WO2022163828A1 - Clothing processing device, rotating body, rotational position initialization device, clothing processing method, and rotational position initialization method - Google Patents
Clothing processing device, rotating body, rotational position initialization device, clothing processing method, and rotational position initialization method Download PDFInfo
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- WO2022163828A1 WO2022163828A1 PCT/JP2022/003398 JP2022003398W WO2022163828A1 WO 2022163828 A1 WO2022163828 A1 WO 2022163828A1 JP 2022003398 W JP2022003398 W JP 2022003398W WO 2022163828 A1 WO2022163828 A1 WO 2022163828A1
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- 238000003672 processing method Methods 0.000 title claims description 15
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H45/00—Folding thin material
- B65H45/12—Folding articles or webs with application of pressure to define or form crease lines
- B65H45/14—Buckling folders
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
- D06C3/00—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
- D06C3/00—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics
- D06C3/02—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics by endless chain or like apparatus
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
- D06C3/00—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics
- D06C3/06—Stretching, tentering or spreading textile fabrics; Producing elasticity in textile fabrics by rotary disc, roller, or like apparatus
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06C—FINISHING, DRESSING, TENTERING OR STRETCHING TEXTILE FABRICS
- D06C5/00—Shaping or stretching of tubular fabrics upon cores or internal frames
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
Definitions
- the present disclosure relates to a clothing processing device, a rotator, a rotational position initialization device, a clothing processing method, and a rotational position initialization method for processing an object to be processed such as clothing.
- Patent Literature 1 discloses a processing apparatus including a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
- the present inventors have recognized that the problem is that when an object to be processed is placed on the placing device for folding, the object to be processed may slip and the folding position may shift.
- the present disclosure provides techniques for improving techniques for folding processing objects such as clothing.
- the laundry processing apparatus is capable of sandwiching the processing object between the working unit used for the work of folding the processing object, the first moving unit for moving the working unit, and the working unit.
- the position of the supporting part capable of holding the object to be processed comprises the steps of positioning the object to be processed so as to reach the folding position, and moving the working part so that the object to be processed is sandwiched between the working part and the support part at the folding position.
- FIG. 1 is a perspective view of the clothes processing apparatus according to Embodiment 1 Schematic front configuration diagram of the clothes processing apparatus according to Embodiment 1 Schematic side view of the clothes processing apparatus according to Embodiment 1
- FIG. 2 is a perspective view of the holding portion of the clothes processing apparatus according to Embodiment 1;
- Schematic vertical cross-sectional view of the Yaw portion of the holding portion of the clothes processing apparatus according to Embodiment 1 Schematic vertical cross-sectional view of the hand portion of the holding portion of the clothes processing apparatus according to Embodiment 1
- Schematic front view and schematic side view of the work plate device of the clothes processing apparatus according to Embodiment 1 Schematic side view of the imaging device of the clothing processing apparatus according to Embodiment 1
- Schematic side view of the support part of the clothes processing apparatus according to Embodiment 1 Schematic diagram showing the operation of the storage device of the clothes processing apparatus according to Embodiment 1
- FIG. Diagram showing an example of the procedure for folding the object to be processed Diagram showing an example of the procedure for folding the object to be processed Diagram showing an example of the procedure for folding the object to be processed
- Diagram showing an example of the procedure for folding the object to be processed The figure which shows another example of the procedure which folds a process target object
- the figure which shows another example of the procedure which folds a process target object Schematic front view of support part
- Cross-sectional schematic diagram of the support part 4 is a flow chart showing the procedure of the clothes processing method according to the first embodiment;
- Perspective view of work plate FIG. 3 is a perspective view of a state in which an object to be processed is placed on the work plate; The side view of the state where the processing object was mounted on the work plate
- Perspective view of work plate FIG.
- FIG 3 is a perspective view of a state in which an object to be processed is placed on the work plate; The side view of the state where the processing object was mounted on the work plate; Front view of working plate with side end plates Front view of working plate with side end plates Front view of working plate with side end plates Top view of working plate with side end plates Top view of working plate with side end plates Side view of a working plate with side end plates Side view of a working plate with side end plates Side view of a working plate with side end plates Schematic side view and schematic front view of initialization mechanism Schematic side view and schematic front view of initialization mechanism A diagram schematically showing the structure of the stopper part A diagram schematically showing the structure of the stopper part A diagram schematically showing the structure of the stopper part A diagram schematically showing the structure of the stopper part Flowchart showing procedures of a rotational position initialization method according to the third embodiment Schematic horizontal sectional view and side view of work plate The figure which shows the example of the structure which makes a projection part appear and disappear.
- FIG. 4 Schematic top view and schematic side view of work plate Schematic side view of a work plate on which objects to be processed are placed Schematic side view of a work plate on which objects to be processed are placed The figure which shows roughly the structure of the retraction mechanism for retracting a protrusion part. The figure which shows roughly the structure of the retraction mechanism for retracting a protrusion part.
- Flowchart showing procedure of clothes processing method according to Embodiment 5 Schematic top view and schematic side view
- the object to be processed which is a deformable thin object
- the object to be processed may slip and the folding position may be shifted.
- the inventors discovered such a problem, and came to constitute the subject of the present disclosure in order to solve the problem.
- the laundry processing apparatus according to the present disclosure sandwiches and holds an object to be processed between the edge of the work plate and the support portion along the folding line. Then, the holder is moved so as to hang the processing object on the work plate. As a result, the object to be processed is folded around the edge of the work plate, so that it can be appropriately folded along the folding line.
- FIG. 1 Regarding the three directions of the clothes processing apparatus 1, when viewed from the front, the left and right width directions are indicated by arrows in the X direction (left direction X1 and right direction X2), and the front and rear depth directions are indicated by arrows in the Y direction (forward direction). Y1, backward direction Y2), and vertical height directions are described as Z directions (upward direction Z1, downward direction Z2) indicated by arrows.
- the clothes processing apparatus 1 is a device that holds, recognizes, folds, and stores an object T to be processed, which is a deformable thin object.
- the clothes processing apparatus 1 includes a housing 100, and a receiving section 200, a holding device 300, a work plate device 400, an imaging device 500, and a housing 100. It includes a support section 600 , a storage device 700 and a control device 900 .
- the receiving unit 200 and the processing space above it are configured in one housing, and the storage device 700 and the like are configured in another housing, and the respective housings are connected to be integrated. good too.
- the object to be processed T is a deformable thin object represented by, for example, cloth such as clothing and towels, film, paper, and sheet.
- the shape may be rectangular like towels, or substantially rectangular like T-shirts, running shirts, long-sleeved shirts, and trousers.
- the housing 100 includes a frame 110 forming a rectangular parallelepiped frame and an outer shell 120 provided on a predetermined surface of the rectangular parallelepiped.
- the frame 110 and the shell 120 may be integrally formed.
- the receiving part 200 is a receiving part that receives the processing target T from the outside. As shown in FIGS. 1 to 3, the receiving portion 200 has a box-like shape with an open top. The receiving part 200 is arranged at the bottom of the clothes processing apparatus 1 so as to be easily accessible by the user, and is arranged so that it can be taken in and out in the depth direction (Y direction). For example, the receiving portion 200 is provided with a guide rail 210 at its lower portion and is pulled forward in the Y1 direction. The object to be processed T is put into the pulled-out receiving section 200 from above. The receiving part 200 is returned in the rearward direction Y2 along the guide rails 210 and housed in the housing 100 when the processing object T is put therein.
- the receiving section 200 may be configured so that the processing objects T are gathered near the center of the bottom surface of the receiving section 200 .
- the bottom surface of the receiving part 200 may be formed so as to be inclined toward the center. Due to this inclination, the processing objects T are collected near the center of the bottom surface after being placed in the receiving section 200 . This makes it easier to identify the position of the processing object T that has been put into the receiving unit 200, which can contribute to shortening the processing time.
- the holding device 300 is a device that holds a processing object T in order to process the processing object T. As shown in FIG.
- the holding device 300 includes a holding section 310 that holds the processing target T, and a moving mechanism that moves the holding section 310 in three directions: the width direction (X direction), the depth direction (Y direction), and the height direction (Z direction). 320 and.
- a plurality of holding devices 300 are provided, and hold and lift the processing object T placed in the receiving part 200, and cooperate with the work plate device 400 on which the processing object T can be placed temporarily to perform processing. Unfolding and folding are performed while changing the grip of the object T.
- the clothes processing apparatus 1 includes two holding devices 300A and 300B as holding devices 300, as shown in FIGS.
- the holding device 300A has one holding portion 310A as the holding portion 310, and a moving mechanism 320A for moving the holding portion 310A in three directions.
- the holding device 300B has two holding portions 310B and 311B as the holding portion 310, and a moving mechanism 320B for moving each of the holding portions 310B and 311B in three directions.
- the holding parts 310A, 310B, and 311B are relatively movable in the width direction, the depth direction, and the height direction with respect to a work plate 410 of a work plate device 400, which will be described later.
- the moving mechanisms 320A, 320B can be positioned so that the retainers 310A, 310B, 311B are aligned along the edge of the working plate 410. FIG.
- the holding devices 300A and 300B are communicably connected to a control device 900, which will be described later, by wire or wirelessly.
- the controller 900 controls the operations of the holding units 310A, 310B, 311B and the moving mechanisms 320A, 320B.
- Moving mechanisms 320A and 320B used in holding devices 300A and 300B will be described using the configuration of moving mechanism 320A of holding device 300A.
- the configuration of the moving mechanism 320B of the holding device 300B is basically the same as that of the holding device 300A except for the number of holding portions. Therefore, for the holding device 300B, the reference numeral "A" in the reference numeral for the holding device 300A is replaced with "B", and the description thereof is omitted.
- the movement mechanism 320A includes a width direction movement mechanism 330A, a height direction movement mechanism 340A, and a depth direction movement mechanism 350A.
- the width direction moving mechanism 330A moves the holding portion 310A in the width direction (X direction).
- the width direction moving mechanism 330A has a width direction driving portion 332A that serves as a driving force source for moving the holding portion 310A, and an X guide 334A that serves as a movement guide.
- the width direction driving section 332A is a motor capable of forward and reverse rotation and has a pinion gear.
- the X guide 334A is a rack gear and a rail to which the power of the width direction driving portion 332A is transmitted via a pinion gear, and is arranged such that its longitudinal direction is along the width direction.
- the width direction driving portion 332A slides along the X guide 334A when energized.
- the holding portion 310A fixed to the width direction driving portion 332A also moves in the width direction.
- the height direction moving mechanism 340A moves the holding portion 310A in the height direction (Z direction) together with the width direction moving mechanism 330A.
- the height direction moving mechanism 340A is provided at both the left and right ends of the width direction moving mechanism 330A, and includes a height direction driving portion 342A as a driving force source for moving the width direction moving mechanism 330A, and a Z direction driving portion 342A as a movement guide. It has a guide 344A.
- the height direction drive unit 342A is a motor capable of forward and reverse rotation, and has a pinion gear.
- the height direction driving portion 342A has a transmission shaft that is fixed to the left end of the frame of the width direction movement mechanism 330A and transmits driving force to the right end.
- the two left and right Z guides 344A are rack gears and rails to which the power of the height direction driving part 342A is transmitted via pinion gears and transmission shafts, and are arranged so that their longitudinal direction is along the height direction. .
- the two left and right Z guides 344A are connected at their upper ends and configured in an arch shape. By energizing the height direction driving portion 342A, the width direction moving mechanism 330A moves along the height direction.
- the depth direction moving mechanism 350A moves the entire holding device 300A (height direction moving mechanism 340A, width direction moving mechanism 330A and holding section 310A) in the depth direction (Y direction).
- the depth direction moving mechanism 350A has a depth direction driving section 352A that serves as a power source for moving the height direction moving mechanism 340A, and a plurality of Y guides 354 that serve as movement guides.
- the depth direction driving section 352A is a motor capable of forward and reverse rotation and has a pinion gear.
- the depth direction driving portion 352A is fixed to the left end of the connecting portion on the top of the frame of the height direction moving mechanism 340A, and has a transmission shaft that transmits driving force to the right end.
- the Y guides 354 are rack gears and rails to which the power of the depth direction driving portion 352A is transmitted, and are arranged at the upper and lower ends of the left and right Z guides 344A so that the longitudinal direction of the Y guides 354 extends along the depth direction.
- the power of the depth direction driving part 352A is transmitted to the upper Y guide 354 through the transmission shaft, as described above.
- Driving force is transmitted to the lower Y guide 354 from a transmission shaft provided in the upper portion via a gear belt provided in the frame body of the height direction movement mechanism 340A.
- the arch-shaped height direction moving mechanism 340A moves parallel along the depth direction, and the width direction moving mechanism 330A and the holding portion 310A also move.
- the two holding devices 300A and 300B share four vertical and horizontal Y guides 354 in order to move in the depth direction (Y direction). Therefore, the holding device 300A is always located behind the holding device 300B.
- the two holding portions 310B and 311B share the X guide 334B in order to move in the width direction (X direction). Therefore, the holding portion 310B is always located on the left side of the holding portion 311B.
- the movement mechanism 320 has been described above.
- the moving mechanism is of a rack and pinion type, and the motor of the drive unit is also moved, but the present invention is not limited to this.
- a configuration in which a ball screw is used and the motor does not move may be used.
- FIG. 310 The configuration of the holding portion 310 will be described with reference to FIGS. 4 to 6.
- FIG. 310 three holding portions 310, holding portions 310A, 310B, and 311B, are provided.
- the configurations of the three holding portions 310 are basically the same, although there are some symmetrical portions.
- the holding portion 310 is configured by connecting four units, a Yaw portion 312, a Pitch portion 313, a Roll portion 314, and a Hand portion 315, respectively via a rotating shaft 316 (FIG. 5). be done.
- the Yaw portion 312 incorporates a driving portion that rotates the Hand portion 315 about the Yaw axis in the depth direction (Y direction).
- the driving section is composed of a motor 312a and a plurality of reduction gears 312b including a worm gear, and finally drives a rotating shaft 316 to rotate.
- the rotation shaft 316 is provided with a position detection sensor 316a.
- the rotary shaft 316 has a tubular shape, and power lines and signal lines can be wired to each unit through a hole in the center.
- a control board 312 c is provided inside the Yaw portion 312 .
- a torque limiter 312d may be incorporated in one of the reduction gears 312b.
- the secondary side may If the motor 312a is driven in a state in which it does not move any more (locked state), the motor 312a may be damaged. Therefore, the torque limiter 312d idles when a predetermined load or more is applied, so that damage to the motor 312a can be prevented even in such an abnormal state.
- a torque sensor 312e may be provided on any one of the shafts constituting the driving section.
- the torque sensor 312e detects torque when the shaft rotates.
- the force applied to the processing object T held by the hand unit 315 can be estimated, and an excessive load applied to the processing object T can be prevented, and the processing object T can be held with an appropriate load. It is possible to control such as stopping in the event of an abnormality.
- the holding part 310A may have a force sensor 317.
- the force sensor 317 detects force and moment applied to the processing object T held by the hand portion 315 . As a result, it is possible to prevent an excessive load from being applied to the processing object T, and control can be performed so that the processing object T is held with an appropriate load.
- the configuration position is not limited to this.
- it can be configured between the Roll section 314 and the Hand section 315 .
- the control board and wiring of the force sensor 317 can be configured outside the holding section 310A, so that the holding section 310A can be made smaller.
- the force sensor 317 is provided at a position closer to the hand portion 315, the force and moment applied to the processing object T can be detected with high accuracy.
- the basic configurations of the Pitch section 313 and Roll section 314 are the same as the Yaw section 312 .
- the pitch section 313 rotates the hand section 315 about the pitch axis in the width direction (X direction).
- the Roll section 314 rotates the Hand section 315 around the Roll axis (Z direction).
- the holding part 310A since the holding part 310A has the rotation axes of the Yaw axis, the Pitch axis, and the Roll axis, it can freely hold the processing object T and can hold the processing object T in another way.
- the processing object T can be freely handled by further holding it with the parts 310B and 311B.
- each unit may incorporate a control board 312c for motor driving and sensor value detection of each unit of the holding section 310A.
- processing can be performed with short wiring from the built-in control board 312c, and the number of wires passing through the holes of the rotating shaft 316 connecting each unit is reduced, and the size of the rotating shaft 316 is suppressed.
- maintenance parts can be reduced in size.
- the hand section 315 is composed of two fingers 315a facing each other for holding the object T to be processed, and a driving section for opening and closing the fingers 315a.
- the drive unit is composed of a motor 315b, a plurality of reduction gears 315c, and a rotating gear 315d, and finally rotates and opens and closes the two fingers 315a that are opposed to each other.
- the finger 315a has a leaf spring 315e at its root portion fixed to the last rotating gear 315d.
- a leaf spring 315e at its root portion fixed to the last rotating gear 315d.
- a driving portion of the hand portion 315 may be provided with a torque limiter 315f in the same manner as the driving portion of the holding portion 310A described above. As a result, it is possible to prevent an excessive load from being applied to the processing object T held by the fingers 315a, and to hold the processing object T with an appropriate load.
- the work plate device 400 is a device that rotates and moves a work plate 410 on which the processing object T is placed during recognition processing and folding processing. As shown in FIG. 7 , the work plate device 400 is composed of a work plate 410 , a rotation drive section 420 , a travel drive section 430 and a transmission section 440 .
- the working plate device 400 is a rotating mechanism capable of infinitely rotating the working plate 410 as it is.
- the work plate 410 is fixed to a rotary shaft 421 provided in the rotary drive section 420 .
- the rotation drive unit 420 rotates the work plate 410 around a rotation shaft 421 in the width direction (X direction).
- the traveling drive unit 430 moves the working plate 410 in the height direction.
- the transmission part 440 is provided with a gear, a belt, and the like for transmitting the driving force of the motor.
- the work plate device 400 includes a mechanism for movement similar to the movement mechanism 320 described above.
- the work plate device 400 also serves as the Z guide 344A of the moving mechanism 320A provided with the holding portion 310B, and is combined with the traveling drive portion 430. As shown in FIG. Therefore, the work plate device 400 is configured to always move up and down below the holding portion 310A in the Z guide 344A.
- the working plate 410 is, as shown in FIG. 2, a substantially rectangular plate with chamfered corners on the working plane. Since the working plate 410 is formed so as to have no corners, it is possible to suppress the problem that the processing target T such as cloth is caught.
- the working plate 410 is fixed to the rotating shaft 421 so that the longitudinal direction of the working plate 410 , that is, the two edges of the long sides are parallel to the rotating shaft 421 . This facilitates processing with both edges.
- the work plate 410 may be arranged eccentrically with respect to the rotating shaft 421 . In this case, the distance from the rotating shaft 421 to the edge of the working plate 410 is different for each edge.
- the processing object T by bringing the processing object T into contact with the edge on the side with the longer distance from the rotating shaft 421, if the same width and the same inclination angle (for example, 60 degrees)
- the object to be processed T can be lifted higher by using the upper arm, and the limited space in the clothes processing apparatus 1 can be used more effectively.
- side end plates 411 may be provided on the left and right end surfaces of the work plate 410 instead of chamfering the corners of the work plate 410 .
- the side end plates 411 are flat plates provided at both longitudinal ends of the working plate 410 at right angles to the working plate 410 and having chamfered corners.
- the side end plate 411 covers the corners of the work plate 410 and is also rounded, thereby eliminating the corners of the work plate 410 and further suppressing the problem of the object T being caught.
- the workability can be improved by lengthening the straight portion of the long side edge of the work plate 410, and the problem caused by the processing object T jumping out to the transmission portion 440 of the work plate 410 can be suppressed.
- one of the two-sided work planes may be formed as a slippery surface and the other as a non-slip surface.
- one of the two long side edges may be formed as a slippery edge and the other may be formed as a non-slippery edge.
- the object to be treated T can be freely treated by retracting the protrusion when the object is to be slid, and protruding to lock the object T when the object is not to be slid.
- non-slip protrusions may be configured to move left and right on the work plane or edge of the work plate 410 . Thereby, the processing target T on the work plate 410 can be moved. Moreover, the protrusions configured separately on the left and right sides may be configured to move outward. Thereby, the wrinkled processing object T on the work plate 410 can be spread out.
- the rotation drive unit 420 and the travel drive unit 430 combine drive mechanisms such as a motor, a reduction gear, a torque limiter, and a torque sensor, like the drive unit of the holding unit 310 described above, to perform appropriate rotation. It is configured to be a speed or travel speed.
- the rotation motor 422 of the rotation drive unit 420 is provided on the right side.
- the rotation shaft 421 of the rotation drive unit 420 has a hollow structure, and the transmission shaft 431 of the traveling drive unit 430 is provided through the inner space.
- a rotating shaft 421 that rotates the work plate 410 is provided with a rotation position detection sensor (not shown) and configured to be infinitely rotatable in any direction.
- the origin setting configuration for initializing the orientation of the work plate 410 is not particularly limited, for example, as shown in FIG.
- a protrusion may be provided at a predetermined position on the circumference of the portion, and the rotation of the working plate 410 may be stopped by the protrusion at a predetermined timing by means of a structure such as a link.
- the drive mechanism of the travel drive unit 430 is provided on the left and right. Although not shown in detail, the travel drive unit 430 transmits driving force from a travel motor 432 provided on the left side to the right side through a belt and a transmission shaft 431 provided in the transmission unit 440, drive the gear. Then, the work plate 410 is moved up and down so as not to cause left-right imbalance.
- a travel position detection sensor is provided in the travel drive unit 430 .
- the work plate device 400 is controlled to operate in conjunction with the movement of the holding device 300.
- the control device 900 rotates the processing object T, which is held by the holding device 300 and hangs down in the downward direction Z2, in a predetermined direction. Place it across the surface or edge. Then, one end of the object T to be treated is pulled and displaced in the horizontal direction so that the object T to be treated is separated from the bottom surface of the clothes processing apparatus 1 and its length in the vertical direction is reduced.
- a large object to be processed T can be lifted by the holding device 300 and held in cooperation with the work plate device 400 so that the bottom end of the object to be processed T is separated from the bottom surface of the receiving part 200.
- the height dimension of the clothes processing apparatus 1 can be reduced compared to the case where the object T to be processed is lifted in the upward direction Z1 only by the holding device 300.
- the work plate device 400 can set folding lines on the processing object T by hooking the processing object T on the edge of the work plate 410 during the folding process of folding the processing object T.
- the imaging device 500 is a device that detects end points and the like of the processing object T when the processing object T is received and then subjected to gripping processing, recognition processing, and folding processing. As shown in FIGS. 2 and 3, the imaging device 500 includes a first imaging section 510, a second imaging section 520, and a third imaging section 530.
- the first imaging unit 510 and the second imaging unit 520 are, for example, digital still cameras, and are used for end point detection, discrimination of the type of the object T to be processed, and the like.
- the third imaging unit 530 uses, for example, a stereo camera, and is used to measure the distance in the depth direction and the width of the processing object T for edge point detection. Both imaging units are provided on the frame on the front inner wall side, and the orientation of the lens is the rearward direction Y2.
- a wide-angle lens may be used as the digital still camera lens of the first imaging unit 510 and the second imaging unit 520 .
- a larger processing object T can be imaged by one imaging unit.
- a varifocal lens may be used as the lens to image the processing object T at an arbitrary magnification.
- a wide field of view can be secured at a low magnification, and high-magnification magnified photography is possible as necessary.
- the material of the processing object T can be detected. If the material of the object T to be processed can be grasped, gripping, folding, or the like suitable for the material becomes possible.
- FIG. 8 is a diagram showing an example of an imaging range of each imaging unit.
- the first imaging unit 510 is provided slightly above the receiving unit 200, and the orientation of the lens is the oblique downward direction Z2. Specifically, the first imaging unit 510 can image the range from A11 to A12. That is, the first imaging unit 510 images the processing object T received in the receiving unit 200 .
- the image data of the object to be processed T is used, for example, to obtain image data for picking up the first garment, or to check the progress of folding.
- the second imaging unit 520 is provided near the center of the front and has an imaging range of A21 to A22. As shown in FIG. 8, the imaging range of A21 to A22 is wide, and for example, an object to be processed T in the range from the ceiling to the bottom inside the clothing processing apparatus 1 is imaged.
- the second imaging unit 520 for example, images the processing object T when it is unfolded and when it is folded.
- the captured image data is used to capture an image for collating the processing object T in determining the type, part, or the like of the processing object T.
- the third imaging section 530 is provided between the first imaging section 510 and the second imaging section 520, and has an imaging range of A31 to A32.
- the third imaging unit 530 is, for example, a stereo camera having two lenses arranged side by side, and is used to measure the distance of the object T to be processed in the depth direction.
- the image data captured by the third imaging unit 530 may be used to acquire distance measurement data such as the lowest point during folding and the clothing width.
- the working plate 410 is included in the imaging range A31 to A32 of the third imaging section 530 .
- the third imaging unit 530 may acquire distance data using an infrared camera instead of the stereo camera.
- the imaging device 500 is not movable in order to stabilize the coordinate system, but is not limited to this.
- some imaging units may be provided in the holding unit 310 and may be configured to be able to image the processing object T by appropriately changing the position and angle.
- the control device 900 can change the position of the imaging unit as necessary, acquire necessary image data, and recognize the object T to be processed in more detail.
- any one of the first imaging unit 510, the second imaging unit 520, and the third imaging unit 530 is provided in order to prevent dust, etc., floating in the housing of the clothing processing apparatus 1 from adhering to the lens and stacking.
- the lenses of a plurality of cameras may be directed obliquely downward Z2, or a lens cover may be provided in front of the lenses.
- a removal device may be provided to remove dust adhering to these lenses or lens covers.
- the removing device is not particularly limited, but may be, for example, a wiper for wiping the lens or lens cover with cloth or a brush, or a blower for blowing off dust.
- a wiper for wiping the lens or lens cover with cloth or a brush, or a blower for blowing off dust.
- the processing target T may be configured to touch the lens or the lens cover at least once. As a result, the adhesion of dust to the lens or lens cover is always suppressed, and a clear image can be obtained.
- the support part 600 is a wall surface that supports the object T to be processed, such as holding down the folding line and smoothing wrinkles of the object T when the object T is folded.
- the support part 600 includes at least one of a front side support part 610 provided in front of the working plate 410 and a rear side support part 620 provided in the rear thereof.
- the work plate 410 holds the suspended processing object T held by the holding portion 310 and folds it along the folding line. It is sandwiched and held with the front side support portion 610 .
- the holding part 310 moves so as to hang the processing object T on the working plate 410 .
- the processing target T can be folded around the edge of the work plate 410, so that it can be folded appropriately along the folding lines.
- the support part 600 determines the size of the object T that can be processed by the clothes processing apparatus 1, and the front side support part 610 and the back side support part 620 of the corresponding size are positioned at a predetermined height. may be provided.
- the support section 600 may be configured to have a mechanism for moving in the height direction so that it can move up and down. Thereby, the length of the object to be processed T or the position of the folding line can be handled more flexibly.
- the storage device 700 receives and stores the processed processing object T from the holding device 300 .
- the storage device 700 includes a plurality of storage units 710 and a transport unit 720 that receives and stores an object T to be processed in each storage unit 710, as shown in FIGS. 1, 10A and 10B.
- the storage device 700 is arranged adjacent to the processing space in which the receiving part 200 and the holding device 300 are stored. .
- the storage device 700 includes five storage sections 710 arranged in the height direction.
- each container 710 may be provided with a transporter 720 that transports the object T to be processed.
- the transportation unit 720 includes a moving device (not shown), and is stored near the wall in the processing space during processing such as folding of the processing target T. As shown in FIG.
- the transport section 720 includes three clamping plates 721a, 721b, and 721c (collectively referred to as the clamping plates 721), rails 722a and 722b, connecting portions 723a and 723b, A rotating shaft 724 and a hinge 725 are provided.
- the rail 722a allows the clamping plates 721a and 721b to slide integrally in the horizontal direction.
- the rail 722b allows the clamping plate 721c to slide horizontally.
- the connecting portion 723a connects the clamping plate 721a and the clamping plate 721b.
- the connecting portion 723b connects the clamping plates 721a and 721b and the clamping plate 721c.
- the rotating shaft 724 is provided parallel to the longitudinal direction of the clamping plate 721 .
- a hinge 725 rotates the three clamping plates 721 around a rotation axis 724 .
- FIG. 10A shows a procedure for sandwiching the folded processing object T between the sandwiching plates 721.
- the clamping plate 721 is rotated to stand vertically.
- the object to be processed T is held by the holding part 310 and inserted between the holding plate 721b and the holding plate 721c from directly above the holding plate 721 .
- the clamping plate 721b is provided rotatably around the connecting portion 723a. Accordingly, the gap between the clamping plates 721b and 721c can be increased or decreased according to the thickness of the processing target T, so that processing targets T of various thicknesses can be appropriately held.
- the holding plate 721b is urged in a direction to close the gap with the holding plate 721c.
- the object to be processed T can be held between the holding plate 721b and the holding plate 721c with an appropriate force.
- the sandwiching plate 721 is rotated and returned to the horizontal position.
- FIG. 10B shows a procedure for storing the processing object T sandwiched between the sandwiching plates 721 in the storage section 710.
- FIG. Each storage unit 710 has a door 711 that is supported at the top on the side surface on the processing space side and closed by gravity.
- the transporter 720 pushes open the door 711 of the predetermined storage section 710 and enters the storage section 710 according to the sorting instruction from the control device 900 .
- the transporting part 720 opens the front side of the lower clamping plate 721 to slide down the processing object T, places the processing target T on the bottom of the storage unit 710, and closes the clamping plate 721. exit.
- a plurality of storage portions 710 move up and down individually, and a space is provided above a predetermined storage portion 710 so that the carrying portion 720 can enter.
- the clamping plate 721 may be configured to open and close downward in a double-door configuration.
- a structure in which the clamping plate 721c is vigorously pulled out in the horizontal direction may be used.
- the connection by the connecting portion 723 may be released, the clamping plates 721 a and 721 b may remain inside the storage portion 710 , and only the clamping plate 721 c may be pulled out of the storage portion 710 .
- the clamping surface of the clamping plate 721b prevents the processing target T from slipping
- the clamping surface of the clamping plate 721c prevents the processing target T from slipping.
- the T may be configured to be slippery. With these configurations, a plurality of processing objects T can be neatly stacked in one storage unit 710 .
- a predetermined storage section 710 may be drawn into the processing space, and the holding section 310 may be configured to store the processing target T directly.
- the control device 900 supervises the control of each section in the clothing processing apparatus 1 .
- the control device 900 is mainly composed of a ROM, a RAM, an arithmetic unit, and an input/output interface.
- the ROM stores an operating system, a control program for controlling each part of the clothes processing apparatus 1, and data necessary for executing the control program.
- the arithmetic unit is provided for loading the control program stored in the ROM into the RAM or executing it directly from the ROM. In other words, the control device 900 can control the clothes processing device 1 by the execution of the control program by the arithmetic device.
- the data processed by the arithmetic device is transmitted to each part (holding device 300, work plate device 400, etc.) of the clothes processing apparatus 1 via the input/output interface.
- Data required for processing by the arithmetic unit is received from each unit (such as the imaging device 500) of the clothing processing apparatus 1 via an input/output interface.
- the control device 900 includes a holding device control section 901, a work plate device control section 902, an imaging device control section 903, a storage device control section 904, a type recognition section 910, a part detection section 911, a length detection section 911, and a length detection section. It includes a unit 912 , a deviation correction unit 913 , a singular event detection unit 914 , a first point detection unit 915 , a second point detection unit 916 and an end point detection unit 917 .
- the holding device control section 901 controls the operation of the holding section 310 and the movement mechanisms 320 of the holding device 300 .
- the holding device control unit 901 controls various motors in the holding unit 310 to adjust the orientation of the hand unit 315, move the opposing fingers 315a toward or away from each other, and grip the object T or hold it. Open up.
- the holding device control section 901 controls the operation of the width direction moving mechanism 330 in the moving mechanism 320, so that the holding section 310 moves in the width direction (X direction).
- the holding device control section 901 controls the operation of the height direction moving mechanism 340 in the moving mechanism 320, so that the holding section 310 moves in the height direction (Z direction).
- the holding device control section 901 controls the operation of the depth direction moving mechanism 350 in the moving mechanism 320, so that the holding section 310 moves in the depth direction (Y direction).
- the work plate device control section 902 controls the operations of the rotation drive section 420 and the travel drive section 430 in the work plate device 400 .
- the work plate device control section 902 controls the operation of the rotation drive section 420 so that the work plate 410 rotates and maintains a predetermined angle.
- the work plate device control section 902 controls the operation of the traveling drive section 430 to move the work plate 410 in the height direction (Z direction).
- the imaging device control unit 903 controls operations of the first imaging unit 510 , the second imaging unit 520 , and the third imaging unit 530 in the imaging device 500 . That is, by controlling the first imaging unit 510, the second imaging unit 520, and the third imaging unit 530 by the imaging device control unit 903, digital images can be acquired at desired timing.
- the acquired image data is stored in RAM or the like.
- the storage device control section 904 controls the operation of the transport section 720 in the storage device 700 .
- the type recognition unit 910 recognizes the type of the processing object T based on the image data obtained by the first imaging unit 510, the second imaging unit 520, and the third imaging unit 530 in the imaging device 500. To describe this type identification, the type recognition unit 910 preliminarily collects image data (learning image data) of various processing objects T such as T-shirts, running shirts, skirts, towels, handkerchiefs, films, paper, or sheets. ) using a predetermined machine learning algorithm. The type recognition unit 910 calculates the feature amount of the processing object T currently being processed, which is captured in the image data obtained by the second imaging unit 520 and the third imaging unit 530 .
- the type recognition unit 910 uses a machine learning algorithm to calculate the probability that the processing target T corresponds to a certain type (for example, T-shirt, running shirt, long-sleeved shirt, pants, towel, etc.) for each calculated feature amount. Calculate the percentage for each type. After that, the one with the highest probability (that is, the highest percentage) is recognized as the type of the object T to be processed.
- the folding method is determined in advance for each type of the processing object T, and the folding method for each type is accumulated as "folding information".
- the part detection unit 911 detects characteristic parts such as the sleeves of the object T to be processed based on the image data obtained by the imaging device 500 .
- the length detection unit 912 Based on the image data obtained by the imaging device 500, the length detection unit 912 detects the vertical length (for example, the length of a T-shirt) and the horizontal length (for example, the length of a T-shirt) of the object T to be processed. width).
- the deviation correction unit 913 corrects the deviation of the processing object T while the processing object T is hung on the work plate 410 . For example, in a state where the processing object T is hung on the work plate 410, if the edge in the longitudinal direction (X direction) of the work plate 410 and the edge in the X direction of the processing object T are not substantially parallel, the misalignment occurs. is occurring. At this time, the deviation correction unit 913 performs deviation correction so that the edge of the work plate 410 in the longitudinal direction (X direction) and the edge of the object T in the X direction are substantially parallel to each other.
- the peculiar event detection unit 914 detects an abnormal event that affects the folding method of the processing object T based on the image data obtained by the imaging device 500 .
- the peculiar phenomena of the processing object T include the state in which the sleeves and hem are unintentionally folded or twisted, the state in which the processing object T is thicker than expected, the state in which a part protrudes during folding, the string Including the state in which ancillary things such as hanging down.
- the first point detection section 915 detects an arbitrary point on the processing object T placed on the bottom surface of the receiving section 200 .
- the first point detection unit 915 detects the highest position of the processing target T as the first point P1.
- the second point detection unit 916 identifies arbitrary points other than the endpoints of the processing object T held by the holding unit 310 . For example, when two long-sleeved portions of the object to be processed T are specified, the second point detection section 916 may set an intermediate position between the long-sleeved portions as an arbitrary point.
- the end point detection unit 917 detects the position of the lowest point (end point) in the height direction with respect to the processing object T held by the holding unit 310 . Specifically, using the image captured by the third imaging unit 530, the coordinates of the lowest point of the processing target T in the width direction and the depth direction are obtained in addition to the height direction.
