JP3379857B2 - Method and apparatus for gripping and hanging one of the corners of a rectangular cloth piece - Google Patents
Method and apparatus for gripping and hanging one of the corners of a rectangular cloth pieceInfo
- Publication number
- JP3379857B2 JP3379857B2 JP09147895A JP9147895A JP3379857B2 JP 3379857 B2 JP3379857 B2 JP 3379857B2 JP 09147895 A JP09147895 A JP 09147895A JP 9147895 A JP9147895 A JP 9147895A JP 3379857 B2 JP3379857 B2 JP 3379857B2
- Authority
- JP
- Japan
- Prior art keywords
- cloth piece
- cloth
- piece
- corners
- hem
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Treatment Of Fiber Materials (AREA)
- Load-Engaging Elements For Cranes (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えばランドリー工場
などにおいて洗浄・乾燥した後のオシボリ、ナフキン、
テーブルクロス、シーツ、包布などの方形状布片を機械
によって展開することにおいて、該布片の角部の一つを
探しだし掴んで吊す方法および装置に関するものであ
る。BACKGROUND OF THE INVENTION The present invention relates to an oscillating napkin, a napkin after washing and drying in a laundry factory,
The present invention relates to a method and a device for finding, grasping and hanging one of the corners of a rectangular cloth piece such as a table cloth, a sheet and a wrapping cloth by mechanically deploying it.
【０００２】[0002]
【従来の技術】従来、一般にランドリー工場において
は、汚れたオシボリ、ナフキン、テーブルクロス、シー
ツ・包布などの方形状布片を洗濯脱水後、ほぐして展開
し、アイロン掛け処理をして、折り畳んで出荷してい
る。ところで、脱水工程を終えた方形状布片は、互いの
絡みを解きほぐされ捩じれた状態で山積みされる。該布
片を後続のプロセスや折畳み機などに送込むには、該方
形状布片を予め捩れをほぐして展開させ縁を揃える必要
がある。該布片の展開作業を人手によって行う場合は、
山積みにされた該布片を作業者が一枚ずつ取出し、その
取出した方形状布片の任意の角部と、該角から伸びる縁
（辺）の一定巾の点または該角と一辺を共有する角とを
それぞれ捜しだし、夫々を掴んで揃えて後続のプロセス
などに供給していた。2. Description of the Related Art Conventionally, generally in a laundry factory, after washing and dehydrating square shaped cloth pieces such as dirty napkins, napkins, table cloths, sheets and wrapping cloths, they are unfolded, ironed and folded. Shipping. By the way, the square-shaped cloth pieces that have undergone the dehydration process are piled up in a twisted state by untangling each other. In order to feed the cloth piece to a subsequent process or a folding machine, it is necessary to untwist the square cloth piece in advance and spread it to align the edges. When manually deploying the piece of cloth,
An operator takes out the piled pieces of cloth one by one, and the corners of the taken-out square pieces of cloth and a point of a certain width of an edge (side) extending from the corner or one side is shared with the corner. Each corner was searched for, and each was grabbed and aligned to supply to subsequent processes.
【０００３】または、該布片の展開作業を装置によって
行う場合は、山積みされた該布片を掴み装置によって該
布片の任意の部分を掴んで吊し上げ、垂れ下がった該布
片の最下端部を掴んで吊すことによって該布片の角部の
一つを取出し、以後、該布片の展開装置に供給して該布
片を展開し、縁を揃えて、後続のプロセスに供給してい
た。Alternatively, when the work of unfolding the cloth pieces is performed by a device, the piled up cloth pieces are gripped by an arbitrary part of the cloth pieces and lifted up, and the lowermost end of the hanging down cloth pieces is lifted. One of the corners of the cloth piece was taken out by grasping and hanging, and thereafter, the cloth piece was fed to a spreading device for spreading the cloth piece, the edges were aligned, and the cloth piece was fed to a subsequent process.
