulation path formed by the belt conveyor 101, the sliding plate 131, the belt conveyor 102, and the sliding plate 130 as shown in FIG. Here, there is a drop in the delivery from the belt conveyor 102 to the sliding plate 130, and the pieces S are naturally unraveled by this drop and piled up in the circulation path.
Next, as shown in FIG. 7, the arbitrary point X of one piece of cloth S is picked up by the chuck 103 of the picking-up device A on the belt conveyor 101 or from the arbitrarily piled pieces of cloth,
It is delivered to the first chuck conveyor B. In the first chuck conveyor B, the arbitrary point X of the cloth piece S picked up by the chuck 103 is held again by the chuck 106 as shown in FIG. Then, the cloth piece S is introduced into the ironing miso of the ironing device 111, and the lower half of the cloth piece S is ironed while pulling the cloth piece S by the chuck 106.
Further, the sensor 112 detects the lowermost end (corner a) of the cloth piece S, and the chuck 114 holds the corner a of the cloth piece S as shown in FIG. Then, the holding of the chuck 106 is released to release the linen S.
Is held only by the chuck 114, and is conveyed to the third chuck conveyor D while being twisted by the frame feeding device 116.

In the third chuck conveyor D, the lower half (corner a) of the cloth piece S is squeezed by the squeezing device 117 as shown in FIG.
Hold the corner c of. Chuck 12 holding the corner c of the cloth piece S
0 is pulled through the cloth piece S by the chuck 114 that is moved by the drive device 129, and moves along the rail 151. Then, the chuck 114 rises almost vertically before the fourth chuck conveyor E, and as shown in FIG. 12, the short side portion between the corners a and b of the cloth piece S approaches the opening portion of the chuck 124.

As the chuck 114 rises vertically, the corner d of the cloth piece S
13 hangs down below the chuck 114 as shown in FIG. 13, and this angle d is detected by the sensor 122 and held by the chuck 124 of the fourth chuck conveyor E. And cloth piece S
Is held by the chuck 114 of the second chuck conveyor B, the corner c by the chuck 120 of the third chuck conveyor E, and the corner d by the chuck 124 of the fourth chuck conveyor E, and the chuck 114 is pulled by the drive unit 129. At the same time, the chucks 120 and 124 are also pulled through the piece of cloth S. Next, from this state, only the chucks 120 and 124 are moved to the fifth chuck conveyor F, and only the holding of the chuck 114 is released and the chuck is conveyed.
The cloth piece S can be conveyed to the next step (ironing step) with the cloth piece S unfolded in the long side direction as shown in FIG. If only the chucks 114 and 124 are moved to the sixth chuck conveyor G from the state of FIG. 13 and only the holding of the chuck 120 is released and conveyed, the cloth piece S is developed in the short side direction as shown in FIG. In this state, it can be conveyed to the next step (ironing step).

Next, the cloth piece gripping device of the present invention will be described in detail.
In FIG. 18 to FIG. 18, 151 is a rail, and the chuck 120 holding the c-edge of the cloth piece S moves. In this case, no driving force is usually applied. Reference numeral 149 denotes a rail on which the chuck 124 holding the d end of the cloth piece S moves. In this case as well, the normal driving force is not applied. Reference numeral 150 denotes a rail to which a driving device 129 is attached, which conveys the chuck 114 almost vertically. Reference numeral 161 is a guide bar for preventing the cloth piece S from swinging (fluttering), and is installed so as to sandwich the cloth piece S. 162 is an empty chuck that conveys the cloth piece S to the next step (ironing step) and releases the grip of the cloth piece S.
155 is a rail that returns in sequence. Reference numeral 163 is a rail in which the chuck 120 in the rail 151 and the chuck 124 in the rail 149 join together, and a joining plate 192 is interposed at the joining point as shown in FIG. 165 is a bar,
Since the chucks 114 and 120 face upward, they are provided between the cloth piece S and the rail 150 to prevent contact between the cloth piece S and the rail 150.