- [1-1-6. Folding method] A method of folding clothes using the clothes processing apparatus 1 will be described. As described above with reference to FIG. 9, the clothes processing apparatus 1 according to Embodiment 1 folds the hanging object T held by the holding portion 310 along the folding line of the working plate 410. It is sandwiched and held between the edge and the support portion 600 . Then, the holder 310 is moved so as to hang the processing object T on the work plate 410 . As a result, the processing target T is folded around the edge of the work plate 410, so that it can be appropriately folded along the folding lines.
- FIG. 12A, 12B, and 12C show an example of the procedure for folding the object T to be processed.
- a front side support portion 610 and a back side support portion 620 are installed on both the front side and the back side of the working plate 410 .
- the support part 600 may be installed at least in front of or behind the working plate 410 . When it is installed on both the front and rear sides of the work plate 410 as in this embodiment, the folding direction can be changed depending on which side holds the object T to be processed.
- a plurality of them may be installed at different heights, such as above and below the work plate 410 .
- three or more supporters 600 may be installed, or a supporter 600 having a wide range in the height direction may be installed.
- the folding work can be carried out using an appropriate supporting portion 600 depending on the situation of the folding work.
- the front side support part 610 and the back side support part 620 are installed at the same height, but in the example shown in this figure, they are installed at different heights.
- the folding work can be carried out using an appropriate supporting portion 600 according to the size of the object T to be processed, the state of the folding work, and the like.
- the support portion 600 may be fixedly installed, or may be variable in height and position.
- the type recognition unit 910 recognizes the type of the processing object T and acquires folding information indicating the folding method and folding position of the recognized type.
- the holding device control unit 901 holds the processing object T so that the folding position of the processing object T is near the front side support portion 610 or the rear side support portion 620, as shown in FIG. 12A.
- Move part 310 In the example of FIG. 12A , the holding section 310 is moved so that the folding position of the processing target T is near the back side support section 620 .
- the work plate device control section 902 moves the work plate 410 to a position where the edge of the work plate 410 presses the folding position of the object T to be processed. 12B, the work plate device control unit 902 rotates the work plate 410 so that the edge of the work plate 410 and the back side support part 620 at the folding position of the processing object T are separated from each other. An object T is sandwiched and held.
- the holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 as shown in FIG. 12C.
- the holding part 310 releases the processing object T in this state, the processing object T is placed on the work plate 410 in a folded state at the folding position.
- FIG. 13A and 13B show another example of the procedure for folding the object T to be processed. If the processing object T is relatively long, after pressing the folding position of the processing object T in the procedure shown in FIGS. is once moved in a direction away from the folding position to smooth wrinkles and slackness of the object T to be processed. Subsequently, the holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 as shown in FIG. 13B. After the processing object T is placed on the work plate 410, the processing object T can be folded in three by returning the holding portion 310 toward the front side support portion 610. FIG.
- the holding device control unit 901 can control the moving mechanism 320 so as to rotate the processing object T while the holding unit 310 holds the processing object T.
- the processing object T can be folded along folding lines in any direction, such as the longitudinal direction, the lateral direction, or the oblique direction of the processing object T.
- FIG. 14A is a schematic front view of the support portion 600
- FIG. 14B is a schematic cross-sectional view of the support portion 600.
- FIG. The support portion 600 has a groove portion 601 on the surface for sandwiching the object T to be processed.
- the groove 601 is formed linearly and has a width that allows the edge of the working plate 410 to fit therein. By aligning the folding line of the processing object T with the groove portion 601 and fitting the edge of the working plate 410 into the groove portion 601, the processing object T can be more reliably held down by the folding line.
- the groove portion 601 may be formed in a shape that fits the edge of the work plate 410 .
- the clamping surface of the support part 600 and the edge of the working plate 410 that clamps the object T to be processed may have elasticity.
- An elastic body 602 such as rubber or resin may be provided on either the clamping surface of the support part 600 or the edge of the work plate 410, or the entire support part 600 or the work plate 410 may be made of an elastic material. .
- FIG. 15 is a flow chart showing the procedure of the clothes processing method according to the first embodiment.
- the type recognition unit 910 acquires the folding position of the processing object T (S10).
- the holding device control section 901 moves the holding section 310 so that the folding position of the processing object T comes near the support section 600 (S12).
- the work plate device control unit 902 moves the work plate 410 to a position where the edge of the work plate 410 presses the folding position of the processing object T, rotates the work plate 410, and clamps the folding position of the processing object T. (S14).
- the work plate device control section 902 controls the pressing force when holding the processing object T between the support section 600 and the support section 600 .
- the work plate device 400 may include a torque limiter or the like in order to press the processing object T with a constant pressing force.
- the work plate device control section 902 may control the rotation drive section 420 of the work plate device 400 so as to press the processing target T with a pressing force according to the type, material, thickness, etc. of the processing target T.
- the work plate device control section 902 detects the pressing force using a torque sensor provided in the rotary drive section 420, a pressure sensor provided in the support section 600, or the like, and controls the rotary drive section 420 so as to obtain an appropriate pressing force. Feedback control may be used.
- the holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 (S16).
- the holding part 310 releases the processing object T in this state, the processing object T is placed on the work plate 410 in a folded state at the folding position (S18).
- the laundry processing apparatus 1 includes the work plate 410 used for the work of folding the object T to be processed, and the rotation drive section 420 or travel drive unit 420 for moving the work plate 410. 430 and a support portion 600 capable of sandwiching the processing object T between the work plate 410 and a rotary drive portion so as to sandwich the processing object T between the work plate 410 and the support portion 600 at the folding position. 420 or a work plate device control unit 902 that controls the traveling drive unit 430 . Thereby, the processing target T can be appropriately folded along the folding lines.
- At least one of the holding surface of the support portion 600 holding the processing target T and the edge of the working plate 410 has elasticity.
- the clothes processing apparatus 1 includes a holding section 310 that holds an object to be processed T, a moving mechanism 320 that moves the holding section 310, and a holding device control section 901 that controls the moving mechanism 320.
- the holding device control unit 901 can control the moving mechanism 320 so as to rotate the processing object T while the holding unit 310 holds the processing object T.
- the processing object T can be folded along the folding lines in any direction.
- the holding device control unit 901 places the processing object T on the work plate 410 while the processing object T is sandwiched between the work plate 410 and the support unit 600.
- a moving mechanism 320 can be controlled. Thereby, the processing target T can be appropriately folded along the folding lines.
- a plurality of support parts 600 are provided, and are provided at least on both front and rear sides of the work plate 410 or at different heights.
- the folding work can be carried out using an appropriate supporting portion 600 depending on the situation of the folding work.
- the support portion 600 includes a groove portion 601 . Thereby, the processing target T can be folded along the folding lines more reliably.
- the work plate device control section 902 controls the pressing force when holding the processing target T between the support section 600 and the support section 600 . Thereby, the processing target T can be folded with an appropriate pressing force.
- the clothes processing method includes the step of acquiring the folding position of the processing target T, and the work plate 410 used for the work for folding the processing target T. a step of positioning the processing object T so that the folding position is at the position of the support portion 600 that can hold the processing object T so that the processing object T is held between the work plate 410 and the support portion 600 at the folding position. and moving the plate 410 . Thereby, the processing target T can be appropriately folded along the folding lines.
- Patent Literature 1 discloses a processing apparatus including a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
- Embodiment 2 of the present disclosure provides a technique for suppressing the object to be processed from being caught on the rotating body.
- the rotating body in the present disclosure includes a rotatable plate and side ends provided to cover at least corners of the plate in the working plane and rotate together with the plate.
- a laundry processing apparatus includes a work plate that is rotatably provided and used for folding an object to be processed, and a side end that is provided to cover at least a corner of the work plate in the work plane and rotates together with the work plate.
- Embodiment 2 of the present disclosure it is possible to provide a technique for suppressing the object to be processed from being caught on the rotating body.
- the work plate used for folding the processing target such as clothes has a plate-like shape and is provided to be infinitely rotatable.
- the object to be processed may get caught on the corner of the work plate.
- the laundry processing apparatus includes side edges provided to cover at least the corners of the work plate in the work plane.
- the working plate and the side end constitute a rotating body that rotates together.
- the side edges have a rounded shape.
- FIG. 16A is a perspective view of the work plate 410
- FIG. 16B is a perspective view of the work plate 410 with the processing target T placed thereon
- FIG. It is a side view of the placed state.
- the working plate 410 is not provided with the side end plates 411 .
- the processing object T may be caught on the corner of the work plate 410 .
- FIG. 17A is a perspective view of the work plate 410
- FIG. 17B is a perspective view of the work plate 410 with the processing object T placed thereon
- FIG. It is a side view of the placed state.
- side end plates 411 are provided as side end portions on the left and right end surfaces of the working plate 410, and the working plate 410 and the side end plates 411 constitute a rotating body 405 that rotates integrally.
- the side end plates 411 are provided at least at the corners of the working plane of the working plate 410 so as to cover the corners, and rotate together with the working plate 410 .
- the side end plate 411 has a rounded shape without corners. Also, the side end plates 411 are provided on both the front side and the back side of the working plate 410 . As a result, even if the working plate 410 rotates infinitely and the positional relationship between the working plate 410 and the processing object T changes, the processing object T can be prevented from being caught. can be smoothly folded. In addition, when the work plate 410 is rotated with the object T placed thereon, it is possible to prevent the object T from curling up and winding around the work plate 410 and getting caught on the opposite side of the work plate 410. can.
- FIG. 18A is a front view of the working plate 410 provided with side end plates 411.
- FIG. In the example shown in this figure, the side end plate 411 is provided perpendicular to the working plate 410 .
- the upper and lower surfaces of the side end plate 411 have rounded shapes without corners.
- the height of the side end plate 411 is higher than the height of the transmission part 440 for rotating the working plate 410 . Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- FIG. 18B is a front view of the working plate 410 provided with side end plates 411.
- FIG. 18C is a front view of the working plate 410 provided with side end plates 411.
- FIG. 19A is a top view of the work plate 410 provided with side end plates 411.
- the surface of the side end plate 411 on the side of the work plate 410 has the same width in the front-rear direction as the width in the front-rear direction of the work plate 410 and just covers the left and right end faces of the work plate 410 .
- the surface of the side end plate 411 on the side of the transmission portion 440 is chamfered at both ends and has a rounded shape.
- the width of the side end plate 411 in the front-rear direction is greater than the width of the transmission portion 440 in the front-rear direction. Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- FIG. 19B is a top view of the working plate 410 provided with the side end plates 411.
- the side end plate 411 has a width in the front-rear direction greater than the width in the front-rear direction of the working plate 410 and covers the left and right end faces of the working plate 410 .
- the front and rear surfaces of the side end plate 411 have rounded shapes without corners.
- the width of the side end plate 411 in the front-rear direction is larger than the width of the transmission portion 440 in the front-rear direction. Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- FIG. 20A is a side view of the work plate 410 provided with side end plates 411.
- the side end plate 411 is elliptical in side view and has a shape without corners.
- the width of the side end plate 411 in the front-rear direction is slightly longer than the width of the work plate 410 in the front-rear direction, and the side end plate 411 covers the corners of the work plate 410 .
- the height of the side end plate 411 is higher than the height of the transmission portion 440 . Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- FIG. 20B is a side view of the work plate 410 provided with side end plates 411.
- the side end plate 411 has a rectangular shape with four rounded corners when viewed from the side, and has no corners.
- the width of the side end plate 411 in the front-rear direction is the same as the width of the work plate 410 in the left-right direction, and the side end plate 411 covers the corners of the work plate 410 .
- the height of the side end plate 411 is higher than the height of the transmission portion 440 . Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- FIG. 20C is a side view of the working plate 410 provided with side end plates 411.
- the side end plate 411 is divided into a side end plate 411 a covering the front corner of the working plate 410 and a side end plate 411 b covering the rear corner of the working plate 410 .
- the side end plates 411a and 411b have a rounded shape.
- the front end of the side end plate 411 a is at the same position as the front end of the working plate 410
- the rear end of the side end plate 411 b is at the same position as the rear end of the working plate 410 .
- the height of the side end plates 411 a and 411 b is higher than the height of the transmission portion 440 . Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
- the side end plate 411 has a shape that does not have a hook such as a projection or an inflection point. Also, the radius of curvature near the front and rear end portions of the side end plate 411 is preferably larger than half the height of the transmission portion 440 . Thereby, it is possible to prevent the processing target T from being caught on the side end plate 411 .
- the side end plate 411 has a height such that the processing object T is less likely to wrap around the working plate 410 .
- the height of the side end plate 411 may be higher than the height of the transmission portion 440 over substantially the entire width.
- the holding device control unit 901 controls the holding unit 310 holding the processing object T to place the processing object T on the work plate 410 for the folding operation of unfolding and folding the processing object T. According to the folding information of the processing object T, the holding device control unit 901 controls the holding unit 310 to move the processing object T, and the work plate device control unit 902 controls the rotation driving unit 420 and the travel driving unit 430. to move the working plate 410 . Since the work plate 410 and the side end plates 411 have a shape without corners, the work T is not caught on the work plate 410 and the side end plates 411, and the folding work can be smoothly performed.
- the rotating body 405 includes the rotatable work plate 410 and the side end plates 411 that are provided to cover at least the corners of the work plate 410 in the work plane and rotate together with the work plate 410 . And prepare. As a result, it is possible to prevent the object to be processed T from being caught on the work plate 410, so that the work of folding the object to be processed T can proceed smoothly.
- the side end plate 411 has a shape without corners. As a result, it is possible to prevent the object to be processed T from being caught on the work plate 410 and the side end plates 411, so that the work of folding the object to be processed T can proceed smoothly.
- the height of the side end plate 411 is higher than the height of the transmission portion 440 for rotating the working plate 410 .
- the side end plates 411 are provided on both the front side and the back side of the work plate 410 .
- the processing object T can be prevented from being caught.
- the folding work can be smoothly advanced.
- the width of the side end plate 411 in the front-rear direction is greater than or equal to the width of the working plate 410 in the front-rear direction.
- the clothes processing apparatus 1 includes a work plate 410 which is rotatably provided and used for folding work of unfolding and folding the object T to be processed, and a work plate 410 which covers at least the corners of the work plate 410 . a side end plate 411 provided and rotating with the working plate 410 ; As a result, it is possible to prevent the object T from being caught on the work plate 410 and the side end plate 411 during the folding operation of the object T, so that the object T can be folded smoothly.
- the side end plate 411 has a shape such that the processing object T is not caught when the processing object T is moved. As a result, it is possible to prevent the object T from being caught on the work plate 410 and the side end plate 411 during the folding operation of the object T, so that the object T can be folded smoothly.
- the side ends being plate-like side end plates 411, but the present invention is not limited to this.
- the side end plate 411 does not necessarily have to be a single plate, and may be divided.
- the side end portion may have a ring shape that forms the outline of the plate or a spherical shape that covers the corner.
- Embodiment 3 (Background technology of Embodiment 3) 2. Description of the Related Art
- a processing apparatus that unfolds and folds an object to be processed such as clothing.
- Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed.
- This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
- Embodiment 3 (Problems to be solved by Embodiment 3)
- the inventors of the present invention while repeatedly improving the processing apparatus described in the above document, came up with a technique for more accurately detecting the rotational position of a rotating object such as a mounting apparatus.
- the present disclosure provides technology for improving technology for detecting the rotational position of a rotating object.
- a rotational position initialization device includes a stopper portion that contacts the rotating object to stop the rotation of the rotating object, and a stopper portion that rotates the stopper portion to initialize the rotational position of the rotating object that is provided to be infinitely rotatable. Switching the state of the rotating object between a state in which the rotating object is rotatable and a state in which the rotating object is stopped by moving the rotating object between a position in contact with the object and a position in which it does not contact the rotating object.
- the rotation position initialization method moves a stopper portion that abuts on an infinitely rotatable rotating object to stop the rotation of the rotating object from a position that does not contact the rotating object to a position that contacts the rotating object. and setting the rotational position of the rotating object to an initial position in a state in which the rotating object abuts against the stopper portion and stops rotating.
- Embodiment 3 (Effect of Embodiment 3) According to Embodiment 3 of the present disclosure, it is possible to improve the technology for detecting the rotational position of a rotating object.
- the work plate on which the objects to be processed such as clothes are placed is infinitely rotatable.
- the structure for stopping the working plate at a predetermined rotational position may hinder the rotation of the working plate and work such as folding clothes.
- the laundry processing apparatus provides a configuration for setting the origin of the rotation position of the work plate so that it can be switched between a state in which the work plate can rotate infinitely and a state in which the work plate stops rotating. As a result, it is possible to improve the detection accuracy of the rotational position of the work plate while efficiently using the work space.
- the initialization mechanism 450 is an example of the rotational position initialization device of the present disclosure, and includes a stopper portion 456 and a switching portion 460 .
- the stopper portion 456 abuts on a convex portion 423 provided on the rotating shaft 421 of the work plate 410 to stop the rotation of the work plate 410.
- the switching portion 460 moves the stopper portion 456 between a position where the stopper portion 456 abuts on the convex portion 423 and a position where it does not abut on the convex portion 423, thereby allowing the work plate 410 to rotate and stopping the rotation of the work plate 410.
- the state of the working plate 410 is switched between the state where the The switching portion 460 includes a pin 451 , a first link 452 , a second link 453 , a third link 454 , a fourth link 455 and an urging portion 457 .
- the pin 451 is configured to be pushed upward by running power or its own weight when the work plate 410 is moved to the position of the initialization mechanism 450 . As shown in FIG. 21, when the pin 451 is pushed upward, the pin 451 pushes up the first link 452 . The rotation of the first link 452 causes the second link 453 and the third link 454 to rotate, and the fourth link 455 to move horizontally. At this time, the stopper portion 456 that is the tip portion of the fourth link 455 is moved to a position where it abuts on the convex portion 423 provided on the rotating shaft 421 . When the work plate 410 is rotated counterclockwise and the convex portion 423 comes into contact with the stopper portion 456, the rotation of the work plate 410 is stopped.
- the biasing portion 457 is composed of a spring, an elastic body, or the like, and biases the stopper portion 456 in a direction in which the stopper portion 456 moves from a position where the stopper portion 456 abuts against the convex portion 423 to a position where it does not contact the convex portion 423 . Therefore, when the working plate 410 is moved from the position of the initialization mechanism 450 to another position, as shown in FIG. The stopper portion 456 is also moved to a position where it does not come into contact with the convex portion 423 and is maintained at that position. Therefore, the work plate 410 can rotate infinitely without contacting the stopper portion 456 except when initializing the rotation position.
- FIG. 23A and 23B schematically show the structure of the stopper portion 456.
- FIG. The fourth link 455 incorporates an elastic portion 459 made up of a spring, an elastic body, or the like. Therefore, as shown in FIG. 23A, even if the protrusion 423 just overlaps the tip of the stopper portion 456 when the stopper portion 456 is moved to the position where it abuts against the protrusion 423, as shown in FIG. Thus, the contraction of the elastic portion 459 can reduce the load applied to the convex portion 423 and other links. As a result, damage to the convex portion 423 and the switching portion 460 can be prevented.
- FIG. 24A and 24B schematically show the structure of the stopper portion 456.
- a surface 461 on the opposite side of the surface 462 that contacts the work plate 410 when the work plate 410 is stopped has an inclined surface.
- the rotational position of the work plate 410 is initialized, the work plate 410 is rotated counterclockwise, and the convex portion 423 comes into contact with the surface 462 of the stopper portion 456 to stop the work plate 410 .
- the surface 461 is formed as an inclined surface, and the elastic portion 459 is incorporated in the fourth link 455 .
- FIG. 25 is a flow chart showing the procedure of the rotational position initialization method according to the third embodiment.
- the work plate device control unit 902 which functions as the initial position setting unit of the present disclosure, moves the work plate 410 to the position where the initialization mechanism 450 is located (S110).
- the pin 451 is pushed upward, and the cooperation of the first link 452, the second link 453, the third link 454, and the fourth link 455 moves the stopper portion 456 to a position where it contacts the convex portion 423.
- the work plate device control unit 902 causes the rotation drive unit 420 to rotate the work plate 410 counterclockwise (S114).
- the unit 420 is stopped (S116).
- the work plate device control section 902 initializes the rotational position of the work plate 410 and sets the origin (S118). The work plate device control unit 902 thereafter detects the rotational position of the work plate 410 with this rotational position as the origin. When the work plate device control section 902 moves the work plate 410 to another position, the stopper portion 456 returns to a position where the rotation of the work plate 410 is not hindered.
- initialization mechanism 450 abuts on work plate 410 to rotate work plate 410 in order to initialize the rotational position of work plate 410 which is provided to be infinitely rotatable.
- the state in which the work plate 410 is rotatable and the rotation of the work plate 410 are achieved.
- a switching unit 460 for switching the state of the work plate 410 between the state in which the work plate 410 is stopped.
- the surface 461 of the stopper portion 456 opposite to the surface 462 that contacts the work plate 410 when the work plate 410 is stopped has an inclined surface. As a result, it is possible to prevent the work plate 410 from stopping at a rotational position other than the rotational position that should be the origin. Also, damage to the initialization mechanism 450 can be prevented.
- the initialization mechanism 450 further includes an elastically deformable elastic portion 459 between the stopper portion 456 and the switching portion 460 . This can prevent damage to the initialization mechanism 450 .
- a biasing portion 457 is further provided that biases the stopper portion 456 in a direction in which the stopper portion 456 moves from the position where the stopper portion 456 contacts the work plate 410 to the position where it does not contact the work plate 410 .
- the stopper portion 456 can be returned to a position that does not hinder the rotation of the work plate 410 after the initialization of the rotational position is completed.
- a work plate device control unit 902 is further provided for setting the rotational position of the work plate 410 in a state where the rotation of the work plate 410 is stopped to the initial position. Thereby, the detection accuracy of the rotational position of the working plate 410 can be improved.
- the rotation position initialization method moves the stopper portion 456 that abuts on the work plate 410 provided to be infinitely rotatable to stop the rotation of the work plate 410 to a position that abuts on the work plate 410. and setting the rotational position of the work plate 410 to the initial position in a state where the work plate 410 abuts against the stopper portion 456 and stops rotating. Thereby, the detection accuracy of the rotational position of the working plate 410 can be improved.
- Embodiment 4 (Background technology of Embodiment 4) 2. Description of the Related Art
- a processing apparatus that unfolds and folds an object to be processed such as clothing.
- Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed.
- This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
- Embodiment 4 (Problem to be solved by Embodiment 4)
- the inventors of the present invention while repeatedly improving the processing apparatus described in the above document, came up with a technique for more appropriately processing the workpiece placed on the placement apparatus.
- Embodiment 4 of the present disclosure provides a technique for improving the technique of processing objects to be processed.
- a laundry processing apparatus includes a work plate on which an object to be processed is placed, and a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be processed placed on the work plate. , and a displacement portion that displaces the anti-slip portion.
- the laundry processing method includes a step of placing an object to be treated on a work plate, and a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be treated placed on the work plate. and displacing.
- Embodiment 4 of the present disclosure it is possible to improve the technique of processing the processing target.
- a clothes processing apparatus folds clothes using a working plate on which an object to be processed such as clothes is placed.
- an object to be processed When an object to be processed is placed on the work plate, the object to be processed may slip and shift its position or fall. Conversely, there are cases where it is desired to move or drop the processing object on the work plate.
- a slip suppressing portion for suppressing slippage of an object placed on the work plate is provided on the surface of the work plate, and the slip suppressing portion is displaced.
- the processing object can be moved, stretched, held so as not to fall, or dropped on the work plate, so that work efficiency can be improved.
- the working plate 410 will be further described.
- the surface of the work plate 410 of this embodiment is provided with a slip suppressing portion for suppressing slippage of the processing target T placed on the work plate 410 .
- a slip suppressing portion for suppressing slippage of the processing target T placed on the work plate 410 .
- the "displacement of the anti-slip portion” includes two types of displacement: displacement in which the anti-slip portion appears and disappears from the surface including the end face of the working plate 410; be.
- displacement in which the anti-slip portion appears and disappears from the surface including the end face of the working plate 410 is a description will be given of the displacement in which the working plate 410 protrudes from the surface and moves left and right.
- the work plate 410 of the present embodiment may be retracted when it is not laterally displaced, that is, it may be configured to be capable of both lateral movement and retraction.
- FIG. 26A is a schematic horizontal sectional view and a side view of the working plate 410.
- FIG. A plurality of cutouts 470a and 470b are provided on the front end face or the rear end face of the work plate 410, and the cutouts 470a and 470b are provided with respective cutouts 470a and 470b for suppressing the slippage of the processing object T placed on the work plate 410.
- a plurality of protrusions 471a and 471b are provided on the surfaces of rotating moving bodies 472a and 472b, and move as the moving bodies 472a and 472b rotate.
- the moving bodies 472a and 472b are rotated by moving parts 473a and 473b, which are examples of displacement parts that displace the protrusions 471a and 471b.
- the moving parts 473a and 473b rotate the moving bodies 472a and 472b by the driving force of the rotation driving part 420 for rotating the working plate 410, and move the protrusions 471a and 471b.
- the driving target switching mechanism 474 switches between a state in which the working plate 410 is rotated by the driving force of the rotation driving section 420 and a state in which the projections 471a and 471b are moved.
- the driving force of the rotary drive section 420 is simultaneously transmitted to the moving sections 473a and 473b through the driven object switching mechanism 474 and the shaft 475, rotating the moving bodies 472a and 472b.
- the projecting portion 471 may have a shape that can hook the object T to be processed.
- a protrusion, unevenness, or the like may be formed on the surface of the protrusion 471 .
- the slip-suppressing part may be made of a material or a surface shape capable of increasing the static frictional force or dynamic frictional force acting between the object to be processed T and the object T to be processed.
- the anti-slip portion may not have a projection, and may have a planar or curved shape.
- FIG. 26B shows an example of a configuration in which the protrusion 471 appears and disappears.
- the structure for retracting the plurality of protrusions 471a and 471b, which are the slip suppressing parts, from the surface of the work plate 410 is not particularly limited, but for example, as shown in FIG. may be configured to extend and enter the inside of the work plate 410 .
- FIG. 27A, 27B, 27C, and 27D show how the object to be processed T is moved or expanded/contracted on the working plate 410.
- FIG. 27A when the left protrusion 471 provided in the notch 470a is rotated clockwise and the right protrusion 471 provided in the notch 470b is rotated counterclockwise, the object to be processed T is contracted.
- FIG. 27B when the projection 471 on the left side is rotated counterclockwise and the projection 471 on the right side is rotated clockwise, the processing target T is stretched.
- FIG. 27C when the left protrusion 471 and the right protrusion 471 are rotated counterclockwise, the processing target T is moved to the left.
- FIG. 27D when the left protrusion 471 and the right protrusion 471 are rotated clockwise, the object to be processed T is moved to the right.
- FIG. 28A and 28B show the configuration of the moving section 473.
- the moving portion 473 includes a plurality of pulleys 476 a and 476 b and a belt 477 .
- the pulley 476a is rotated by a shaft 475 around a horizontal axis in the left-right direction.
- the rotation of the pulley 476a is transmitted by the belt 477 to the pulley 476b rotating around the vertical axis in the vertical direction.
- Moving body 472 is rotated together with belt 477 .
- moving body 472 is rotated clockwise.
- Rotating the pulley 476a 180° about the longitudinal horizontal axis causes the truck 472 to rotate counterclockwise as shown in FIG. 28B. That is, the pulley 476a functions as a movement direction switching mechanism that switches between movement and expansion/contraction of the processing target T by switching the movement direction of the plurality of projections 471 .
- the pulley 476a is appropriately rotated to control the moving direction of the moving body 472.
- FIG. The work plate device control section 902 rotates the rotation motor 422 of the rotation driving section 420 when the driving force of the rotation driving section 420 is switched to be transmitted to the moving section 473 by the drive target switching mechanism 474 .
- the projection 471 is moved to move or expand or contract the object T to be processed.
- FIG. 29A and 29B are schematic cross-sectional views of the drive target switching mechanism 474.
- FIG. FIG. 29A shows a state in which the working plate 410 is rotated by the driving force of the rotation driving portion 420.
- FIG. A rotating shaft 481 provided concentrically with the fixed shaft 480 outside the fixed shaft 480 is connected to a rotating motor 422 of the rotary drive section 420 .
- the pin 488 is in the position shown in FIG. 29A
- the rotating shaft 481 is connected by the connecting portion 483 to the rotating shaft 482 fixed to the working plate 410 . Therefore, when the rotating shaft 481 rotates, the working plate 410 rotates together with the connecting portion 483 and the rotating shaft 481 .
- the right side of the gear 485 is separated from the rotating shaft 481, and the left side of the gear 485 is connected and fixed to the fixed shaft 480, so the gear 486 for rotating the shaft 475 does not rotate.
- FIG. 29B shows a state in which the protrusion 471 is moved by the driving force of the rotation drive section 420.
- FIG. 29B shows a state in which the protrusion 471 is moved by the driving force of the rotation drive section 420.
- FIG. 29B shows a state in which the protrusion 471 is moved by the driving force of the rotation drive section 420.
- the gear 485 is pushed by the pin 488 and moves rightward, and the connecting portion 483 is pushed by the gear 485 and moves rightward.
- the gear 485 is connected to the rotating shaft 481 and the connection between the connecting portion 483 and the rotating shaft 481 is released. Therefore, when the rotary shaft 481 rotates, the torque is transmitted to the shaft 475 by the gears 485 and 486, and the shaft 475 rotates. At this time, since the rotating shaft 482 is not connected to the rotating shaft 481, the working plate 410 does not rotate.
- the pin 488 may be moved mechanically or electrically by a motor or the like.
- an activation mechanism that causes switching by the drive target switching mechanism 474 may be provided at a position where the work plate 410 can move.
- FIG. 30A and 30B show an example of the activation mechanism 489.
- the activation mechanism 489 is provided on the Y guide 354 .
- the activation mechanism 489 may be a protrusion or the like capable of pushing the pin 488 .
- FIG. 30B when the work plate 410 is moved to the position where the activation mechanism 489 is provided by the traveling drive unit 430 , the pin 488 is pushed by the activation mechanism 489 , and the driving target switching mechanism 474 selects the driving target. Switching is activated.
- FIG. 31 is a flow chart showing the procedure of the clothes processing method according to the fourth embodiment.
- the work plate device control unit 902 controls the traveling drive unit 430 to move the work plate 410 to the position where the activation mechanism 489 is provided. (S210).
- the pin 488 of the drive target switching mechanism 474 is pushed to switch the drive target, and the projection 471 is moved by the driving force of the rotary drive unit 420 .
- the work plate device control unit 902 determines the moving direction of the protrusion 471 according to the operation for moving or expanding and contracting the processing object T, and rotates the pulley 476a in accordance with the determined moving direction of the protrusion 471.
- the work plate device control section 902 drives the rotation drive section 420 to move the projection section 471, thereby moving or expanding and contracting the processing target T (S214).
- the work plate device control section 902 moves the work plate 410 to another position (S216).
- the pin 488 of the drive target switching mechanism 474 is urged by the elastic body 484 to return to its original position, and the working plate 410 is rotated by the driving force of the rotary drive section 420 .
- the clothes processing apparatus 1 includes the work plate 410 on which the object T to be processed is placed, and the processing plate provided on the surface of the work plate 410 and placed on the work plate 410 .
- a protrusion 471 functioning as a slip suppressing portion for suppressing slippage of the object T, and a moving portion 473 displacing the protrusion 471 are provided.
- the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
- the moving part 473 moves or expands and contracts the object T to be processed by moving the projection part 471 .
- the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
- the projecting portion 471 is provided in the cutout portion of the end surface of the work plate 410 .
- the protrusions 471 do not interfere with operations other than moving and expanding/contracting the processing object T, so the processing efficiency of the processing object T can be improved.
- the clothes processing apparatus 1 further includes a rotation drive section 420 for rotating the work plate 410 , and the moving section 473 moves the protrusion 471 by the driving force of the rotation drive section 420 .
- the configuration of the clothes processing apparatus 1 can be simplified.
- the laundry processing apparatus 1 further includes a drive target switching mechanism 474 that switches between a state in which the work plate 410 is rotated by the driving force of the rotation drive section 420 and a state in which the protrusion 471 is moved. .
- a drive target switching mechanism 474 that switches between a state in which the work plate 410 is rotated by the driving force of the rotation drive section 420 and a state in which the protrusion 471 is moved.
- the clothes processing apparatus 1 also includes a traveling drive unit 430 that moves the work plate 410, and an activation mechanism that is provided within a movable range of the work plate 410 and causes switching by the drive target switching mechanism 474. , and when the work plate 410 is moved to the position where the activation mechanism is provided by the traveling drive unit 430, the switching of the driven object by the driven object switching mechanism 474 is activated by the activation mechanism.
- the configuration of the clothes processing apparatus 1 can be simplified.
- the laundry processing apparatus 1 further includes an elastic body 484 that biases the drive target switching mechanism 474 in the direction in which the drive target of the drive force becomes the work plate 410 .
- the work plate 410 can be rotated by the driving force of the rotation drive unit 420 simply by moving the work plate 410 from the position where the activation mechanism is provided to another position.
- the protrusions 471 are provided at a plurality of different positions, and the clothes processing apparatus 1 can switch the moving direction of the plurality of protrusions 471 to move and expand/contract the object T to be processed.
- the clothes processing method includes the step of placing an object T to be treated on the work plate 410, and the steps of placing the object T to be treated on the surface of the work plate 410 and removing the object T placed on the work plate 410. and displacing the protrusion 471 for suppressing slippage.
- the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
- the step of displacing includes a step of moving or expanding and contracting the processing object T by moving the protrusion 471 .
- the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
- FIG. 32 is a schematic top view and a schematic side view of the working plate 410.
- FIG. 33A and 33B are schematic side views of the working plate 410 on which the processing target T is placed.
- the upper surface of the working plate 410 has an inclined surface 490 .
- a plurality of protrusions 471 are provided on the slope 490 so as to appear and disappear.
- FIG. 33A by protruding the protrusion 471 on the slope 490 , it is possible to prevent the processing target T placed thereon from sliding down the slope 490 .
- FIG. 33B by inserting the protrusion 471 under the slope 490 , the object T placed thereon can slide down the slope 490 .
- the work plate device control unit 902 determines whether the processing object T should not slide down the slope 490 or slide down according to the folding procedure of the processing object T, the state of the processing object T, and the like. Then, the protrusion 471 appears and disappears.
- the projecting portion 471 may have a shape that can hook the object T to be processed.
- a protrusion, unevenness, or the like may be formed on the surface of the protrusion 471 .
- the slip-suppressing part may be made of a material or a surface shape capable of increasing the static frictional force or dynamic frictional force acting between the object to be processed T and the object T to be processed.
- the anti-slip portion may not have a projection, and may have a planar or curved shape.
- the projecting portion 471 may be provided over the entire slope 490 or may be provided in a partial area. For example, it may be provided only on the upper part of the slope 490 or may be provided only on the lower part of the slope 490 . Further, it may be provided only at the central portion of the slope 490 , may be provided only at the left or right end of the slope 490 , or may be provided at the left or right side of the slope 490 .
- the processing target T can be placed on the region where the protrusion 471 is provided so that the processing target T does not slide down the slope 490.
- the object T to be processed may be placed on a region where the projections 471 are not provided so that the object T to be processed slides down the slope 490 .
- the projecting portion 471 may be provided in a region other than the slope 490 .
- FIG. 34A and 34B schematically show the configuration of a retracting mechanism 497 for retracting the protrusion 471.
- the retractable mechanism 497 functions as a displacement section for displacing the protrusion 471 and includes a pin 491 , a pushing plate 492 , a link 493 , a link 494 , a fixing plate 495 and an elastic body 496 .
- a plurality of protrusions 471 are provided on the support plate 478 .
- the link 493 has one end fixed to the fixed plate 495 , the other end fixed to the support plate 478 , and the intermediate point fixed to the link 493 .
