JP5785756B2 - How to unfold the fabric - Google Patents

How to unfold the fabric Download PDF

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JP5785756B2
JP5785756B2 JP2011077948A JP2011077948A JP5785756B2 JP 5785756 B2 JP5785756 B2 JP 5785756B2 JP 2011077948 A JP2011077948 A JP 2011077948A JP 2011077948 A JP2011077948 A JP 2011077948A JP 5785756 B2 JP5785756 B2 JP 5785756B2
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cloth
arm
gripping portion
gripped
corner
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英嗣 寺田
英嗣 寺田
和義 石田
和義 石田
三科　隆
隆 三科
秀樹 遠山
秀樹 遠山
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株式会社東京洗染機械製作所
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Description

本発明は、連続洗濯仕上設備において、連続洗濯機により洗濯され、脱水機により脱水されて固められたシーツ等の大面積の布類を、仕上乾燥と皺伸ばしを行うロール仕上げ機に投入するために自動的に平らに伸ばして展開することができる展開方法に関するものである。   In the present invention, in a continuous washing and finishing facility, a large area cloth such as a sheet washed by a continuous washing machine and dehydrated and solidified by a dehydrator is put into a roll finishing machine that performs finish drying and stretching. The present invention relates to an unfolding method that can automatically unfold and unfold.

従来、連続洗濯仕上設備において、洗濯機から脱水機と、ロール仕上げ機の工程については自動化されて、人手を要することなく効率良く作業されているものの、洗濯・脱水された被洗物を、プレス仕上げするロール仕上げ機に投入する方法としては、手作業でおこわなれている。
すなわち、脱水作業により固められてクシャクシャになったシーツ等の布類を展開して、その一辺をロール仕上げ機に引き渡すためには、布類を拡げながらその端辺をたどって隣接する２つの角端を見つけ出して展張する必要があるが、その作業を自動化する装置は存在せず、布類の両側に配置された作業者が手作業で布類の両端を見つけ出し把持して展張して、ロール仕上げ機に投入せざるを得なかった。その作業を軽減するために、２個のクランプで布類の一辺の両端を保持して展開させる方法が案出されている（特許文献１参照）。 Conventionally, in continuous washing finishing equipment, the processes from washing machine to dehydrator and roll finishing machine have been automated, and work has been done efficiently without requiring manual labor. As a method of putting it into a roll finishing machine for finishing, it is performed manually.
In other words, in order to unfold a cloth such as a sheet that has been hardened by dehydration and hand over one side to a roll finishing machine, the two corners adjacent to each other are traced along the edge while the cloth is spread. It is necessary to find and spread the edge, but there is no device that automates the work, and an operator placed on both sides of the cloth finds and grasps both ends of the cloth by hand and rolls it. I had to put it in the finishing machine. In order to reduce the work, a method has been devised in which the two ends of one side of the cloth are held with two clamps to be deployed (see Patent Document 1).

特開２００４−８９４７３号公報JP 2004-89473 A

しかしながら、上述した方法も作業者の人手に依存するものであって、高温度、高湿度条件下での作業をロボット化することができれば、作業改善に大きく貢献することができると期待されている。
本発明は、このような実情に鑑みてなされたものであり、固まりとなっている状態の布類をロール仕上げ機に投入するために、布類の隣接する角端を自動的に見つけ出し把持して展開することができる布類の展開方法を提供しようとするものである。 However, the above-described method also depends on the work of the operator, and it is expected that if the work under high temperature and high humidity conditions can be robotized, it can greatly contribute to work improvement. .
The present invention has been made in view of such a situation, and in order to load a cloth in a state of being solid into a roll finishing machine, an adjacent corner end of the cloth is automatically found and gripped. The present invention intends to provide a method for unfolding cloth that can be unfolded.

上記解決課題に鑑みて鋭意研究の結果、本発明者は、３本のロボットアームを用いて布類を受け渡しながら布類の隣接する角端を自動的に見つけ出し把持して展開することができる布類の展開方法を案出するに至った。   As a result of earnest research in view of the above problems, the present inventor can automatically find and grip adjacent corner ends of cloth while delivering the cloth using three robot arms. It came to devise the development method of the kind.