170 is a brush for wrinkling the side surface of the piece of cloth S and d
In order to make it easier to grip the rail, it is rotatably supported by a driving force (not shown) below the rails 150 and 151 (Fig. 21). 17
5 is an air nozzle, with rail 150 to obtain the same effect
It is provided below 151 and ejects compressed air from a nozzle 175 (Figs. 20 and 21). 180 is a chuck feeder,
As shown in FIG. 18, the plate 181 fixed to the rail 162 is attached.
The air cylinder 182 is attached with the pin 183 attached above as the center of rotation.
A cam 184 is rotatably attached to the tip of the rod of the rod around a pin 185. The cam 184 is rotated by the operation of the air cylinder 182, and the chucks 155 are supplied downward one by one.

186 is a chuck supply / rotation device, which is installed below the rails 149 and 162 as shown in FIG. An indexing device attached to a fixed frame (not shown)
The receiving rail 189 fixed on the plate 188 attached to the rotating shaft of 187 faces the rails 149 and 162, and is installed at a position where the chuck from the rail can smoothly enter. The plate 188 has an air cylinder 190 and an air cylinder 190 for opening the chuck 155.
An arm 191 for transmitting the power of the power to the chuck 155 is attached (Fig. 19). 193 is a reverse return stopper,
The chuck 124 in the rail 149 grips the d end of the cloth piece S and is pulled by the chuck 114 via the cloth piece S to pull the rail 149.
Although it goes up inside, it is prepared for the case where the grip of the cloth piece S is released. With the pin 194 as the center of rotation, the pressing force of a spring (not shown) attached as shown in FIG. 22 is pushed up, and the chuck 124 moves upward in the rail 149.

Next, FIG. 24 shows an example of a chuck braking device (spring type). In the figure, 195 is a chuck braking device.
As shown in FIG. 4, 20 has a roller 136, and therefore moves smoothly in the rail. Further, in order to surely grip the d end of the cloth piece S, it is important to apply a braking force to the chuck 120 to prevent the a and c ends of the cloth piece S from slackening. A pin 196 is fixed in the rail 151, and a braking piece 197 is held on the back surface of the chuck 120 by a spring 198 with the pin 196 as a rotation center. The braking force can be easily adjusted by changing the tightening depth of the bolt 199.

Next, a method of gripping the d end of the cloth piece S will be described with reference to FIG.
First, as shown in FIG. 17 (a), the chuck 114 holds the end a of the cloth piece S and is conveyed in the rail 150 by the driving device 129. On the other hand, the c-edge of the cloth piece S is held by the chuck 120. Since the chucks 114, 120 have the grip point of the cloth piece S on the upper side, a bar 165 is attached to prevent the cloth piece S from being soiled and damaged, and is conveyed as shown in the figure.

Since the chuck braking device 195 is attached to the chuck 120, the accuracy of gripping the end d of the cloth piece S can be increased by applying an appropriate tension between the ends a and c. The state of the cloth piece S when no tension is applied is
As shown in FIG. 23, it is difficult to grip the edge d of the cloth piece S.
The cloth piece S is a brush 170, an air nozzle 175 or a guide bar.
Any one of 161 or a combination thereof will cause the wrinkle to be extended or the entangled condition to be released. If the transport speed is slow, these wrinkle spreading mechanisms may not be necessary.

Then, as shown in FIG. 17 (b), when the cloth piece S reaches the position shown in this figure, the sensor 122 is turned on. At this time, the empty chuck 155 is supplied to the receiving rail 189 of the chuck supply / rotation device 186 by the chuck supply device 180, and then the indexing device 187 is rotated by 180 ° to move the empty chuck 155 and the chuck 124 to the end of the cloth piece S. In order to grip d, it stands by at a predetermined position (position where it can move to the rail 149).