- the pin 491 may be configured to be pushed in mechanically, or may be pushed in by an electrical drive force such as a motor.
- a protrusion for pushing the pin 491 may be provided at a position where the working plate 410 can move. Since the position of the pin 491 on the work plate 410 is fixed, the pin 491 can be pushed in by moving the work plate 410 without moving the position of the projection. This protrusion may be provided separately from the activation mechanism 489 or may be shared with the activation mechanism 489 .
- a mechanism may be provided to lock the pin 491 while the pin 491 is pushed.
- FIG. 35 is a flow chart showing the procedure of the clothing processing method according to the fifth embodiment.
- the work plate device control section 902 pushes the pin 491 to project the protrusion 471 from the slope 490 (S220).
- the work plate device control section 902 releases the pin 491 and pushes the projection 471 under the slope 490 by the biasing force of the elastic body 496 . Immerse yourself (S222).
- the clothes processing apparatus 1 includes the work plate 410 on which the object T to be processed is placed, and the processing plate provided on the surface of the work plate 410 and placed on the work plate 410 .
- a projecting portion 471 for suppressing the slippage of the target object T and a retracting mechanism 497 for displacing the projecting portion 471 are provided. As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
- the projection/retraction mechanism 497 causes the protrusion 471 to appear/retract from the surface of the working plate 410 . As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
- the working plate 410 has a slope 490 and the protrusion 471 is provided on the slope 490 .
- the protrusion 471 is provided on the slope 490 .
- the working plate 410 is rotatably provided.
- the processing target T placed on the working plate 410 can be switched between a non-slip state and a sliding state, and the processing target T can be arbitrarily positioned, thereby improving the processing efficiency. .
- a plurality of protrusions 471 are provided, and the retraction mechanism 497 simultaneously retracts and retracts the protrusions 471 .
- the retraction mechanism 497 includes a pin 491 and links 493 and 494 that transmit the force of pushing the pin 491 to the protrusion 471 to retract the protrusion 471 . This makes it possible to switch between the non-slipping state and the sliding state of the processing object T with a simple configuration.
- the retraction mechanism 497 further includes an elastic body 496 for biasing the pin 491 in the direction in which the protrusion 471 retracts.
- the position of the pin 491 is fixed. As a result, the pin 491 can be pushed to make the protrusion 471 appear and disappear without moving the structure for pushing the pin 491 .
- the clothes processing method includes the step of placing an object T to be treated on the work plate 410, and the steps of placing the object T to be treated on the surface of the work plate 410 and removing the object T placed on the work plate 410. and displacing the protrusion 471 for suppressing slippage. As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
- the step of displacing includes a step of causing projection 471 to appear and disappear from the surface of working plate 410 .
- a rotating shaft 498 is provided on the front end surface or the rear end surface of the working plate 410 in the same direction as the rotating shaft 481 of the working plate 410, and the surface is slidable.
- a hardened rod-like rotating body 499 may be provided.
- the protrusion 471 provided on the surface of the work plate 410 may be configured to move back and forth.
- the object to be processed T placed on the work plate 410 can be moved back and forth, and the position at which the object to be processed T is bent at the front end surface or the rear end surface of the work plate 410 can be changed. can be done.
- Embodiments 1 to 5 have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Also, it is possible to combine the constituent elements described in the first to fifth embodiments to form a new embodiment.
- the present disclosure can be used for clothing processing devices.
- Elastic body 610 Front side support part 620... Back side support part 700... Storage device 710a, 710b, 710c, 710d, 710e DESCRIPTION OF SYMBOLS 721, 721a, 721b, 721c Clamping plate 722a, 722b Rail 723 Connecting part 724 Rotating shaft 725 Hinges 900
- Control device 901 ... holding device control section (second control section), 902 ... work plate device control section (first control section), 903 ... imaging device control section, 904 ... storage device control section, 910 ... type recognition section, 911 ... part detection Section 912 Length detection section 913 Deviation correction section 914 Singular event detection section 915 First point detection section 916 Second point detection section 917 End point detection section.
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Abstract
A clothing processing device 1 includes: a work board 410 used in work for folding a processing object T; a rotationally driving unit or traveling driving unit for moving the work board 410; a support unit that is able to sandwich the processing object T with the work board 410; and a work board device control unit for controlling the rotationally driving unit or traveling driving unit to sandwich the processing object T between the work board 410 and support unit at the folding position.
Description
本開示は、衣類などの処理対象物を処理するための衣類処理装置、回転体、回転位置初期化装置、衣類処理方法、及び回転位置初期化方法に関する。
The present disclosure relates to a clothing processing device, a rotator, a rotational position initialization device, a clothing processing method, and a rotational position initialization method for processing an object to be processed such as clothing.
衣類などの処理対象物を展開して折り畳む処理装置が提案されている。例えば、特許文献1には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。
A processing device that unfolds and folds processing objects such as clothing has been proposed. For example, Patent Literature 1 discloses a processing apparatus including a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
処理対象物を折り畳むために載置装置に載置したときに、処理対象物が滑って折り位置がずれる場合があることを、本発明者らは課題として認識した。
The present inventors have recognized that the problem is that when an object to be processed is placed on the placing device for folding, the object to be processed may slip and the folding position may shift.
本開示は、衣類などの処理対象物を折り畳む技術を向上させるための技術を提供する。
The present disclosure provides techniques for improving techniques for folding processing objects such as clothing.
本開示における衣類処理装置は、処理対象物を折り畳むための作業に使用される作業部と、作業部を移動させるための第1移動部と、作業部との間で処理対象物を挟持可能な支持部と、処理対象物を折り位置において作業部と支持部との間に挟持するように第1移動部を制御する第1制御部と、を備える。
The laundry processing apparatus according to the present disclosure is capable of sandwiching the processing object between the working unit used for the work of folding the processing object, the first moving unit for moving the working unit, and the working unit. A support section and a first control section that controls the first moving section such that the object to be processed is sandwiched between the work section and the support section at the folding position.
本開示における衣類処理方法は、処理対象物の折り位置を取得するステップと、処理対象物を折り畳むための作業に使用される作業部との間で処理対象物を挟持可能な支持部の位置に折り位置がくるように処理対象物を位置させるステップと、処理対象物を折り位置において作業部と支持部との間に挟持するように作業部を移動させるステップと、を備える。
In the clothes processing method of the present disclosure, between the step of acquiring the folding position of the object to be processed and the working part used for the work for folding the object to be processed, the position of the supporting part capable of holding the object to be processed The method comprises the steps of positioning the object to be processed so as to reach the folding position, and moving the working part so that the object to be processed is sandwiched between the working part and the support part at the folding position.
本開示の技術によれば、衣類などの処理対象物を折り畳む技術を向上させることができる。
According to the technology of the present disclosure, it is possible to improve the technology for folding processing objects such as clothing.
(本開示の基礎となった知見等)
変形性薄物である処理対象物を折り畳むために処理対象物を作業板に載置すると、処理対象物が滑って折り位置がずれる場合がある。 (Knowledge, etc. on which this disclosure is based)
When the object to be processed, which is a deformable thin object, is placed on the work plate in order to be folded, the object to be processed may slip and the folding position may be shifted.
変形性薄物である処理対象物を折り畳むために処理対象物を作業板に載置すると、処理対象物が滑って折り位置がずれる場合がある。 (Knowledge, etc. on which this disclosure is based)
When the object to be processed, which is a deformable thin object, is placed on the work plate in order to be folded, the object to be processed may slip and the folding position may be shifted.
このような課題を発明者らは発見し、その課題を解決するために、本開示の主題を構成するに至った。本開示に係る衣類処理装置は、処理対象物を、その折り畳み線に沿うように作業板のエッジと支持部とで挟んでホールドする。そして、処理対象物を作業板に掛けるように保持部を移動する。これにより、処理対象物は、作業板のエッジを軸にして折り畳まれるため、折り畳み線で適切に折り畳むことができる。
The inventors discovered such a problem, and came to constitute the subject of the present disclosure in order to solve the problem. The laundry processing apparatus according to the present disclosure sandwiches and holds an object to be processed between the edge of the work plate and the support portion along the folding line. Then, the holder is moved so as to hang the processing object on the work plate. As a result, the object to be processed is folded around the edge of the work plate, so that it can be appropriately folded along the folding line.
以下、図面を参照しながら実施の形態を詳細に説明する。但し、必要以上に詳細な説明は省略する場合がある。例えば、既によく知られた事項の詳細説明、または、実質的に同一の構成に対する重複説明を省略する場合がある。
Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially the same configurations may be omitted.
なお、添付図面および以下の説明は、当業者が本開示を十分に理解するために提供されるのであって、これらにより特許請求の範囲に記載の主題を限定することを意図していない。
It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.
(実施の形態1)
以下、図1~図15を用いて、実施の形態1を説明する。なお、衣類処理装置1の3方向について、前側正面から見て、左右の幅方向を矢印で示すX方向(左方向X1、右方向X2)、前後の奥行き方向を矢印で示すY方向(前方向Y1、後方向Y2)、上下の高さ方向を矢印で示すZ方向(上方向Z1、下方向Z2)として説明する。 (Embodiment 1)
Embodiment 1 will be described below with reference to FIGS. 1 to 15. FIG. Regarding the three directions of the clothes processing apparatus 1, when viewed from the front, the left and right width directions are indicated by arrows in the X direction (left direction X1 and right direction X2), and the front and rear depth directions are indicated by arrows in the Y direction (forward direction). Y1, backward direction Y2), and vertical height directions are described as Z directions (upward direction Z1, downward direction Z2) indicated by arrows.
以下、図1~図15を用いて、実施の形態1を説明する。なお、衣類処理装置1の3方向について、前側正面から見て、左右の幅方向を矢印で示すX方向(左方向X1、右方向X2)、前後の奥行き方向を矢印で示すY方向(前方向Y1、後方向Y2)、上下の高さ方向を矢印で示すZ方向(上方向Z1、下方向Z2)として説明する。 (Embodiment 1)
[1-1.構成]
[1-1-1.衣類処理装置の全体構成]
衣類処理装置1は、変形性薄物としての処理対象物Tを保持、認識、折り畳み、及び、収納する装置である。図1に示されるように、衣類処理装置1は、筐体100、及び、筐体100内に構成される、受入部200と、保持装置300と、作業板装置400と、撮像装置500と、支持部600と、収納装置700と、制御装置900と、を備える。なお、受入部200及びその上方の処理空間が1つの筐体に構成され、収納装置700などは別の筐体内に構成されて、それぞれの筐体が連結されて一体となるように構成されてもよい。 [1-1. Constitution]
[1-1-1. Overall configuration of clothes processing apparatus]
Theclothes processing apparatus 1 is a device that holds, recognizes, folds, and stores an object T to be processed, which is a deformable thin object. As shown in FIG. 1, the clothes processing apparatus 1 includes a housing 100, and a receiving section 200, a holding device 300, a work plate device 400, an imaging device 500, and a housing 100. It includes a support section 600 , a storage device 700 and a control device 900 . In addition, the receiving unit 200 and the processing space above it are configured in one housing, and the storage device 700 and the like are configured in another housing, and the respective housings are connected to be integrated. good too.
[1-1-1.衣類処理装置の全体構成]
衣類処理装置1は、変形性薄物としての処理対象物Tを保持、認識、折り畳み、及び、収納する装置である。図1に示されるように、衣類処理装置1は、筐体100、及び、筐体100内に構成される、受入部200と、保持装置300と、作業板装置400と、撮像装置500と、支持部600と、収納装置700と、制御装置900と、を備える。なお、受入部200及びその上方の処理空間が1つの筐体に構成され、収納装置700などは別の筐体内に構成されて、それぞれの筐体が連結されて一体となるように構成されてもよい。 [1-1. Constitution]
[1-1-1. Overall configuration of clothes processing apparatus]
The
処理対象物Tは、例えば、衣類及びタオル類などの布地、フィルム、紙ならびにシートなどに代表される変形性薄物である。その形状は、タオル類のように矩形であってもよいし、Tシャツやランニングシャツ、長袖シャツ、ズボンのような略矩形であってもよい。
The object to be processed T is a deformable thin object represented by, for example, cloth such as clothing and towels, film, paper, and sheet. The shape may be rectangular like towels, or substantially rectangular like T-shirts, running shirts, long-sleeved shirts, and trousers.
<筐体100>
筐体100は、直方体の枠を形成するフレーム110と、直方体の所定の面に外郭120が設けられて構成される。フレーム110と外郭120とは、一体に形成されてもよい。 <Case 100>
Thehousing 100 includes a frame 110 forming a rectangular parallelepiped frame and an outer shell 120 provided on a predetermined surface of the rectangular parallelepiped. The frame 110 and the shell 120 may be integrally formed.
筐体100は、直方体の枠を形成するフレーム110と、直方体の所定の面に外郭120が設けられて構成される。フレーム110と外郭120とは、一体に形成されてもよい。 <
The
<受入部200>
受入部200は、処理対象物Tを外部から受け入れる収容部である。図1から図3に示されるように、受入部200は、上面が開口した箱型形状を有する。受入部200は、ユーザがアクセスし易いように、衣類処理装置1における底部に配設され、奥行き方向(Y方向)に出し入れ可能に配設される。例えば、受入部200は、下部にガイドレール210が設けられ、前方向Y1に引き出される。処理対象物Tは、引き出された受入部200に上方から入れられる。受入部200は、処理対象物Tが入れられると、ガイドレール210に沿って後方向Y2に戻され、筐体100内に収められる。 <Receivingunit 200>
The receivingpart 200 is a receiving part that receives the processing target T from the outside. As shown in FIGS. 1 to 3, the receiving portion 200 has a box-like shape with an open top. The receiving part 200 is arranged at the bottom of the clothes processing apparatus 1 so as to be easily accessible by the user, and is arranged so that it can be taken in and out in the depth direction (Y direction). For example, the receiving portion 200 is provided with a guide rail 210 at its lower portion and is pulled forward in the Y1 direction. The object to be processed T is put into the pulled-out receiving section 200 from above. The receiving part 200 is returned in the rearward direction Y2 along the guide rails 210 and housed in the housing 100 when the processing object T is put therein.
受入部200は、処理対象物Tを外部から受け入れる収容部である。図1から図3に示されるように、受入部200は、上面が開口した箱型形状を有する。受入部200は、ユーザがアクセスし易いように、衣類処理装置1における底部に配設され、奥行き方向(Y方向)に出し入れ可能に配設される。例えば、受入部200は、下部にガイドレール210が設けられ、前方向Y1に引き出される。処理対象物Tは、引き出された受入部200に上方から入れられる。受入部200は、処理対象物Tが入れられると、ガイドレール210に沿って後方向Y2に戻され、筐体100内に収められる。 <Receiving
The receiving
受入部200は、処理対象物Tが受入部200の底面中央付近に集まるように構成されてもよい。例えば、受入部200の底面が、中央に向けて傾斜するように形成されてもよい。この傾斜によって、処理対象物Tは、受入部200に入れられた後、底面中央付近に集められる。これにより、受入部200に投入された処理対象物Tの位置が特定されやすくなり、処理の短時間化に寄与できる。
The receiving section 200 may be configured so that the processing objects T are gathered near the center of the bottom surface of the receiving section 200 . For example, the bottom surface of the receiving part 200 may be formed so as to be inclined toward the center. Due to this inclination, the processing objects T are collected near the center of the bottom surface after being placed in the receiving section 200 . This makes it easier to identify the position of the processing object T that has been put into the receiving unit 200, which can contribute to shortening the processing time.
[1-1-2.保持装置の構成]
保持装置300は、処理対象物Tを処理するために、処理対象物Tを保持する装置である。保持装置300は、処理対象物Tを保持する保持部310と、保持部310を幅方向(X方向)、奥行き方向(Y方向)、高さ方向(Z方向)の3方向に移動させる移動機構320と、を含む。保持装置300は、複数設けられ、受入部200内に入れられた処理対象物Tを保持して持ち上げるとともに、処理対象物Tを一時的に載置できる作業板装置400と協働して、処理対象物Tを持ち替えながら展開及び折り畳みを行う。 [1-1-2. Configuration of Holding Device]
Theholding device 300 is a device that holds a processing object T in order to process the processing object T. As shown in FIG. The holding device 300 includes a holding section 310 that holds the processing target T, and a moving mechanism that moves the holding section 310 in three directions: the width direction (X direction), the depth direction (Y direction), and the height direction (Z direction). 320 and. A plurality of holding devices 300 are provided, and hold and lift the processing object T placed in the receiving part 200, and cooperate with the work plate device 400 on which the processing object T can be placed temporarily to perform processing. Unfolding and folding are performed while changing the grip of the object T.
保持装置300は、処理対象物Tを処理するために、処理対象物Tを保持する装置である。保持装置300は、処理対象物Tを保持する保持部310と、保持部310を幅方向(X方向)、奥行き方向(Y方向)、高さ方向(Z方向)の3方向に移動させる移動機構320と、を含む。保持装置300は、複数設けられ、受入部200内に入れられた処理対象物Tを保持して持ち上げるとともに、処理対象物Tを一時的に載置できる作業板装置400と協働して、処理対象物Tを持ち替えながら展開及び折り畳みを行う。 [1-1-2. Configuration of Holding Device]
The
衣類処理装置1は、図1から図3に示されるように、保持装置300として2基の保持装置300A,300Bを備える。保持装置300Aは、保持部310として1つの保持部310Aを有し、保持部310Aを3方向に移動させる移動機構320Aを有する。保持装置300Bは、保持部310として2基の保持部310B,311Bを有し、保持部310B,311Bをそれぞれ3方向に移動させる移動機構320Bを有する。
The clothes processing apparatus 1 includes two holding devices 300A and 300B as holding devices 300, as shown in FIGS. The holding device 300A has one holding portion 310A as the holding portion 310, and a moving mechanism 320A for moving the holding portion 310A in three directions. The holding device 300B has two holding portions 310B and 311B as the holding portion 310, and a moving mechanism 320B for moving each of the holding portions 310B and 311B in three directions.
保持部310A,310B,311Bは、後述する作業板装置400の作業板410に対して、幅方向、奥行き方向、高さ方向にそれぞれ相対移動可能である。例えば、移動機構320A、320Bは、保持部310A,310B,311Bが作業板410の縁部に沿って一列に並ぶように位置させることができる。
The holding parts 310A, 310B, and 311B are relatively movable in the width direction, the depth direction, and the height direction with respect to a work plate 410 of a work plate device 400, which will be described later. For example, the moving mechanisms 320A, 320B can be positioned so that the retainers 310A, 310B, 311B are aligned along the edge of the working plate 410. FIG.
保持装置300A、300Bは、後述する制御装置900と有線又は無線により通信可能に接続される。そして、制御装置900により、保持部310A、310B,311B及び移動機構320A、320Bの動作が制御される。
The holding devices 300A and 300B are communicably connected to a control device 900, which will be described later, by wire or wirelessly. The controller 900 controls the operations of the holding units 310A, 310B, 311B and the moving mechanisms 320A, 320B.
<移動機構320>
保持装置300A,300Bに用いられる移動機構320A,320Bについて、保持装置300Aの移動機構320Aの構成を用いて説明する。保持装置300Bの移動機構320Bの構成は、保持部の数を除いて保持装置300Aの構成と基本的に同じである。よって、保持装置300Bは、保持装置300Aの符号中「A」を「B」に置き換えた符号を用いればよく、その説明を省略する。 <Moving mechanism 320>
Moving mechanisms 320A and 320B used in holding devices 300A and 300B will be described using the configuration of moving mechanism 320A of holding device 300A. The configuration of the moving mechanism 320B of the holding device 300B is basically the same as that of the holding device 300A except for the number of holding portions. Therefore, for the holding device 300B, the reference numeral "A" in the reference numeral for the holding device 300A is replaced with "B", and the description thereof is omitted.
保持装置300A,300Bに用いられる移動機構320A,320Bについて、保持装置300Aの移動機構320Aの構成を用いて説明する。保持装置300Bの移動機構320Bの構成は、保持部の数を除いて保持装置300Aの構成と基本的に同じである。よって、保持装置300Bは、保持装置300Aの符号中「A」を「B」に置き換えた符号を用いればよく、その説明を省略する。 <Moving mechanism 320>
Moving
移動機構320Aは、図2に示されるように、幅方向移動機構330Aと、高さ方向移動機構340Aと、奥行き方向移動機構350Aと、を備える。
The movement mechanism 320A, as shown in FIG. 2, includes a width direction movement mechanism 330A, a height direction movement mechanism 340A, and a depth direction movement mechanism 350A.
幅方向移動機構330Aは、保持部310Aを幅方向(X方向)に移動させる。幅方向移動機構330Aは、保持部310Aを移動させるための駆動力源となる幅方向駆動部332A、及び、移動のガイドとなるXガイド334Aを有する。詳細は図示しないが、幅方向駆動部332Aは、正転及び逆転が可能なモータであり、ピニオンギアを有する。Xガイド334Aは、幅方向駆動部332Aの動力がピニオンギアを介して伝達されるラックギア及びレールであり、その長手方向が幅方向に沿うように配置される。幅方向駆動部332Aは、通電により、Xガイド334Aに沿ってスライド移動する。幅方向駆動部332AがXガイド334Aに沿って幅方向に移動すると、幅方向駆動部332Aに固定された保持部310Aも幅方向に移動する。
The width direction moving mechanism 330A moves the holding portion 310A in the width direction (X direction). The width direction moving mechanism 330A has a width direction driving portion 332A that serves as a driving force source for moving the holding portion 310A, and an X guide 334A that serves as a movement guide. Although not shown in detail, the width direction driving section 332A is a motor capable of forward and reverse rotation and has a pinion gear. The X guide 334A is a rack gear and a rail to which the power of the width direction driving portion 332A is transmitted via a pinion gear, and is arranged such that its longitudinal direction is along the width direction. The width direction driving portion 332A slides along the X guide 334A when energized. When the width direction driving portion 332A moves in the width direction along the X guide 334A, the holding portion 310A fixed to the width direction driving portion 332A also moves in the width direction.
高さ方向移動機構340Aは、幅方向移動機構330Aとともに保持部310Aを高さ方向(Z方向)に移動させる。高さ方向移動機構340Aは、幅方向移動機構330Aの左右両端に設けられ、幅方向移動機構330Aを移動させるための駆動力源となる高さ方向駆動部342A、及び、移動のガイドとなるZガイド344Aを有する。高さ方向駆動部342Aは、正転及び逆転が可能なモータであり、ピニオンギアを有する。詳細は図示しないが、高さ方向駆動部342Aは、幅方向移動機構330Aの枠体の左端に固定され、右端へ駆動力を伝達する伝動シャフトを有する。左右2本のZガイド344Aは、高さ方向駆動部342Aの動力がピニオンギア及び伝動シャフトを介して伝達されるラックギア及びレールであり、その長手方向が高さ方向に沿うようにして配置される。左右2本のZガイド344Aは、上端で連結され、アーチ型に構成される。高さ方向駆動部342Aへの通電により、幅方向移動機構330Aが高さ方向に沿って移動する。
The height direction moving mechanism 340A moves the holding portion 310A in the height direction (Z direction) together with the width direction moving mechanism 330A. The height direction moving mechanism 340A is provided at both the left and right ends of the width direction moving mechanism 330A, and includes a height direction driving portion 342A as a driving force source for moving the width direction moving mechanism 330A, and a Z direction driving portion 342A as a movement guide. It has a guide 344A. The height direction drive unit 342A is a motor capable of forward and reverse rotation, and has a pinion gear. Although not shown in detail, the height direction driving portion 342A has a transmission shaft that is fixed to the left end of the frame of the width direction movement mechanism 330A and transmits driving force to the right end. The two left and right Z guides 344A are rack gears and rails to which the power of the height direction driving part 342A is transmitted via pinion gears and transmission shafts, and are arranged so that their longitudinal direction is along the height direction. . The two left and right Z guides 344A are connected at their upper ends and configured in an arch shape. By energizing the height direction driving portion 342A, the width direction moving mechanism 330A moves along the height direction.
奥行き方向移動機構350Aは、保持装置300A全体(高さ方向移動機構340A、幅方向移動機構330A及び保持部310A)を奥行き方向(Y方向)に移動させる。奥行き方向移動機構350Aは、高さ方向移動機構340Aを移動させるための動力源となる奥行き方向駆動部352A、及び、移動のガイドとなる複数のYガイド354を有する。詳細は図示しないが、奥行き方向駆動部352Aは、正転及び逆転が可能なモータであり、ピニオンギアを有する。奥行き方向駆動部352Aは、高さ方向移動機構340Aの枠体上部の連結部左端に固定され、右端へ駆動力を伝達する伝動シャフトを有する。Yガイド354は、奥行き方向駆動部352Aの動力が伝達されるラックギア及びレールであり、その長手方向が奥行き方向に沿うようにして、左右のZガイド344Aそれぞれの上下端に配置される。
The depth direction moving mechanism 350A moves the entire holding device 300A (height direction moving mechanism 340A, width direction moving mechanism 330A and holding section 310A) in the depth direction (Y direction). The depth direction moving mechanism 350A has a depth direction driving section 352A that serves as a power source for moving the height direction moving mechanism 340A, and a plurality of Y guides 354 that serve as movement guides. Although not shown in detail, the depth direction driving section 352A is a motor capable of forward and reverse rotation and has a pinion gear. The depth direction driving portion 352A is fixed to the left end of the connecting portion on the top of the frame of the height direction moving mechanism 340A, and has a transmission shaft that transmits driving force to the right end. The Y guides 354 are rack gears and rails to which the power of the depth direction driving portion 352A is transmitted, and are arranged at the upper and lower ends of the left and right Z guides 344A so that the longitudinal direction of the Y guides 354 extends along the depth direction.
Yガイド354への駆動力の伝達について、上部のYガイド354には、上述したように、奥行き方向駆動部352Aの動力が伝動シャフトで伝達される。そして、下部のYガイド354には、高さ方向移動機構340Aの枠体内に設けられるギアベルトを介して上部に設けられる伝動シャフトから駆動力が伝達される。奥行き方向駆動部352Aへの通電により、アーチ型の高さ方向移動機構340Aが奥行き方向に沿って平行に移動し、幅方向移動機構330A及び保持部310Aも同じく移動する。
Regarding the transmission of driving force to the Y guide 354, the power of the depth direction driving part 352A is transmitted to the upper Y guide 354 through the transmission shaft, as described above. Driving force is transmitted to the lower Y guide 354 from a transmission shaft provided in the upper portion via a gear belt provided in the frame body of the height direction movement mechanism 340A. By energizing the depth direction driving portion 352A, the arch-shaped height direction moving mechanism 340A moves parallel along the depth direction, and the width direction moving mechanism 330A and the holding portion 310A also move.
なお、本実施の形態において、2基の保持装置300A,300Bは、奥行き方向(Y方向)に移動するために上下左右4本のYガイド354を共用する。このため、常に保持装置300Aは保持装置300Bより後側に位置する。また、保持装置300Bにおいて、2つの保持部310B,311Bは幅方向(X方向)に移動するためにXガイド334Bを共用する。このため、常に保持部310Bは保持部311Bより左側に位置する。
In the present embodiment, the two holding devices 300A and 300B share four vertical and horizontal Y guides 354 in order to move in the depth direction (Y direction). Therefore, the holding device 300A is always located behind the holding device 300B. In addition, in the holding device 300B, the two holding portions 310B and 311B share the X guide 334B in order to move in the width direction (X direction). Therefore, the holding portion 310B is always located on the left side of the holding portion 311B.
以上、移動機構320について説明した。本実施の形態では、移動機構としてラック&ピニオン式で、駆動部のモータも移動する構成としたが、これに限られない。例えば、ボールねじを利用し、モータは移動しない構成などでもよい。
The movement mechanism 320 has been described above. In the present embodiment, the moving mechanism is of a rack and pinion type, and the motor of the drive unit is also moved, but the present invention is not limited to this. For example, a configuration in which a ball screw is used and the motor does not move may be used.
<保持部310>
図4~図6を用いて、保持部310の構成について説明する。本実施の形態では、保持部310A、310B、311Bの3つの保持部310が配設される。3つの保持部310の構成は、左右対称の部分もあるが、基本的に同じである。 <Holding unit 310>
The configuration of the holdingportion 310 will be described with reference to FIGS. 4 to 6. FIG. In the present embodiment, three holding portions 310, holding portions 310A, 310B, and 311B, are provided. The configurations of the three holding portions 310 are basically the same, although there are some symmetrical portions.
図4~図6を用いて、保持部310の構成について説明する。本実施の形態では、保持部310A、310B、311Bの3つの保持部310が配設される。3つの保持部310の構成は、左右対称の部分もあるが、基本的に同じである。 <
The configuration of the holding
図4に示すように、保持部310は、Yaw部312、Pitch部313、Roll部314、及びHand部315の4つのユニットが、それぞれ回動シャフト316(図5)を介して連結して構成される。
As shown in FIG. 4, the holding portion 310 is configured by connecting four units, a Yaw portion 312, a Pitch portion 313, a Roll portion 314, and a Hand portion 315, respectively via a rotating shaft 316 (FIG. 5). be done.
また、図5に示すように、Yaw部312は、Hand部315を奥行き方向(Y方向)のYaw軸を中心に回動させる駆動部が内蔵される。駆動部は、モータ312aとウォームギヤを含む複数の減速ギヤ312bからなり、最終的に回動シャフト316を回転駆動させる。回動シャフト316には、位置検出センサ316aが設けられる。回動シャフト316は管状であり、中央の穴から各ユニットへ電源線や信号線を配線することができる。また、制御基板312cがYaw部312内部に設けられる。
Further, as shown in FIG. 5, the Yaw portion 312 incorporates a driving portion that rotates the Hand portion 315 about the Yaw axis in the depth direction (Y direction). The driving section is composed of a motor 312a and a plurality of reduction gears 312b including a worm gear, and finally drives a rotating shaft 316 to rotate. The rotation shaft 316 is provided with a position detection sensor 316a. The rotary shaft 316 has a tubular shape, and power lines and signal lines can be wired to each unit through a hole in the center. Also, a control board 312 c is provided inside the Yaw portion 312 .
減速ギヤ312bの1つに、トルクリミッタ312dが内蔵されてもよい。なんらかのエラーで指令値と異なる動作をした保持部310Aが周囲のユニットに衝突したり、処理対象物Tがどこかに引っかかった状態で駆動しようとしたりする場合などの異常事態において、2次側がこれ以上動かない状態(ロック状態)でモータ312aが駆動されるとモータ312aが破損する可能性がある。そこで、所定以上の負荷がかかるとトルクリミッタ312dが空回りすることで、このような異常状態においてもモータ312aの破損を防止できる。
A torque limiter 312d may be incorporated in one of the reduction gears 312b. In an abnormal situation such as when the holding unit 310A operates differently from the command value due to some error and collides with the surrounding units, or when the object to be processed T is caught somewhere and is about to be driven, the secondary side may If the motor 312a is driven in a state in which it does not move any more (locked state), the motor 312a may be damaged. Therefore, the torque limiter 312d idles when a predetermined load or more is applied, so that damage to the motor 312a can be prevented even in such an abnormal state.
異常状態の回避としては、駆動部を構成するいずれかひとつの軸部にトルクセンサ312eが設けられてもよい。トルクセンサ312eは、軸部が回動するときのトルクを検出する。これにより、Hand部315が保持する処理対象物Tにかかる力を推定し、処理対象物Tへ必要以上の負荷をかけてしまうことを防止し、適切な負荷で処理対象物Tを保持できるとともに、異常時には停止するなどの制御が可能となる。
In order to avoid an abnormal state, a torque sensor 312e may be provided on any one of the shafts constituting the driving section. The torque sensor 312e detects torque when the shaft rotates. As a result, the force applied to the processing object T held by the hand unit 315 can be estimated, and an excessive load applied to the processing object T can be prevented, and the processing object T can be held with an appropriate load. It is possible to control such as stopping in the event of an abnormality.
保持部310Aは、力覚センサ317を有してもよい。力覚センサ317は、Hand部315が保持する処理対象物Tにかかる力やモーメントを検出する。これにより、処理対象物Tへ必要以上の負荷をかけてしまうことを防止し、適切な負荷で処理対象物Tを保持するように制御できる。
The holding part 310A may have a force sensor 317. The force sensor 317 detects force and moment applied to the processing object T held by the hand portion 315 . As a result, it is possible to prevent an excessive load from being applied to the processing object T, and control can be performed so that the processing object T is held with an appropriate load.
なお、本実施の形態では、Yaw部312の一次側に力覚センサ317を構成したが、構成位置はこれに限られない。例えば、Roll部314とHand部315との間に構成することもできる。前者の場合、力覚センサ317の制御基板や配線を保持部310Aの外部に構成することができるため、保持部310Aの小型化が図れる。後者の場合、Hand部315により近い位置に力覚センサ317が設けられるため、処理対象物Tにかかる力やモーメントを高い精度で検出できる。
Although the force sensor 317 is configured on the primary side of the Yaw portion 312 in the present embodiment, the configuration position is not limited to this. For example, it can be configured between the Roll section 314 and the Hand section 315 . In the former case, the control board and wiring of the force sensor 317 can be configured outside the holding section 310A, so that the holding section 310A can be made smaller. In the latter case, since the force sensor 317 is provided at a position closer to the hand portion 315, the force and moment applied to the processing object T can be detected with high accuracy.
Pitch部313及びRoll部314の基本構成は、Yaw部312と同様である。Pitch部313は、Hand部315を幅方向(X方向)のPitch軸を中心に回動させる。Roll部314は、Hand部315をRoll軸(Z方向)中心に回動させる。
The basic configurations of the Pitch section 313 and Roll section 314 are the same as the Yaw section 312 . The pitch section 313 rotates the hand section 315 about the pitch axis in the width direction (X direction). The Roll section 314 rotates the Hand section 315 around the Roll axis (Z direction).
このように、保持部310AはYaw軸、Pitch軸、及びRoll軸の回動軸を有するため、処理対象物Tを自在に保持したり、保持している処理対象物Tに対して他の保持部310B、311Bでさらに保持したりして、処理対象物Tを自在に扱うことができる。
In this way, since the holding part 310A has the rotation axes of the Yaw axis, the Pitch axis, and the Roll axis, it can freely hold the processing object T and can hold the processing object T in another way. The processing object T can be freely handled by further holding it with the parts 310B and 311B.
なお、図5に示すように、保持部310Aの各ユニットのモータ駆動やセンサ値の検出を行う制御基板312cを各ユニットの中に内蔵してもよい。これにより、内蔵された制御基板312cからの短い配線で処理できるとともに、各ユニットを連結している回動シャフト316の穴を通る配線の本数が減り、回動シャフト316の大きさが抑制されて保持部310Aを小型化できる。
As shown in FIG. 5, each unit may incorporate a control board 312c for motor driving and sensor value detection of each unit of the holding section 310A. As a result, processing can be performed with short wiring from the built-in control board 312c, and the number of wires passing through the holes of the rotating shaft 316 connecting each unit is reduced, and the size of the rotating shaft 316 is suppressed. 310 A of holding|maintenance parts can be reduced in size.
<Hand部315>
図6に示すように、Hand部315は、処理対象物Tを保持するために対向する2本のフィンガ315a、及び、フィンガ315aを開閉する駆動部で構成される。駆動部は、モータ315bと、複数の減速ギヤ315cと、回動ギヤ315dと、からなり、最終的に対向する2本のフィンガ315aを連動させて回転駆動し、開閉させる。 <Hand unit 315>
As shown in FIG. 6, thehand section 315 is composed of two fingers 315a facing each other for holding the object T to be processed, and a driving section for opening and closing the fingers 315a. The drive unit is composed of a motor 315b, a plurality of reduction gears 315c, and a rotating gear 315d, and finally rotates and opens and closes the two fingers 315a that are opposed to each other.