すなわち、本発明の布類の展開方法は、固定された基端部から延出して先端に上下左右に移動自在な布類把持部を備える第１アーム及び第２アームと、該第１アーム及び第２アームを通る垂直面から離れて基端部を固定し該基端部から延出して先端に上下左右に移動する布類把持部を備える第３アームと、前記第１アーム及び第２アームの布類把持部が把持して持ち上げた布類の下端が予め設定された位置となったことを検出するセンサと、展開する布類の幅径データが入力され前記センサの布類の位置検出機能を用いて前記第１アーム、第２アーム及び第３アームの動作を制御する制御手段とを備える装置を用いて布類を展開する方法であって、前記第１アームの布類把持部と前記第２アームの布類把持部とは展開する布類の対角線の幅径以上の間隔を設けて位置すべく設定され、かつ前記第１アームの布類把持部と前記第３アームの布類把持部とは展開する布類の幅径以上の間隔を設けて位置すべく設定され、第１アームの布類把持部は布類の何れかの部分を把持して持ち上げることにより該布類の何れかの角端となる下端を前記センサが位置検出する設定位置に位置させ、第２アームの布類把持部は前記設定位置に移動して当該個所に位置する布類の下端である第１角端を把持し、第１アームの布類把持部は把持する布類を離し、第２アームは把持する布類を持ち上げることにより前記第１角端の対角の第２角端となる布類の下端を前記センサが位置検出する設定位置に位置させ、第１アームの布類把持部は前記設定位置に移動して当該個所に位置する前記布類の第２角端を把持し、第１アームはその布類把持部が第２アームの布類把持部と同じ高さになるように把持する布類を持ち上げ、第１アームと第２アームは把持する布類を互いに反対方向に牽引付勢して布類を展張しながらその下端を前記センサが位置検出する設定位置に位置させ、第３アームの布類把持部は前記設定位置に移動して当該個所に位置する前記布類の第１角端及び第２角端と隣設する第３角端を把持し、第２アームの布類把持部は布類を離し、第１アームと第３アームは把持する布類を互いに反対方向に牽引付勢して布類の一辺を展張状態で把持して移動させることを特徴とするものである。
これにより、本発明の布類の展開方法によれば、固まりとなっている状態の布類の隣接する角端を自動的に見つけ出し把持して展開してロール仕上げ機に投入することにより、大きく作業改善することができるものである。 That is, the cloth deployment method of the present invention includes a first arm and a second arm that are provided with a cloth gripping portion that extends from a fixed base end portion and is movable up and down and left and right at the tip, and the first arm and A third arm having a cloth gripping portion that is fixed from the vertical surface passing through the second arm and extends from the base end portion and moves up, down, left and right; and the first arm and the second arm A sensor that detects that the lower end of the cloth that has been gripped and lifted by the cloth gripping part has reached a preset position, and the width diameter data of the cloth to be deployed is input to detect the position of the cloth of the sensor. A method of deploying cloth using a device comprising a control means for controlling operations of the first arm, the second arm, and the third arm using a function, comprising: a cloth gripping portion of the first arm; The cloth gripping portion of the second arm is the width of the diagonal line of the cloth to be developed. The upper arm cloth holding portion and the third arm cloth holding portion are set so as to be positioned at an interval above the width diameter of the cloth to be deployed. The cloth gripping portion of the first arm grips and lifts any part of the cloth so that the lower end of any corner of the cloth is positioned at the set position where the sensor detects the position. The cloth gripping portion of the second arm moves to the set position and grips the first corner end that is the lower end of the cloth positioned at the location, and the cloth gripping portion of the first arm holds the cloth to be gripped. The second arm lifts the cloth to be gripped to position the lower end of the cloth opposite to the first corner end at the set position where the sensor detects the position of the first arm. The cloth gripping portion moves to the set position and moves the second corner end of the cloth positioned at the position. The first arm lifts the cloth so that the cloth gripping portion is at the same height as the cloth gripping portion of the second arm, and the first arm and the second arm hold the cloth gripping each other. While pulling and urging the cloth in the opposite direction, the lower end of the cloth is positioned at a setting position where the sensor detects the position, and the cloth gripping portion of the third arm moves to the setting position and is positioned at the position. The cloth grips the first corner end and the third corner end adjacent to the second corner end, the cloth gripping portion of the second arm releases the cloth, and the first arm and the third arm grip the cloth. The fabric is pulled and urged in opposite directions to grip and move one side of the fabric in a stretched state.
As a result, according to the cloth unfolding method of the present invention, the adjacent corner ends of the cloth in a solid state are automatically found, gripped, unfolded, and put into a roll finishing machine. The work can be improved.