【０００４】[0004]
【発明が解決しようとする課題】上記の従来の方形状布
片の展開にあって、人手による方形状布片の任意の一つ
の角部及び一つの角部と一辺を共有する角部または縁の
一部の掴み作業では、山積みにされた方形状布片を一枚
ずつ取出し、捩じれをほぐしながら任意の一つの角（角
部）と該一つの角と一辺を共有する角または縁の一部を
探し出さなければならず、任意の一つの角を捜しだし該
布片を展開する作業に多大の時間と労力を必要とする
為、作業員の数も多人数となり、作業者も高温、高湿の
悪環境下での単純労働の繰返しの上長時間作業となるな
どによって作業能率が悪くコスト高となるといった問題
点がある。DISCLOSURE OF THE INVENTION In the development of the above-mentioned conventional rectangular cloth piece, any one corner portion of the rectangular cloth piece by hand and a corner portion or an edge sharing one side with one corner portion. In a part of the gripping work, the piled square-shaped cloth pieces are taken out one by one, and one corner (corner) and one corner or edge sharing one side with the one corner are taken out while loosening the twist. Since it is necessary to find a part, it takes a lot of time and labor to find any one corner and deploy the cloth piece, the number of workers becomes large, and the number of workers is high. There is a problem in that the work efficiency is poor and the cost is high due to the fact that the simple work is repeated in a bad environment of high humidity and the work becomes long.
【０００５】そこで、上記問題点を解消するために該布
片の展開作業を機械化しているが、機械化されたもの
（例えば、特願平−３３５５２７号参照）にあっては山
積みにされた該布片の任意の部分を掴むと、その掴み位
置が該布片の周辺部分である場合は吊された該布片の最
下端部には該布片の一つの角部が来ることから、最下端
部を掴むことによって該布片の一つの角部を掴んで吊す
ことができる。Therefore, in order to solve the above problems, the work of unfolding the cloth pieces is mechanized. However, in the case of mechanized ones (see, for example, Japanese Patent Application No. 335527), heaps are piled up. When an arbitrary portion of the cloth piece is grasped, when the grasping position is the peripheral portion of the cloth piece, one corner of the cloth piece comes to the lowermost end of the suspended cloth piece. By grasping the lower end, one corner of the cloth piece can be grasped and hung.
【０００６】しかし、山積みにされた該布片の任意の部
分の掴み位置は必ずしも該布片の周辺部分とは限らず、
往々にして、該布片の中央または中央部近辺を掴むこと
が多く、その上、該布片を同時に２枚、３枚と掴むこと
がある。この様な場合、該布片を掴んで吊すと下端に該
布片の４つの角部または３つの角部あるいは２つの角部
と多数の角部がくることになる。この多数の角部が集ま
り重なった状態にある時には、一つの角部のみ掴んで吊
すことは困難となる、この為山積みにされた該布片の任
意の部分を掴んで吊した後、吊された該布片の下端の一
つの角部を掴んで吊す歩留りが７０パーセント程度とな
り、後の３０パーセントは再び始めから掴み直さなけれ
ばならないといった問題点があった。However, the gripping position of an arbitrary portion of the piled cloth pieces is not always the peripheral portion of the cloth piece,
Frequently, the center or the vicinity of the center of the cloth piece is often grasped, and in addition, two or three pieces of the cloth piece are grasped at the same time. In such a case, when the cloth piece is gripped and hung, the lower end has four corners or three corners or two corners and a large number of corners. When a large number of corners are gathered and piled up, it is difficult to grab and hang only one corner, so after grabbing and hanging an arbitrary part of the piled cloth pieces, it is hung. Further, there is a problem that the yield of hanging and hanging one corner of the lower end of the cloth piece is about 70%, and the other 30% must be gripped again from the beginning.