図6に示すように、Hand部315は、処理対象物Tを保持するために対向する2本のフィンガ315a、及び、フィンガ315aを開閉する駆動部で構成される。駆動部は、モータ315bと、複数の減速ギヤ315cと、回動ギヤ315dと、からなり、最終的に対向する2本のフィンガ315aを連動させて回転駆動し、開閉させる。 <
As shown in FIG. 6, the
フィンガ315aは、最後の回動ギヤ315dに固定される付け根部分が板バネ315eで構成される。これにより、保持する処理対象物Tに必要以上の負荷をかけてしまうことを防止し、適切な負荷で処理対象物Tを保持できる。また、例えば、作業板410に掛けられた処理対象物Tをフィンガ315aで作業板410ごと一旦保持し、次に作業板410から処理対象物Tだけを引き抜くときに、板バネ315eの付勢力によりフィンガ315aを作業板410の厚み分だけ自動的に閉じることができ、モータ315bをさらに動作させなくても処理対象物Tを把持し続けることができる。
The finger 315a has a leaf spring 315e at its root portion fixed to the last rotating gear 315d. As a result, it is possible to prevent an excessive load from being applied to the object to be processed T to be held, and to hold the object to be processed T with an appropriate load. Further, for example, when the object to be processed T hung on the work plate 410 is temporarily held together with the work plate 410 by the fingers 315a, and then only the object to be processed T is pulled out from the work plate 410, the urging force of the plate spring 315e The fingers 315a can be automatically closed by the thickness of the working plate 410, and the workpiece T can be continuously gripped without further operating the motor 315b.
Hand部315の駆動部には、上述した保持部310Aの駆動部と同様に、トルクリミッタ315fが設けられてもよい。これにより、フィンガ315aが保持する処理対象物Tへ必要以上の負荷をかけてしまうことを防止し、適切な負荷で処理対象物Tを保持できる。
A driving portion of the hand portion 315 may be provided with a torque limiter 315f in the same manner as the driving portion of the holding portion 310A described above. As a result, it is possible to prevent an excessive load from being applied to the processing object T held by the fingers 315a, and to hold the processing object T with an appropriate load.
[1-1-3.作業板装置の構成]
作業板装置400は、認識処理や折り畳み処理の際に処理対象物Tを載置する作業板410を回転及び移動させる装置である。図7に示すように、作業板装置400は、作業板410、回転駆動部420、走行駆動部430、及び伝動部440で構成される。作業板装置400は、そのままでは作業板410を無限に回転させられる回転機構である。 [1-1-3. Configuration of work plate device]
Thework plate device 400 is a device that rotates and moves a work plate 410 on which the processing object T is placed during recognition processing and folding processing. As shown in FIG. 7 , the work plate device 400 is composed of a work plate 410 , a rotation drive section 420 , a travel drive section 430 and a transmission section 440 . The working plate device 400 is a rotating mechanism capable of infinitely rotating the working plate 410 as it is.
作業板装置400は、認識処理や折り畳み処理の際に処理対象物Tを載置する作業板410を回転及び移動させる装置である。図7に示すように、作業板装置400は、作業板410、回転駆動部420、走行駆動部430、及び伝動部440で構成される。作業板装置400は、そのままでは作業板410を無限に回転させられる回転機構である。 [1-1-3. Configuration of work plate device]
The
作業板410は、回転駆動部420に設けられる回転軸421に固定される。回転駆動部420は、作業板410を幅方向(X方向)の回転軸421を中心にして回転させる。走行駆動部430は、作業板410を高さ方向に移動させる。伝動部440は、モータの駆動力を伝えるギヤ及びベルトなどが設けられる。
The work plate 410 is fixed to a rotary shaft 421 provided in the rotary drive section 420 . The rotation drive unit 420 rotates the work plate 410 around a rotation shaft 421 in the width direction (X direction). The traveling drive unit 430 moves the working plate 410 in the height direction. The transmission part 440 is provided with a gear, a belt, and the like for transmitting the driving force of the motor.
作業板装置400は、上述した移動機構320と同様の移動するための機構を備える。本実施の形態において、作業板装置400は、保持部310Bが設けられる移動機構320AのZガイド344Aを兼用して、走行駆動部430が組み合わされる。このため、作業板装置400は、Zガイド344Aにおいて、常に保持部310Aの下方で上下に移動するように構成される。
The work plate device 400 includes a mechanism for movement similar to the movement mechanism 320 described above. In the present embodiment, the work plate device 400 also serves as the Z guide 344A of the moving mechanism 320A provided with the holding portion 310B, and is combined with the traveling drive portion 430. As shown in FIG. Therefore, the work plate device 400 is configured to always move up and down below the holding portion 310A in the Z guide 344A.
<作業板410>
作業板410は、図2に示すように、作業平面の角部を面取りされた略矩形の板材である。作業板410は、角部の角がないように形成されることにより、布類などの処理対象物Tが引っ掛かる不具合が抑制される。 <Work plate 410>
The workingplate 410 is, as shown in FIG. 2, a substantially rectangular plate with chamfered corners on the working plane. Since the working plate 410 is formed so as to have no corners, it is possible to suppress the problem that the processing target T such as cloth is caught.
作業板410は、図2に示すように、作業平面の角部を面取りされた略矩形の板材である。作業板410は、角部の角がないように形成されることにより、布類などの処理対象物Tが引っ掛かる不具合が抑制される。 <
The working
作業板410は、作業板410の長手方向、つまり、長辺の2つの縁部がそれぞれ回転軸421と平行になるように回転軸421に固定される。このため、両方の縁部を用いての処理が容易となる。なお、図7に示すように、作業板410が回転軸421に対して偏心して配置されてもよい。この場合、回転軸421から作業板410の縁部までの距離が、それぞれの縁部ごとに異なる。これにより、例えば、処理対象物Tを回転軸421からの距離が長い側の縁部に当接させることで、同じ幅、同じ傾斜角(例えば60度)であれば、偏心していない場合に比べてより高く処理対象物Tを持ち上げることができ、衣類処理装置1内の限られたスペースをより有効に活用できる。
The working plate 410 is fixed to the rotating shaft 421 so that the longitudinal direction of the working plate 410 , that is, the two edges of the long sides are parallel to the rotating shaft 421 . This facilitates processing with both edges. In addition, as shown in FIG. 7 , the work plate 410 may be arranged eccentrically with respect to the rotating shaft 421 . In this case, the distance from the rotating shaft 421 to the edge of the working plate 410 is different for each edge. As a result, for example, by bringing the processing object T into contact with the edge on the side with the longer distance from the rotating shaft 421, if the same width and the same inclination angle (for example, 60 degrees) The object to be processed T can be lifted higher by using the upper arm, and the limited space in the clothes processing apparatus 1 can be used more effectively.
なお、図1及び図7に示すように、作業板410の角部を面取りする代わりに、作業板410の左右端面に側端板411が設けられてもよい。側端板411は、作業板410の長手方向両端に作業板410に対して直角に設けられ、角部を面取りされた平板である。これにより、側端板411は、作業板410の角部を覆うとともに、自身も丸みを帯びることにより、作業板410に角をなくし、処理対象物Tが引っ掛かる不具合をより抑制できる。さらに、作業板410の長辺縁部の直線部分を長くして作業性を向上できるとともに、処理対象物Tが作業板410の伝動部440にまで飛び出して不具合が発生することを抑制できる。
Note that, as shown in FIGS. 1 and 7, side end plates 411 may be provided on the left and right end surfaces of the work plate 410 instead of chamfering the corners of the work plate 410 . The side end plates 411 are flat plates provided at both longitudinal ends of the working plate 410 at right angles to the working plate 410 and having chamfered corners. As a result, the side end plate 411 covers the corners of the work plate 410 and is also rounded, thereby eliminating the corners of the work plate 410 and further suppressing the problem of the object T being caught. Further, the workability can be improved by lengthening the straight portion of the long side edge of the work plate 410, and the problem caused by the processing object T jumping out to the transmission portion 440 of the work plate 410 can be suppressed.
また、処理対象物Tの処理中、作業板410の作業平面及び縁部において、処理対象物Tを滑らせたいとき、又は、滑らせたくないとき、の両方がある。このような場合に備えて、裏表ある作業平面の一方を滑りやすい面に形成し、他方を滑りにくい面に形成してもよい。また、2つある長辺の縁部の一方を滑りやすい縁部に形成し、他方を滑りにくい縁部に形成してもよい。これらを使い分けることにより、処理対象物Tを自在に処理できる。
In addition, during processing of the processing object T, there are times when it is desired to slide the processing object T on the work plane and edges of the work plate 410 and times when it is not desired to slide the processing object T. In preparation for such a case, one of the two-sided work planes may be formed as a slippery surface and the other as a non-slip surface. Alternatively, one of the two long side edges may be formed as a slippery edge and the other may be formed as a non-slippery edge. By properly using these, the processing object T can be freely processed.
あるいは、作業平面及び縁部のいずれにおいても、滑り止めとなる突起部が出没自在の構成としてもよい。これにより、滑らせたいときには突起部が没入し、滑らせたくないときには突起部が突出して処理対象物Tを係止すれば、処理対象物Tを自在に処理できる。
Alternatively, it may be configured such that the protrusions that serve as anti-slip parts can appear and retract freely on both the work plane and the edge. As a result, the object to be treated T can be freely treated by retracting the protrusion when the object is to be slid, and protruding to lock the object T when the object is not to be slid.
さらに、作業板410の作業平面又は縁部において、上記した滑り止めとなるような突起部が、左右に移動するように構成されてもよい。これにより、作業板410上の処理対象物Tを移動させることができる。また、左右に分離して構成される突起部が、それぞれ外側に移動するように構成されてもよい。これにより、作業板410上で皺になった処理対象物Tを広げることができる。
Furthermore, the above-described non-slip protrusions may be configured to move left and right on the work plane or edge of the work plate 410 . Thereby, the processing target T on the work plate 410 can be moved. Moreover, the protrusions configured separately on the left and right sides may be configured to move outward. Thereby, the wrinkled processing object T on the work plate 410 can be spread out.
<作業板装置400の駆動部>
回転駆動部420及び走行駆動部430は、図示しないが、いずれも上述した保持部310の駆動部のように、モータ、減速ギヤ、トルクリミッタ、及びトルクセンサ等の駆動機構を組み合わせ、適切な回転速度又は移動速度になるように構成される。 <Driving Unit ofWork Plate Device 400>
Although not shown, therotation drive unit 420 and the travel drive unit 430 combine drive mechanisms such as a motor, a reduction gear, a torque limiter, and a torque sensor, like the drive unit of the holding unit 310 described above, to perform appropriate rotation. It is configured to be a speed or travel speed.
回転駆動部420及び走行駆動部430は、図示しないが、いずれも上述した保持部310の駆動部のように、モータ、減速ギヤ、トルクリミッタ、及びトルクセンサ等の駆動機構を組み合わせ、適切な回転速度又は移動速度になるように構成される。 <Driving Unit of
Although not shown, the
回転駆動部420の回転用モータ422は、右側に設けられる。回転駆動部420の回転軸421は、中空構造であり、内部空間に走行駆動部430の伝動シャフト431が貫通して設けられる。作業板410を回転させる回転軸421は、回転位置検出センサ(図示せず)が設けられ、いずれの方向にも無限に回転できるように構成される。作業板410の向きを初期化する原点設定構成は、特に限られないが、例えば、図7に示すように、筐体100内の下部に初期化機構450が設けられ、回転軸421などの回転部の円周の所定位置に突起部が設けられ、所定のタイミングでリンク等の構成により突起部により作業板410の回転を係止することにより行われてもよい。
The rotation motor 422 of the rotation drive unit 420 is provided on the right side. The rotation shaft 421 of the rotation drive unit 420 has a hollow structure, and the transmission shaft 431 of the traveling drive unit 430 is provided through the inner space. A rotating shaft 421 that rotates the work plate 410 is provided with a rotation position detection sensor (not shown) and configured to be infinitely rotatable in any direction. Although the origin setting configuration for initializing the orientation of the work plate 410 is not particularly limited, for example, as shown in FIG. A protrusion may be provided at a predetermined position on the circumference of the portion, and the rotation of the working plate 410 may be stopped by the protrusion at a predetermined timing by means of a structure such as a link.
走行駆動部430の駆動機構は、左右に設けられる。走行駆動部430は、詳細は図示しないが、左側に設けられた走行用モータ432から伝動部440に設けられるベルト及び伝動シャフト431を介して右側にも駆動力を伝達し、左右に設けられる走行ギヤを駆動する。そして、左右のアンバランスが発生しないようにして作業板410を上下に移動させる。また、走行位置検出センサが走行駆動部430に設けられる。
The drive mechanism of the travel drive unit 430 is provided on the left and right. Although not shown in detail, the travel drive unit 430 transmits driving force from a travel motor 432 provided on the left side to the right side through a belt and a transmission shaft 431 provided in the transmission unit 440, drive the gear. Then, the work plate 410 is moved up and down so as not to cause left-right imbalance. A travel position detection sensor is provided in the travel drive unit 430 .
作業板装置400は、保持装置300の動きと連動して動作するように制御される。制御装置900は、例えば、処理対象物Tの種類を認識する認識処理の際に、保持装置300に保持され下方向Z2に垂れ下がる処理対象物Tを、所定の向きに回転させた作業板410の表面又は縁部にまたがるように載置する。そして、処理対象物Tの一端を水平方向に引っ張って変位させて処理対象物Tを衣類処理装置1の底面から離間させつつその上下方向の長さを小さくする。これにより、大きな処理対象物Tであっても保持装置300によって持ち上げて、作業板装置400と協働して処理対象物Tの最下端を受入部200の底面から離して、保持することができる。また、処理対象物Tを保持装置300のみで上方向Z1に持ち上げるだけの場合に比べ、衣類処理装置1の高さ寸法を小さくすることができる。また、作業板装置400は、処理対象物Tを折り畳む折畳処理の際に、作業板410の縁部に処理対象物Tを引っ掛けることで、処理対象物Tに折り畳み線を設定できる。
The work plate device 400 is controlled to operate in conjunction with the movement of the holding device 300. For example, during recognition processing for recognizing the type of the processing object T, the control device 900 rotates the processing object T, which is held by the holding device 300 and hangs down in the downward direction Z2, in a predetermined direction. Place it across the surface or edge. Then, one end of the object T to be treated is pulled and displaced in the horizontal direction so that the object T to be treated is separated from the bottom surface of the clothes processing apparatus 1 and its length in the vertical direction is reduced. As a result, even a large object to be processed T can be lifted by the holding device 300 and held in cooperation with the work plate device 400 so that the bottom end of the object to be processed T is separated from the bottom surface of the receiving part 200. . In addition, the height dimension of the clothes processing apparatus 1 can be reduced compared to the case where the object T to be processed is lifted in the upward direction Z1 only by the holding device 300. FIG. In addition, the work plate device 400 can set folding lines on the processing object T by hooking the processing object T on the edge of the work plate 410 during the folding process of folding the processing object T. FIG.
[1-1-4.撮像装置の構成]
撮像装置500は、処理対象物Tを受け入れた後の掴み処理、認識処理及び折り畳み処理する際に、当該処理対象物Tの端点等を検出する装置である。図2及び図3に示すように、撮像装置500は、第1撮像部510と、第2撮像部520と、第3撮像部530と、を含む。第1撮像部510及び第2撮像部520は、例えばデジタルスチルカメラが使用され、端点検出や、処理対象物Tの種類の判別などに使用される。第3撮像部530は、例えばステレオカメラが使用され、端点検出のための奥行き方向の距離や処理対象物Tの幅を測定するために使用される。いずれの撮像部も正面内壁側のフレームに設けられ、レンズの向きは後方向Y2である。 [1-1-4. Configuration of imaging device]
Theimaging device 500 is a device that detects end points and the like of the processing object T when the processing object T is received and then subjected to gripping processing, recognition processing, and folding processing. As shown in FIGS. 2 and 3, the imaging device 500 includes a first imaging section 510, a second imaging section 520, and a third imaging section 530. FIG. The first imaging unit 510 and the second imaging unit 520 are, for example, digital still cameras, and are used for end point detection, discrimination of the type of the object T to be processed, and the like. The third imaging unit 530 uses, for example, a stereo camera, and is used to measure the distance in the depth direction and the width of the processing object T for edge point detection. Both imaging units are provided on the frame on the front inner wall side, and the orientation of the lens is the rearward direction Y2.
撮像装置500は、処理対象物Tを受け入れた後の掴み処理、認識処理及び折り畳み処理する際に、当該処理対象物Tの端点等を検出する装置である。図2及び図3に示すように、撮像装置500は、第1撮像部510と、第2撮像部520と、第3撮像部530と、を含む。第1撮像部510及び第2撮像部520は、例えばデジタルスチルカメラが使用され、端点検出や、処理対象物Tの種類の判別などに使用される。第3撮像部530は、例えばステレオカメラが使用され、端点検出のための奥行き方向の距離や処理対象物Tの幅を測定するために使用される。いずれの撮像部も正面内壁側のフレームに設けられ、レンズの向きは後方向Y2である。 [1-1-4. Configuration of imaging device]
The
第1撮像部510及び第2撮像部520のデジタルスチルカメラのレンズとして、広角レンズを使用してもよい。この場合、第1撮像部510及び第2撮像部520の視野が広がるので、1つの撮像部でより大きな処理対象物Tを撮像できる。また、レンズとして可変焦点レンズを用いて処理対象物Tを任意の倍率で撮像するようにしてもよい。この場合、低倍率で広い視野を確保することができるとともに、必要に応じて高倍率の拡大撮影が可能となり、第1撮像部510又は第2撮像部520によって、処理対象物Tの織り目状態から処理対象物Tの材質を検知することができる。処理対象物Tの材質を把握できれば、その材質に適した把持や折り畳み等も可能になる。
A wide-angle lens may be used as the digital still camera lens of the first imaging unit 510 and the second imaging unit 520 . In this case, since the fields of view of the first imaging unit 510 and the second imaging unit 520 are widened, a larger processing object T can be imaged by one imaging unit. Alternatively, a varifocal lens may be used as the lens to image the processing object T at an arbitrary magnification. In this case, a wide field of view can be secured at a low magnification, and high-magnification magnified photography is possible as necessary. The material of the processing object T can be detected. If the material of the object T to be processed can be grasped, gripping, folding, or the like suitable for the material becomes possible.
図8は、各撮像部の撮像範囲の一例を示す図である。第1撮像部510は、受入部200の少し上方に設けられ、レンズの向きは斜めの下方向Z2である。具体的には、第1撮像部510は、A11~A12の範囲を撮像可能である。つまり、第1撮像部510は、受入部200に入れられた処理対象物Tを撮像する。この処理対象物Tの画像データは、例えば、初めの衣類の掴み上げのための画像データを取得するために使われたり、また折り畳みの進捗をチェックするために用いられたりする。
FIG. 8 is a diagram showing an example of an imaging range of each imaging unit. The first imaging unit 510 is provided slightly above the receiving unit 200, and the orientation of the lens is the oblique downward direction Z2. Specifically, the first imaging unit 510 can image the range from A11 to A12. That is, the first imaging unit 510 images the processing object T received in the receiving unit 200 . The image data of the object to be processed T is used, for example, to obtain image data for picking up the first garment, or to check the progress of folding.
第2撮像部520は、正面の中央部近傍に設けられ、A21~A22の撮像範囲を有する。図8に示すように、A21~A22の撮像範囲は広く、例えば衣類処理装置1内の天井から底までの範囲にある処理対象物Tを撮像する。第2撮像部520は、例えば、展開時及び折り畳み時の処理対象物Tを撮像する。撮像された画像データは、処理対象物Tの種類又は部位等の判別において、処理対象物Tを照合するための画像を撮像するために用いられる。
The second imaging unit 520 is provided near the center of the front and has an imaging range of A21 to A22. As shown in FIG. 8, the imaging range of A21 to A22 is wide, and for example, an object to be processed T in the range from the ceiling to the bottom inside the clothing processing apparatus 1 is imaged. The second imaging unit 520, for example, images the processing object T when it is unfolded and when it is folded. The captured image data is used to capture an image for collating the processing object T in determining the type, part, or the like of the processing object T. FIG.
第3撮像部530は、第1撮像部510と第2撮像部520との間に設けられ、A31~A32の撮像範囲を有する。第3撮像部530は、例えば左右に並んだ2つのレンズを有するステレオカメラであり、処理対象物Tの奥行き方向の距離を測定するために用いられる。第3撮像部530により撮像された画像データは、折り畳み中の最下点や衣類幅等の測距データを取得するために用いられてもよい。第3撮像部530の撮像範囲A31~A32には、作業板410が含まれる。
The third imaging section 530 is provided between the first imaging section 510 and the second imaging section 520, and has an imaging range of A31 to A32. The third imaging unit 530 is, for example, a stereo camera having two lenses arranged side by side, and is used to measure the distance of the object T to be processed in the depth direction. The image data captured by the third imaging unit 530 may be used to acquire distance measurement data such as the lowest point during folding and the clothing width. The working plate 410 is included in the imaging range A31 to A32 of the third imaging section 530 .
なお、デジタルスチルカメラのイメージセンサとしては、例えば、モノクロ又はカラーのCCD又はCMOSを用いることができる。カラーのCCD又はCMOSを用いた場合は、処理対象物Tの認識工程において、処理対象物Tの「色」を認識の判断ための一要素として用いることができる。また、第3撮像部530は、ステレオカメラに代えて、赤外線カメラを用いて距離データを取得してもよい。
As an image sensor for a digital still camera, for example, a monochrome or color CCD or CMOS can be used. When a color CCD or CMOS is used, the "color" of the processing object T can be used as one factor for recognition judgment in the process of recognizing the processing object T. FIG. Also, the third imaging unit 530 may acquire distance data using an infrared camera instead of the stereo camera.
また、撮像装置500は、座標系を安定させるため移動可能ではないが、これに限られるものではない。例えば、いくつかの撮像部は保持部310に設けられ、適宜、位置および角度を変えて、処理対象物Tを撮像できるように構成されてもよい。これにより、制御装置900は、必要に応じて撮像部の位置を変えて必要とする画像データを取得し、処理対象物Tについて、より詳細に認識することができる。
Also, the imaging device 500 is not movable in order to stabilize the coordinate system, but is not limited to this. For example, some imaging units may be provided in the holding unit 310 and may be configured to be able to image the processing object T by appropriately changing the position and angle. As a result, the control device 900 can change the position of the imaging unit as necessary, acquire necessary image data, and recognize the object T to be processed in more detail.
<ホコリの除去装置>
図示しないが、衣類処理装置1の筐体内で舞うホコリ等がレンズに付着し、積層することを抑制するために、第1撮像部510、第2撮像部520、及び第3撮像部530のいずれか又は複数のカメラのレンズを斜めの下方向Z2に向けたり、レンズ前方にレンズカバーを設けたりしてもよい。 <Dust remover>
Although not shown, any one of thefirst imaging unit 510, the second imaging unit 520, and the third imaging unit 530 is provided in order to prevent dust, etc., floating in the housing of the clothing processing apparatus 1 from adhering to the lens and stacking. Alternatively, the lenses of a plurality of cameras may be directed obliquely downward Z2, or a lens cover may be provided in front of the lenses.
図示しないが、衣類処理装置1の筐体内で舞うホコリ等がレンズに付着し、積層することを抑制するために、第1撮像部510、第2撮像部520、及び第3撮像部530のいずれか又は複数のカメラのレンズを斜めの下方向Z2に向けたり、レンズ前方にレンズカバーを設けたりしてもよい。 <Dust remover>
Although not shown, any one of the
さらに、これらのレンズ又はレンズカバーに付着したホコリを除去する除去装置が設けられてもよい。除去装置は、特に限られないが、例えば、レンズ又はレンズカバーを布類又は刷毛等で拭うワイパーでもよいし、ホコリを風で吹き飛ばすブロアでもよい。これにより、衣類処理装置1の筐体内で舞うホコリ等がレンズ又はレンズカバーに付着し、積層することをより抑制できる。特に、このような除去装置を頻繁に作動させることが望ましい。なお、ワイパーの一例として、処理対象物Tを処理するたびに、処理対象物Tが少なくとも1回はレンズ又はレンズカバーに触れるように構成されてもよい。これにより、常にレンズ又はレンズカバーへのホコリの付着が抑制され、きれいな画像を取得できる。
Furthermore, a removal device may be provided to remove dust adhering to these lenses or lens covers. The removing device is not particularly limited, but may be, for example, a wiper for wiping the lens or lens cover with cloth or a brush, or a blower for blowing off dust. As a result, it is possible to further prevent dust or the like that floats within the housing of the clothing processing apparatus 1 from adhering to the lens or the lens cover and stacking. In particular, it is desirable to operate such removal devices frequently. As an example of the wiper, each time the processing target T is processed, the processing target T may be configured to touch the lens or the lens cover at least once. As a result, the adhesion of dust to the lens or lens cover is always suppressed, and a clear image can be obtained.
[1-1-5.その他の主要構成]
<支持部600>
支持部600は、処理対象物Tの折り畳みの際に、折り畳みラインを押さえておいたり、処理対象物Tの皺を伸ばしたりなど、処理対象物Tを支持する壁面である。例えば、支持部600は、作業板410の前方に設けられる正面側支持部610及び後方に設けられる背面側支持部620のうち少なくともいずれか一方を含む。例えば、図9に示すように、折り畳みの際に、作業板410は、保持部310に保持されて垂れ下がった処理対象物Tを、その折り畳み線に沿うように、作業板410の前縁部と正面側支持部610とで挟んでホールドする。そして、保持部310が処理対象物Tを作業板410に掛けるように移動する。これにより、処理対象物Tは、作業板410の縁部を軸にして折り畳まれるため、折り畳み線で適切に折り畳むことができる。 [1-1-5. Other major components]
<Support portion 600>
Thesupport part 600 is a wall surface that supports the object T to be processed, such as holding down the folding line and smoothing wrinkles of the object T when the object T is folded. For example, the support part 600 includes at least one of a front side support part 610 provided in front of the working plate 410 and a rear side support part 620 provided in the rear thereof. For example, as shown in FIG. 9, when folding, the work plate 410 holds the suspended processing object T held by the holding portion 310 and folds it along the folding line. It is sandwiched and held with the front side support portion 610 . Then, the holding part 310 moves so as to hang the processing object T on the working plate 410 . As a result, the processing target T can be folded around the edge of the work plate 410, so that it can be folded appropriately along the folding lines.
<支持部600>
支持部600は、処理対象物Tの折り畳みの際に、折り畳みラインを押さえておいたり、処理対象物Tの皺を伸ばしたりなど、処理対象物Tを支持する壁面である。例えば、支持部600は、作業板410の前方に設けられる正面側支持部610及び後方に設けられる背面側支持部620のうち少なくともいずれか一方を含む。例えば、図9に示すように、折り畳みの際に、作業板410は、保持部310に保持されて垂れ下がった処理対象物Tを、その折り畳み線に沿うように、作業板410の前縁部と正面側支持部610とで挟んでホールドする。そして、保持部310が処理対象物Tを作業板410に掛けるように移動する。これにより、処理対象物Tは、作業板410の縁部を軸にして折り畳まれるため、折り畳み線で適切に折り畳むことができる。 [1-1-5. Other major components]
<
The
なお、支持部600は、衣類処理装置1で処理できる処理対象物Tの大きさを見極めておき、それに応じた大きさの正面側支持部610及び背面側支持部620が所定の高さ位置に設けられてもよい。あるいは、支持部600は、高さ方向の移動機構を備え、上下に移動できるように構成されてもよい。これにより、処理対象物Tの長さ又は折り畳み線の位置に対して、より柔軟に対応できる。
In addition, the support part 600 determines the size of the object T that can be processed by the clothes processing apparatus 1, and the front side support part 610 and the back side support part 620 of the corresponding size are positioned at a predetermined height. may be provided. Alternatively, the support section 600 may be configured to have a mechanism for moving in the height direction so that it can move up and down. Thereby, the length of the object to be processed T or the position of the folding line can be handled more flexibly.
<収納装置700>
収納装置700は、処理された処理対象物Tを保持装置300から受け取って収納する。収納装置700は、図1、図10A及び図10Bに示されるように、複数の収納部710、及び、処理対象物Tを受け取り各収納部710に格納する運搬部720を含む。収納装置700は、受入部200及び保持装置300などが収納される処理空間の横に隣接して配設されており、処理空間と収納装置700とを合わせて、衣類処理装置1が構成される。 <Storage device 700>
Thestorage device 700 receives and stores the processed processing object T from the holding device 300 . The storage device 700 includes a plurality of storage units 710 and a transport unit 720 that receives and stores an object T to be processed in each storage unit 710, as shown in FIGS. 1, 10A and 10B. The storage device 700 is arranged adjacent to the processing space in which the receiving part 200 and the holding device 300 are stored. .
収納装置700は、処理された処理対象物Tを保持装置300から受け取って収納する。収納装置700は、図1、図10A及び図10Bに示されるように、複数の収納部710、及び、処理対象物Tを受け取り各収納部710に格納する運搬部720を含む。収納装置700は、受入部200及び保持装置300などが収納される処理空間の横に隣接して配設されており、処理空間と収納装置700とを合わせて、衣類処理装置1が構成される。 <
The
本実施の形態において、図2に示すように、収納装置700は、5つの収納部710を高さ方向に配列して備える。収納の機構及び動作は、特に限られないが、一例を簡単に説明する。例えば、図10A及び図10Bに示すように、各収納部710に処理対象物Tを運ぶ運搬部720を備えてもよい。運搬部720は、図示しない移動装置を含み、処理対象物Tの折り畳みなどの処理中は、処理空間内の壁際に格納される。
In the present embodiment, as shown in FIG. 2, the storage device 700 includes five storage sections 710 arranged in the height direction. Although the storage mechanism and operation are not particularly limited, an example will be briefly described. For example, as shown in FIGS. 10A and 10B, each container 710 may be provided with a transporter 720 that transports the object T to be processed. The transportation unit 720 includes a moving device (not shown), and is stored near the wall in the processing space during processing such as folding of the processing target T. As shown in FIG.
図10Aに示すように、運搬部720は、3枚の挟持板721a、721b、721c(これらを総称して「挟持板721」という)と、レール722a、722bと、連結部723a、723bと、回転軸724と、蝶番725とを備える。レール722aは、挟持板721a及び721bを水平方向に一体的に摺動させる。レール722bは、挟持板721cを水平方向に摺動させる。連結部723aは、挟持板721aと挟持板721bとを連結する。連結部723bは、挟持板721a及び721bと挟持板721cとを連結する。連結部723bにより挟持板721a及び721bと挟持板721cとが連結されているときは、3枚の挟持板721が一体的に移動する。連結部723bによる連結が解除されているときは、挟持板721a及び721bと挟持板721cとは独立して移動する。回転軸724は、挟持板721の長手方向に平行に設けられる。蝶番725は、回転軸724の周りで3枚の挟持板721を回転させる。
As shown in FIG. 10A, the transport section 720 includes three clamping plates 721a, 721b, and 721c (collectively referred to as the clamping plates 721), rails 722a and 722b, connecting portions 723a and 723b, A rotating shaft 724 and a hinge 725 are provided. The rail 722a allows the clamping plates 721a and 721b to slide integrally in the horizontal direction. The rail 722b allows the clamping plate 721c to slide horizontally. The connecting portion 723a connects the clamping plate 721a and the clamping plate 721b. The connecting portion 723b connects the clamping plates 721a and 721b and the clamping plate 721c. When the holding plates 721a and 721b and the holding plate 721c are connected by the connecting portion 723b, the three holding plates 721 move together. When the connection by the connecting portion 723b is released, the clamping plates 721a and 721b and the clamping plate 721c move independently. The rotating shaft 724 is provided parallel to the longitudinal direction of the clamping plate 721 . A hinge 725 rotates the three clamping plates 721 around a rotation axis 724 .
図10Aは、折り畳まれた処理対象物Tを挟持板721で挟持する手順を示す。まず、挟持板721を回転させて垂直に立てる。処理対象物Tを保持部310で保持し、挟持板721の直上から挟持板721bと挟持板721cの間に挿入する。挟持板721bは、連結部723aを軸として回転可能に設けられている。これにより、処理対象物Tの厚みに応じて挟持板721bと挟持板721cとの間の隙間を増減させることができるので、様々な厚みの処理対象物Tを適切に保持することができる。挟持板721bは、挟持板721cとの間の隙間を閉じる方向に付勢されている。これにより、挟持板721bと挟持板721cとの間に処理対象物Tを適度な力で挟持することができる。処理対象物Tが挟持板721bと挟持板721cとの間に挟持されると、挟持板721を回転させて水平に戻す。
FIG. 10A shows a procedure for sandwiching the folded processing object T between the sandwiching plates 721. FIG. First, the clamping plate 721 is rotated to stand vertically. The object to be processed T is held by the holding part 310 and inserted between the holding plate 721b and the holding plate 721c from directly above the holding plate 721 . The clamping plate 721b is provided rotatably around the connecting portion 723a. Accordingly, the gap between the clamping plates 721b and 721c can be increased or decreased according to the thickness of the processing target T, so that processing targets T of various thicknesses can be appropriately held. The holding plate 721b is urged in a direction to close the gap with the holding plate 721c. As a result, the object to be processed T can be held between the holding plate 721b and the holding plate 721c with an appropriate force. When the object T to be processed is sandwiched between the sandwiching plate 721b and the sandwiching plate 721c, the sandwiching plate 721 is rotated and returned to the horizontal position.
図10Bは、挟持板721に挟持された処理対象物Tを収納部710に収納する手順を示す。各収納部710は、その処理空間側の側面に上部で支持され重力で閉じるドア711を有する。運搬部720は、制御装置900による仕分けの指示に従って、所定の収納部710のドア711を押し開けて収納部710の内部に進入する。そして、運搬部720は、下側の挟持板721の進入前側を開放して処理対象物Tを滑り落とし、処理対象物Tを収納部710の底に載置しつつ、挟持板721を閉じながら退出する。
FIG. 10B shows a procedure for storing the processing object T sandwiched between the sandwiching plates 721 in the storage section 710. FIG. Each storage unit 710 has a door 711 that is supported at the top on the side surface on the processing space side and closed by gravity. The transporter 720 pushes open the door 711 of the predetermined storage section 710 and enters the storage section 710 according to the sorting instruction from the control device 900 . Then, the transporting part 720 opens the front side of the lower clamping plate 721 to slide down the processing object T, places the processing target T on the bottom of the storage unit 710, and closes the clamping plate 721. exit.
なお、上記のように収納部710の側面にドア711が設けられるのではなく、複数の収納部710が個別に上下して、所定の収納部710の上部に運搬部720が進入できる空間が設けられるように構成されてもよい。また、挟持板721は、観音開き構成で下向きに開閉する構成でもよい。あるいは、図10Bの最下段に示すように、挟持板721cが水平方向に勢いよく引き抜かれる構成でもよい。この場合、連結部723による連結が解除され、挟持板721a及び721bは収納部710の内部に残り、挟持板721cのみが収納部710の外部に引き抜かれてもよい。処理対象物Tが挟持板721cとともに移動することなく収納部710の内部に落ちやすくするために、挟持板721bの挟持面は処理対象物Tが滑りにくく、挟持板721cの挟持面は処理対象物Tが滑りやすいように構成されてもよい。これらの構成であれば、1つの収納部710に複数の処理対象物Tをきれいに積み重ねることができる。さらに、所定の収納部710が処理空間に引き込まれ、保持部310が処理対象物Tを直接収納するように構成されてもよい。
In addition, instead of providing the door 711 on the side surface of the storage portion 710 as described above, a plurality of storage portions 710 move up and down individually, and a space is provided above a predetermined storage portion 710 so that the carrying portion 720 can enter. may be configured to be Also, the clamping plate 721 may be configured to open and close downward in a double-door configuration. Alternatively, as shown in the lowermost part of FIG. 10B, a structure in which the clamping plate 721c is vigorously pulled out in the horizontal direction may be used. In this case, the connection by the connecting portion 723 may be released, the clamping plates 721 a and 721 b may remain inside the storage portion 710 , and only the clamping plate 721 c may be pulled out of the storage portion 710 . In order to make it easier for the processing object T to fall into the storage unit 710 without moving together with the clamping plate 721c, the clamping surface of the clamping plate 721b prevents the processing target T from slipping, and the clamping surface of the clamping plate 721c prevents the processing target T from slipping. The T may be configured to be slippery. With these configurations, a plurality of processing objects T can be neatly stacked in one storage unit 710 . Furthermore, a predetermined storage section 710 may be drawn into the processing space, and the holding section 310 may be configured to store the processing target T directly.