また、センサは第１アーム若しくは第２アームの布類把持部が把持する布類を所定高さに持ち上げてから、この持ち上げられた布類の下端が所定高さに位置するまで下降させて前記布類の高さを検出することを特徴とする。
これにより、センサは布類の下端を確実に位置検出することができる。 In addition, the sensor lifts the cloth gripped by the cloth gripping portion of the first arm or the second arm to a predetermined height, and then lowers the lower end of the lifted cloth until it is positioned at the predetermined height. It is characterized by detecting the height of the cloth.
Thereby, the sensor can detect the position of the lower end of the cloth reliably.

また、第１アーム及び／又は第２アームの布類把持部が布類の下端を把持する際に、布類の上端位置で開放状態の布類把持部の間に布類を位置させたまま、布類に添って下方向に移動させて布類の下端で把持することを特徴とする。
これにより、計算して得られた座標からずれた位置に布類の下端が位置していた場合であっても、布類把持部は空振りすることなく、確実に布類の角端を把持することができる。 Further, when the cloth gripping portion of the first arm and / or the second arm grips the lower end of the cloth, the cloth is still positioned between the open cloth gripping portions at the upper end position of the cloth. It is characterized in that it is moved downward along the cloth and is gripped by the lower end of the cloth.
As a result, even when the lower end of the cloth is positioned at a position deviated from the calculated coordinates, the cloth gripping part securely grips the corner end of the cloth without swinging. be able to.

本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention. 本発明の布類の展開方法を示す説明図である。It is explanatory drawing which shows the expansion | deployment method of the cloth of this invention.

以下、添付図面を参照しながら、本発明の布類の展開方法を実施するための形態を詳細に説明する。図１〜図７は、本発明の実施の形態を例示する図であり、これらの図において、同一の符号を付した部分は同一物を表わし、基本的な構成及び動作は同様であるものとする。   DESCRIPTION OF EMBODIMENTS Hereinafter, a form for carrying out a method for developing a cloth according to the present invention will be described in detail with reference to the accompanying drawings. 1 to 7 are diagrams illustrating embodiments of the present invention. In these drawings, the same reference numerals denote the same components, and the basic configuration and operation are the same. To do.

図１〜図７は、本発明の布類の展開方法を手順を追って説明するものであり、連続洗濯機で洗濯された後、脱水機で脱水されて固められた状態、若しくは多少ほぐされた状態のシーツ等の大面積の布類を、自動的に展開するものである。対象とする布類は、矩形のシーツに限られることなく、袋形状や、小面積のものであってもよいものである。
本発明の布類の展開方法に用いる展開装置としては、３個所に関節を備えてより動作が滑らかな３軸アームからなる２個のロボットアームと、２個所に関節を備える２軸アームからなる１個のロボットアームと、１個の位置センサ（図示せず）と、予め入力された展開する布類の縦横の幅径データと及び前記センサの出力を用いて３個のロボットアームを動作制御すべくプログラムされた制御部（図示せず）とを備え、図の仮想線で示す空間内に配置して使用するものである。この展開装置が布類を受け取る前工程の連続洗濯機や脱水機、そして後工程の展開した布類を投入するロール仕上機については図面では省略している。 FIGS. 1 to 7 explain the method of developing the cloth of the present invention step by step, after being washed in a continuous washing machine and then dehydrated and solidified by a dehydrator or somewhat loosened. It automatically unfolds large-area fabrics such as state sheets. The target cloth is not limited to a rectangular sheet, but may be a bag shape or a small area.
The unfolding apparatus used in the cloth unfolding method of the present invention includes two robot arms each having a joint at three positions and a smoother three-axis arm, and a two-axis arm having joints at two positions. Operation control of the three robot arms using one robot arm, one position sensor (not shown), width and width data of the cloth to be unfolded inputted in advance, and the output of the sensor. A control unit (not shown) programmed as much as possible is provided and used by being arranged in a space indicated by a virtual line in the figure. The continuous washing machine and the dehydrator in the preceding process for receiving the fabric by the developing device, and the roll finishing machine for feeding the developed fabric in the subsequent process are omitted in the drawings.