【０００７】本発明は上記の問題点を解消する為に、該
布片の任意の部分を掴んで吊された裾部分を広げて、下
端の多数の角部の重なりを解いて分れた状態として、該
布片の角部の一つのみを選択して掴んで吊す方法および
装置を提供することを目的とするものである。In order to solve the above-mentioned problems, the present invention grasps an arbitrary portion of the cloth piece and unfolds the suspended hem portion, and unravels the overlap of the many corners at the lower end. As a result, it is an object of the present invention to provide a method and a device for selecting, gripping and hanging only one corner of the cloth piece.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するため
に、本発明の構成について説明する。洗濯，脱水後、方
形状布片の絡みを解き山積みとした該布片の一片の任意
の部分を掴むための第一掴み装置と該掴み装置が上下動
する昇降柱を設け、昇降柱に隣接して掴まれ吊された該
布片の裾を広げる部材を設け、該布片の広がった裾を固
定する部材を設け、固定された該布片の角部の一つを掴
む第二掴み装置を設けたものからなる。In order to achieve the above object, the constitution of the present invention will be described. After washing and dewatering, a first gripping device for untangling the square-shaped cloth pieces and gripping an arbitrary part of the piled cloth pieces, and an elevating column for moving the gripping apparatus up and down are provided, and adjacent to the elevating column A second gripping device that is provided with a member that spreads the hem of the cloth piece that is grabbed and hung, and a member that fixes the spread hem of the cloth piece, and that grips one of the corners of the fixed cloth piece. It is provided with.
【０００９】[0009]
【作用】上記のように構成された掴み装置において、方
形状布片の中央または中央部近辺あるいは中心線上近辺
の一点を掴んで吊すと下端に該布片の４つの角部または
３つ、あるいは２つの角部が重なって垂れ下った状態と
なる。そこで、該布片の下端にある角部の重なりを概略
直線上に広げることによって、角部の重なりが解かれて
散けた状態となる。この状態で吊された該布片の裾部分
を固定することにより、該布片の下端にある角部は直線
に並んで広がり、角部が散けて動かないため、該布片の
角部の一つを掴んで吊すことが容易となるものである。In the gripping device configured as described above, when the central portion of the rectangular cloth piece or the vicinity of the central portion or one point near the center line is grasped and hung, the four corners or three corners of the cloth piece are placed at the lower end, or The two corners overlap and hang down. Therefore, by spreading the overlap of the corners at the lower end of the cloth piece on a substantially straight line, the overlap of the corners is released and scattered. By fixing the hem part of the cloth piece suspended in this state, the corners at the lower end of the cloth piece spread out in a straight line and the corners are scattered and do not move. It is easy to grab one of them and hang it.
【００１０】[0010]
【実施例】本発明の実施例を図面を参照して説明する。
（実施例１）図１から図６に示される実施例では、山積
みとした方形状布片１の任意の部分を掴むための第一掴
み装置２と第一掴み装置２が上下動する昇降柱（図示さ
れていない）を設け、該布片１の吊り上げ高さを検知す
るエリアセンサ３を設け、垂れ下がった該布片１の裾を
広範囲で確実に挟み固定する左右の平板４を設け、平板
４に垂れ下がった該布片１の裾を拡げる圧力空気吹出口
５を設ける。圧力空気吹出口５はコンプレスサーなどに
空気管６によって接続されている。挟み面の延長方向か
ら挟み面方向に進退移動する第二掴み装置７を設け、第
二掴み装置７の先端に該布片１の垂れ下がった角を検知
する布片角検知センサ８を取付けた構成となっている。Embodiments of the present invention will be described with reference to the drawings. (Embodiment 1) In the embodiment shown in FIGS. 1 to 6, a first gripping device 2 for gripping an arbitrary part of a pile of rectangular cloth pieces 1 and an elevating column in which the first gripping device 2 moves up and down. (Not shown) is provided, an area sensor 3 for detecting the lifting height of the cloth piece 1 is provided, and left and right flat plates 4 for securely sandwiching and fixing the hem of the hanging cloth piece 1 in a wide range are provided. 4 is provided with a pressure air outlet 5 for expanding the hem of the cloth piece 1 that hangs down. The pressure air outlet 5 is connected to a compressor or the like by an air pipe 6. A configuration in which a second gripping device 7 that moves forward and backward from the extension direction of the sandwiching surface is provided, and a cloth piece angle detection sensor 8 that detects the hanging angle of the cloth piece 1 is attached to the tip of the second gripping device 7. Has become.