<制御装置900>
制御装置900は、衣類処理装置1における各部の制御を統括する。制御装置900は、主として、ROM、RAM、演算装置、及び入出力インターフェイスから構成される。ROMには、オペレーティングシステム、衣類処理装置1の各部を制御するための制御プログラム、及び、制御プログラムの実行に必要なデータが格納されている。また、演算装置は、ROMに格納されている制御プログラムをRAMにロードしたり、ROMから直接実行したりするために設けられる。つまり、制御装置900は、演算装置が制御プログラムを実行することにより、衣類処理装置1を制御できる。そして、演算装置が処理したデータは、入出力インターフェイスを介して、衣類処理装置1の各部(保持装置300、作業板装置400等)へ送信される。演算装置の処理に必要なデータは、衣類処理装置1の各部(撮像装置500等)から入出力インターフェイスを介して受信される。 <Control device 900>
Thecontrol device 900 supervises the control of each section in the clothing processing apparatus 1 . The control device 900 is mainly composed of a ROM, a RAM, an arithmetic unit, and an input/output interface. The ROM stores an operating system, a control program for controlling each part of the clothes processing apparatus 1, and data necessary for executing the control program. Further, the arithmetic unit is provided for loading the control program stored in the ROM into the RAM or executing it directly from the ROM. In other words, the control device 900 can control the clothes processing device 1 by the execution of the control program by the arithmetic device. The data processed by the arithmetic device is transmitted to each part (holding device 300, work plate device 400, etc.) of the clothes processing apparatus 1 via the input/output interface. Data required for processing by the arithmetic unit is received from each unit (such as the imaging device 500) of the clothing processing apparatus 1 via an input/output interface.
制御装置900は、衣類処理装置1における各部の制御を統括する。制御装置900は、主として、ROM、RAM、演算装置、及び入出力インターフェイスから構成される。ROMには、オペレーティングシステム、衣類処理装置1の各部を制御するための制御プログラム、及び、制御プログラムの実行に必要なデータが格納されている。また、演算装置は、ROMに格納されている制御プログラムをRAMにロードしたり、ROMから直接実行したりするために設けられる。つまり、制御装置900は、演算装置が制御プログラムを実行することにより、衣類処理装置1を制御できる。そして、演算装置が処理したデータは、入出力インターフェイスを介して、衣類処理装置1の各部(保持装置300、作業板装置400等)へ送信される。演算装置の処理に必要なデータは、衣類処理装置1の各部(撮像装置500等)から入出力インターフェイスを介して受信される。 <
The
図11に示すように、制御装置900は、保持装置制御部901、作業板装置制御部902、撮像装置制御部903、収納装置制御部904、種類認識部910、部位検出部911、長さ検出部912、ずれ補正部913、特異事象検出部914、第1点検出部915、第2点検出部916、端点検出部917、を備える。
As shown in FIG. 11, the control device 900 includes a holding device control section 901, a work plate device control section 902, an imaging device control section 903, a storage device control section 904, a type recognition section 910, a part detection section 911, a length detection section 911, and a length detection section. It includes a unit 912 , a deviation correction unit 913 , a singular event detection unit 914 , a first point detection unit 915 , a second point detection unit 916 and an end point detection unit 917 .
保持装置制御部901は、保持装置300における保持部310、及びそれぞれの移動機構320の動作を制御する。つまり、保持装置制御部901が、保持部310における各種モータを制御することにより、Hand部315の向きを調節、及び、対向するフィンガ315aを互いに近接又は離間させ、処理対象物Tの把持又はその開放を行う。また、保持装置制御部901が移動機構320における幅方向移動機構330の動作を制御することにより、保持部310が幅方向(X方向)に移動する。また、保持装置制御部901が移動機構320における高さ方向移動機構340の動作を制御することにより、保持部310が高さ方向(Z方向)に移動する。また、保持装置制御部901が移動機構320における奥行き方向移動機構350の動作を制御することにより、保持部310が奥行き方向(Y方向)に移動する。
The holding device control section 901 controls the operation of the holding section 310 and the movement mechanisms 320 of the holding device 300 . In other words, the holding device control unit 901 controls various motors in the holding unit 310 to adjust the orientation of the hand unit 315, move the opposing fingers 315a toward or away from each other, and grip the object T or hold it. Open up. Further, the holding device control section 901 controls the operation of the width direction moving mechanism 330 in the moving mechanism 320, so that the holding section 310 moves in the width direction (X direction). Further, the holding device control section 901 controls the operation of the height direction moving mechanism 340 in the moving mechanism 320, so that the holding section 310 moves in the height direction (Z direction). Further, the holding device control section 901 controls the operation of the depth direction moving mechanism 350 in the moving mechanism 320, so that the holding section 310 moves in the depth direction (Y direction).
作業板装置制御部902は、作業板装置400における回転駆動部420及び走行駆動部430の動作を制御する。つまり、作業板装置制御部902が回転駆動部420の動作を制御することにより、作業板410が回転するとともに所定の角度を保持する。また、作業板装置制御部902が走行駆動部430の動作を制御することにより、作業板410が高さ方向(Z方向)に移動する。
The work plate device control section 902 controls the operations of the rotation drive section 420 and the travel drive section 430 in the work plate device 400 . In other words, the work plate device control section 902 controls the operation of the rotation drive section 420 so that the work plate 410 rotates and maintains a predetermined angle. In addition, the work plate device control section 902 controls the operation of the traveling drive section 430 to move the work plate 410 in the height direction (Z direction).
撮像装置制御部903は、撮像装置500における第1撮像部510、第2撮像部520、及び第3撮像部530の動作を制御する。つまり、撮像装置制御部903が第1撮像部510、第2撮像部520、及び第3撮像部530を制御することにより、所望のタイミングでデジタル画像を取得できる。取得された画像データは、RAM等に記憶される。
The imaging device control unit 903 controls operations of the first imaging unit 510 , the second imaging unit 520 , and the third imaging unit 530 in the imaging device 500 . That is, by controlling the first imaging unit 510, the second imaging unit 520, and the third imaging unit 530 by the imaging device control unit 903, digital images can be acquired at desired timing. The acquired image data is stored in RAM or the like.
収納装置制御部904は、収納装置700における運搬部720の動作を制御する。
The storage device control section 904 controls the operation of the transport section 720 in the storage device 700 .
種類認識部910は、撮像装置500における第1撮像部510、第2撮像部520、及び第3撮像部530で得られた画像データに基づいて処理対象物Tの種類等を認識する。この種類識別について説明すると、種類認識部910は、予め、Tシャツ、ランニングシャツ、スカート、タオル、ハンカチ、フィルム、紙、あるいは、シートといった多種多様な処理対象物Tの画像データ(学習用画像データ)から抽出された特徴量に基づき、所定の機械学習アルゴリズムを用いて学習する。種類認識部910は、第2撮像部520及び第3撮像部530で得られた画像データに写された、現在処理中の処理対象物Tの特徴量を算出する。そして、種類認識部910は、算出した特徴量毎に機械学習アルゴリズムを用いて当該処理対象物Tがある種類(例えば、Tシャツ、ランニングシャツ、長袖シャツ、ズボン、タオル等)に該当する確率を種類毎にパーセンテージで計算する。然る後、最も確率の高い(すなわち、パーセンテージの高い)ものを当該処理対象物Tの種類として認識する。また、種類認識部910では、処理対象物Tの種類毎に折り畳み方が予め決められており、各種類の折り畳み方が「折り畳み情報」として蓄積されている。
The type recognition unit 910 recognizes the type of the processing object T based on the image data obtained by the first imaging unit 510, the second imaging unit 520, and the third imaging unit 530 in the imaging device 500. To describe this type identification, the type recognition unit 910 preliminarily collects image data (learning image data) of various processing objects T such as T-shirts, running shirts, skirts, towels, handkerchiefs, films, paper, or sheets. ) using a predetermined machine learning algorithm. The type recognition unit 910 calculates the feature amount of the processing object T currently being processed, which is captured in the image data obtained by the second imaging unit 520 and the third imaging unit 530 . Then, the type recognition unit 910 uses a machine learning algorithm to calculate the probability that the processing target T corresponds to a certain type (for example, T-shirt, running shirt, long-sleeved shirt, pants, towel, etc.) for each calculated feature amount. Calculate the percentage for each type. After that, the one with the highest probability (that is, the highest percentage) is recognized as the type of the object T to be processed. In the type recognition unit 910, the folding method is determined in advance for each type of the processing object T, and the folding method for each type is accumulated as "folding information".
部位検出部911は、撮像装置500で得られた画像データに基づいて、処理対象物Tの袖などの特徴的な部位を検出する。
The part detection unit 911 detects characteristic parts such as the sleeves of the object T to be processed based on the image data obtained by the imaging device 500 .
長さ検出部912は、撮像装置500で得られた画像データに基づいて、処理対象物Tの縦方向の長さ(例えば、Tシャツの着丈寸法)及び横方向の長さ(例えば、Tシャツの幅寸法)を得る。
Based on the image data obtained by the imaging device 500, the length detection unit 912 detects the vertical length (for example, the length of a T-shirt) and the horizontal length (for example, the length of a T-shirt) of the object T to be processed. width).
ずれ補正部913は、処理対象物Tが作業板410に掛けられている状態で、処理対象物Tのずれを補正する。例えば、処理対象物Tが作業板410に掛けられている状態で、作業板410の長手方向(X方向)の縁と、処理対象物TのX方向の縁とが略平行でない場合、ずれが生じている。このとき、ずれ補正部913は、作業板410の長手方向(X方向)の縁と、処理対象物TのX方向の縁とが略平行になるようにずれ補正を行う。
The deviation correction unit 913 corrects the deviation of the processing object T while the processing object T is hung on the work plate 410 . For example, in a state where the processing object T is hung on the work plate 410, if the edge in the longitudinal direction (X direction) of the work plate 410 and the edge in the X direction of the processing object T are not substantially parallel, the misalignment occurs. is occurring. At this time, the deviation correction unit 913 performs deviation correction so that the edge of the work plate 410 in the longitudinal direction (X direction) and the edge of the object T in the X direction are substantially parallel to each other.
特異事象検出部914は、撮像装置500で得られた画像データに基づいて、処理対象物Tの折り畳み方法に影響する異常な事象を検出する。つまり、処理対象物Tの特異事象とは、袖及び裾などが意図せずに折り重なったりねじれたりした状態、処理対象物Tが想定以上に厚い状態、折り畳み途中で一部がはみ出た状態、紐などの付属的なものが垂れた状態、などを含む。
The peculiar event detection unit 914 detects an abnormal event that affects the folding method of the processing object T based on the image data obtained by the imaging device 500 . In other words, the peculiar phenomena of the processing object T include the state in which the sleeves and hem are unintentionally folded or twisted, the state in which the processing object T is thicker than expected, the state in which a part protrudes during folding, the string Including the state in which ancillary things such as hanging down.
第1点検出部915は、受入部200における底面に載置された処理対象物Tの任意の点を検出する。例えば、第1点検出部915は、処理対象物Tの最も高い位置を第1点P1として検出する。
The first point detection section 915 detects an arbitrary point on the processing object T placed on the bottom surface of the receiving section 200 . For example, the first point detection unit 915 detects the highest position of the processing target T as the first point P1.
第2点検出部916は、保持部310が保持する処理対象物Tに対し、端点以外の任意の点を特定する。第2点検出部916は、例えば、処理対象物Tの2つの長袖部分を特定した場合、長袖部分の中間位置を任意の点としてもよい。
The second point detection unit 916 identifies arbitrary points other than the endpoints of the processing object T held by the holding unit 310 . For example, when two long-sleeved portions of the object to be processed T are specified, the second point detection section 916 may set an intermediate position between the long-sleeved portions as an arbitrary point.
端点検出部917は、保持部310が保持する処理対象物Tに対し、高さ方向における最下点(端点)の位置を検出する。具体的には、第3撮像部530により撮像された画像を用いて、高さ方向に加えて、幅方向及び奥行き方向における処理対象物Tの最下点の座標を取得する。
The end point detection unit 917 detects the position of the lowest point (end point) in the height direction with respect to the processing object T held by the holding unit 310 . Specifically, using the image captured by the third imaging unit 530, the coordinates of the lowest point of the processing target T in the width direction and the depth direction are obtained in addition to the height direction.
なお、衣類処理装置1の処理としては、処理対象物Tを保持して展開したり、種類などを認識したり、折り畳んだり、収納したりすることができるが、ここでは具体的には説明しない。各構成において、必要に応じて説明される。
As for the processing of the clothes processing apparatus 1, it is possible to hold and unfold the processing target T, recognize the type, etc., fold it, and store it. . Each configuration will be described as necessary.
[1-1-6.折り畳み方法]
衣類処理装置1により衣類を折り畳む方法について説明する。実施の形態1に係る衣類処理装置1は、図9に関連して前述したように、保持部310に保持されて垂れ下がった処理対象物Tを、その折り畳み線に沿うように、作業板410のエッジと支持部600とで挟んでホールドする。そして、処理対象物Tを作業板410に掛けるように保持部310を移動する。これにより、処理対象物Tは、作業板410のエッジを軸にして折り畳まれるため、折り畳み線で適切に折り畳むことができる。 [1-1-6. Folding method]
A method of folding clothes using theclothes processing apparatus 1 will be described. As described above with reference to FIG. 9, the clothes processing apparatus 1 according to Embodiment 1 folds the hanging object T held by the holding portion 310 along the folding line of the working plate 410. It is sandwiched and held between the edge and the support portion 600 . Then, the holder 310 is moved so as to hang the processing object T on the work plate 410 . As a result, the processing target T is folded around the edge of the work plate 410, so that it can be appropriately folded along the folding lines.
衣類処理装置1により衣類を折り畳む方法について説明する。実施の形態1に係る衣類処理装置1は、図9に関連して前述したように、保持部310に保持されて垂れ下がった処理対象物Tを、その折り畳み線に沿うように、作業板410のエッジと支持部600とで挟んでホールドする。そして、処理対象物Tを作業板410に掛けるように保持部310を移動する。これにより、処理対象物Tは、作業板410のエッジを軸にして折り畳まれるため、折り畳み線で適切に折り畳むことができる。 [1-1-6. Folding method]
A method of folding clothes using the
図12A、図12B、及び図12Cは、処理対象物Tを折り畳む手順の例を示す。図9に示した例と同様に、作業板410の正面側と背面側の双方に正面側支持部610と背面側支持部620が設置されている。支持部600は、少なくとも作業板410の前方又は後方に設置されればよい。本実施の形態のように、作業板410の前方と後方の両側に設置される場合、処理対象物Tをどちらで挟持するかによって、折り畳む方向を変えることができる。また、作業板410の上側と下側など、高さを変えて複数設置されてもよい。また、3以上の支持部600が設置されてもよいし、高さ方向に広い範囲を有する支持部600が設置されてもよい。これにより、折り畳み作業の状況などに応じて適切な支持部600を使用して折り畳み作業を進めることができる。図9に示した例では、正面側支持部610と背面側支持部620が同じ高さに設置されたが、本図の例では、異なる高さに設置される。これにより、処理対象物Tのサイズや折り畳み作業の状況などに応じて適切な支持部600を使用して折り畳み作業を進めることができる。支持部600は、固定的に設置されてもよいし、高さや位置が可変とされてもよい。
12A, 12B, and 12C show an example of the procedure for folding the object T to be processed. As in the example shown in FIG. 9 , a front side support portion 610 and a back side support portion 620 are installed on both the front side and the back side of the working plate 410 . The support part 600 may be installed at least in front of or behind the working plate 410 . When it is installed on both the front and rear sides of the work plate 410 as in this embodiment, the folding direction can be changed depending on which side holds the object T to be processed. In addition, a plurality of them may be installed at different heights, such as above and below the work plate 410 . Also, three or more supporters 600 may be installed, or a supporter 600 having a wide range in the height direction may be installed. As a result, the folding work can be carried out using an appropriate supporting portion 600 depending on the situation of the folding work. In the example shown in FIG. 9, the front side support part 610 and the back side support part 620 are installed at the same height, but in the example shown in this figure, they are installed at different heights. As a result, the folding work can be carried out using an appropriate supporting portion 600 according to the size of the object T to be processed, the state of the folding work, and the like. The support portion 600 may be fixedly installed, or may be variable in height and position.
まず、種類認識部910は、処理対象物Tの種類等を認識し、認識された種類の折り畳み方や折り位置を示す折り畳み情報を取得する。保持装置制御部901は、図12Aに示すように、処理対象物Tの折り位置が正面側支持部610又は背面側支持部620の近傍にくるように、処理対象物Tを保持している保持部310を移動する。図12Aの例では、処理対象物Tの折り位置が背面側支持部620の近傍にくるように保持部310が移動されている。
First, the type recognition unit 910 recognizes the type of the processing object T and acquires folding information indicating the folding method and folding position of the recognized type. The holding device control unit 901 holds the processing object T so that the folding position of the processing object T is near the front side support portion 610 or the rear side support portion 620, as shown in FIG. 12A. Move part 310 . In the example of FIG. 12A , the holding section 310 is moved so that the folding position of the processing target T is near the back side support section 620 .
つづいて、作業板装置制御部902は、作業板410のエッジで処理対象物Tの折り位置を押さえられる位置に作業板410を移動する。さらに、作業板装置制御部902は、図12Bに示すように、作業板410を回転して、処理対象物Tの折り位置において作業板410のエッジと背面側支持部620との間に処理対象物Tを挟持してホールドする。
Subsequently, the work plate device control section 902 moves the work plate 410 to a position where the edge of the work plate 410 presses the folding position of the object T to be processed. 12B, the work plate device control unit 902 rotates the work plate 410 so that the edge of the work plate 410 and the back side support part 620 at the folding position of the processing object T are separated from each other. An object T is sandwiched and held.
この状態において、保持装置制御部901は、図12Cに示すように、処理対象物Tが作業板410の上に載置されるように保持部310を移動する。この状態で保持部310が処理対象物Tを解放すると、処理対象物Tが折り位置で折り畳まれた状態で作業板410に載置される。
In this state, the holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 as shown in FIG. 12C. When the holding part 310 releases the processing object T in this state, the processing object T is placed on the work plate 410 in a folded state at the folding position.
図13A及び図13Bは、処理対象物Tを折り畳む手順の別の例を示す。処理対象物Tが比較的長い場合は、図12A及び図12Bに示した手順で処理対象物Tの折り位置を押さえた後、保持装置制御部901は、図13Aに示すように、保持部310をいったん折り位置から離れる方向に移動して、処理対象物Tのしわと弛みを伸ばす。つづいて、保持装置制御部901は、図13Bに示すように、処理対象物Tが作業板410の上に載置されるように保持部310を移動する。処理対象物Tが作業板410の上に載置された後に、保持部310を正面側支持部610の方に戻せば、処理対象物Tを三つ折りにすることもできる。
13A and 13B show another example of the procedure for folding the object T to be processed. If the processing object T is relatively long, after pressing the folding position of the processing object T in the procedure shown in FIGS. is once moved in a direction away from the folding position to smooth wrinkles and slackness of the object T to be processed. Subsequently, the holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 as shown in FIG. 13B. After the processing object T is placed on the work plate 410, the processing object T can be folded in three by returning the holding portion 310 toward the front side support portion 610. FIG.
保持装置制御部901は、保持部310が処理対象物Tを保持した状態で処理対象物Tを回転させるように移動機構320を制御可能である。これにより、処理対象物Tの長手方向、短手方向、斜め方向など、任意の向きの折り畳み線で処理対象物Tを折り畳むことができる。
The holding device control unit 901 can control the moving mechanism 320 so as to rotate the processing object T while the holding unit 310 holds the processing object T. As a result, the processing object T can be folded along folding lines in any direction, such as the longitudinal direction, the lateral direction, or the oblique direction of the processing object T.
図14Aは、支持部600の正面模式図であり、図14Bは、支持部600の断面模式図である。支持部600は、処理対象物Tを挟持する面に溝部601を備える。溝部601は、直線状に形成され、作業板410のエッジが嵌入可能な幅を有する。処理対象物Tの折り畳み線を溝部601に合わせ、作業板410のエッジを溝部601に嵌入させることにより、より確実に処理対象物Tを折り畳み線で押さえることができる。溝部601は、作業板410のエッジと嵌合する形状に形成されてもよい。
14A is a schematic front view of the support portion 600, and FIG. 14B is a schematic cross-sectional view of the support portion 600. FIG. The support portion 600 has a groove portion 601 on the surface for sandwiching the object T to be processed. The groove 601 is formed linearly and has a width that allows the edge of the working plate 410 to fit therein. By aligning the folding line of the processing object T with the groove portion 601 and fitting the edge of the working plate 410 into the groove portion 601, the processing object T can be more reliably held down by the folding line. The groove portion 601 may be formed in a shape that fits the edge of the work plate 410 .
処理対象物Tを挟持する支持部600の挟持面及び作業板410のエッジは、弾性を有してもよい。支持部600の挟持面及び作業板410のエッジのいずれかにゴムや樹脂などの弾性体602が設けられてもよいし、支持部600全体又は作業板410全体が弾性体で構成されてもよい。これにより、処理対象物Tを作業板410のエッジと支持部600の間に挟持したときに安定して挟持させることができるとともに、処理対象物Tに与えるダメージを低減させることができる。
The clamping surface of the support part 600 and the edge of the working plate 410 that clamps the object T to be processed may have elasticity. An elastic body 602 such as rubber or resin may be provided on either the clamping surface of the support part 600 or the edge of the work plate 410, or the entire support part 600 or the work plate 410 may be made of an elastic material. . As a result, when the processing object T is held between the edge of the working plate 410 and the support portion 600, the processing object T can be held stably, and damage to the processing object T can be reduced.
[1-2.動作]
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [1-2. motion]
The operation and function of theclothes processing apparatus 1 configured as described above will be described below.
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [1-2. motion]
The operation and function of the
図15は、実施の形態1に係る衣類処理方法の手順を示すフローチャートである。種類認識部910は、処理対象物Tの折り位置を取得する(S10)。保持装置制御部901は、処理対象物Tの折り位置が支持部600の近傍にくるように保持部310を移動する(S12)。作業板装置制御部902は、作業板410のエッジで処理対象物Tの折り位置を押さえられる位置に作業板410を移動し、作業板410を回転して処理対象物Tの折り位置を挟持する(S14)。
FIG. 15 is a flow chart showing the procedure of the clothes processing method according to the first embodiment. The type recognition unit 910 acquires the folding position of the processing object T (S10). The holding device control section 901 moves the holding section 310 so that the folding position of the processing object T comes near the support section 600 (S12). The work plate device control unit 902 moves the work plate 410 to a position where the edge of the work plate 410 presses the folding position of the processing object T, rotates the work plate 410, and clamps the folding position of the processing object T. (S14).
作業板装置制御部902は、処理対象物Tを支持部600との間で挟持するときの押し付け力を制御する。作業板装置400は、処理対象物Tを一定の押し付け力で押し付けるために、トルクリミッタなどを備えてもよい。作業板装置制御部902は、処理対象物Tの種類、素材、厚みなどに応じた押し付け力で処理対象物Tを押し付けるように、作業板装置400の回転駆動部420を制御してもよい。作業板装置制御部902は、回転駆動部420に設けられたトルクセンサや、支持部600に設けられた圧力センサなどにより押し付け力を検知し、適切な押し付け力となるように回転駆動部420をフィードバック制御してもよい。
The work plate device control section 902 controls the pressing force when holding the processing object T between the support section 600 and the support section 600 . The work plate device 400 may include a torque limiter or the like in order to press the processing object T with a constant pressing force. The work plate device control section 902 may control the rotation drive section 420 of the work plate device 400 so as to press the processing target T with a pressing force according to the type, material, thickness, etc. of the processing target T. The work plate device control section 902 detects the pressing force using a torque sensor provided in the rotary drive section 420, a pressure sensor provided in the support section 600, or the like, and controls the rotary drive section 420 so as to obtain an appropriate pressing force. Feedback control may be used.
保持装置制御部901は、処理対象物Tが作業板410の上に載置されるように保持部310を移動する(S16)。この状態で保持部310が処理対象物Tを解放すると、処理対象物Tが折り位置で折り畳まれた状態で作業板410に載置される(S18)。
The holding device control section 901 moves the holding section 310 so that the processing target T is placed on the work plate 410 (S16). When the holding part 310 releases the processing object T in this state, the processing object T is placed on the work plate 410 in a folded state at the folding position (S18).
[1-3.効果等]
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを折り畳むための作業に使用される作業板410と、作業板410を移動させるための回転駆動部420又は走行駆動部430と、作業板410との間で処理対象物Tを挟持可能な支持部600と、処理対象物Tを折り位置において作業板410と支持部600との間に挟持するように回転駆動部420又は走行駆動部430を制御する作業板装置制御部902と、を備える。これにより、処理対象物Tを折り畳み線で適切に折り畳むことができる。 [1-3. effects, etc.]
As described above, in the present embodiment, thelaundry processing apparatus 1 includes the work plate 410 used for the work of folding the object T to be processed, and the rotation drive section 420 or travel drive unit 420 for moving the work plate 410. 430 and a support portion 600 capable of sandwiching the processing object T between the work plate 410 and a rotary drive portion so as to sandwich the processing object T between the work plate 410 and the support portion 600 at the folding position. 420 or a work plate device control unit 902 that controls the traveling drive unit 430 . Thereby, the processing target T can be appropriately folded along the folding lines.
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを折り畳むための作業に使用される作業板410と、作業板410を移動させるための回転駆動部420又は走行駆動部430と、作業板410との間で処理対象物Tを挟持可能な支持部600と、処理対象物Tを折り位置において作業板410と支持部600との間に挟持するように回転駆動部420又は走行駆動部430を制御する作業板装置制御部902と、を備える。これにより、処理対象物Tを折り畳み線で適切に折り畳むことができる。 [1-3. effects, etc.]
As described above, in the present embodiment, the
また、本実施の形態において、処理対象物Tを挟持する支持部600の挟持面、及び作業板410のエッジの少なくともいずれか一方は弾性を有する。これにより、処理対象物Tを作業板410のエッジと支持部600の間に挟持したときに安定して挟持させることができるとともに、処理対象物Tに与えるダメージを低減させることができる。
Further, in the present embodiment, at least one of the holding surface of the support portion 600 holding the processing target T and the edge of the working plate 410 has elasticity. As a result, when the processing object T is held between the edge of the working plate 410 and the support portion 600, the processing object T can be held stably, and damage to the processing object T can be reduced.
また、本実施の形態において、衣類処理装置1は、処理対象物Tを保持する保持部310と、保持部310を移動させるための移動機構320と、移動機構320を制御する保持装置制御部901と、を更に備え、保持装置制御部901は、保持部310が処理対象物Tを保持した状態で処理対象物Tを回転させるように移動機構320を制御可能である。これにより、任意の向きの折り畳み線で処理対象物Tを折り畳むことができる。
Further, in the present embodiment, the clothes processing apparatus 1 includes a holding section 310 that holds an object to be processed T, a moving mechanism 320 that moves the holding section 310, and a holding device control section 901 that controls the moving mechanism 320. , and the holding device control unit 901 can control the moving mechanism 320 so as to rotate the processing object T while the holding unit 310 holds the processing object T. Thereby, the processing object T can be folded along the folding lines in any direction.
また、本実施の形態において、保持装置制御部901は、処理対象物Tが作業板410と支持部600との間に挟持された状態で処理対象物Tを作業板410に載置するように移動機構320を制御可能である。これにより、処理対象物Tを折り畳み線で適切に折り畳むことができる。
Further, in the present embodiment, the holding device control unit 901 places the processing object T on the work plate 410 while the processing object T is sandwiched between the work plate 410 and the support unit 600. A moving mechanism 320 can be controlled. Thereby, the processing target T can be appropriately folded along the folding lines.
また、本実施の形態において、支持部600は、複数設けられ、少なくとも作業板410の前方及び後方の両側、又は高さを変えて設けられる。これにより、折り畳み作業の状況などに応じて適切な支持部600を使用して折り畳み作業を進めることができる。
In addition, in the present embodiment, a plurality of support parts 600 are provided, and are provided at least on both front and rear sides of the work plate 410 or at different heights. As a result, the folding work can be carried out using an appropriate supporting portion 600 depending on the situation of the folding work.
また、本実施の形態において、支持部600は、溝部601を備える。これにより、より確実に処理対象物Tを折り畳み線で折り畳むことができる。
Also, in the present embodiment, the support portion 600 includes a groove portion 601 . Thereby, the processing target T can be folded along the folding lines more reliably.
また、本実施の形態において、作業板装置制御部902は、処理対象物Tを支持部600との間で挟持するときの押し付け力を制御する。これにより、処理対象物Tを適切な押し付け力で折り畳むことができる。
Further, in the present embodiment, the work plate device control section 902 controls the pressing force when holding the processing target T between the support section 600 and the support section 600 . Thereby, the processing target T can be folded with an appropriate pressing force.
また、本実施の形態において、衣類処理方法は、処理対象物Tの折り位置を取得するステップと、処理対象物Tを折り畳むための作業に使用される作業板410との間で処理対象物Tを挟持可能な支持部600の位置に折り位置がくるように処理対象物Tを位置させるステップと、処理対象物Tを折り位置において作業板410と支持部600との間に挟持するように作業板410を移動させるステップと、を備える。これにより、処理対象物Tを折り畳み線で適切に折り畳むことができる。
Further, in the present embodiment, the clothes processing method includes the step of acquiring the folding position of the processing target T, and the work plate 410 used for the work for folding the processing target T. a step of positioning the processing object T so that the folding position is at the position of the support portion 600 that can hold the processing object T so that the processing object T is held between the work plate 410 and the support portion 600 at the folding position. and moving the plate 410 . Thereby, the processing target T can be appropriately folded along the folding lines.
(実施の形態2)
(実施の形態2の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特許文献1には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 2)
(Background technology of Embodiment 2)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example,Patent Literature 1 discloses a processing apparatus including a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
(実施の形態2の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特許文献1には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 2)
(Background technology of Embodiment 2)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example,
(実施の形態2が解決しようとする課題)
本発明者らは、特許文献1に記載された処理装置の改良を重ねる中で、被処理物を折り畳むための作業に使用される作業板に被処理物が引っ掛かる場合があることを課題として認識した。 (Problems to be solved by Embodiment 2)
The inventors of the present invention, while repeatedly improving the processing apparatus described inPatent Document 1, have recognized that there are cases where the work piece is caught on the work plate used for the work for folding the work piece. did.
本発明者らは、特許文献1に記載された処理装置の改良を重ねる中で、被処理物を折り畳むための作業に使用される作業板に被処理物が引っ掛かる場合があることを課題として認識した。 (Problems to be solved by Embodiment 2)
The inventors of the present invention, while repeatedly improving the processing apparatus described in
本開示の実施の形態2は、回転体に処理対象物が引っ掛かるのを抑えるための技術を提供する。
Embodiment 2 of the present disclosure provides a technique for suppressing the object to be processed from being caught on the rotating body.
(実施の形態2の課題を解決するための手段)
本開示における回転体は、回転可能な板と、板の少なくとも作業平面における角を覆うように設けられ、板とともに回転する側端部と、を備える。 (Means for solving the problem of the second embodiment)
The rotating body in the present disclosure includes a rotatable plate and side ends provided to cover at least corners of the plate in the working plane and rotate together with the plate.
本開示における回転体は、回転可能な板と、板の少なくとも作業平面における角を覆うように設けられ、板とともに回転する側端部と、を備える。 (Means for solving the problem of the second embodiment)
The rotating body in the present disclosure includes a rotatable plate and side ends provided to cover at least corners of the plate in the working plane and rotate together with the plate.
本開示における衣類処理装置は、回転可能に設けられ、処理対象物を折り畳む作業に使用される作業板と、作業板の少なくとも作業平面における角を覆うように設けられ、作業板とともに回転する側端部と、を備える。
A laundry processing apparatus according to the present disclosure includes a work plate that is rotatably provided and used for folding an object to be processed, and a side end that is provided to cover at least a corner of the work plate in the work plane and rotates together with the work plate. and
(実施の形態2の効果)
本開示の実施の形態2によれば、回転体に処理対象物が引っ掛かるのを抑えるための技術を提供することができる。 (Effect of Embodiment 2)
According to Embodiment 2 of the present disclosure, it is possible to provide a technique for suppressing the object to be processed from being caught on the rotating body.
本開示の実施の形態2によれば、回転体に処理対象物が引っ掛かるのを抑えるための技術を提供することができる。 (Effect of Embodiment 2)
According to Embodiment 2 of the present disclosure, it is possible to provide a technique for suppressing the object to be processed from being caught on the rotating body.
(実施の形態2の基礎となった知見等)
本開示に係る衣類処理装置において、衣類などの処理対象物を折り畳む作業に使用される作業板は、板状の形状を有し、無限回転可能に設けられる。処理対象物を作業板に載置して移動させるときに、作業板の角に処理対象物が引っ掛かってしまうことがある。 (Findings, etc. that became the basis of Embodiment 2)
In the clothes processing apparatus according to the present disclosure, the work plate used for folding the processing target such as clothes has a plate-like shape and is provided to be infinitely rotatable. When an object to be processed is placed on the work plate and moved, the object to be processed may get caught on the corner of the work plate.
本開示に係る衣類処理装置において、衣類などの処理対象物を折り畳む作業に使用される作業板は、板状の形状を有し、無限回転可能に設けられる。処理対象物を作業板に載置して移動させるときに、作業板の角に処理対象物が引っ掛かってしまうことがある。 (Findings, etc. that became the basis of Embodiment 2)
In the clothes processing apparatus according to the present disclosure, the work plate used for folding the processing target such as clothes has a plate-like shape and is provided to be infinitely rotatable. When an object to be processed is placed on the work plate and moved, the object to be processed may get caught on the corner of the work plate.
このような課題を発明者らは発見し、その課題を解決するために、本開示の主題を構成するに至った。本開示に係る衣類処理装置は、作業板の少なくとも作業平面における角を覆うように設けられた側端部を備える。作業板と側端部は、一体的に回転する回転体を構成する。側端部は、角のない形状を有する。これにより、処理対象物が作業板及び側端部に引っ掛かるのを抑えることができるので、処理対象物を折り畳む作業を円滑に進めることができる。
The inventors discovered such a problem, and came to constitute the subject of the present disclosure in order to solve the problem. The laundry processing apparatus according to the present disclosure includes side edges provided to cover at least the corners of the work plate in the work plane. The working plate and the side end constitute a rotating body that rotates together. The side edges have a rounded shape. As a result, it is possible to prevent the object to be processed from being caught on the work plate and the side end portions, so that the work of folding the object to be processed can be smoothly advanced.
[2-1.構成]
[2-1-1.衣類処理装置の全体構成]
実施の形態2における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [2-1. Constitution]
[2-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of theclothes processing apparatus 1 according to the second embodiment is the same as the overall configuration of the clothes processing apparatus 1 according to the first embodiment.
[2-1-1.衣類処理装置の全体構成]
実施の形態2における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [2-1. Constitution]
[2-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of the
[2-1-2.側端板の詳細]
図7に関連して説明した側端板411について、更に説明する。 [2-1-2. Details of the side plate]
Theside end plate 411 described in connection with FIG. 7 will be further described.