以下に、図１から図７まで順に、１個のセンサを用いて３個のロボットアームが布類を受け渡し（持ち替え）ながら角端を見つけ出して展開する手順を説明する。
＜図１＞
制御部には、展開しようとする布類の幅径データが入力され、そしてそのデータに基づいてロボットアームを駆動する所定のプログラムが入力されている。
作業空間内の上方に固定された基端部から垂下する３軸アームからなる第１アーム１は、先端の布類把持部２が所定の台に載置されたシーツ等の布類３を把持しやすいようにその近傍に位置している。
この第１アーム１からほぼＹ軸方向に離れてほぼ同じ高さに位置する第２アーム４は、その先端の布類把持部５が、第１アーム１の布類把持部２と布類３の対角線の幅径以上の間隔を設けて位置することができるように位置設定されている。
また、上述した第１アーム１と第２アーム４を含む垂直面と離れた位置で、かつ第１アーム１と第２アーム４よりも低い位置に第３アーム６が配設されている。この第３アーム６は、その布類把持部７が、第１アーム１の布類把持部２と布類３の展開する幅径以上の間隔を設けて位置することができるように位置設定されている。 In the following, a procedure in which three robot arms use a single sensor to find and expand a corner end while handing (changing) cloths will be described in order from FIG. 1 to FIG.
<Figure 1>
The control unit receives width data of the cloth to be developed, and a predetermined program for driving the robot arm based on the data.
A first arm 1 including a three-axis arm that hangs from a base end portion fixed upward in a work space holds a cloth 3 such as a sheet on which a cloth holding portion 2 at the tip is placed on a predetermined table. It is located in the vicinity so that it is easy to do.
The second arm 4 located substantially at the same height away from the first arm 1 in the Y-axis direction has a cloth gripping portion 5 at the tip thereof, and the cloth gripping portion 2 of the first arm 1 and the cloth 3. The positions are set so that the gaps can be positioned with an interval equal to or greater than the width of the diagonal line.
The third arm 6 is disposed at a position separated from the vertical plane including the first arm 1 and the second arm 4 and lower than the first arm 1 and the second arm 4. The position of the third arm 6 is set so that the cloth gripping portion 7 can be positioned with an interval equal to or larger than the width of the cloth gripping portion 2 of the first arm 1 and the cloth 3 deployed. ing.

このような構成からなる装置において、前記制御部は所定のプログラムの手順に基づいて、まず３軸アームからなる第１アーム１の先端に備えた開閉自在の布類把持部２に、所定の台に載置されたシーツ等の布類３の何れかの部分を把持させて、予め設定された座標位置に持ち上げる。
そして、この座標位置の鉛直線（Ｚ軸）下方には、その位置のＸ−Ｙ座標面における布類の有無を検知するためのセンサが位置している。 In the apparatus having the above-described configuration, the control unit first attaches a predetermined platform to the openable / closable cloth gripping unit 2 provided at the tip of the first arm 1 including a three-axis arm based on a predetermined program procedure. A part of the cloth 3 such as a sheet placed on the sheet is held and lifted to a preset coordinate position.
A sensor for detecting the presence or absence of the cloth on the XY coordinate plane at the position is located below the vertical line (Z axis) of the coordinate position.