【００１１】上記構成から図１において、山積みとされ
た該布片１の任意の部分を第一掴み装置２によって掴ん
で吊り上げた後、第一掴み装置２が昇降柱を上方に移動
する。図２において、エリアセンサ３によって垂れ下が
った該布片１の最下端が一定の位置にきた時点で第一掴
み装置２の上方への移動を停止する。From the above-mentioned structure, in FIG. 1, after the arbitrary portion of the piled cloth pieces 1 is grasped and lifted by the first grasping device 2, the first grasping device 2 moves the elevating column upward. In FIG. 2, when the bottom end of the cloth piece 1 hung down by the area sensor 3 reaches a certain position, the upward movement of the first gripping device 2 is stopped.
【００１２】図３において、平板４に設けた圧力空気吹
出口５から空気を噴射させて垂れ下がった該布片１の裾
部の絡みを解いて拡げながら平板４を近付ける。図４に
おいて、垂れ下がった該布片１の裾を左右の平板４によ
って平板４の下部から該布片１の角部を覗かせた状態で
挟み、該布片１の角部を一直線に並べて固定する。図５
において、一直線上に並んだ該布片１の角部を一直線方
向から第二掴み装置７を前進させてきて、第二掴み装置
７に設けた布片角検知センサ８によって直線上に並んだ
該布片１の角部の内からただ一つを見付だして、第二掴
み装置７によって該布片１の角部の一つを掴む。図６に
おいて、該布片１の第一掴み装置２の掴みと平板４の挟
みを外して、該布片１の角部の一つを第二掴み装置７で
掴んで吊し後退する。In FIG. 3, the flat plate 4 is moved closer to the flat plate 4 while unraveling and unfolding the hem of the hanging piece 1 of the cloth piece 1 by injecting air from the pressure air outlet 5. In FIG. 4, the hanging hem of the cloth piece 1 is sandwiched between the left and right flat plates 4 in a state where the corner of the cloth piece 1 is seen from below the flat plate 4, and the corners of the cloth piece 1 are aligned and fixed. To do. Figure 5
In the above, the second gripping device 7 is advanced from the straight line direction at the corners of the cloth pieces 1 arranged in a straight line, and the cloth piece angle detection sensor 8 provided in the second gripping device 7 makes the cloth pieces 1 arranged in a straight line. Only one of the corners of the cloth piece 1 is found, and one of the corners of the cloth piece 1 is gripped by the second gripping device 7. In FIG. 6, the grip of the first gripping device 2 of the cloth piece 1 and the flat plate 4 are removed, and one of the corners of the cloth piece 1 is gripped by the second gripping device 7 and hung and retracted.