図7に関連して説明した側端板411について、更に説明する。 [2-1-2. Details of the side plate]
The
図16Aは、作業板410の斜視図であり、図16Bは、作業板410に処理対象物Tが載置された状態の斜視図であり、図16Cは、作業板410に処理対象物Tが載置された状態の側面図である。図16Aに示した例では、作業板410に側端板411が設けられない。この場合、作業板410に処理対象物Tが載置されたときに、図16B及び図16Cに示すように、作業板410が略水平状態で、処理対象物Tが作業板410に略平行もしくは斜め上方向へ引っ張られると、処理対象物Tに作用する下向きの重力と相まって、作業板410の角に処理対象物Tが引っ掛かってしまうことがある。
16A is a perspective view of the work plate 410, FIG. 16B is a perspective view of the work plate 410 with the processing target T placed thereon, and FIG. It is a side view of the placed state. In the example shown in FIG. 16A, the working plate 410 is not provided with the side end plates 411 . In this case, when the object T to be processed is placed on the work plate 410, as shown in FIGS. When pulled obliquely upward, combined with downward gravity acting on the processing object T, the processing object T may be caught on the corner of the work plate 410 .
図17Aは、作業板410の斜視図であり、図17Bは、作業板410に処理対象物Tが載置された状態の斜視図であり、図17Cは、作業板410に処理対象物Tが載置された状態の側面図である。図17Aに示した例では、作業板410の左右端面に側端板411が側端部として設けられ、作業板410と側端板411が一体的に回転する回転体405を構成する。側端板411は、作業板410の作業平面の少なくとも角部に、角を覆うように設けられ、作業板410とともに回転する。この場合、作業板410の角が側端板411により覆われるので、作業板410に処理対象物Tが載置されたときに、図17B及び図17Cに示すように、処理対象物Tが作業板410及び側端板411に引っ掛かるのを抑えることができる。
17A is a perspective view of the work plate 410, FIG. 17B is a perspective view of the work plate 410 with the processing object T placed thereon, and FIG. It is a side view of the placed state. In the example shown in FIG. 17A, side end plates 411 are provided as side end portions on the left and right end surfaces of the working plate 410, and the working plate 410 and the side end plates 411 constitute a rotating body 405 that rotates integrally. The side end plates 411 are provided at least at the corners of the working plane of the working plate 410 so as to cover the corners, and rotate together with the working plate 410 . In this case, since the corners of the working plate 410 are covered with the side end plates 411, when the processing object T is placed on the working plate 410, as shown in FIGS. It is possible to suppress catching on the plate 410 and the side end plate 411 .
側端板411は、角のない丸みを帯びた形状を有する。また、側端板411は、作業板410の表側と裏側の双方に設けられる。これにより、作業板410が無限回転して作業板410と処理対象物Tとの位置関係がどのようになっても、処理対象物Tが引っ掛からないようにすることができるので、処理対象物Tの折り畳みを円滑に進めることができる。また、処理対象物Tが載置された状態で作業板410を回転させたときに、処理対象物Tが丸まって作業板410に巻き付き、作業板410の反対側に巻き込まれるのを抑えることができる。
The side end plate 411 has a rounded shape without corners. Also, the side end plates 411 are provided on both the front side and the back side of the working plate 410 . As a result, even if the working plate 410 rotates infinitely and the positional relationship between the working plate 410 and the processing object T changes, the processing object T can be prevented from being caught. can be smoothly folded. In addition, when the work plate 410 is rotated with the object T placed thereon, it is possible to prevent the object T from curling up and winding around the work plate 410 and getting caught on the opposite side of the work plate 410. can.
図18Aは、側端板411が設けられた作業板410の正面図である。本図の例では、側端板411は作業板410に対して垂直に設けられる。側端板411の上面と下面は、角のない丸みを帯びた形状を有する。側端板411の高さは、作業板410を回転させるための伝動部440の高さよりも高い。これにより、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 18A is a front view of the working plate 410 provided with side end plates 411. FIG. In the example shown in this figure, the side end plate 411 is provided perpendicular to the working plate 410 . The upper and lower surfaces of the side end plate 411 have rounded shapes without corners. The height of the side end plate 411 is higher than the height of the transmission part 440 for rotating the working plate 410 . Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
図18Bは、側端板411が設けられた作業板410の正面図である。本図の例では、側端板411は、内側に凸の曲面状の形状を有する。これにより、処理対象物Tが側端板411の曲面に沿って滑るので、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 18B is a front view of the working plate 410 provided with side end plates 411. FIG. In the example of this figure, the side end plate 411 has an inwardly convex curved shape. As a result, the object to be processed T slides along the curved surface of the side end plate 411 , so that the object to be processed T can be prevented from being caught on the transmission portion 440 .
図18Cは、側端板411が設けられた作業板410の正面図である。本図の例では、側端板411は、外側に凸の曲面状の形状を有する。これにより、処理対象物Tが側端板411の曲面に沿って滑るので、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 18C is a front view of the working plate 410 provided with side end plates 411. FIG. In the example of this figure, the side end plate 411 has an outwardly convex curved shape. As a result, the object to be processed T slides along the curved surface of the side end plate 411 , so that the object to be processed T can be prevented from being caught on the transmission portion 440 .
図19Aは、側端板411が設けられた作業板410の上面図である。本図の例では、側端板411の作業板410側の面は、作業板410の前後方向の幅と同じ前後方向の幅を有し、作業板410の左右端面をちょうど覆う。側端板411の伝動部440側の面は、両端が面取りされ、丸みを帯びた形状を有する。側端板411の前後方向の幅は、伝動部440の前後方向の幅よりも大きい。これにより、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 19A is a top view of the work plate 410 provided with side end plates 411. FIG. In the example of this figure, the surface of the side end plate 411 on the side of the work plate 410 has the same width in the front-rear direction as the width in the front-rear direction of the work plate 410 and just covers the left and right end faces of the work plate 410 . The surface of the side end plate 411 on the side of the transmission portion 440 is chamfered at both ends and has a rounded shape. The width of the side end plate 411 in the front-rear direction is greater than the width of the transmission portion 440 in the front-rear direction. Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
図19Bは、側端板411が設けられた作業板410の上面図である。本図の例では、側端板411は、作業板410の前後方向の幅よりも大きい前後方向の幅を有し、作業板410の左右端面を覆う。側端板411の前面及び後面は、角のない丸みを帯びた形状を有する。また、側端板411の前後方向の幅は、伝動部440の前後方向の幅よりも大きい。この場合も、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 19B is a top view of the working plate 410 provided with the side end plates 411. FIG. In the example of this figure, the side end plate 411 has a width in the front-rear direction greater than the width in the front-rear direction of the working plate 410 and covers the left and right end faces of the working plate 410 . The front and rear surfaces of the side end plate 411 have rounded shapes without corners. Further, the width of the side end plate 411 in the front-rear direction is larger than the width of the transmission portion 440 in the front-rear direction. Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
図20Aは、側端板411が設けられた作業板410の側面図である。本図の例では、側端板411は、側面視で楕円形であり、角のない形状を有する。側端板411の前後方向の幅は、作業板410の前後方向の幅よりもやや長く、側端板411が作業板410の角を覆う。側端板411の高さは、伝動部440の高さよりも高い。これにより、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 20A is a side view of the work plate 410 provided with side end plates 411. FIG. In the example of this figure, the side end plate 411 is elliptical in side view and has a shape without corners. The width of the side end plate 411 in the front-rear direction is slightly longer than the width of the work plate 410 in the front-rear direction, and the side end plate 411 covers the corners of the work plate 410 . The height of the side end plate 411 is higher than the height of the transmission portion 440 . Thereby, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
図20Bは、側端板411が設けられた作業板410の側面図である。本図の例では、側端板411は、側面視で四つの角部に丸みがつけられた長方形であり、角のない形状を有する。側端板411の前後方向の幅は、作業板410の左右方向の幅と同じであり、側端板411が作業板410の角を覆う。側端板411の高さは、伝動部440の高さよりも高い。この場合も、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 20B is a side view of the work plate 410 provided with side end plates 411. FIG. In the example of this figure, the side end plate 411 has a rectangular shape with four rounded corners when viewed from the side, and has no corners. The width of the side end plate 411 in the front-rear direction is the same as the width of the work plate 410 in the left-right direction, and the side end plate 411 covers the corners of the work plate 410 . The height of the side end plate 411 is higher than the height of the transmission portion 440 . Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
図20Cは、側端板411が設けられた作業板410の側面図である。本図の例では、側端板411は、作業板410の前側の角を覆う側端板411aと、作業板410の後ろ側の角を覆う側端板411bに分けて設けられる。側端板411a及び411bは、角のない形状を有する。側端板411aの前端は、作業板410の前端は同じ位置にあり、側端板411bの後端は、作業板410の後端と同じ位置にある。側端板411a及び411bの高さは、伝動部440の高さよりも高い。この場合も、処理対象物Tが伝動部440に引っ掛かるのを抑えることができる。
FIG. 20C is a side view of the working plate 410 provided with side end plates 411. FIG. In the example of this figure, the side end plate 411 is divided into a side end plate 411 a covering the front corner of the working plate 410 and a side end plate 411 b covering the rear corner of the working plate 410 . The side end plates 411a and 411b have a rounded shape. The front end of the side end plate 411 a is at the same position as the front end of the working plate 410 , and the rear end of the side end plate 411 b is at the same position as the rear end of the working plate 410 . The height of the side end plates 411 a and 411 b is higher than the height of the transmission portion 440 . Also in this case, it is possible to prevent the processing target T from being caught on the transmission portion 440 .
側端板411の前後端部が丸みを帯びた形状を有していても、先端が突き出たような形状を有していると、処理対象物Tが引っ掛かりやすくなる。したがって、側端板411は、突起などの引っ掛かりや変曲点などを有しない形状を有するのが好ましい。また、側端板411の前後端部近傍における曲率半径は、伝動部440の高さの半分より大きいのが好ましい。これにより、処理対象物Tが側端板411に引っ掛かるのを抑えることができる。
Even if the front and rear end portions of the side end plates 411 have rounded shapes, if the tip has a protruding shape, the object T to be processed is likely to be caught. Therefore, it is preferable that the side end plate 411 has a shape that does not have a hook such as a projection or an inflection point. Also, the radius of curvature near the front and rear end portions of the side end plate 411 is preferably larger than half the height of the transmission portion 440 . Thereby, it is possible to prevent the processing target T from being caught on the side end plate 411 .
側端板411の高さが低いと、側端板411に掛かった処理対象物Tの端部が丸まって、作業板410に巻き付きやすくなる。したがって、側端板411は、処理対象物Tが作業板410に巻き付きにくいような高さを有するのが好ましい。例えば、側端板411の高さは、ほぼ全幅にわたって、伝動部440の高さよりも高くてもよい。これにより、処理対象物Tが載置された状態で作業板410を回転させたときに、処理対象物Tが作業板410の反対側に巻き込まれるのを抑えることができる。
If the height of the side end plate 411 is low, the end of the processing object T hanging on the side end plate 411 will be curled up and easily wrapped around the work plate 410 . Therefore, it is preferable that the side end plate 411 has a height such that the processing object T is less likely to wrap around the working plate 410 . For example, the height of the side end plate 411 may be higher than the height of the transmission portion 440 over substantially the entire width. As a result, when the work plate 410 is rotated while the work T is placed thereon, it is possible to prevent the work T from being caught in the opposite side of the work plate 410 .
[2-2.動作]
以上のように構成された回転体405を備える衣類処理装置1について、以下その動作、作用を説明する。 [2-2. motion]
The operation and function of theclothes processing apparatus 1 having the rotor 405 configured as described above will be described below.
以上のように構成された回転体405を備える衣類処理装置1について、以下その動作、作用を説明する。 [2-2. motion]
The operation and function of the
保持装置制御部901は、処理対象物Tを展開して折り畳む折り畳み作業のために、処理対象物Tを保持した保持部310を制御して、処理対象物Tを作業板410に載置する。処理対象物Tの折り畳み情報にしたがって、保持装置制御部901が保持部310を制御して処理対象物Tを移動させ、作業板装置制御部902が回転駆動部420及び走行駆動部430を制御して作業板410を移動させる。作業板410及び側端板411は、角のない形状を有するので、処理対象物Tが作業板410及び側端板411に引っ掛かることなく、円滑に折り畳み作業を進めることができる。
The holding device control unit 901 controls the holding unit 310 holding the processing object T to place the processing object T on the work plate 410 for the folding operation of unfolding and folding the processing object T. According to the folding information of the processing object T, the holding device control unit 901 controls the holding unit 310 to move the processing object T, and the work plate device control unit 902 controls the rotation driving unit 420 and the travel driving unit 430. to move the working plate 410 . Since the work plate 410 and the side end plates 411 have a shape without corners, the work T is not caught on the work plate 410 and the side end plates 411, and the folding work can be smoothly performed.
[2-3.効果等]
以上のように、本実施の形態において、回転体405は、回転可能な作業板410と、作業板410の少なくとも作業平面における角を覆うように設けられ、作業板410とともに回転する側端板411と、を備える。これにより、処理対象物Tが作業板410に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。 [2-3. effects, etc.]
As described above, in this embodiment, therotating body 405 includes the rotatable work plate 410 and the side end plates 411 that are provided to cover at least the corners of the work plate 410 in the work plane and rotate together with the work plate 410 . And prepare. As a result, it is possible to prevent the object to be processed T from being caught on the work plate 410, so that the work of folding the object to be processed T can proceed smoothly.
以上のように、本実施の形態において、回転体405は、回転可能な作業板410と、作業板410の少なくとも作業平面における角を覆うように設けられ、作業板410とともに回転する側端板411と、を備える。これにより、処理対象物Tが作業板410に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。 [2-3. effects, etc.]
As described above, in this embodiment, the
また、本実施の形態において、側端板411は、角のない形状を有する。これにより、処理対象物Tが作業板410及び側端板411に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
Also, in the present embodiment, the side end plate 411 has a shape without corners. As a result, it is possible to prevent the object to be processed T from being caught on the work plate 410 and the side end plates 411, so that the work of folding the object to be processed T can proceed smoothly.
また、本実施の形態において、側端板411の高さは、作業板410を回転させるための伝動部440の高さよりも高い。これにより、処理対象物Tが伝動部440に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
Also, in this embodiment, the height of the side end plate 411 is higher than the height of the transmission portion 440 for rotating the working plate 410 . As a result, it is possible to prevent the object to be processed T from being caught on the transmission portion 440, so that the work of folding the object to be processed T can proceed smoothly.
また、本実施の形態において、側端板411は、作業板410の表側と裏側の双方に設けられる。これにより、作業板410が無限回転して作業板410と処理対象物Tとの位置関係がどのようになっても、処理対象物Tが引っ掛からないようにすることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
Also, in this embodiment, the side end plates 411 are provided on both the front side and the back side of the work plate 410 . As a result, even if the working plate 410 rotates infinitely and the positional relationship between the working plate 410 and the processing object T changes, the processing object T can be prevented from being caught. The folding work can be smoothly advanced.
また、本実施の形態において、側端板411の前後方向の幅は、作業板410の前後方向の幅以上である。これにより、処理対象物Tが作業板410の角に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
Further, in the present embodiment, the width of the side end plate 411 in the front-rear direction is greater than or equal to the width of the working plate 410 in the front-rear direction. As a result, it is possible to prevent the object T from being caught on the corner of the work plate 410, so that the work of folding the object T can proceed smoothly.
また、本実施の形態において、衣類処理装置1は、回転可能に設けられ、処理対象物Tを展開し、折り畳む折り畳み作業に使用される作業板410と、作業板410の少なくとも角を覆うように設けられ、作業板410とともに回転する側端板411と、を備える。これにより、処理対象物Tの折り畳み作業中に処理対象物Tが作業板410及び側端板411に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
Further, in the present embodiment, the clothes processing apparatus 1 includes a work plate 410 which is rotatably provided and used for folding work of unfolding and folding the object T to be processed, and a work plate 410 which covers at least the corners of the work plate 410 . a side end plate 411 provided and rotating with the working plate 410 ; As a result, it is possible to prevent the object T from being caught on the work plate 410 and the side end plate 411 during the folding operation of the object T, so that the object T can be folded smoothly.
また、本実施の形態において、側端板411は、処理対象物Tを移動させるときに処理対象物Tが引っ掛からないような形状を有する。これにより、処理対象物Tの折り畳み作業中に処理対象物Tが作業板410及び側端板411に引っ掛かるのを抑えることができるので、処理対象物Tの折り畳み作業を円滑に進めることができる。
In addition, in the present embodiment, the side end plate 411 has a shape such that the processing object T is not caught when the processing object T is moved. As a result, it is possible to prevent the object T from being caught on the work plate 410 and the side end plate 411 during the folding operation of the object T, so that the object T can be folded smoothly.
本実施の形態では、側端部を板状の側端板411として種々の形状を説明したが、これに限られない。例えば、側端板411は、必ずしも1枚の板状である必要はなく、分割されてもよい。また、側端部として、板の輪郭が形成されるリング状又は角を覆う球状などであってもよい。
In the present embodiment, various shapes have been described with the side ends being plate-like side end plates 411, but the present invention is not limited to this. For example, the side end plate 411 does not necessarily have to be a single plate, and may be divided. Further, the side end portion may have a ring shape that forms the outline of the plate or a spherical shape that covers the corner.
(実施の形態3)
(実施の形態3の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特開2020-054473号公報には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 3)
(Background technology of Embodiment 3)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example, Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
(実施の形態3の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特開2020-054473号公報には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 3)
(Background technology of Embodiment 3)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example, Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
(実施の形態3が解決しようとする課題)
本発明者らは、上記の文献に記載された処理装置の改良を重ねる中で、載置装置などの回転物の回転位置をより精確に検知するための技術に想到した。 (Problems to be solved by Embodiment 3)
The inventors of the present invention, while repeatedly improving the processing apparatus described in the above document, came up with a technique for more accurately detecting the rotational position of a rotating object such as a mounting apparatus.
本発明者らは、上記の文献に記載された処理装置の改良を重ねる中で、載置装置などの回転物の回転位置をより精確に検知するための技術に想到した。 (Problems to be solved by Embodiment 3)
The inventors of the present invention, while repeatedly improving the processing apparatus described in the above document, came up with a technique for more accurately detecting the rotational position of a rotating object such as a mounting apparatus.
本開示は、回転物の回転位置を検知する技術を向上させるための技術を提供する。
The present disclosure provides technology for improving technology for detecting the rotational position of a rotating object.
(実施の形態3の課題を解決するための手段)
本開示における回転位置初期化装置は、無限回転可能に設けられた回転物の回転位置を初期化するために、回転物に当接して回転物の回転を停止させるストッパ部と、ストッパ部を回転物に当接する位置と回転物に当接しない位置との間で移動させることにより、回転物が回転可能な状態と回転物の回転が停止される状態との間で回転物の状態を切り替える切替部と、を備える。 (Means for solving the problem of Embodiment 3)
A rotational position initialization device according to the present disclosure includes a stopper portion that contacts the rotating object to stop the rotation of the rotating object, and a stopper portion that rotates the stopper portion to initialize the rotational position of the rotating object that is provided to be infinitely rotatable. Switching the state of the rotating object between a state in which the rotating object is rotatable and a state in which the rotating object is stopped by moving the rotating object between a position in contact with the object and a position in which it does not contact the rotating object. and
本開示における回転位置初期化装置は、無限回転可能に設けられた回転物の回転位置を初期化するために、回転物に当接して回転物の回転を停止させるストッパ部と、ストッパ部を回転物に当接する位置と回転物に当接しない位置との間で移動させることにより、回転物が回転可能な状態と回転物の回転が停止される状態との間で回転物の状態を切り替える切替部と、を備える。 (Means for solving the problem of Embodiment 3)
A rotational position initialization device according to the present disclosure includes a stopper portion that contacts the rotating object to stop the rotation of the rotating object, and a stopper portion that rotates the stopper portion to initialize the rotational position of the rotating object that is provided to be infinitely rotatable. Switching the state of the rotating object between a state in which the rotating object is rotatable and a state in which the rotating object is stopped by moving the rotating object between a position in contact with the object and a position in which it does not contact the rotating object. and
本開示における回転位置初期化方法は、無限回転可能に設けられた回転物に当接して回転物の回転を停止させるストッパ部を回転物に当接しない位置から回転物に当接する位置に移動させるステップと、回転物がストッパ部に当接して回転が停止された状態において、回転物の回転位置を初期位置に設定するステップと、を備える。
The rotation position initialization method according to the present disclosure moves a stopper portion that abuts on an infinitely rotatable rotating object to stop the rotation of the rotating object from a position that does not contact the rotating object to a position that contacts the rotating object. and setting the rotational position of the rotating object to an initial position in a state in which the rotating object abuts against the stopper portion and stops rotating.
(実施の形態3の効果)
本開示の実施の形態3によれば、回転物の回転位置を検知する技術を向上させることができる。 (Effect of Embodiment 3)
According to Embodiment 3 of the present disclosure, it is possible to improve the technology for detecting the rotational position of a rotating object.
本開示の実施の形態3によれば、回転物の回転位置を検知する技術を向上させることができる。 (Effect of Embodiment 3)
According to Embodiment 3 of the present disclosure, it is possible to improve the technology for detecting the rotational position of a rotating object.
(実施の形態3の基礎となった知見等)
本開示に係る衣類処理装置において、衣類などの処理対象物を載置する作業板は無限回転可能に設けられる。処理対象物を処理する精度を高めるためには、作業板の回転位置を精確に把握する必要があるので、適宜のタイミングで作業板を所定の回転位置で停止させ、回転位置を初期化して原点を設定する。しかし、作業板を所定の回転位置で停止させるための構成が、作業板の回転や衣類の折り畳みなどの作業の邪魔になる場合がある。 (Knowledge, etc. that became the basis of Embodiment 3)
In the clothes processing apparatus according to the present disclosure, the work plate on which the objects to be processed such as clothes are placed is infinitely rotatable. In order to improve the accuracy of processing objects, it is necessary to accurately grasp the rotational position of the work plate. set. However, the structure for stopping the working plate at a predetermined rotational position may hinder the rotation of the working plate and work such as folding clothes.
本開示に係る衣類処理装置において、衣類などの処理対象物を載置する作業板は無限回転可能に設けられる。処理対象物を処理する精度を高めるためには、作業板の回転位置を精確に把握する必要があるので、適宜のタイミングで作業板を所定の回転位置で停止させ、回転位置を初期化して原点を設定する。しかし、作業板を所定の回転位置で停止させるための構成が、作業板の回転や衣類の折り畳みなどの作業の邪魔になる場合がある。 (Knowledge, etc. that became the basis of Embodiment 3)
In the clothes processing apparatus according to the present disclosure, the work plate on which the objects to be processed such as clothes are placed is infinitely rotatable. In order to improve the accuracy of processing objects, it is necessary to accurately grasp the rotational position of the work plate. set. However, the structure for stopping the working plate at a predetermined rotational position may hinder the rotation of the working plate and work such as folding clothes.
このような課題を発明者らは発見し、その課題を解決するために、本開示の主題を構成するに至った。本開示に係る衣類処理装置は、作業板の回転位置の原点を設定するための構成を、作業板を無限回転可能とする状態と作業板の回転を停止させる状態との間で切替可能に設けることにより、作業空間を効率良く利用しつつ、作業板の回転位置の検知精度を向上させることができる。
The inventors discovered such a problem, and came to constitute the subject of the present disclosure in order to solve the problem. The laundry processing apparatus according to the present disclosure provides a configuration for setting the origin of the rotation position of the work plate so that it can be switched between a state in which the work plate can rotate infinitely and a state in which the work plate stops rotating. As a result, it is possible to improve the detection accuracy of the rotational position of the work plate while efficiently using the work space.
[3-1.構成]
[3-1-1.衣類処理装置の全体構成]
実施の形態3における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [3-1. Constitution]
[3-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of theclothes processing apparatus 1 according to the third embodiment is the same as the overall configuration of the clothes processing apparatus 1 according to the first embodiment.
[3-1-1.衣類処理装置の全体構成]
実施の形態3における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [3-1. Constitution]
[3-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of the
[3-1-2.作業板装置の詳細]
作業板装置400の詳細について説明する。上述したように、作業板410は無限回転可能に設けられているので、回転位置を精確に検知するためには、回転位置を適宜初期化して原点を設定する必要がある。 [3-1-2. Details of the work plate device]
Details of thework plate device 400 will be described. As described above, since the work plate 410 is infinitely rotatable, it is necessary to appropriately initialize the rotational position and set the origin in order to accurately detect the rotational position.
作業板装置400の詳細について説明する。上述したように、作業板410は無限回転可能に設けられているので、回転位置を精確に検知するためには、回転位置を適宜初期化して原点を設定する必要がある。 [3-1-2. Details of the work plate device]
Details of the
図21及び図22は、初期化機構450の側面模式図及び正面模式図である。初期化機構450は、本開示の回転位置初期化装置の一例であり、ストッパ部456と切替部460を備える。ストッパ部456は、無限回転可能に設けられた作業板410の回転位置を初期化するために、作業板410の回転軸421に設けられた凸部423に当接して作業板410の回転を停止させる。切替部460は、ストッパ部456を凸部423に当接する位置と凸部423に当接しない位置との間で移動させることにより、作業板410が回転可能な状態と作業板410の回転が停止される状態との間で作業板410の状態を切り替える。切替部460は、ピン451、第1リンク452、第2リンク453、第3リンク454、第4リンク455、及び付勢部457を備える。
21 and 22 are a schematic side view and a schematic front view of the initialization mechanism 450. FIG. The initialization mechanism 450 is an example of the rotational position initialization device of the present disclosure, and includes a stopper portion 456 and a switching portion 460 . In order to initialize the rotational position of the work plate 410, which is provided to be infinitely rotatable, the stopper portion 456 abuts on a convex portion 423 provided on the rotating shaft 421 of the work plate 410 to stop the rotation of the work plate 410. Let The switching portion 460 moves the stopper portion 456 between a position where the stopper portion 456 abuts on the convex portion 423 and a position where it does not abut on the convex portion 423, thereby allowing the work plate 410 to rotate and stopping the rotation of the work plate 410. The state of the working plate 410 is switched between the state where the The switching portion 460 includes a pin 451 , a first link 452 , a second link 453 , a third link 454 , a fourth link 455 and an urging portion 457 .
ピン451は、作業板410が初期化機構450の位置に移動されると、走行動力又は自重で上方に押し出されるように構成されている。図21に示すように、ピン451が上方に押し出されると、ピン451が第1リンク452を押し上げる。第1リンク452の回転により第2リンク453及び第3リンク454が回転され、第4リンク455が水平方向に移動される。このとき、第4リンク455の先端部であるストッパ部456は、回転軸421に設けられた凸部423に当接する位置に移動される。作業板410が反時計回りに回転され、凸部423がストッパ部456に当接すると、作業板410の回転が停止される。
The pin 451 is configured to be pushed upward by running power or its own weight when the work plate 410 is moved to the position of the initialization mechanism 450 . As shown in FIG. 21, when the pin 451 is pushed upward, the pin 451 pushes up the first link 452 . The rotation of the first link 452 causes the second link 453 and the third link 454 to rotate, and the fourth link 455 to move horizontally. At this time, the stopper portion 456 that is the tip portion of the fourth link 455 is moved to a position where it abuts on the convex portion 423 provided on the rotating shaft 421 . When the work plate 410 is rotated counterclockwise and the convex portion 423 comes into contact with the stopper portion 456, the rotation of the work plate 410 is stopped.
付勢部457は、バネや弾性体などで構成され、ストッパ部456が凸部423に当接する位置から凸部423に当接しない位置に移動する方向にストッパ部456を付勢する。したがって、作業板410が初期化機構450の位置から別の位置に移動されると、図22に示すように、付勢部457の付勢力により第2リンク453が元の回転位置に戻され、ストッパ部456も凸部423に当接しない位置に移動されて、その位置に維持される。したがって、作業板410は、回転位置を初期化するとき以外は、ストッパ部456に接触することなく無限回転することができる。
The biasing portion 457 is composed of a spring, an elastic body, or the like, and biases the stopper portion 456 in a direction in which the stopper portion 456 moves from a position where the stopper portion 456 abuts against the convex portion 423 to a position where it does not contact the convex portion 423 . Therefore, when the working plate 410 is moved from the position of the initialization mechanism 450 to another position, as shown in FIG. The stopper portion 456 is also moved to a position where it does not come into contact with the convex portion 423 and is maintained at that position. Therefore, the work plate 410 can rotate infinitely without contacting the stopper portion 456 except when initializing the rotation position.
図23A及び図23Bは、ストッパ部456の構造を模式的に示す。第4リンク455には、バネや弾性体などで構成された弾性部459が組み込まれている。したがって、図23Aに示すように、ストッパ部456が凸部423に当接する位置に移動されたときに、ちょうど凸部423がストッパ部456の先端に重なった場合であっても、図23Bに示すように、弾性部459が縮むことにより、凸部423や他のリンクにかかる負荷を低減させることができる。これにより、凸部423や切替部460の破損を防ぐことができる。
23A and 23B schematically show the structure of the stopper portion 456. FIG. The fourth link 455 incorporates an elastic portion 459 made up of a spring, an elastic body, or the like. Therefore, as shown in FIG. 23A, even if the protrusion 423 just overlaps the tip of the stopper portion 456 when the stopper portion 456 is moved to the position where it abuts against the protrusion 423, as shown in FIG. Thus, the contraction of the elastic portion 459 can reduce the load applied to the convex portion 423 and other links. As a result, damage to the convex portion 423 and the switching portion 460 can be prevented.
図24A及び図24Bは、ストッパ部456の構造を模式的に示す。ストッパ部456において、作業板410を停止させるときに作業板410に当接する面462の逆側の面461は、斜面の形状を有する。作業板410の回転位置を初期化するとき、作業板410が反時計回りに回転され、凸部423がストッパ部456の面462に当接して作業板410が停止される。しかし、作業板410が時計回りに回転してしまった場合、原点とすべき回転位置ではない回転位置で作業板410が停止してしまうことになる。本実施の形態では、面461を斜面とし、第4リンク455に弾性部459を組み込んでいるので、作業板410が時計回りに回転して凸部423が面461に当接しても、ストッパ部456が凸部423に押されて弾性部459が縮み、凸部423が斜面を滑って通過するので、作業板410の回転を停止させないようにすることができる。また、凸部423や他のリンクにかかる負荷を低減させることができるので、凸部423や切替部460の破損を防ぐことができる。
24A and 24B schematically show the structure of the stopper portion 456. FIG. In the stopper portion 456, a surface 461 on the opposite side of the surface 462 that contacts the work plate 410 when the work plate 410 is stopped has an inclined surface. When the rotational position of the work plate 410 is initialized, the work plate 410 is rotated counterclockwise, and the convex portion 423 comes into contact with the surface 462 of the stopper portion 456 to stop the work plate 410 . However, if the working plate 410 rotates clockwise, the working plate 410 stops at a rotational position that should not be the origin. In this embodiment, the surface 461 is formed as an inclined surface, and the elastic portion 459 is incorporated in the fourth link 455 . 456 is pushed by the convex portion 423, the elastic portion 459 contracts, and the convex portion 423 slides through the slope, so that the rotation of the work plate 410 can be prevented from stopping. In addition, since the load applied to the convex portion 423 and other links can be reduced, damage to the convex portion 423 and the switching portion 460 can be prevented.
[3-2.動作]
以上のように構成された初期化機構450について、以下その動作、作用を説明する。 [3-2. motion]
The operation and effect of theinitialization mechanism 450 configured as described above will be described below.
以上のように構成された初期化機構450について、以下その動作、作用を説明する。 [3-2. motion]
The operation and effect of the
図25は、実施の形態3に係る回転位置初期化方法の手順を示すフローチャートである。本開示の初期位置設定部として機能する作業板装置制御部902は、作業板410の回転位置を初期化する場合、作業板410を初期化機構450がある位置に移動させる(S110)。このとき、ピン451が上方に押し出され、第1リンク452、第2リンク453、第3リンク454、及び第4リンク455の協働によりストッパ部456が凸部423に当接する位置に移動される(S112)。作業板装置制御部902は、回転駆動部420により作業板410を反時計回りに回転させ(S114)、凸部423がストッパ部456に当接して作業板410の回転が停止されると回転駆動部420を停止する(S116)。作業板装置制御部902は、作業板410の回転位置を初期化し、原点を設定する(S118)。作業板装置制御部902は、以降、この回転位置を原点として作業板410の回転位置を検知する。作業板装置制御部902が作業板410を別の位置に移動させると、ストッパ部456は作業板410の回転を妨げない位置に戻る。
FIG. 25 is a flow chart showing the procedure of the rotational position initialization method according to the third embodiment. When initializing the rotational position of the work plate 410, the work plate device control unit 902, which functions as the initial position setting unit of the present disclosure, moves the work plate 410 to the position where the initialization mechanism 450 is located (S110). At this time, the pin 451 is pushed upward, and the cooperation of the first link 452, the second link 453, the third link 454, and the fourth link 455 moves the stopper portion 456 to a position where it contacts the convex portion 423. (S112). The work plate device control unit 902 causes the rotation drive unit 420 to rotate the work plate 410 counterclockwise (S114). The unit 420 is stopped (S116). The work plate device control section 902 initializes the rotational position of the work plate 410 and sets the origin (S118). The work plate device control unit 902 thereafter detects the rotational position of the work plate 410 with this rotational position as the origin. When the work plate device control section 902 moves the work plate 410 to another position, the stopper portion 456 returns to a position where the rotation of the work plate 410 is not hindered.
[3-3.効果等]
以上のように、本実施の形態において、初期化機構450は、無限回転可能に設けられた作業板410の回転位置を初期化するために、作業板410に当接して作業板410の回転を停止させるストッパ部456と、ストッパ部456を作業板410に当接する位置と作業板410に当接しない位置との間で移動させることにより、作業板410が回転可能な状態と作業板410の回転が停止される状態との間で作業板410の状態を切り替える切替部460と、を備える。これにより、作業板410の回転位置の検知精度を向上させることができる。また、作業空間を効率良く利用することができるので、衣類処理装置1を小型化することができる。 [3-3. effects, etc.]
As described above, in the present embodiment,initialization mechanism 450 abuts on work plate 410 to rotate work plate 410 in order to initialize the rotational position of work plate 410 which is provided to be infinitely rotatable. By moving the stopper portion 456 to be stopped and the position where the stopper portion 456 abuts on the work plate 410 and the position where it does not abut on the work plate 410, the state in which the work plate 410 is rotatable and the rotation of the work plate 410 are achieved. and a switching unit 460 for switching the state of the work plate 410 between the state in which the work plate 410 is stopped. Thereby, the detection accuracy of the rotational position of the working plate 410 can be improved. Moreover, since the working space can be used efficiently, the size of the clothes processing apparatus 1 can be reduced.
以上のように、本実施の形態において、初期化機構450は、無限回転可能に設けられた作業板410の回転位置を初期化するために、作業板410に当接して作業板410の回転を停止させるストッパ部456と、ストッパ部456を作業板410に当接する位置と作業板410に当接しない位置との間で移動させることにより、作業板410が回転可能な状態と作業板410の回転が停止される状態との間で作業板410の状態を切り替える切替部460と、を備える。これにより、作業板410の回転位置の検知精度を向上させることができる。また、作業空間を効率良く利用することができるので、衣類処理装置1を小型化することができる。 [3-3. effects, etc.]
As described above, in the present embodiment,
また、本実施の形態において、ストッパ部456において、作業板410を停止させるときに作業板410に当接する面462の逆側の面461は、斜面の形状を有する。これにより、原点とすべき回転位置ではない回転位置で作業板410が停止してしまうのを防ぐことができるので、作業板410の回転位置の検知精度を向上させることができる。また、初期化機構450の破損を防ぐことができる。
In addition, in the present embodiment, the surface 461 of the stopper portion 456 opposite to the surface 462 that contacts the work plate 410 when the work plate 410 is stopped has an inclined surface. As a result, it is possible to prevent the work plate 410 from stopping at a rotational position other than the rotational position that should be the origin. Also, damage to the initialization mechanism 450 can be prevented.