＜図２＞
布類３を把持した第１アーム１は、布類把持部２先端を図１のＸ−Ｙ座標位置からＺ軸下方向に移動させながら、センサはその検知する位置に布類３の下端が来るのを待つ。この布類３の下端は、四隅の内の何れかであることが推定される。
センサが布類３の下端が所定位置に来たことを検知すると、制御部は第１アーム１を停止させ、続いて２軸アームからなる第２アーム４の布類把持部５を、第１アーム１の布類把持部２が把持している個所の布類３の位置に移動させて、その開放状態の布類把持部５の間に布類３を位置させたまま、Ｚ軸下方向に移動させる。この動作は、懸下された布類３の下端が、布類把持部２が把持する上端の直下から多少ずれて位置した場合であっても、確実に布類の下端を見つけ出すために行う手順である。もちろん、複数のセンサを用意して、布類の下端の絶対座標を特定することができる場合には、この動作を省略することがでる。
そして、制御部はセンサが検知した布類３の下端の高さにおいて、第２アーム４の布類把持部５を閉じ、布類３の下端、すなわち布類３の四隅の内の何れかを把持するものであり、この個所を第１角端３ａとする。 <Figure 2>
The first arm 1 that grips the cloth 3 moves the tip of the cloth gripping portion 2 from the XY coordinate position in FIG. Wait for it to come. The lower end of the cloth 3 is estimated to be one of the four corners.
When the sensor detects that the lower end of the cloth 3 has come to a predetermined position, the control unit stops the first arm 1 and then moves the cloth holding part 5 of the second arm 4 composed of the biaxial arm to the first arm 1. Move to the position of the cloth 3 where the cloth gripping part 2 of the arm 1 is gripping, and keep the cloth 3 positioned between the cloth gripping parts 5 in the open state, and move downward in the Z-axis direction. Move to. This operation is performed in order to reliably find the lower end of the cloth even when the lower end of the suspended cloth 3 is positioned slightly deviated from the position immediately below the upper end held by the cloth holding portion 2. It is. Of course, when a plurality of sensors are prepared and the absolute coordinates of the lower end of the cloth can be specified, this operation can be omitted.
Then, the control unit closes the cloth gripping part 5 of the second arm 4 at the height of the lower end of the cloth 3 detected by the sensor, and sets the lower end of the cloth 3, that is, one of the four corners of the cloth 3. This portion is to be gripped, and this portion is defined as a first corner end 3a.

＜図３＞
次に第１アーム１の布類把持部２は、把持する布類３を離して、第２アーム４に受け渡す。この状態において、第２アーム４の布類把持部５が布類３の四隅の一つである第１角端３ａを上端として布類３を吊り下げ、その場合に最下端は、第１角端３ａから最も遠い位置にある対角の角端（これを第２角端３ｂとする）となる。 <Figure 3>
Next, the cloth gripping portion 2 of the first arm 1 releases the cloth 3 to be gripped and transfers it to the second arm 4. In this state, the cloth gripping portion 5 of the second arm 4 hangs the cloth 3 with the first corner end 3a, which is one of the four corners of the cloth 3, as the upper end. In this case, the lowermost end is the first corner. It becomes the diagonal corner (the second corner 3b) located farthest from the end 3a.

＜図４＞
第２アーム４は、布類把持部５が把持する布類３をそのＸ−Ｙ座標位置からＺ軸上方向に、前記センサの検知位置よりも上に持ち上げる。そこから、布類３を徐々に下降させていき、センサが検知する位置に布類３の下端が来ると第２アーム４はそこで停止する。 <Figure 4>
The second arm 4 lifts the cloth 3 gripped by the cloth gripping portion 5 in the Z-axis upward direction from the XY coordinate position above the detection position of the sensor. From there, the cloth 3 is gradually lowered, and when the lower end of the cloth 3 comes to the position detected by the sensor, the second arm 4 stops there.

＜図５＞
第１アーム１の布類把持部２は、第２アーム４の布類把持部５が把持している布類３の第１角端３ａ近傍に移動して、その開放状態の布類把持部２の間に布類３を位置させたまま、Ｚ軸下方向に移動する。
そして、制御部はセンサが検知した布類３の下端において、第２アーム４の布類把持部５を閉じ、布類３の下端、すなわち布類３の第２角端３ｂを把持する。 <Figure 5>
The cloth gripping part 2 of the first arm 1 moves to the vicinity of the first corner end 3a of the cloth 3 gripped by the cloth gripping part 5 of the second arm 4, and the cloth gripping part in its open state 2. Move the cloth 3 in the lower direction of the Z axis while keeping the cloth 3 positioned between the two.
Then, the control unit closes the cloth holding part 5 of the second arm 4 at the lower end of the cloth 3 detected by the sensor, and holds the lower end of the cloth 3, that is, the second corner end 3b of the cloth 3.