【００１３】（実施例２）図７、８に示される実施例で
は、山積みとした該布片１の任意の部分を掴むための第
一掴み装置２と第一掴み装置２が上下動する昇降柱を設
け、該布片１の吊り上げ高さを検知するエリアセンサ３
を設け、垂れ下がった該布片１の裾を挟み回転する左右
のローラ９を設けて、該布片１のどの位置をローラ９が
挟んでもローラ９の回転によって垂れ下がった該布片１
の角部の高さを調整することが出来るようにしている。
ローラ９の下方に垂れ下がった該布片１の裾を拡げる先
端部分が円弧状の拡張部材10が垂れ下がった該布片１の
横方向から進退移動できるように設ける。左右ローラ９
の軸線方向から進退移動し、垂れ下がった該布片１の角
部を掴む第二掴み装置７を設け、第二掴み装置７の先端
に該布片１の垂れ下がった角を検知する布片角検知セン
サ８を取付けた構成となっている。(Embodiment 2) In the embodiment shown in FIGS. 7 and 8, the first gripping device 2 for gripping an arbitrary part of the piled cloth pieces 1 and the lifting and lowering movement of the first gripping device 2 are performed. Area sensor 3 provided with a pillar to detect the lifting height of the cloth piece 1
And the left and right rollers 9 that rotate by sandwiching the hem of the hanging piece 1 of cloth, the cloth piece 1 that hangs by the rotation of the roller 9 regardless of which position of the piece of cloth 1 is sandwiched by the roller 9.
The height of the corners of the can be adjusted.
An end portion of the hem of the cloth piece 1 that hangs down below the roller 9 is provided so that an arc-shaped expansion member 10 can be moved forward and backward in the lateral direction of the hanging cloth piece 1. Left and right rollers 9
The second gripping device 7 that moves back and forth from the axial direction of the cloth piece 1 to grip the corner of the hanging piece 1 of cloth, and detects the angle of hanging piece of cloth 1 at the tip of the second gripping device 7 The sensor 8 is attached.
【００１４】上記構成から図１において、山積みとされ
た該布片１の任意の部分を第一掴み装置２によって掴ん
で上方に移動し吊し上げた後、図７において、拡張部材
10を垂れ下がった該布片１の横方向から前進させてき
て、該布片１の裾を拡張部材10の先端の円弧状部分で押
して該布片１の裾を掻分けるようにして拡げ、次いで左
右のローラ９を移動させ垂れ下がった該布片１の裾部分
の拡がりに沿って左右ローラ９で該布片１を挟む。From the above-mentioned structure, in FIG. 1, an arbitrary portion of the piled cloth pieces 1 is grasped by the first grasping device 2 and moved upward to be hung up.
10 is moved forward from the lateral direction of the hanging cloth piece 1, and the hem of the cloth piece 1 is pushed by the arcuate portion of the tip of the expansion member 10 to spread the hem of the cloth piece 1 to separate, and then The left and right rollers 9 are moved so that the left and right rollers 9 sandwich the cloth piece 1 along the spread of the hem portion of the hanging cloth piece 1.
【００１５】図８において、拡張部材10を後退させて、
左右ローラ９を回転して垂れ下がった該布片１の裾部分
を引き上げて、エリアセンサ３が該布片１の角を検知し
た時点でローラ９の回転を停止する。この時、該布片１
の角はローラ９の下端から覗いた状態でローラ９の軸線
に並んで固定される。In FIG. 8, the expansion member 10 is retracted to
When the area sensor 3 detects the corner of the cloth piece 1 by rotating the left and right rollers 9 and pulling up the hanging hem of the cloth piece 1, the rotation of the roller 9 is stopped. At this time, the cloth piece 1
The corners are fixed side by side with the axis of the roller 9 as seen from the lower end of the roller 9.
【００１６】図５において、並んだ該布片１の角部をロ
ーラ９（図５の平板４をローラ９とする）の軸線方向か
ら第二掴み装置７を移動させて来て第二掴み装置７に設
けた布片角検知センサ８によって該布片１の角部の並び
の内からただ一つを見付だしして、第二掴み装置７によ
って該布片１の角部の一つを掴む。図６において、該布
片１の第一掴み装置２の掴みとローラ９の挟みを外し
て、該布片１の角部の一つを第二掴み装置７で掴んで吊
し後退する。In FIG. 5, the second gripping device 7 is moved by moving the second gripping device 7 from the axial direction of the roller 9 (the flat plate 4 in FIG. 5 is referred to as the roller 9) at the corners of the arranged cloth pieces 1. Only one of the corners of the cloth piece 1 is found by the cloth piece angle detection sensor 8 provided in 7, and one of the corners of the cloth piece 1 is detected by the second gripping device 7. grab. In FIG. 6, the grip of the first gripping device 2 of the cloth piece 1 and the nip of the roller 9 are removed, one of the corners of the cloth piece 1 is gripped by the second gripping device 7, and the cloth piece 1 is retracted.