また、本実施の形態において、初期化機構450は、ストッパ部456と切替部460との間に、弾性変形可能な弾性部459を更に備える。これにより、初期化機構450の破損を防ぐことができる。
In addition, in the present embodiment, the initialization mechanism 450 further includes an elastically deformable elastic portion 459 between the stopper portion 456 and the switching portion 460 . This can prevent damage to the initialization mechanism 450 .
また、本実施の形態において、ストッパ部456が作業板410に当接する位置から作業板410に当接しない位置に移動する方向にストッパ部456を付勢する付勢部457を更に備える。これにより、回転位置の初期化終了後に、ストッパ部456を作業板410の回転を妨げない位置に戻すことができる。
In addition, in the present embodiment, a biasing portion 457 is further provided that biases the stopper portion 456 in a direction in which the stopper portion 456 moves from the position where the stopper portion 456 contacts the work plate 410 to the position where it does not contact the work plate 410 . As a result, the stopper portion 456 can be returned to a position that does not hinder the rotation of the work plate 410 after the initialization of the rotational position is completed.
また、本実施の形態において、作業板410の回転が停止された状態における作業板410の回転位置を初期位置に設定する作業板装置制御部902を更に備える。これにより、作業板410の回転位置の検知精度を向上させることができる。
Further, in this embodiment, a work plate device control unit 902 is further provided for setting the rotational position of the work plate 410 in a state where the rotation of the work plate 410 is stopped to the initial position. Thereby, the detection accuracy of the rotational position of the working plate 410 can be improved.
また、本実施の形態において、回転位置初期化方法は、無限回転可能に設けられた作業板410に当接して作業板410の回転を停止させるストッパ部456を作業板410に当接する位置に移動させるステップと、作業板410がストッパ部456に当接して回転が停止された状態において、作業板410の回転位置を初期位置に設定するステップと、を備える。これにより、作業板410の回転位置の検知精度を向上させることができる。
In the present embodiment, the rotation position initialization method moves the stopper portion 456 that abuts on the work plate 410 provided to be infinitely rotatable to stop the rotation of the work plate 410 to a position that abuts on the work plate 410. and setting the rotational position of the work plate 410 to the initial position in a state where the work plate 410 abuts against the stopper portion 456 and stops rotating. Thereby, the detection accuracy of the rotational position of the working plate 410 can be improved.
(実施の形態4)
(実施の形態4の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特開2020-054473号公報には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 4)
(Background technology of Embodiment 4)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example, Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
(実施の形態4の背景技術)
衣類などの被処理物を展開して折り畳む処理装置が提案されている。例えば、特開2020-054473号公報には、被処理物の任意の点を保持可能な複数の保持装置と、被処理物を載置可能な載置装置を備える処理装置が開示されている。この処理装置は、複数の保持装置の少なくとも2つが被処理物の2つの端点を保持している状態において撮像された画像に基づいて、少なくとも2つの長手部分を有する被処理物を認識し、複数の保持装置及び載置装置を用いて展開する。 (Embodiment 4)
(Background technology of Embodiment 4)
2. Description of the Related Art There has been proposed a processing apparatus that unfolds and folds an object to be processed such as clothing. For example, Japanese Unexamined Patent Application Publication No. 2020-054473 discloses a processing apparatus provided with a plurality of holding devices capable of holding an arbitrary point of an object to be processed and a mounting device capable of placing the object to be processed. This processing device recognizes a workpiece having at least two longitudinal portions based on an image captured in a state in which at least two of the plurality of holding devices hold two end points of the workpiece; are deployed using a holding device and a mounting device.
(実施の形態4が解決しようとする課題)
本発明者らは、上記の文献に記載された処理装置の改良を重ねる中で、載置装置に載置された被処理物をより適切に処理するための技術に想到した。 (Problem to be solved by Embodiment 4)
The inventors of the present invention, while repeatedly improving the processing apparatus described in the above document, came up with a technique for more appropriately processing the workpiece placed on the placement apparatus.
本発明者らは、上記の文献に記載された処理装置の改良を重ねる中で、載置装置に載置された被処理物をより適切に処理するための技術に想到した。 (Problem to be solved by Embodiment 4)
The inventors of the present invention, while repeatedly improving the processing apparatus described in the above document, came up with a technique for more appropriately processing the workpiece placed on the placement apparatus.
本開示の実施の形態4は、処理対象物を処理する技術を向上させるための技術を提供する。
Embodiment 4 of the present disclosure provides a technique for improving the technique of processing objects to be processed.
(実施の形態4の課題を解決するための手段)
本開示における衣類処理装置は、処理対象物を載置するための作業板と、作業板の表面に設けられ、作業板に載置された処理対象物の滑りを抑制するための滑り抑制部と、滑り抑制部を変位させる変位部と、を備える。 (Means for solving the problem of Embodiment 4)
A laundry processing apparatus according to the present disclosure includes a work plate on which an object to be processed is placed, and a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be processed placed on the work plate. , and a displacement portion that displaces the anti-slip portion.
本開示における衣類処理装置は、処理対象物を載置するための作業板と、作業板の表面に設けられ、作業板に載置された処理対象物の滑りを抑制するための滑り抑制部と、滑り抑制部を変位させる変位部と、を備える。 (Means for solving the problem of Embodiment 4)
A laundry processing apparatus according to the present disclosure includes a work plate on which an object to be processed is placed, and a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be processed placed on the work plate. , and a displacement portion that displaces the anti-slip portion.
本開示における衣類処理方法は、処理対象物を作業板に載置するステップと、作業板の表面に設けられ、作業板に載置された処理対象物の滑りを抑制するための滑り抑制部を変位させるステップと、を備える。
The laundry processing method according to the present disclosure includes a step of placing an object to be treated on a work plate, and a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be treated placed on the work plate. and displacing.
(実施の形態4の効果)
本開示の実施の形態4によれば、処理対象物を処理する技術を向上させることができる。 (Effect of Embodiment 4)
According to Embodiment 4 of the present disclosure, it is possible to improve the technique of processing the processing target.
本開示の実施の形態4によれば、処理対象物を処理する技術を向上させることができる。 (Effect of Embodiment 4)
According to Embodiment 4 of the present disclosure, it is possible to improve the technique of processing the processing target.
(実施の形態4の基礎となった知見等)
本開示に係る衣類処理装置は、衣類などの処理対象物を載置する作業板を使用して衣類を折り畳む。処理対象物を作業板に載置したときに、処理対象物が滑って位置がずれたり落下したりする場合がある。また、逆に、処理対象物を作業板の上で移動させたり落下させたりしたい場合がある。 (Findings, etc. that became the basis of Embodiment 4)
A clothes processing apparatus according to the present disclosure folds clothes using a working plate on which an object to be processed such as clothes is placed. When an object to be processed is placed on the work plate, the object to be processed may slip and shift its position or fall. Conversely, there are cases where it is desired to move or drop the processing object on the work plate.
本開示に係る衣類処理装置は、衣類などの処理対象物を載置する作業板を使用して衣類を折り畳む。処理対象物を作業板に載置したときに、処理対象物が滑って位置がずれたり落下したりする場合がある。また、逆に、処理対象物を作業板の上で移動させたり落下させたりしたい場合がある。 (Findings, etc. that became the basis of Embodiment 4)
A clothes processing apparatus according to the present disclosure folds clothes using a working plate on which an object to be processed such as clothes is placed. When an object to be processed is placed on the work plate, the object to be processed may slip and shift its position or fall. Conversely, there are cases where it is desired to move or drop the processing object on the work plate.
このような課題を発明者らは発見し、その課題を解決するために、本開示の主題を構成するに至った。本開示に係る衣類処理装置は、作業板の表面に、作業板に載置された処理対象物の滑りを抑制するための滑り抑制部を設け、滑り抑制部を変位させる。これにより、作業板の上で処理対象物を移動させたり、伸縮させたり、落下しないように保持したり、落下させたりすることができるので、作業効率を向上させることができる。
The inventors discovered such a problem, and came to constitute the subject of the present disclosure in order to solve the problem. In the laundry processing apparatus according to the present disclosure, a slip suppressing portion for suppressing slippage of an object placed on the work plate is provided on the surface of the work plate, and the slip suppressing portion is displaced. As a result, the processing object can be moved, stretched, held so as not to fall, or dropped on the work plate, so that work efficiency can be improved.
[4-1.構成]
[4-1-1.衣類処理装置の全体構成]
実施の形態4における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [4-1. Constitution]
[4-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of theclothes processing apparatus 1 according to the fourth embodiment is the same as the overall configuration of the clothes processing apparatus 1 according to the first embodiment.
[4-1-1.衣類処理装置の全体構成]
実施の形態4における衣類処理装置1の全体構成は、実施の形態1における衣類処理装置1の全体構成と同様である。 [4-1. Constitution]
[4-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of the
[4-1-2.作業板の詳細]
作業板410について、更に説明する。本実施の形態の作業板410の表面には、作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部が設けられる。滑り抑制部を変位させることにより、作業板410に載置されている処理対象物Tを移動又は伸縮させたり、処理対象物Tを滑らないようにしたり滑らせたりすることができる。 [4-1-2. Work plate details]
The workingplate 410 will be further described. The surface of the work plate 410 of this embodiment is provided with a slip suppressing portion for suppressing slippage of the processing target T placed on the work plate 410 . By displacing the slip suppressing portion, the processing target T placed on the work plate 410 can be moved or stretched, and the processing target T can be prevented from slipping or made to slide.
作業板410について、更に説明する。本実施の形態の作業板410の表面には、作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部が設けられる。滑り抑制部を変位させることにより、作業板410に載置されている処理対象物Tを移動又は伸縮させたり、処理対象物Tを滑らないようにしたり滑らせたりすることができる。 [4-1-2. Work plate details]
The working
なお、「滑り抑制部の変位」には、滑り抑制部が作業板410の端面を含む表面から出没する変位、及び、作業板410の表面から突出した状態で左右に移動する変位、の2つがある。本実施の形態では、作業板410の表面から突出した状態で左右に移動する変位について説明する。なお、本実施の形態の作業板410において、左右に変位しないときには没入する、つまり、左右移動及び出没の両方の変位が可能に構成されてもよい。
The "displacement of the anti-slip portion" includes two types of displacement: displacement in which the anti-slip portion appears and disappears from the surface including the end face of the working plate 410; be. In the present embodiment, a description will be given of the displacement in which the working plate 410 protrudes from the surface and moves left and right. In addition, the work plate 410 of the present embodiment may be retracted when it is not laterally displaced, that is, it may be configured to be capable of both lateral movement and retraction.
[4-1-2-1.処理対象物の移動又は伸縮]
滑り抑制部を左右に移動させることにより処理対象物Tを移動又は伸縮させる場合について説明する。 [4-1-2-1. Movement or expansion/contraction of the object to be processed]
A case will be described in which the object T to be processed is moved or expanded or contracted by moving the anti-slip portion to the left or right.
滑り抑制部を左右に移動させることにより処理対象物Tを移動又は伸縮させる場合について説明する。 [4-1-2-1. Movement or expansion/contraction of the object to be processed]
A case will be described in which the object T to be processed is moved or expanded or contracted by moving the anti-slip portion to the left or right.
図26Aは、作業板410の概略水平断面図及び側面図である。作業板410の前端面又は後端面に、複数の切欠部470a、470bが設けられ、それぞれの切欠部470a、470bに、作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部の一例である複数の突起部471a、411bが設けられる。複数の突起部471a、471bは、回転する移動体472a、472bの表面に設けられ、移動体472a、472bの回転に伴って移動する。移動体472a、472bは、突起部471a、471bを変位させる変位部の一例である移動部473a、473bにより回転される。移動部473a、473bは、作業板410を回転させるための回転駆動部420の駆動力により移動体472a、472bを回転させ、突起部471a、471bを移動させる。駆動対象切替機構474は、回転駆動部420の駆動力により作業板410が回転される状態と突起部471a、471bが移動される状態とを切り替える。突起部471a、471bが移動されるときには、回転駆動部420の駆動力が駆動対象切替機構474及びシャフト475を介して移動部473a及び473bに同時に伝達され、移動体472a、472bが回転される。
26A is a schematic horizontal sectional view and a side view of the working plate 410. FIG. A plurality of cutouts 470a and 470b are provided on the front end face or the rear end face of the work plate 410, and the cutouts 470a and 470b are provided with respective cutouts 470a and 470b for suppressing the slippage of the processing object T placed on the work plate 410. A plurality of projecting portions 471a and 411b, which are examples of slip suppressing portions, are provided. A plurality of protrusions 471a and 471b are provided on the surfaces of rotating moving bodies 472a and 472b, and move as the moving bodies 472a and 472b rotate. The moving bodies 472a and 472b are rotated by moving parts 473a and 473b, which are examples of displacement parts that displace the protrusions 471a and 471b. The moving parts 473a and 473b rotate the moving bodies 472a and 472b by the driving force of the rotation driving part 420 for rotating the working plate 410, and move the protrusions 471a and 471b. The driving target switching mechanism 474 switches between a state in which the working plate 410 is rotated by the driving force of the rotation driving section 420 and a state in which the projections 471a and 471b are moved. When the protrusions 471a and 471b are moved, the driving force of the rotary drive section 420 is simultaneously transmitted to the moving sections 473a and 473b through the driven object switching mechanism 474 and the shaft 475, rotating the moving bodies 472a and 472b.
突起部471は、処理対象物Tを引っ掛けることが可能な形状を有してもよい。突起部471の表面に、突起や凹凸などが形成されてもよい。滑り抑制部は、処理対象物Tとの間に働く静止摩擦力又は動摩擦力を増大させることが可能な材質又は表面形状で構成されてもよい。この場合、滑り抑制部は、突起を有しなくてもよく、平面又は曲面の形状を有してもよい。
The projecting portion 471 may have a shape that can hook the object T to be processed. A protrusion, unevenness, or the like may be formed on the surface of the protrusion 471 . The slip-suppressing part may be made of a material or a surface shape capable of increasing the static frictional force or dynamic frictional force acting between the object to be processed T and the object T to be processed. In this case, the anti-slip portion may not have a projection, and may have a planar or curved shape.
図26Bは、突起部471を出没させる構成の例を示す。滑り抑制部である複数の突起部471a、471bを作業板410の表面から没入させる構成は、特に限られないが、例えば、図26Bに示すように、左右で1対となる移動部473a及び473bが、それぞれ広がるようにして作業板410の内部に入り込むように構成されてもよい。
FIG. 26B shows an example of a configuration in which the protrusion 471 appears and disappears. The structure for retracting the plurality of protrusions 471a and 471b, which are the slip suppressing parts, from the surface of the work plate 410 is not particularly limited, but for example, as shown in FIG. may be configured to extend and enter the inside of the work plate 410 .
図27A、図27B、図27C、及び図27Dは、作業板410上で処理対象物Tを移動又は伸縮させる様子を示す。図27Aに示すように、切欠部470aに設けられた左側の突起部471を時計回りに回転させ、切欠部470bに設けられた右側の突起部471を反時計回りに回転させると、処理対象物Tが収縮される。図27Bに示すように、左側の突起部471を反時計回りに回転させ、右側の突起部471を時計回りに回転させると、処理対象物Tが伸張される。図27Cに示すように、左側の突起部471及び右側の突起部471を反時計回りに回転させると、処理対象物Tが左に移動される。図27Dに示すように、左側の突起部471及び右側の突起部471を時計回りに回転させると、処理対象物Tが右に移動される。
27A, 27B, 27C, and 27D show how the object to be processed T is moved or expanded/contracted on the working plate 410. FIG. As shown in FIG. 27A, when the left protrusion 471 provided in the notch 470a is rotated clockwise and the right protrusion 471 provided in the notch 470b is rotated counterclockwise, the object to be processed T is contracted. As shown in FIG. 27B, when the projection 471 on the left side is rotated counterclockwise and the projection 471 on the right side is rotated clockwise, the processing target T is stretched. As shown in FIG. 27C, when the left protrusion 471 and the right protrusion 471 are rotated counterclockwise, the processing target T is moved to the left. As shown in FIG. 27D, when the left protrusion 471 and the right protrusion 471 are rotated clockwise, the object to be processed T is moved to the right.
図28A及び図28Bは、移動部473の構成を示す。移動部473は、複数のプーリ476a、476bと、ベルト477とを含む。プーリ476aは、シャフト475により、左右方向の水平軸周りに回転される。プーリ476aの回転は、ベルト477により、上下方向の鉛直軸周りに回転するプーリ476bに伝達される。移動体472は、ベルト477とともに回転される。図28Aに示す状態においては、移動体472が時計回りに回転される。プーリ476aを前後方向の水平軸周りに180°回転させると、図28Bに示すように、移動体472が反時計回りに回転される。すなわち、プーリ476aは、複数の突起部471の移動方向を切り替えることにより処理対象物Tの移動と伸縮とを切り替える移動方向切替機構として機能する。
28A and 28B show the configuration of the moving section 473. FIG. The moving portion 473 includes a plurality of pulleys 476 a and 476 b and a belt 477 . The pulley 476a is rotated by a shaft 475 around a horizontal axis in the left-right direction. The rotation of the pulley 476a is transmitted by the belt 477 to the pulley 476b rotating around the vertical axis in the vertical direction. Moving body 472 is rotated together with belt 477 . In the state shown in FIG. 28A, moving body 472 is rotated clockwise. Rotating the pulley 476a 180° about the longitudinal horizontal axis causes the truck 472 to rotate counterclockwise as shown in FIG. 28B. That is, the pulley 476a functions as a movement direction switching mechanism that switches between movement and expansion/contraction of the processing target T by switching the movement direction of the plurality of projections 471 .
作業板装置制御部902は、処理対象物Tの折り畳みの手順や処理対象物Tの状態などに応じて、図27A、図27B、図27C、及び図27Dに示した動作のうちいずれを実行するかを決定し、決定された動作を実現するために、プーリ476aを適宜回転させて移動体472の移動方向を制御する。作業板装置制御部902は、駆動対象切替機構474により回転駆動部420の駆動力が移動部473に伝達されるように切り替えられているときに、回転駆動部420の回転用モータ422を回転させることにより、突起部471を移動させて処理対象物Tを移動又は伸縮させる。
27A, 27B, 27C, and 27D according to the folding procedure of the processing object T, the state of the processing object T, and the like. In order to realize the determined operation, the pulley 476a is appropriately rotated to control the moving direction of the moving body 472. FIG. The work plate device control section 902 rotates the rotation motor 422 of the rotation driving section 420 when the driving force of the rotation driving section 420 is switched to be transmitted to the moving section 473 by the drive target switching mechanism 474 . Thus, the projection 471 is moved to move or expand or contract the object T to be processed.
図29A及び図29Bは、駆動対象切替機構474の概略断面図である。図29Aは、回転駆動部420の駆動力により作業板410が回転される状態を示す。固定軸480の外側に固定軸480と同心円状に設けられた回転軸481は、回転駆動部420の回転用モータ422に連結されている。ピン488が図29Aに示した位置にあるときは、回転軸481は、連結部483により、作業板410に固定された回転軸482と連結される。したがって、回転軸481が回転すると、連結部483及び回転軸481とともに作業板410が回転する。このとき、ギヤ485の右側は回転軸481と離れており、ギヤ485の左側は固定軸480に連結固定されるので、シャフト475を回転させるためのギヤ486は回転しない。
29A and 29B are schematic cross-sectional views of the drive target switching mechanism 474. FIG. FIG. 29A shows a state in which the working plate 410 is rotated by the driving force of the rotation driving portion 420. FIG. A rotating shaft 481 provided concentrically with the fixed shaft 480 outside the fixed shaft 480 is connected to a rotating motor 422 of the rotary drive section 420 . When the pin 488 is in the position shown in FIG. 29A, the rotating shaft 481 is connected by the connecting portion 483 to the rotating shaft 482 fixed to the working plate 410 . Therefore, when the rotating shaft 481 rotates, the working plate 410 rotates together with the connecting portion 483 and the rotating shaft 481 . At this time, the right side of the gear 485 is separated from the rotating shaft 481, and the left side of the gear 485 is connected and fixed to the fixed shaft 480, so the gear 486 for rotating the shaft 475 does not rotate.
図29Bは、回転駆動部420の駆動力により突起部471が移動される状態を示す。ピン488が右方向に移動されると、ギヤ485がピン488に押されて右方向に移動し、連結部483がギヤ485に押されて右方向に移動する。これにより、ギヤ485が回転軸481に連結されるとともに、連結部483と回転軸481との連結が解除される。したがって、回転軸481が回転すると、ギヤ485及びギヤ486により回転力がシャフト475に伝達され、シャフト475が回転する。このとき、回転軸482は回転軸481と連結していないので、作業板410は回転しない。
FIG. 29B shows a state in which the protrusion 471 is moved by the driving force of the rotation drive section 420. FIG. When the pin 488 is moved rightward, the gear 485 is pushed by the pin 488 and moves rightward, and the connecting portion 483 is pushed by the gear 485 and moves rightward. As a result, the gear 485 is connected to the rotating shaft 481 and the connection between the connecting portion 483 and the rotating shaft 481 is released. Therefore, when the rotary shaft 481 rotates, the torque is transmitted to the shaft 475 by the gears 485 and 486, and the shaft 475 rotates. At this time, since the rotating shaft 482 is not connected to the rotating shaft 481, the working plate 410 does not rotate.
連結部483及びギヤ485は、付勢部として機能する弾性体484により左方向に付勢されているので、ピン488が図29Aに示した位置に戻されると、連結部483及びギヤ485も図29Aに示した状態に速やかに戻り、回転駆動部420の駆動力により作業板410が回転される状態となる。
Since the connecting portion 483 and the gear 485 are biased leftward by the elastic body 484 functioning as a biasing portion, when the pin 488 is returned to the position shown in FIG. 29A is quickly restored, and the working plate 410 is rotated by the driving force of the rotary drive unit 420. As shown in FIG.
ピン488は、機械的に移動されてもよいし、モータなどにより電気的に移動されてもよい。例えば、駆動対象切替機構474による切替を起こさせる起動機構が、作業板410が移動可能な位置に設けられてもよい。
The pin 488 may be moved mechanically or electrically by a motor or the like. For example, an activation mechanism that causes switching by the drive target switching mechanism 474 may be provided at a position where the work plate 410 can move.
図30A及び図30Bは、起動機構489の例を示す。図30Aに示す例において、起動機構489はYガイド354に設けられる。起動機構489は、ピン488を押すことが可能な突起などであってもよい。図30Bに示すように、走行駆動部430により作業板410が起動機構489が設けられた位置に移動されると、起動機構489によりピン488が押されて、駆動対象切替機構474による駆動対象の切替が起動される。
30A and 30B show an example of the activation mechanism 489. FIG. In the example shown in FIG. 30A, the activation mechanism 489 is provided on the Y guide 354 . The activation mechanism 489 may be a protrusion or the like capable of pushing the pin 488 . As shown in FIG. 30B , when the work plate 410 is moved to the position where the activation mechanism 489 is provided by the traveling drive unit 430 , the pin 488 is pushed by the activation mechanism 489 , and the driving target switching mechanism 474 selects the driving target. Switching is activated.
[4-2.動作]
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [4-2. motion]
The operation and function of theclothes processing apparatus 1 configured as described above will be described below.
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [4-2. motion]
The operation and function of the
図31は、実施の形態4に係る衣類処理方法の手順を示すフローチャートである。作業板410に載置された処理対象物Tを移動又は伸縮する場合、作業板装置制御部902は、走行駆動部430を制御して、起動機構489が設けられた位置に作業板410を移動する(S210)。これにより、駆動対象切替機構474のピン488が押されて駆動対象の切替が起こり、回転駆動部420の駆動力により突起部471が移動される状態となる。作業板装置制御部902は、処理対象物Tを移動又は伸縮するための動作に応じて、突起部471の移動方向を決定し、決定された突起部471の移動方向に合わせてプーリ476aを回転させる(S212)。作業板装置制御部902は、回転駆動部420を駆動して突起部471を移動させ、処理対象物Tを移動又は伸縮させる(S214)。処理対象物Tの移動又は伸縮が終了すると、作業板装置制御部902は、作業板410を別の位置に移動させる(S216)。これにより、駆動対象切替機構474のピン488が弾性体484により付勢されて元の位置に戻り、回転駆動部420の駆動力により作業板410が回転される状態となる。
FIG. 31 is a flow chart showing the procedure of the clothes processing method according to the fourth embodiment. When moving or expanding or contracting the processing object T placed on the work plate 410, the work plate device control unit 902 controls the traveling drive unit 430 to move the work plate 410 to the position where the activation mechanism 489 is provided. (S210). As a result, the pin 488 of the drive target switching mechanism 474 is pushed to switch the drive target, and the projection 471 is moved by the driving force of the rotary drive unit 420 . The work plate device control unit 902 determines the moving direction of the protrusion 471 according to the operation for moving or expanding and contracting the processing object T, and rotates the pulley 476a in accordance with the determined moving direction of the protrusion 471. (S212). The work plate device control section 902 drives the rotation drive section 420 to move the projection section 471, thereby moving or expanding and contracting the processing target T (S214). When the movement or expansion/contraction of the processing object T is completed, the work plate device control section 902 moves the work plate 410 to another position (S216). As a result, the pin 488 of the drive target switching mechanism 474 is urged by the elastic body 484 to return to its original position, and the working plate 410 is rotated by the driving force of the rotary drive section 420 .
[4-3.効果等]
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを載置するための作業板410と、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部として機能する突起部471と、突起部471を変位させる移動部473と、を備える。これにより、処理対象物Tを作業板410に載置したまま移動又は伸縮させることができるので、処理対象物Tの処理効率を向上させることができる。 [4-3. effects, etc.]
As described above, in the present embodiment, theclothes processing apparatus 1 includes the work plate 410 on which the object T to be processed is placed, and the processing plate provided on the surface of the work plate 410 and placed on the work plate 410 . A protrusion 471 functioning as a slip suppressing portion for suppressing slippage of the object T, and a moving portion 473 displacing the protrusion 471 are provided. As a result, the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを載置するための作業板410と、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部として機能する突起部471と、突起部471を変位させる移動部473と、を備える。これにより、処理対象物Tを作業板410に載置したまま移動又は伸縮させることができるので、処理対象物Tの処理効率を向上させることができる。 [4-3. effects, etc.]
As described above, in the present embodiment, the
また、本実施の形態において、移動部473は、突起部471を移動させることにより処理対象物Tを移動又は伸縮させる。これにより、処理対象物Tを作業板410に載置したまま移動又は伸縮させることができるので、処理対象物Tの処理効率を向上させることができる。
In addition, in the present embodiment, the moving part 473 moves or expands and contracts the object T to be processed by moving the projection part 471 . As a result, the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
また、本実施の形態において、突起部471は、作業板410の端面が切り欠かれた部分に設けられる。これにより、処理対象物Tに対する移動及び伸縮以外の作業において突起部471が邪魔にならないようにすることができるので、処理対象物Tの処理効率を向上させることができる。
In addition, in the present embodiment, the projecting portion 471 is provided in the cutout portion of the end surface of the work plate 410 . As a result, the protrusions 471 do not interfere with operations other than moving and expanding/contracting the processing object T, so the processing efficiency of the processing object T can be improved.
また、本実施の形態において、衣類処理装置1は、作業板410を回転させるための回転駆動部420を更に備え、移動部473は、回転駆動部420の駆動力により突起部471を移動させる。これにより、衣類処理装置1の構成を簡略化することができる。
In addition, in the present embodiment, the clothes processing apparatus 1 further includes a rotation drive section 420 for rotating the work plate 410 , and the moving section 473 moves the protrusion 471 by the driving force of the rotation drive section 420 . Thereby, the configuration of the clothes processing apparatus 1 can be simplified.
また、本実施の形態において、衣類処理装置1は、回転駆動部420の駆動力により作業板410が回転される状態と突起部471が移動される状態とを切り替える駆動対象切替機構474を更に備える。これにより、衣類処理装置1の構成を簡略化することができる。
In the present embodiment, the laundry processing apparatus 1 further includes a drive target switching mechanism 474 that switches between a state in which the work plate 410 is rotated by the driving force of the rotation drive section 420 and a state in which the protrusion 471 is moved. . Thereby, the configuration of the clothes processing apparatus 1 can be simplified.
また、本実施の形態において、衣類処理装置1は、作業板410を移動させる走行駆動部430と、作業板410が移動可能な範囲に設けられ、駆動対象切替機構474による切替を起こさせる起動機構と、を更に備え、走行駆動部430により作業板410が起動機構が設けられた位置に移動されることにより、駆動対象切替機構474による駆動対象の切替が起動機構により起動される。これにより、衣類処理装置1の構成を簡略化することができる。
In the present embodiment, the clothes processing apparatus 1 also includes a traveling drive unit 430 that moves the work plate 410, and an activation mechanism that is provided within a movable range of the work plate 410 and causes switching by the drive target switching mechanism 474. , and when the work plate 410 is moved to the position where the activation mechanism is provided by the traveling drive unit 430, the switching of the driven object by the driven object switching mechanism 474 is activated by the activation mechanism. Thereby, the configuration of the clothes processing apparatus 1 can be simplified.
また、本実施の形態において、衣類処理装置1は、駆動力による駆動対象が作業板410となる方向に駆動対象切替機構474を付勢する弾性体484を更に備える。これにより、起動機構が設けられた位置から別の位置に作業板410を移動させるだけで、回転駆動部420の駆動力により作業板410が回転される状態にすることができる。
In addition, in the present embodiment, the laundry processing apparatus 1 further includes an elastic body 484 that biases the drive target switching mechanism 474 in the direction in which the drive target of the drive force becomes the work plate 410 . As a result, the work plate 410 can be rotated by the driving force of the rotation drive unit 420 simply by moving the work plate 410 from the position where the activation mechanism is provided to another position.
また、本実施の形態において、突起部471は、複数の異なる位置に設けられ、衣類処理装置1は、複数の突起部471の移動方向を切り替えることにより、処理対象物Tの移動と伸縮とを切り替えるプーリ476aを更に備える。これにより、衣類処理装置1の構成を簡略化することができる。
Further, in the present embodiment, the protrusions 471 are provided at a plurality of different positions, and the clothes processing apparatus 1 can switch the moving direction of the plurality of protrusions 471 to move and expand/contract the object T to be processed. There is also a switching pulley 476a. Thereby, the configuration of the clothes processing apparatus 1 can be simplified.
また、本実施の形態において、衣類処理方法は、処理対象物Tを作業板410に載置するステップと、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための突起部471を変位させるステップと、を備える。これにより、処理対象物Tを作業板410に載置したまま移動又は伸縮させることができるので、処理対象物Tの処理効率を向上させることができる。
Further, in the present embodiment, the clothes processing method includes the step of placing an object T to be treated on the work plate 410, and the steps of placing the object T to be treated on the surface of the work plate 410 and removing the object T placed on the work plate 410. and displacing the protrusion 471 for suppressing slippage. As a result, the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
また、本実施の形態において、変位させるステップは、突起部471を移動させることにより処理対象物Tを移動又は伸縮させるステップを含む。これにより、処理対象物Tを作業板410に載置したまま移動又は伸縮させることができるので、処理対象物Tの処理効率を向上させることができる。
In addition, in the present embodiment, the step of displacing includes a step of moving or expanding and contracting the processing object T by moving the protrusion 471 . As a result, the processing target T can be moved or expanded while being placed on the work plate 410, so that the processing efficiency of the processing target T can be improved.
(実施の形態5)
実施の形態5の背景技術、解決しようとする課題、課題を解決するための手段、効果、基礎となった知見等は、実施の形態4と同様である。 (Embodiment 5)
The background art, problem to be solved, means for solving the problem, effect, underlying knowledge, etc. of the fifth embodiment are the same as those of the fourth embodiment.
実施の形態5の背景技術、解決しようとする課題、課題を解決するための手段、効果、基礎となった知見等は、実施の形態4と同様である。 (Embodiment 5)
The background art, problem to be solved, means for solving the problem, effect, underlying knowledge, etc. of the fifth embodiment are the same as those of the fourth embodiment.
[5-1.構成]
[5-1-1.衣類処理装置の全体構成]
実施の形態5の衣類処理装置1の全体構成は、実施の形態1で説明した構成と同様である。異なるのは、作業板410の構成であり、以下、作業板410の詳細について説明する。 [5-1. Constitution]
[5-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of theclothing processing apparatus 1 of the fifth embodiment is the same as the configuration described in the first embodiment. The difference is the configuration of the work plate 410, and the details of the work plate 410 will be described below.
[5-1-1.衣類処理装置の全体構成]
実施の形態5の衣類処理装置1の全体構成は、実施の形態1で説明した構成と同様である。異なるのは、作業板410の構成であり、以下、作業板410の詳細について説明する。 [5-1. Constitution]
[5-1-1. Overall configuration of clothes processing apparatus]
The overall configuration of the
[5-1-2.作業板の詳細]
[5-1-2-1.突起部の出没]
作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部を作業板410の表面から出没させることにより、処理対象物Tが作業板410の上を滑らないようにしたり滑るようにしたりする場合について説明する。 [5-1-2. Work plate details]
[5-1-2-1. Appearance of protrusions]
By protruding and retracting from the surface of the work plate 410 a slip suppressing portion for suppressing slippage of the processing target T placed on thework plate 410, the processing target T is prevented from slipping on the work plate 410. A description will be given of a case in which it is made to slide.
[5-1-2-1.突起部の出没]
作業板410に載置された処理対象物Tの滑りを抑制するための滑り抑制部を作業板410の表面から出没させることにより、処理対象物Tが作業板410の上を滑らないようにしたり滑るようにしたりする場合について説明する。 [5-1-2. Work plate details]
[5-1-2-1. Appearance of protrusions]
By protruding and retracting from the surface of the work plate 410 a slip suppressing portion for suppressing slippage of the processing target T placed on the
図32は、作業板410の概略上面図及び概略側面図である。図33A及び図33Bは、処理対象物Tが載置された作業板410の概略側面図である。作業板410の上面は斜面490を有する。斜面490には、複数の突起部471が出没可能に設けられる。図33Aに示すように、突起部471を斜面490上に出すことにより、その上に載置された処理対象物Tが斜面490を滑り落ちないようにすることができる。また、図33Bに示すように、突起部471を斜面490の下に入れることにより、その上に載置された処理対象物Tが斜面490を滑り落ちるようにすることができる。作業板装置制御部902は、処理対象物Tの折り畳みの手順や処理対象物Tの状態などに応じて、処理対象物Tが斜面490を滑り落ちないようにするか滑り落ちるようにするかを決定し、突起部471を出没させる。
FIG. 32 is a schematic top view and a schematic side view of the working plate 410. FIG. 33A and 33B are schematic side views of the working plate 410 on which the processing target T is placed. The upper surface of the working plate 410 has an inclined surface 490 . A plurality of protrusions 471 are provided on the slope 490 so as to appear and disappear. As shown in FIG. 33A , by protruding the protrusion 471 on the slope 490 , it is possible to prevent the processing target T placed thereon from sliding down the slope 490 . Further, as shown in FIG. 33B , by inserting the protrusion 471 under the slope 490 , the object T placed thereon can slide down the slope 490 . The work plate device control unit 902 determines whether the processing object T should not slide down the slope 490 or slide down according to the folding procedure of the processing object T, the state of the processing object T, and the like. Then, the protrusion 471 appears and disappears.
突起部471は、処理対象物Tを引っ掛けることが可能な形状を有してもよい。突起部471の表面に、突起や凹凸などが形成されてもよい。滑り抑制部は、処理対象物Tとの間に働く静止摩擦力又は動摩擦力を増大させることが可能な材質又は表面形状で構成されてもよい。この場合、滑り抑制部は、突起を有しなくてもよく、平面又は曲面の形状を有してもよい。
The projecting portion 471 may have a shape that can hook the object T to be processed. A protrusion, unevenness, or the like may be formed on the surface of the protrusion 471 . The slip-suppressing part may be made of a material or a surface shape capable of increasing the static frictional force or dynamic frictional force acting between the object to be processed T and the object T to be processed. In this case, the anti-slip portion may not have a projection, and may have a planar or curved shape.