Next, as shown in FIG. 17 (c), when the chuck 114 further rises in the rail 150, the cloth piece S deviates from the position of the sensor 122, and the sensor 122 becomes an OFF signal. At this time, the lower sides c and d of the cloth piece S are substantially horizontal, and the end d of the cloth piece S is sucked by the air suction 123. After a time set by a timer (not shown) from the OFF signal of the sensor 122, the air cylinder 190 is operated to disengage the arm 191 from the chuck 124 and close the chuck 124 to grip the end d.

That is, as shown in FIG. 17 (a), one gripping point a of the cloth piece S gripping diagonal points a, c is lifted up substantially vertically as shown in FIG. 17 (b), (c). , The braking force acts on the other gripping point c, and the end portion d adjacent to these gripping points a and c
One side cd of the cloth piece S having the above is made substantially horizontal as shown in FIG. 17 (c), and the end portion d of the adjacent cloth piece is grasped by the chuck 124.

As described above, since a and d are held substantially vertically and c and d are held substantially horizontal, point d is always at a fixed position (the position of chuck 124). Therefore, it suffices to position the chuck 124 at a fixed position, and the cloth piece S can be continuously developed at a high speed, and also rectangular cloth pieces having different sizes can be dealt with.

Then, as shown in FIG. 17 (d), when the chuck 114 further rises in the rail 154, the chucks 120 and 124 are c,
While holding the d end, the cloth piece S moves while being pulled in the rails 151 and 149. After that, the next chuck 155 is rotationally moved to the position of the chuck 124 by the chuck supply / rotation device 186, and further the next empty chuck 155 is sent to the chuck supply / rotation device 186 by the chuck supply device 180.

FIG. 25 shows an example of a chuck braking device (weight system), in which 200 is a chuck braking device, which brakes the movement of the chuck 120 with a weight 211. A slider 208 is attached slidably along 209, and a hook 206 is attached to the slider 208 with a weight 211 about a pin 210 as a rotation center.
It is attached as shown in FIG. When the hook 206 comes to the position of the opener 212 fixed to the rail 151, the hook 206 opens like the two-dot chain line in FIG. 26, and the slider 208 has a weight 21 at the tip of the wire 213.
1 is suspended so that it can move up and down via rollers 207. The braking force can be easily changed by changing the weight of the weight 211. Note that, although the case where the present invention is applied to the cloth piece spreading device has been described above, the present invention can be similarly applied to a sorting device for linen or other textile products.

(Effects of the Invention) As described in detail above, according to the present invention, one gripping point of the cloth piece whose diagonal point is gripped in the first and second steps is lifted almost vertically in the third step, and the other gripping point is lifted. By applying a braking force as in the fourth step and making one side of the cloth piece having the ends adjacent to these grip points almost horizontal as in the fifth step, the end adjacent to the grip points must be It will be in a fixed position (chuck position). Therefore, it suffices that the chuck is located at a fixed position, so that the cloth pieces can be continuously developed at a high speed, and also rectangular cloth pieces having different sizes can be dealt with. It is possible to automate the work of deploying the cloth pieces (linen) or sorting the cloth pieces, which conventionally relied on human labor. Therefore, the operator can be freed from work in a hygienic or poor environment, and the laundry factory can be automated.

[Brief description of drawings]