＜図６＞
第１アーム１と第２アーム４は、ともに把持する布類３を互いに反対方向に牽引付勢して展張させ、その状態で、双方が把持する第１角端３ａと第２角端３ｂが同じ高さになるように持ち上げる。この状態で、布類３の下方には２つの下端が位置をずらして（布類が長方形の場合）位置する。
第１アーム１と第２アーム４は、把持した布類３をＺ軸下方向に移動させ、布類３の何れかの下端がセンサが検知する高さになったところで停止する。この布類３の下方の２つの下端のどちらかを選択するのかによって、最終的に布類を横長に展開するか、縦長に展開するかが決定される。
第３アーム６は、その先端の布類把持部７を、センサが検知した位置の布類３の下端、すなわち布類３の四隅の内の、第１角端３ａ及び第２角端３ｂと隣接する第３角端３ｃを把持する。 <Fig. 6>
The first arm 1 and the second arm 4 pull and stretch the cloth 3 gripped together in opposite directions, and in this state, the first corner end 3a and the second corner end 3b gripped by both are Lift up to the same height. In this state, the lower ends of the two pieces of cloth 3 are displaced from each other (when the cloth is rectangular).
The first arm 1 and the second arm 4 move the grasped cloth 3 downward in the Z-axis, and stop when one of the lower ends of the cloth 3 reaches a height detected by the sensor. Depending on whether one of the lower two lower ends of the cloth 3 is selected, it is finally determined whether the cloth is developed horizontally or vertically.
The third arm 6 has a cloth gripping portion 7 at the tip thereof, the lower end of the cloth 3 at the position detected by the sensor, that is, the first corner end 3 a and the second corner end 3 b of the four corners of the cloth 3. The adjacent third corner end 3c is gripped.

＜図７＞
第２アーム４の布類把持部５は把持している布類３を離し、これにより第１アーム１の布類把持部２と第３アーム６の布類把持部７とで、布類３の第２角端３ｂと第３角端３ｃを含む一辺を展張して把持して、そこから下方向に布類３を吊り下げることができる。
そして、このようにして展張した布類３は、容易にロール仕上げ機に投入することができる。 <Fig. 7>
The cloth gripping part 5 of the second arm 4 releases the gripping cloth 3, whereby the cloth gripping part 2 of the first arm 1 and the cloth gripping part 7 of the third arm 6 The one side including the second corner end 3b and the third corner end 3c can be stretched and gripped, and the cloth 3 can be suspended downward therefrom.
And the cloth 3 spread | stretched in this way can be easily thrown into a roll finishing machine.

本発明の布類の展開方法は、連続洗濯仕上設備を使用する産業及びそれを製造する産業において利用することができるものである。   The cloth spreading method of the present invention can be used in industries that use continuous laundry finishing equipment and industries that manufacture the same.

１ 第１アーム
２ 布類把持部
３ 布類
３ａ 第１角端
３ｂ 第２角端
３ｃ 第３角端
４ 第２アーム
５ 布類把持部
６ 第３アーム
７ 布類把持部 DESCRIPTION OF SYMBOLS 1 1st arm 2 Cloth holding part 3 Cloth 3a 1st corner end 3b 2nd corner end 3c 3rd corner end 4 2nd arm 5 Cloth holding part 6 3rd arm 7 Cloth holding part

Claims (2)