突起部471は、斜面490の全域にわたって設けられてもよいし、一部の領域に設けられてもよい。例えば、斜面490の上部のみに設けられてもよいし、斜面490の下部のみに設けられてもよい。また、斜面490の中央部のみに設けられてもよいし、斜面490の左又は右の端部のみに設けられてもよいし、斜面490の左側又は右側に設けられてもよい。斜面490の一部のみに突起部471を設ける場合は、突起部471が設けられた領域に処理対象物Tを載置して処理対象物Tが斜面490を滑り落ちないようにすることもできるし、突起部471が設けられていない領域に処理対象物Tを載置して処理対象物Tが斜面490を滑り落ちるようにすることもできる。突起部471は、斜面490以外の領域に設けられてもよい。
The projecting portion 471 may be provided over the entire slope 490 or may be provided in a partial area. For example, it may be provided only on the upper part of the slope 490 or may be provided only on the lower part of the slope 490 . Further, it may be provided only at the central portion of the slope 490 , may be provided only at the left or right end of the slope 490 , or may be provided at the left or right side of the slope 490 . When the protrusion 471 is provided only on a part of the slope 490, the processing target T can be placed on the region where the protrusion 471 is provided so that the processing target T does not slide down the slope 490. However, it is also possible to place the object T to be processed on a region where the projections 471 are not provided so that the object T to be processed slides down the slope 490 . The projecting portion 471 may be provided in a region other than the slope 490 .
図34A及び図34Bは、突起部471を出没させるための出没機構497の構成を概略的に示す。出没機構497は、突起部471を変位させるための変位部として機能し、ピン491、押込板492、リンク493、リンク494、固定板495、及び弾性体496を含む。複数の突起部471が支持板478上に設けられている。リンク493は、一端が固定板495に固定され、他端が支持板478に固定され、中間点がリンク493に固定されている。ピン491が押されていないときは、図34Aに示すように、突起部471は斜面490の下に没している。ピン491が押されると、押込板492がリンク493を右方向に押し込む。このとき、図34Bに示すように、リンク494が時計回りに回転されて起立し、支持板478が上方へ押し出される。これにより、複数の突起部471が同時に斜面490の上に突出する。
34A and 34B schematically show the configuration of a retracting mechanism 497 for retracting the protrusion 471. FIG. The retractable mechanism 497 functions as a displacement section for displacing the protrusion 471 and includes a pin 491 , a pushing plate 492 , a link 493 , a link 494 , a fixing plate 495 and an elastic body 496 . A plurality of protrusions 471 are provided on the support plate 478 . The link 493 has one end fixed to the fixed plate 495 , the other end fixed to the support plate 478 , and the intermediate point fixed to the link 493 . When the pin 491 is not pushed, the protrusion 471 is sunk under the slope 490 as shown in FIG. 34A. When the pin 491 is pushed, the pushing plate 492 pushes the link 493 rightward. At this time, as shown in FIG. 34B, the link 494 is rotated clockwise to stand up, and the support plate 478 is pushed upward. As a result, a plurality of protrusions 471 protrude onto the slope 490 at the same time.
リンク493は弾性体496により左方向に付勢されているので、ピン491が解放されると、リンク493、押込板492、及びピン491が左方向に移動する。このとき、リンク494が反時計回りに回転されて、支持板478が下方へ引き込まれる。これにより、図34Aに示すように、複数の突起部471が同時に斜面490の下に没する。
Since the link 493 is biased leftward by the elastic body 496, when the pin 491 is released, the link 493, the pushing plate 492 and the pin 491 move leftward. At this time, the link 494 is rotated counterclockwise to pull the support plate 478 downward. Thereby, as shown in FIG. 34A , the plurality of protrusions 471 are simultaneously sunk under the slope 490 .
ピン491は、機械的に押し込まれるように構成されてもよいし、モータなどによる電気的な駆動力により押し込まれてもよい。例えば、ピン491を押し込むための突起が、作業板410が移動可能な位置に設けられてもよい。作業板410におけるピン491の位置は固定されているので、突起の位置を移動させなくても作業板410を移動させることによりピン491を押し込むことができる。この突起は、起動機構489とは別に設けられてもよいし、起動機構489と共用されてもよい。電気的な駆動力によりピン491が押し込まれる場合、ピン491が押し込まれた状態でピン491をロックする機構が設けられてもよい。
The pin 491 may be configured to be pushed in mechanically, or may be pushed in by an electrical drive force such as a motor. For example, a protrusion for pushing the pin 491 may be provided at a position where the working plate 410 can move. Since the position of the pin 491 on the work plate 410 is fixed, the pin 491 can be pushed in by moving the work plate 410 without moving the position of the projection. This protrusion may be provided separately from the activation mechanism 489 or may be shared with the activation mechanism 489 . When the pin 491 is pushed by an electric driving force, a mechanism may be provided to lock the pin 491 while the pin 491 is pushed.
[5-2.動作]
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [5-2. motion]
The operation and function of theclothes processing apparatus 1 configured as described above will be described below.
以上のように構成された衣類処理装置1について、以下その動作、作用を説明する。 [5-2. motion]
The operation and function of the
図35は、実施の形態5に係る衣類処理方法の手順を示すフローチャートである。作業板410の斜面490に載置された処理対象物Tが滑らないように固定する場合、作業板装置制御部902は、ピン491を押し込んで突起部471を斜面490から突出させる(S220)。作業板410の斜面490に載置された処理対象物Tを滑らせる場合、作業板装置制御部902は、ピン491を解放し、弾性体496による付勢力により突起部471を斜面490の下に没入させる(S222)。
FIG. 35 is a flow chart showing the procedure of the clothing processing method according to the fifth embodiment. When fixing the processing target T placed on the slope 490 of the work plate 410 so that it does not slip, the work plate device control section 902 pushes the pin 491 to project the protrusion 471 from the slope 490 (S220). When the workpiece T placed on the slope 490 of the work plate 410 is to be slid, the work plate device control section 902 releases the pin 491 and pushes the projection 471 under the slope 490 by the biasing force of the elastic body 496 . Immerse yourself (S222).
[5-3.効果等]
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを載置するための作業板410と、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための突起部471と、突起部471を変位させる出没機構497と、を備える。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。 [5-3. effects, etc.]
As described above, in the present embodiment, theclothes processing apparatus 1 includes the work plate 410 on which the object T to be processed is placed, and the processing plate provided on the surface of the work plate 410 and placed on the work plate 410 . A projecting portion 471 for suppressing the slippage of the target object T and a retracting mechanism 497 for displacing the projecting portion 471 are provided. As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
以上のように、本実施の形態において、衣類処理装置1は、処理対象物Tを載置するための作業板410と、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための突起部471と、突起部471を変位させる出没機構497と、を備える。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。 [5-3. effects, etc.]
As described above, in the present embodiment, the
また、本実施の形態において、出没機構497は、作業板410の表面から突起部471を出没させる。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。
Further, in the present embodiment, the projection/retraction mechanism 497 causes the protrusion 471 to appear/retract from the surface of the working plate 410 . As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
また、本実施の形態において、作業板410は斜面490を有し、突起部471は斜面490に設けられる。これにより、作業板410の斜面490に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。
Further, in the present embodiment, the working plate 410 has a slope 490 and the protrusion 471 is provided on the slope 490 . As a result, it is possible to switch between a non-slip state and a slipping state of the processing target T placed on the slope 490 of the work plate 410, thereby improving the processing efficiency.
また、本実施の形態において、作業板410は回転可能に設けられる。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えつつ、処理対象物Tを任意の姿勢にすることができるので、処理効率を向上させることができる。
Also, in the present embodiment, the working plate 410 is rotatably provided. As a result, the processing target T placed on the working plate 410 can be switched between a non-slip state and a sliding state, and the processing target T can be arbitrarily positioned, thereby improving the processing efficiency. .
また、本実施の形態において、突起部471は複数設けられ、出没機構497は、複数の突起部471を同時に出没させる。これにより、作業板410の斜面490に載置された処理対象物Tが滑らない状態と滑る状態とを迅速に切り替えることができるので、処理効率を向上させることができる。
Also, in the present embodiment, a plurality of protrusions 471 are provided, and the retraction mechanism 497 simultaneously retracts and retracts the protrusions 471 . As a result, it is possible to quickly switch between the non-slip state and the slipping state of the processing target T placed on the slope 490 of the work plate 410, thereby improving the processing efficiency.
また、本実施の形態において、出没機構497は、ピン491と、ピン491が押された力を突起部471に伝達して突起部471を出没させるリンク493、494とを含む。これにより、簡易な構成により処理対象物Tが滑らない状態と滑る状態とを切り替えることができる。
In addition, in the present embodiment, the retraction mechanism 497 includes a pin 491 and links 493 and 494 that transmit the force of pushing the pin 491 to the protrusion 471 to retract the protrusion 471 . This makes it possible to switch between the non-slipping state and the sliding state of the processing object T with a simple configuration.
また、本実施の形態において、出没機構497は、突起部471が没する方向にピン491を付勢するための弾性体496を更に含む。これにより、突起部471を没入させるために別個の駆動部を設ける必要がないので、構成を簡略化することができる。
In addition, in the present embodiment, the retraction mechanism 497 further includes an elastic body 496 for biasing the pin 491 in the direction in which the protrusion 471 retracts. As a result, there is no need to provide a separate driving section for retracting the protrusion 471, so the configuration can be simplified.
また、本実施の形態において、ピン491の位置は固定される。これにより、ピン491を押すための構成を移動させなくてもピン491を押して突起部471を出没させることができる。
Also, in this embodiment, the position of the pin 491 is fixed. As a result, the pin 491 can be pushed to make the protrusion 471 appear and disappear without moving the structure for pushing the pin 491 .
また、本実施の形態において、衣類処理方法は、処理対象物Tを作業板410に載置するステップと、作業板410の表面に設けられ、作業板410に載置された処理対象物Tの滑りを抑制するための突起部471を変位させるステップと、を備える。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。
Further, in the present embodiment, the clothes processing method includes the step of placing an object T to be treated on the work plate 410, and the steps of placing the object T to be treated on the surface of the work plate 410 and removing the object T placed on the work plate 410. and displacing the protrusion 471 for suppressing slippage. As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
また、本実施の形態において、変位させるステップは、作業板410の表面から突起部471を出没させるステップを含む。これにより、作業板410に載置された処理対象物Tが滑らない状態と滑る状態とを切り替えることができるので、処理効率を向上させることができる。
In addition, in the present embodiment, the step of displacing includes a step of causing projection 471 to appear and disappear from the surface of working plate 410 . As a result, it is possible to switch between the non-slip state and the sliding state of the processing target T placed on the work plate 410, thereby improving the processing efficiency.
図36に示すように、実施の形態4で説明した滑り抑制部において、作業板410の前端面又は後端面に作業板410の回転軸481と同じ方向に回転軸498を有し、表面を滑りにくくした棒状の回転体499が設けられてもよい。また、実施の形態5で説明した滑り抑制部において、作業板410の表面に設けられる突起部471が前後に移動するように構成されてもよい。
As shown in FIG. 36, in the slip suppressing portion described in Embodiment 4, a rotating shaft 498 is provided on the front end surface or the rear end surface of the working plate 410 in the same direction as the rotating shaft 481 of the working plate 410, and the surface is slidable. A hardened rod-like rotating body 499 may be provided. Further, in the slip suppressing portion described in Embodiment 5, the protrusion 471 provided on the surface of the work plate 410 may be configured to move back and forth.
これらの構成によれば、作業板410に載置された処理対象物Tを前後に移動させることができ、処理対象物Tが作業板410の前端面又は後端面で折り曲げられる位置を変化させることができる。
According to these configurations, the object to be processed T placed on the work plate 410 can be moved back and forth, and the position at which the object to be processed T is bent at the front end surface or the rear end surface of the work plate 410 can be changed. can be done.
(他の実施の形態)
以上のように、本出願において開示する技術の例示として、実施の形態1~5を説明した。しかしながら、本開示における技術は、これに限定されず、変更、置き換え、付加、省略などを行った実施の形態にも適用できる。また、上記実施の形態1~5で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。 (Other embodiments)
As described above,Embodiments 1 to 5 have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Also, it is possible to combine the constituent elements described in the first to fifth embodiments to form a new embodiment.
以上のように、本出願において開示する技術の例示として、実施の形態1~5を説明した。しかしながら、本開示における技術は、これに限定されず、変更、置き換え、付加、省略などを行った実施の形態にも適用できる。また、上記実施の形態1~5で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。 (Other embodiments)
As described above,
なお、上述の実施の形態は、本開示における技術を例示するためのものであるから、特許請求の範囲またはその均等の範囲において種々の変更、置き換え、付加、省略などを行うことができる。
It should be noted that the above-described embodiment is for illustrating the technology in the present disclosure, and various modifications, replacements, additions, omissions, etc. can be made within the scope of the claims or equivalents thereof.
本開示は、衣類処理装置に利用可能である。
The present disclosure can be used for clothing processing devices.
1…衣類処理装置、T…処理対象物、X1…左方向、X2…右方向、Y1…前方向、Y2…後方向、Z1…上方向、Z2…下方向、100…筐体、110…フレーム、120…外郭、200…受入部、210…ガイドレール、300…保持装置、300A,300B…保持装置、310,310A,310B,311B…保持部、312…Yaw部、312a…モータ、312b…減速ギヤ、312c…制御基板、312d…トルクリミッタ、312e…トルクセンサ、313…Pitch部、314…Roll部、315…Hand部、315a…フィンガ、315b…モータ、315c…減速ギヤ、315d…回動ギヤ、315e…板バネ、315f…トルクリミッタ、316…回動シャフト、316a…位置検出センサ、317…力覚センサ、320,320A,320B…移動機構(第2移動部)、330,330A,330B…幅方向移動機構、332A,332B…幅方向駆動部、334A,334B…Xガイド、340A,340B…高さ方向移動機構、342A,342B…高さ方向駆動部、344A,344B…Zガイド、350A,350B…奥行き方向移動機構、352A,352B…奥行き方向駆動部、354A,354B…Yガイド、400…作業板装置、405…回転体、410…作業板、411,411a,411b…側端板、420…回転駆動部、421…回転軸、422…回転用モータ、423…凸部、430…走行駆動部、431…伝動シャフト、432…走行用モータ、440…伝動部、450…初期化機構、451…ピン、452…第1リンク、453…第2リンク、454…第3リンク、455…第4リンク、456…ストッパ部、457…付勢部、459…弾性部、460…切替部、461…面、462…面、470a,470b…切欠部、471,471a,471b…突起部(滑り抑制部)、472,472a,472b…移動体、473,473a,473b…移動部(変位部)、474…駆動対象切替機構、475…シャフト、476a…プーリ(移動方向切替機構)、476b…プーリ、477…ベルト、478…支持板、480…固定軸、481,482…回転軸、483…連結部、484…弾性体(付勢部)、485,486…ギヤ、488…ピン、489…起動機構、490…斜面、491…ピン、492…押込板、493,494…リンク、495…固定板、496…弾性体(付勢部)、497…出没機構(変位部)、498…回転軸、499…回転体、500…撮像装置、510…第1撮像部、520…第2撮像部、530…第3撮像部、600…支持部、601…溝部、602…弾性体、610…正面側支持部、620…背面側支持部、700…収納装置、710a,710b,710c,710d,710e…収納部、711…ドア、720…運搬部、721,721a,721b,721c…挟持板、722a,722b…レール、723…連結部、724…回転軸、725…蝶番、900…制御装置、901…保持装置制御部(第2制御部)、902…作業板装置制御部(第1制御部)、903…撮像装置制御部、904…収納装置制御部、910…種類認識部、911…部位検出部、912…長さ検出部、913…ずれ補正部、914…特異事象検出部、915…第1点検出部、916…第2点検出部、917…端点検出部。
REFERENCE SIGNS LIST 1 clothing processing apparatus T object to be processed X1 leftward X2 rightward Y1 forward Y2 rearward Z1 upward Z2 downward 100 housing 110 frame , 120... Shell, 200... Receiving part, 210... Guide rail, 300... Holding device, 300A, 300B... Holding device, 310, 310A, 310B, 311B... Holding part, 312... Yaw part, 312a... Motor, 312b... Deceleration Gears 312c...Control board 312d...Torque limiter 312e...Torque sensor 313...Pitch section 314...Roll section 315...Hand section 315a...Finger 315b...Motor 315c...Reduction gear 315d...Rotating gear , 315e... Plate spring 315f... Torque limiter 316... Rotating shaft 316a... Position detection sensor 317... Force sensor 320, 320A, 320B... Moving mechanism (second moving unit) 330, 330A, 330B... Width direction moving mechanism 332A, 332B Width direction driving unit 334A, 334B X guide 340A, 340B Height direction moving mechanism 342A, 342B Height direction driving unit 344A, 344B Z guide 350A, 350B... Depth direction moving mechanism 352A, 352B... Depth direction drive unit 354A, 354B... Y guide 400... Work plate device 405... Rotating body 410... Work plate 411, 411a, 411b... Side end plate 420 Rotation drive unit 421 Rotating shaft 422 Rotation motor 423 Convex portion 430 Travel drive unit 431 Transmission shaft 432 Travel motor 440 Transmission unit 450 Initialization mechanism 451 ...pin 452...first link 453...second link 454...third link 455...fourth link 456...stopper portion 457...biasing portion 459...elastic portion 460...switching portion 461... Planes 462... Planes 470a, 470b... Notches 471, 471a, 471b... Protrusions (slip suppressing parts) 472, 472a, 472b... Moving bodies 473, 473a, 473b... Moving parts (displacement parts), 474 ... drive target switching mechanism, 475 ... shaft, 476a ... pulley (moving direction switching mechanism), 476b ... pulley, 477 ... belt, 478 ... support plate, 480 ... fixed shaft, 481, 482 ... rotating shaft, 483 ... connecting part, 484... Elastic body (biasing part), 485, 486... Gear, 488... Pin, 489... Starting mechanism, 490... Slope, 491... Pin, 492... Pushing plate, 493, 494... Link, 495... Fixed Fixed plate 496 Elastic body (biasing section) 497 Retraction mechanism (displacement section) 498 Rotating shaft 499 Rotating body 500 Imaging device 510 First imaging section 520 Second imaging section , 530... Third imaging unit 600... Support part 601... Groove part 602... Elastic body 610... Front side support part 620... Back side support part 700... Storage device 710a, 710b, 710c, 710d, 710e DESCRIPTION OF SYMBOLS 721, 721a, 721b, 721c Clamping plate 722a, 722b Rail 723 Connecting part 724 Rotating shaft 725 Hinges 900 Control device 901 ... holding device control section (second control section), 902 ... work plate device control section (first control section), 903 ... imaging device control section, 904 ... storage device control section, 910 ... type recognition section, 911 ... part detection Section 912 Length detection section 913 Deviation correction section 914 Singular event detection section 915 First point detection section 916 Second point detection section 917 End point detection section.
Claims (39)
- 処理対象物を折り畳むための作業に使用される作業部と、
前記作業部を移動させるための第1移動部と、
前記作業部との間で前記処理対象物を挟持可能な支持部と、
前記処理対象物を折り位置において前記作業部と前記支持部との間に挟持するように前記第1移動部を制御する第1制御部と、
を備える衣類処理装置。 a work unit used for work for folding the object to be processed;
a first moving part for moving the working part;
a support portion capable of sandwiching the processing object between itself and the working portion;
a first control unit that controls the first moving unit so that the object to be processed is sandwiched between the working unit and the support unit at the folding position;
A clothes processing apparatus comprising: - 処理対象物を挟持する前記支持部の挟持面、及び前記作業部のエッジの少なくともいずれか一方は弾性を有する。
請求項1に記載の衣類処理装置。 At least one of the clamping surface of the support section that clamps the object to be processed and the edge of the working section has elasticity.
The clothes processing apparatus according to claim 1. - 前記処理対象物を保持する保持部と、
前記保持部を移動させるための第2移動部と、
前記第2移動部を制御する第2制御部と、
を更に備え、
前記第2制御部は、前記保持部が前記処理対象物を保持した状態で前記処理対象物を回転させるように前記第2移動部を制御可能である
請求項1又は2に記載の衣類処理装置。 a holding unit that holds the object to be processed;
a second moving part for moving the holding part;
a second control unit that controls the second moving unit;
further comprising
3. The laundry processing apparatus according to claim 1, wherein the second control section is capable of controlling the second moving section so as to rotate the processing target while the holding section holds the processing target. . - 前記第2制御部は、前記処理対象物が前記作業部と前記支持部との間に挟持された状態で前記処理対象物を前記作業部に載置するように前記第2移動部を制御可能である
請求項3に記載の衣類処理装置。 The second control unit can control the second moving unit so that the processing object is placed on the working unit while the processing object is sandwiched between the working unit and the support unit. 4. The clothes processing apparatus according to claim 3. - 前記支持部は、複数設けられ、少なくとも前記作業部の前方及び後方の両側、又は高さを変えて設けられる
請求項1から4のいずれかに記載の衣類処理装置。 5. The clothes processing apparatus according to any one of claims 1 to 4, wherein a plurality of said support parts are provided, and are provided at least on both front and rear sides of said working part, or at different heights. - 前記支持部は、溝部を備える
請求項1から5のいずれかに記載の衣類処理装置。 The clothes processing apparatus according to any one of claims 1 to 5, wherein the support portion includes a groove. - 前記第1制御部は、前記処理対象物を前記支持部との間で挟持するときの押し付け力を制御する
請求項1から6のいずれかに記載の衣類処理装置。 7. The laundry processing apparatus according to any one of claims 1 to 6, wherein the first control section controls a pressing force when holding the processing object between itself and the support section. - 処理対象物の折り位置を取得するステップと、
前記処理対象物を折り畳むための作業に使用される作業部との間で前記処理対象物を挟持可能な支持部の位置に前記折り位置がくるように前記処理対象物を位置させるステップと、
前記処理対象物を折り位置において前記作業部と前記支持部との間に挟持するように前記作業部を移動させるステップと、
を備える衣類処理方法。 obtaining a folding position of the object to be processed;
a step of positioning the object to be processed so that the folding position is at a position of a support portion capable of sandwiching the object to be processed between a working unit used for the work for folding the object to be processed;
a step of moving the working part so that the object to be processed is sandwiched between the working part and the supporting part at the folding position;
A garment treatment method comprising: - 回転可能な板と、
前記板の少なくとも作業平面における角を覆うように設けられ、前記板とともに回転する側端部と、
を備える
回転体。 a rotatable plate;
a side edge provided to cover at least a corner of the plate in the working plane and rotating with the plate;
A rotating body with a - 前記側端部は、角のない形状を有する
請求項9に記載の回転体。 10. The body of rotation according to claim 9, wherein the side end has a shape without corners. - 前記側端部の高さは、前記板を回転させるための部材の高さよりも高い
請求項9又は10に記載の回転体。 11. The rotating body according to claim 9, wherein the height of the side end is higher than the height of the member for rotating the plate. - 前記側端部は、前記板の表側と裏側の双方に設けられる
請求項9から11のいずれかに記載の回転体。 The body of rotation according to any one of claims 9 to 11, wherein the side ends are provided on both the front side and the back side of the plate. - 前記側端部の前後方向の幅は、前記板の前後方向の幅以上である
請求項9から12のいずれかに記載の回転体。 13. The rotating body according to any one of claims 9 to 12, wherein the width of the side end portion in the front-rear direction is equal to or greater than the width in the front-rear direction of the plate. - 回転可能に設けられ、処理対象物を折り畳む作業に使用される作業板と、
前記作業板の少なくとも作業平面における角を覆うように設けられ、前記作業板とともに回転する側端部と、
を備える
衣類処理装置。 a work plate rotatably provided and used for folding the object to be processed;
a side edge provided to cover at least a corner of the working plate in the working plane and rotating together with the working plate;
A clothes processing apparatus comprising: - 前記側端部は、前記処理対象物を移動させるときに前記処理対象物が引っ掛からないような形状を有する
請求項14に記載の衣類処理装置。 15. The laundry processing apparatus according to claim 14, wherein the side end portion has a shape such that the object to be processed is not caught when the object to be processed is moved. - 無限回転可能に設けられた回転物の回転位置を初期化するために、前記回転物に当接して前記回転物の回転を停止させるストッパ部と、
前記ストッパ部を前記回転物に当接する位置と前記回転物に当接しない位置との間で移動させることにより、前記回転物が回転可能な状態と前記回転物の回転が停止される状態との間で前記回転物の状態を切り替える切替部と、
を備える回転位置初期化装置。 a stopper portion that abuts on the rotating body to stop the rotation of the rotating body, in order to initialize the rotational position of the rotating body provided to be infinitely rotatable;
By moving the stopper portion between a position where the rotating object abuts and a position where it does not abut against the rotating object, a state where the rotating object can rotate and a state where the rotating object stops rotating. a switching unit that switches the state of the rotating object between
A rotary position initialization device comprising: - 前記ストッパ部において、前記回転物を停止させるときに前記回転物に当接する面の逆側の面は、斜面の形状を有する
請求項16に記載の回転位置初期化装置。 17. The rotational position initialization device according to claim 16, wherein a surface of the stopper portion opposite to a surface that contacts the rotating object when the rotating object is stopped has an inclined surface. - 前記ストッパ部と前記切替部との間に、弾性変形可能な弾性部を更に備える
請求項16又は17に記載の回転位置初期化装置。 18. The rotational position initialization device according to claim 16, further comprising an elastically deformable elastic portion between the stopper portion and the switching portion. - 前記ストッパ部が前記回転物に当接する位置から前記回転物に当接しない位置に移動する方向に前記ストッパ部を付勢する付勢部を更に備える
請求項16から18のいずれかに記載の回転位置初期化装置。 19. The rotation according to any one of claims 16 to 18, further comprising an urging portion that urges the stopper portion in a direction in which the stopper portion moves from a position where the stopper portion contacts the rotating object to a position where the stopper portion does not contact the rotating object. Position initialization device. - 前記回転物の回転が停止された状態における前記回転物の回転位置を初期位置に設定する初期位置設定部を更に備える
請求項16から19のいずれかに記載の回転位置初期化装置。 20. The rotational position initialization device according to any one of claims 16 to 19, further comprising an initial position setting unit that sets the rotational position of the rotating object in a state where the rotation of the rotating object is stopped to an initial position. - 無限回転可能に設けられた回転物に当接して前記回転物の回転を停止させるストッパ部を前記回転物に当接しない位置から前記回転物に当接する位置に移動させるステップと、
前記回転物が前記ストッパ部に当接して回転が停止された状態において、前記回転物の回転位置を初期位置に設定するステップと、
を備える回転位置初期化方法。 a step of moving a stopper portion that abuts on an endlessly rotatable rotating object to stop the rotation of the rotating object from a position that does not contact the rotating object to a position that contacts the rotating object;
setting the rotational position of the rotating object to an initial position in a state in which the rotating object abuts against the stopper portion and stops rotating;
A rotational position initialization method comprising: - 処理対象物を載置するための作業板と、
前記作業板の表面に設けられ、前記作業板に載置された前記処理対象物の滑りを抑制するための滑り抑制部と、
前記滑り抑制部を変位させる変位部と、
を備える衣類処理装置。 a work plate for placing an object to be processed;
a slip suppression part provided on the surface of the work plate for suppressing slippage of the object to be processed placed on the work plate;
a displacement portion that displaces the slip suppressing portion;
A clothes processing apparatus comprising: - 前記変位部は、前記滑り抑制部を移動させることにより前記処理対象物を移動又は伸縮させる
請求項22に記載の衣類処理装置。 23. The laundry processing apparatus according to claim 22, wherein the displacement section moves or expands and contracts the object to be processed by moving the anti-slip section. - 前記滑り抑制部は、前記作業板の端面が切り欠かれた部分に設けられる
請求項22又は23に記載の衣類処理装置。 24. The clothes processing apparatus according to claim 22 or 23, wherein the anti-slip portion is provided in a cutout portion of the end surface of the working plate. - 前記作業板を回転させるための回転駆動部を更に備え、
前記変位部は、前記回転駆動部の駆動力により前記滑り抑制部を移動させる
請求項23又は24に記載の衣類処理装置。 further comprising a rotation drive unit for rotating the work plate;
25. The clothes processing apparatus according to claim 23, wherein the displacement section moves the slip prevention section by a driving force of the rotation drive section. - 前記回転駆動部の駆動力により前記作業板が回転される状態と前記滑り抑制部が移動される状態とを切り替える駆動対象切替機構を更に備える
請求項25に記載の衣類処理装置。 26. The laundry processing apparatus according to claim 25, further comprising a drive target switching mechanism that switches between a state in which the work plate is rotated and a state in which the slip suppressing section is moved by the driving force of the rotation drive section. - 前記作業板を移動させる作業板移動部と、
前記作業板が移動可能な範囲に設けられ、前記駆動対象切替機構による切替を起こさせる起動機構と、
を更に備え、
前記作業板移動部により前記作業板が前記起動機構が設けられた位置に移動されることにより、前記駆動対象切替機構による駆動対象の切替が前記起動機構により起動される
請求項26に記載の衣類処理装置。 a work plate moving unit that moves the work plate;
an activation mechanism provided in a range in which the work plate can move and causing switching by the drive target switching mechanism;
further comprising
27. The garment according to claim 26, wherein switching of the driven object by the driven object switching mechanism is activated by the activating mechanism by moving the working plate to a position where the activating mechanism is provided by the activating mechanism. processing equipment. - 前記駆動力による駆動対象が前記作業板となる方向に前記駆動対象切替機構を付勢する付勢部を更に備える
請求項27に記載の衣類処理装置。 28. The clothes processing apparatus according to claim 27, further comprising an urging unit that urges the driven target switching mechanism in a direction in which the driven target by the driving force becomes the work plate. - 前記滑り抑制部は、複数の異なる位置に設けられ、
複数の前記滑り抑制部の移動方向を切り替えることにより、前記処理対象物の移動と伸縮とを切り替える移動方向切替機構を更に備える
請求項23から28のいずれかに記載の衣類処理装置。 The slip suppressing portion is provided at a plurality of different positions,
29. The laundry processing apparatus according to any one of claims 23 to 28, further comprising a movement direction switching mechanism for switching movement and expansion/contraction of the object by switching movement directions of the plurality of slip suppressing portions. - 前記変位部は、前記作業板の表面から前記滑り抑制部を出没させる
請求項22に記載の衣類処理装置。 23. The clothes processing apparatus according to claim 22, wherein the displacement portion causes the slip prevention portion to appear and disappear from the surface of the working plate. - 前記作業板は斜面を有し、
前記滑り抑制部は前記斜面に設けられる
請求項30に記載の衣類処理装置。 The work plate has a slope,
31. The clothes processing apparatus according to claim 30, wherein the slip restraining portion is provided on the slope. - 前記作業板は回転可能に設けられる
請求項30又は31に記載の衣類処理装置。 32. A clothes processing apparatus according to claim 30 or 31, wherein said working plate is rotatably mounted. - 前記滑り抑制部は複数設けられ、
前記変位部は、複数の前記滑り抑制部を同時に出没させる
請求項30から32のいずれかに記載の衣類処理装置。 A plurality of the slip suppressing portions are provided,
33. The clothes processing apparatus according to any one of claims 30 to 32, wherein the displacement part causes a plurality of the slip suppressing parts to appear and disappear at the same time. - 前記変位部は、
ピンと、
前記ピンが押された力を前記滑り抑制部に伝達して前記滑り抑制部を出没させるリンクと、
を含む
請求項30から33のいずれかに記載の衣類処理装置。 The displacement portion is
idea,
a link that transmits the force of pushing the pin to the anti-slip portion so that the anti-slip portion appears and retracts;
34. A clothes processing apparatus according to any one of claims 30 to 33, comprising a . - 前記変位部は、前記滑り抑制部が没する方向に前記ピンを付勢する付勢部を更に含む
請求項34に記載の衣類処理装置。 35. The clothes processing apparatus according to claim 34, wherein the displacement portion further includes a biasing portion that biases the pin in a direction in which the anti-slip portion is retracted. - 前記ピンの位置は固定される
請求項34又は35に記載の衣類処理装置。 36. Apparatus according to claim 34 or 35, wherein the position of the pin is fixed. - 処理対象物を作業板に載置するステップと、
前記作業板の表面に設けられ、前記作業板に載置された前記処理対象物の滑りを抑制するための滑り抑制部を変位させるステップと、
を備える衣類処理方法。 placing the object to be processed on the work plate;
a step of displacing a slip suppressing portion provided on the surface of the work plate for suppressing slippage of the object to be processed placed on the work plate;
A garment treatment method comprising: - 前記変位させるステップは、前記滑り抑制部を移動させることにより前記処理対象物を移動又は伸縮させるステップを含む
請求項37に記載の衣類処理方法。 38. The laundry processing method according to claim 37, wherein the displacing step includes a step of moving or expanding and contracting the object to be treated by moving the anti-slip portion. - 前記変位させるステップは、前記作業板の表面から前記滑り抑制部を出没させるステップを含む
請求項37又は38に記載の衣類処理方法。 39. The laundry processing method according to claim 37 or 38, wherein the step of displacing includes a step of causing the anti-slip portion to appear and disappear from the surface of the working plate.
Applications Claiming Priority (10)
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JP2021-012139 | 2021-01-28 | ||
JP2021012140A JP2022115515A (en) | 2021-01-28 | 2021-01-28 | Rotary body and clothing treatment apparatus |
JP2021-012141 | 2021-01-28 | ||
JP2021012139A JP2022115514A (en) | 2021-01-28 | 2021-01-28 | Clothing treatment apparatus and clothing treatment method |
JP2021-012140 | 2021-01-28 | ||
JP2021012141A JP2022115516A (en) | 2021-01-28 | 2021-01-28 | Rotation position initialization device and rotation position initialization method |
JP2021013523 | 2021-01-29 | ||
JP2021-013523 | 2021-01-29 | ||
JP2022-010045 | 2022-01-26 | ||
JP2022010045A JP2022117468A (en) | 2021-01-29 | 2022-01-26 | Clothing treatment apparatus and clothing treatment method |
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PCT/JP2022/003398 WO2022163828A1 (en) | 2021-01-28 | 2022-01-28 | Clothing processing device, rotating body, rotational position initialization device, clothing processing method, and rotational position initialization method |
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JP2011162328A (en) * | 2010-02-10 | 2011-08-25 | Dengen Automation Kk | Newspaper body feeding device |
JP2013226408A (en) * | 2012-03-26 | 2013-11-07 | Rika Takeuchi | Linen folding method and apparatus |
JP2014057779A (en) * | 2012-09-19 | 2014-04-03 | Asama Seisakusho:Kk | Inversion motion mechanism |
WO2015198791A1 (en) * | 2014-06-24 | 2015-12-30 | seven dreamers laboratories株式会社 | Device for processing of object to be processed |
KR20190053329A (en) * | 2017-11-10 | 2019-05-20 | 주식회사 비온시이노베이터 | Laundry storage |
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JPS54156891A (en) * | 1978-05-30 | 1979-12-11 | Wai Esu Kouhan Kk | Folding finish of woven name fabric * print name fabric and like |
JPS5516004U (en) * | 1978-07-10 | 1980-02-01 | ||
JP2011162328A (en) * | 2010-02-10 | 2011-08-25 | Dengen Automation Kk | Newspaper body feeding device |
JP2013226408A (en) * | 2012-03-26 | 2013-11-07 | Rika Takeuchi | Linen folding method and apparatus |
JP2014057779A (en) * | 2012-09-19 | 2014-04-03 | Asama Seisakusho:Kk | Inversion motion mechanism |
WO2015198791A1 (en) * | 2014-06-24 | 2015-12-30 | seven dreamers laboratories株式会社 | Device for processing of object to be processed |
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