【００１７】[0017]
【発明の効果】本発明は上記説明したような構成となっ
ているので、以下に記載されるような効果を奏する。方
形状布片のどの位置を掴んでも、また該布片の数枚同時
に掴んでも、ほぼ確実に該布片の角部の一つを掴んで吊
すことができるので該布片の展開作業の効率が良くなっ
た。Since the present invention is constructed as described above, it has the following effects. No matter which position of the rectangular cloth piece is gripped, or when several pieces of the cloth piece are gripped at the same time, one of the corners of the cloth piece can be almost certainly gripped and hung, so that the efficiency of the spreading operation of the cloth piece is improved. Has improved.
【図１】方形状布片の山積から該布片を第一掴み装置で
掴んで吊した時点での実施例を示す概略説明図である。FIG. 1 is a schematic explanatory view showing an embodiment when a cloth piece is hung from a pile of square-shaped cloth pieces by a first gripping device and suspended.
【図２】吊された該布片の上昇停止位置での実施例を示
す概略説明図である。FIG. 2 is a schematic explanatory view showing an embodiment in which the suspended piece of cloth is lifted and stopped.
【図３】吊された該布片の裾部分を拡げる時点での実施
例を示す概略説明図である。FIG. 3 is a schematic explanatory view showing an embodiment at the time of expanding the hem portion of the suspended cloth piece.
【図４】吊された該布片を平板で挟んだ時点での実施例
を示す概略説明図である。FIG. 4 is a schematic explanatory view showing an example when the suspended cloth piece is sandwiched by flat plates.
【図５】吊された該布片を平板で挟んで下端の該布片の
角部を第二掴み装置で掴む時点での実施例を示す概略説
明図である。FIG. 5 is a schematic explanatory view showing an embodiment at the time when the suspended cloth piece is sandwiched by flat plates and a corner portion of the cloth piece at the lower end is gripped by a second gripping device.
【図６】第二掴み装置で該布片の角部を掴んで吊した時
点での実施例を示す概略説明図である。FIG. 6 is a schematic explanatory view showing an example at the time when the corner portion of the cloth piece is grasped and hung by the second grasping device.
【図７】該布片の裾を拡張部材で拡げてローラで挟む時
点での他の実施例を示す概略説明図である。FIG. 7 is a schematic explanatory view showing another embodiment when the hem of the cloth piece is expanded by an expansion member and sandwiched by rollers.
【図８】該布片の裾をローラで挟んで該布片の角部を一
定高さに引上げる時点での他の実施例を示す概略説明図
である。FIG. 8 is a schematic explanatory view showing another embodiment at a time point when a hem of the cloth piece is sandwiched by rollers and a corner portion of the cloth piece is pulled up to a constant height.
１ 方形状布片 ２ 第一掴み装置 ３ エリアセンサ ４ 平板 ５ 圧力空気吹出口 ６ 空気管 ７ 第二掴み装置 ８ 布片角検知センサ ９ ローラ 10 拡張部材 1 square shaped piece of cloth 2 first gripping device 3 area sensor 4 flat plate 5 Pressure air outlet 6 air tubes 7 Second gripping device 8 Cloth single-sided detection sensor 9 Laura 10 Expansion member
Claims (3)
吊す第一掴み装置（２）と吊された該布片（１）の裾を
拡げる部材（５，10）を設け、該布片（１）の拡がった
裾を固定する部材（４，９）を設け、固定された該布片
（１）の角部の一つを掴む第二掴み装置（７）を設けた
方形状布片の角部の一つを掴んで吊す装置。1. A first gripping device (2) for holding and suspending an arbitrary part of a rectangular cloth piece (1) and members (5, 10) for expanding the hem of the suspended cloth piece (1), One in which members (4, 9) for fixing the spread hem of the cloth piece (1) are provided, and a second gripping device (7) for holding one of the corners of the fixed cloth piece (1) is provided. A device that holds and hangs one of the corners of a shaped piece of cloth.