FIG. 1 and FIG. 2 are process diagrams of a cloth piece expanding device provided with a cloth piece end gripping device, respectively, showing an embodiment of the present invention, and FIG. 3 (a).
Is a plan view of the belt conveyor in the pick-up device section of FIG. 1, FIG. 3 (b) is a side view of the same, and FIG. 4 (a) is a first view.
Front view of the chuck used in FIGS. 2 and 4, FIG. 4 (b)
Is a sectional view of the same side, FIG. 5 is a perspective view of the ironing device, FIG.
Figure 7, Figure 8, Figure 9, Figure 10, Figure 11, Figure 12,
FIG. 13, FIG. 14 and FIG. 15 are explanatory views of the cloth piece deploying method in the present invention, FIG. 16 is a detailed perspective view of the cloth piece end gripping device showing an embodiment of the present invention, and FIG. 17 (a). (B) (c)
FIG. 18 (d) is a side view of the same end piece gripping device in different operating states, FIGS. 18 (a) and 18 (b) show an empty chuck supply device according to one embodiment of the present invention, and FIG. FIG. 19B is a sectional view taken along the arrow K in FIG. 19, FIG. 19B is a sectional view taken along line L-L in FIG. 19A, and FIG. 19 is a side view of a chuck feeding / rotating device showing an embodiment of the present invention.
Figure is a plan view of the wrinkle extension mechanism (air blowing method) around the end of one piece of cloth, Figure 21 is a plan view of the same wrinkle extension mechanism (brush method), and Figure 22 is a view from the arrow N of Figure 16, 23. Figure and side view showing the state of the piece of cloth when the chuck does not have a braking device, Figure 24 (a) is a side sectional view showing an example of the chuck braking device (spring type), and Figure 24 (b) is Fig. 24 (a) is a sectional view taken along line P-P, Fig. 24 (c) is a sectional view taken along line Q-Q in Fig. 24 (a), and Fig. 25 (a) is an example of a chuck braking device (weight system). Fig. 25 (b) is a side view of the same, Fig. 26 is a sectional view taken along line RR of Fig. 25 (b), Fig. 27 is a block diagram showing a washing process in a conventional laundry factory, and Fig. 28. Figures 29 and 30 are explanatory views showing a conventional method of gripping the end of a cloth piece, and FIG. 31 is a front view showing an example of a conventional cloth piece fixed position holding device, FIGS. 32 and 33. , Fig. 34 Figure 35 and Figure 36 is a front view illustrating the operating sequence of the cloth position holding device in Figure 31. Description of main parts of the figure B …… First chuck conveyor C …… Second chuck conveyor D …… Third chuck conveyor E …… Fourth chuck conveyor F …… Fifth chuck conveyor 114,120,124,150 …… Chuck 122 …… Sensor 123 …… Air suction 149,150,151,162,163 …… Rail 165 …… Bar 170 …… Brush 175 …… Air nozzle 180 …… Chuck supply device 186 …… Chuck supply / rotation device 195,200 …… Chuck braking device

Continuation of the front page (72) Inventor Kunio Kojima 1 at 60, Kutanesho, Iwatsuka-cho, Nakamura-ku, Nagoya-shi, Aichi Nakabishi Engineering Co., Ltd. (56) References Japanese Patent Publication No.59-24685

Claims (2)

[Claims] 1. A rectangular cloth piece is grasped at an arbitrary position and is hung and conveyed, and the lowermost end of the suspended cloth piece is grasped by a chuck, and the grasp at the arbitrary position is released.
Next, the other bottom end of the cloth piece suspended from the bottom end is gripped by another chuck, and one of the two chucks is lifted almost vertically, and a braking force is applied to the other gripping point to apply the braking force to the cloth piece. Then, one side of the cloth piece having the ends adjacent to these gripping points is made substantially horizontal, the adjacent ends are gripped, and then the vertically suspended gripping point or braking force is applied. A method of gripping an end of a cloth piece, which is characterized by releasing gripping at a grip point. 2. A first chuck conveyor which holds and suspends an arbitrary position of a rectangular cloth piece, and a bottom end of the cloth piece which is suspended by the first chuck conveyor is released from gripping by the first chuck conveyor. A second chuck conveyor that holds the cloth in a fixed state, and a third chuck conveyor that holds the lowermost end of the cloth piece suspended by the second chuck conveyor, and the cloth held by the second and third chuck conveyors. The second or third chuck conveyor can hold one side of the cloth piece substantially horizontally, and has a driving device that lifts one holding point of the piece substantially vertically and a chuck braking device that applies a braking force to the other holding point. The arrangement is such that the fourth chuck conveyor that holds the end of the cloth piece adjacent to the second and third chuck conveyors and the second or third chuck conveyor are released. And a fifth chuck conveyor to which the chucks of the third or second and fourth chuck conveyors are transferred, and a cloth piece edge gripping device.