固定された基端部から延出して先端に上下左右に移動自在な布類把持部を備える第１アーム及び第２アームと、
該第１アーム及び第２アームを通る垂直面から離れて基端部を固定し該基端部から延出して先端に上下左右に移動自在な布類把持部を備える第３アームと、
前記第１アーム及び／又は第２アームの布類把持部が把持して持ち上げた布類の下端が予め設定された位置となったことを検出するセンサと、
展開する布類の幅径データが入力され前記センサの布類の位置検出情報を用いて前記第１アーム、第２アーム及び第３アームの動作を制御する制御手段とを備える装置を用いて布類を展開する方法であって、
前記第１アームの布類把持部と前記第２アームの布類把持部とは展開する布類の対角線の幅径以上の間隔を設けて位置すべく設定され、かつ前記第１アームの布類把持部と前記第３アームの布類把持部とは展開する布類の幅径以上の間隔を設けて位置すべく設定され、
第１アームの布類把持部は布類の何れかの部分を把持して持ち上げることにより該布類の何れかの角端となる下端を前記センサが位置検出する設定位置に位置させ、
第２アームの布類把持部は前記設定位置に移動して当該個所に位置する布類の下端である第１角端を把持し、
第１アームの布類把持部は把持する布類を離し、
第２アームは把持する布類を持ち上げることにより前記第１角端の対角の第２角端となる布類の下端を前記センサが位置検出する設定位置に位置させ、
第１アームの布類把持部は前記設定位置に移動して当該個所に位置する前記布類の第２角端を把持し、
第１アームはその布類把持部が第２アームの布類把持部と同じ高さになるように把持する布類を持ち上げ、
第１アームと第２アームは把持する布類を互いに反対方向に牽引付勢して布類を展張しながら前記布類の第１角端及び第２角端と隣接する第３角端となる布類の下端を前記センサが位置検出する設定位置に位置させ、
第３アームの布類把持部は前記設定位置に移動して当該個所に位置する前記布類の第３角端を把持し、
第２アームの布類把持部は布類を離し、
第１アームと第３アームは把持する布類を互いに反対方向に牽引付勢して布類の一辺を展張状態で展開把持して移動させるとともに、
第１アーム及び／又は第２アームの布類把持部が布類の下端を把持する際に、布類の上端位置で開放状態の布類把持部の間に布類を位置させたまま、布類に添って下方向に移動させて布類の下端で把持することを特徴とする布類の展開方法。 A first arm and a second arm provided with a cloth gripping part extending from a fixed base end part and freely movable in the vertical and horizontal directions at the tip;
A third arm provided with a cloth gripping portion which is fixed from the vertical plane passing through the first arm and the second arm and is fixed to the base end portion, extends from the base end portion and is movable up and down and left and right at the tip end;
A sensor for detecting that the lower end of the cloth gripped and lifted by the cloth gripping portion of the first arm and / or the second arm is in a preset position;
Cloth using a device provided with control means for controlling the operation of the first arm, the second arm, and the third arm using the cloth position detection information of the sensor inputted with the width diameter data of the cloth to be developed. A method of developing a class,
The cloth gripping portion of the first arm and the cloth gripping portion of the second arm are set so as to be positioned with an interval equal to or larger than the width of the diagonal line of the cloth to be developed, and the cloth of the first arm The gripping portion and the cloth gripping portion of the third arm are set so as to be positioned with an interval greater than the width diameter of the cloth to be deployed,
The cloth gripping portion of the first arm grips and lifts any part of the cloth to position the lower end, which is one of the corners of the cloth, at the set position where the sensor detects the position,
The cloth gripping portion of the second arm moves to the set position and grips the first corner end that is the lower end of the cloth located at the position,
The cloth gripping part of the first arm releases the cloth to be gripped,
The second arm lifts the cloth to be gripped to position the lower end of the cloth that is the second corner end of the first corner end at the set position where the sensor detects the position,
The cloth gripping portion of the first arm moves to the set position and grips the second corner end of the cloth located at the position,
The first arm lifts the cloth to be gripped so that the cloth gripping part is at the same height as the cloth gripping part of the second arm,
The first arm and the second arm become the third corner end adjacent to the first corner end and the second corner end of the fabric while pulling the fabric to be gripped in the opposite directions and expanding the fabric. Position the lower end of the cloth at the position where the sensor detects the position,
The cloth gripping portion of the third arm moves to the set position and grips the third corner end of the cloth located at the position,
The cloth gripping part of the second arm releases the cloth,
The first arm and the third arm pull and urge the cloth to be gripped in opposite directions to expand and grip one side of the cloth in a stretched state ,
When the cloth gripping portion of the first arm and / or the second arm grips the lower end of the cloth, the cloth is positioned between the open cloth gripping portions at the upper end position of the cloth. A method for spreading cloth, characterized in that the cloth is moved downward along the cloth and is gripped by the lower end of the cloth. センサは第１アーム若しくは第２アームの布類把持部が把持する布類を所定高さに持ち上げてから、この持ち上げられた布類の下端が所定高さに位置するまで下降させて前記布類の高さを検出することを特徴とする請求項１記載の布類の展開方法。   The sensor lifts the cloth gripped by the cloth gripping portion of the first arm or the second arm to a predetermined height and then lowers the cloth until the lower end of the lifted cloth is positioned at the predetermined height. The method for developing a cloth according to claim 1, wherein the height of the cloth is detected.
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