吊す第一掴み装置（２）と吊された該布片（１）の裾を
圧力空気によって拡げるための圧力空気吹出口（５）が
取付いた該布片（１）の裾部分を角部を覗かせて挟む平
板（４）を設け、平板（４）に挟まれた該布片（１）の
角部の一つを掴む布片角検知センサ（８）を先端に取付
けた第二掴み装置（７）を設けた方形状布片の角部の一
つを掴んで吊す装置。2. A first gripping device (2) for grasping and suspending an arbitrary portion of a rectangular cloth piece (1) and a pressure air outlet for expanding the hem of the suspended cloth piece (1) by compressed air. One of the corner portions of the cloth piece (1) sandwiched by the flat plate (4) is provided by providing a flat plate (4) for sandwiching the hem portion of the cloth piece (1) to which (5) is attached so that the corner portion can be seen. A device for grabbing and hanging one of the corners of a rectangular cloth piece provided with a second gripping device (7) having a cloth piece angle detecting sensor (8) for grasping the cloth.
吊す第一掴み装置（２）と吊された該布片（１）の裾を
拡げる拡張部材（10）を設け該布片（１）の拡がった裾
を挟む左右の回転するローラ（９）を設け、該ローラ
（９）の軸方向に前進後退して該布片（１）の角部の一
つを掴む布片角検知センサ（８）を先端に取付けた第二
掴み装置（７）を設けた方形状布片の角部の一つを掴ん
で吊す装置。3. The cloth is provided with a first gripping device (2) for gripping and suspending an arbitrary portion of the rectangular cloth piece (1) and an expansion member (10) for expanding the hem of the suspended cloth piece (1). A cloth piece for holding left and right rotating rollers (9) sandwiching the spread hem of the piece (1), and moving forward and backward in the axial direction of the roller (9) to grip one of the corners of the cloth piece (1). A device for grabbing and hanging one of the corners of a rectangular cloth piece provided with a second gripping device (7) having a corner detection sensor (8) attached to the tip.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09147895A JP3379857B2 (en) | 1995-03-23 | 1995-03-23 | Method and apparatus for gripping and hanging one of the corners of a rectangular cloth piece |
| PCT/JP1996/001121 WO1997039860A1 (en) | 1995-03-23 | 1996-04-24 | Method of and apparatus for grasping and hanging one of corners of square cloth piece |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09147895A JP3379857B2 (en) | 1995-03-23 | 1995-03-23 | Method and apparatus for gripping and hanging one of the corners of a rectangular cloth piece |
| PCT/JP1996/001121 WO1997039860A1 (en) | 1995-03-23 | 1996-04-24 | Method of and apparatus for grasping and hanging one of corners of square cloth piece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08257298A JPH08257298A (en) | 1996-10-08 |
| JP3379857B2 true JP3379857B2 (en) | 2003-02-24 |
Family
ID=14027519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP09147895A Expired - Fee Related JP3379857B2 (en) | 1995-03-23 | 1995-03-23 | Method and apparatus for gripping and hanging one of the corners of a rectangular cloth piece |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3379857B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4974808B2 (en) * | 2007-08-20 | 2012-07-11 | 株式会社プレックス | Rectangle cloth piece cornering device and method |
| CN110625639B (en) * | 2019-09-16 | 2021-03-26 | 南京航空航天大学 | Software manipulator |
-
1995
- 1995-03-23 JP JP09147895A patent/JP3379857B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08257298A (en) | 1996-10-08 |
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