Fabric conveying device

Abstract

To provide a fabric conveying device which picks up only the top fabric from stacked fabrics.SOLUTION: Fabric conveying device includes a first holding member, a second holding member, directional fibers arranged on the lower surface of the first holding member, and a processor. The processor brings the directional fibers of the first holding member into contact with the upper surface of the fabric, and separates the first holding member and the second holding member from each other while the second holding member holds a part of the fabric. The directional fibers of the first holding member are oriented in a direction in which the first holding member is separated from the second holding member.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The technology disclosed in this specification relates to a fabric conveying device. [Background technology]

[0002] 2. Description of the Related Art In the technical field related to fabric conveying devices, a fabric gripping device such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 59-172341 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed herein aims to pick up only the top fabric from a stack of fabrics. [Means for solving the problem]

[0005] This specification discloses a fabric conveying device including a first holding member, a second holding member, directional fibers arranged on the lower surface of the first holding member, and a processor. The processor brings the directional fibers of the first holding member into contact with the upper surface of the fabric, and separates the first holding member and the second holding member from each other while the second holding member holds a part of the fabric. The directional fibers of the first holding member are oriented in a direction in which the first holding member is separated from the second holding member. Effect of the Invention

[0006] According to the technology disclosed in this specification, it is possible to pick up only the top fabric from a stack of fabrics. [Brief description of the drawings]

[0007] [Figure 1]FIG. 1 is a diagram illustrating a sewing system according to a first embodiment. [Diagram 2] FIG. 2 is a side view diagrammatically showing the fabric conveying device according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram showing the fabric conveying device according to the first embodiment. [Figure 4] FIG. 4 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. [Diagram 5] FIG. 5 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. [Figure 6] FIG. 6 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. [Figure 7] FIG. 7 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. [Figure 8] FIG. 8 is a top view showing a schematic diagram of the fabric conveying device according to the second embodiment. [Figure 9] FIG. 9 is a side view showing a schematic view of the fabric conveying device according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment will be described with reference to the drawings. In the embodiment, the positional relationship of each part will be described using the terms left, right, front, rear, top, and bottom.

[0009] [First embodiment] A first embodiment will be described.

[0010] <Sewing system> 1 is a diagram illustrating a sewing system 1 according to the present embodiment. As illustrated in FIG. 1, the sewing system 1 includes a sewing machine 2, a fabric conveying device 3, and a controller 4.

[0011] The sewing machine 2 is placed on the upper surface of the sewing machine table 5. A plurality of fabrics 7 are placed on the upper surface of the fabric table 6. The plurality of fabrics 7 are placed on the upper surface of the fabric table 6 in a stacked state. The fabric conveying device 3 picks up only the topmost fabric 7 from the stacked fabrics 7 and conveys it to the sewing machine table 5. The controller 4 controls the fabric conveying device 3.

[0012] The fabric 7 is a cloth (woven fabric). Examples of the cloth include natural fiber cloth such as cotton cloth, linen cloth, silk cloth, and blankets. Examples of the cloth include chemical fiber cloth such as polyester cloth, nylon cloth, rayon cloth, acrylic cloth, and polyurethane cloth. The fabric 7 may be a nonwoven fabric. The fabric 7 may be a sheet-like sponge.

[0013] <Fabric conveying device> 2 is a side view diagrammatically illustrating the fabric conveying device 3 according to the present embodiment. The fabric conveying device 3 has a body 8, a support member 9, a first holding member 11, a second holding member 12, and a pile fabric 10.

[0014] The body 8 is movable in the left-right, front-back, and up-down directions. The support member 9 is fixed to the lower part of the body 8. The support member 9 is long in the left-right direction. The first holding member 11 is connected to the left part of the lower surface of the support member 9. The second holding member 12 is connected to the right part of the lower surface of the support member 9. The first holding member 11 is connected to the support member 9 so as to be movable in the left-right direction. The second holding member 12 is connected to the support member 9 so as to be movable in the left-right direction.

[0015] The pile fabric 10 is fixed to the lower surface of the first holding member 11 and the lower surface of the second holding member 12. The pile fabric 10 refers to a fabric in which pile yarns are woven between fabric woven with warp yarns and weft yarns. The pile fabric 10 is a raised fabric. In this embodiment, the pile fabric 10 is a lint brush. A directional fiber 10A is provided on the lower surface of the pile fabric 10. The directional fiber 10A protrudes downward from the lower surface of the pile fabric 10. A plurality of directional fibers 10A are provided on the lower surface of the pile fabric 10. The lengths of the plurality of directional fibers 10A are equal to each other.

[0016] The directional fiber 10A refers to a fiber that is oriented in a certain direction. The directional fiber 10A is disposed on the lower surface of each of the first holding member 11 and the second holding member 12. The orientation direction of the directional fiber 10A of the first holding member 11 is different from the orientation direction of the directional fiber 10A of the second holding member 12. In this embodiment, the orientation direction of the directional fiber 10A of the first holding member 11 is opposite to the orientation direction of the directional fiber 10A of the second holding member 12.

[0017] The directional fibers 10A of the first holding member 11 are oriented to the left. That is, the directional fibers 10A of the first holding member 11 are laid down to the left as they extend downward. In other words, the directional fibers 10A of the first holding member 11 are inclined to the left as they extend downward.

[0018] The directional fibers 10A of the second holding member 12 are oriented to the right. That is, the directional fibers 10A of the second holding member 12 lie downward and to the right. In other words, the directional fibers 10A of the second holding member 12 are inclined to the right as they extend downward.

[0019] 3 is a block diagram showing the fabric conveying device 3 according to this embodiment. The fabric conveying device 3 includes a controller 4, a camera 15, a force sensor 16, a movement amount sensor 17, a main actuator 20, a first actuator 21, and a second actuator 22.

[0020] The controller 4 includes a computer system. The controller 4 has a processor 41 such as a CPU (Central Processing Unit), a memory 42 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), and a storage 43. The functions of the controller 4 are stored in the storage 43 as a computer program. The processor 41 reads the computer program from the storage 43, loads it into the memory 42, and executes processing according to the computer program. The computer program may be distributed to the controller 4 via a network.

[0021] The camera 15 is attached to, for example, the body 8 or the support member 9. The camera 15 captures an image of the fabric 7 from above. Image data of the fabric 7 captured by the camera 15 is transmitted to the controller 4.

[0022] The force sensor 16 is attached to, for example, the support member 9. The force sensor 16 detects the pressing force when the first holding member 11 and the second holding member 12 press the fabric 7 from above. Detection data indicating the pressing forces of the first holding member 11 and the second holding member 12 detected by the force sensor 16 is transmitted to the controller 4.

[0023] The movement amount sensor 17 is attached to, for example, each of the first holding member 11 and the second holding member 12. The movement amount sensor 17 detects the amount of movement when the first holding member 11 and the second holding member 12 move relative to each other. The distance between the first holding member 11 and the second holding member 12 is detected by detecting the amount of movement when the first holding member 11 and the second holding member 12 move relative to each other. Detection data indicating the distance between the first holding member 11 and the second holding member 12 detected by the movement amount sensor 17 is transmitted to the controller 4.

[0024] The main actuator 20 generates power to move the body 8. The main actuator 20 can move the body 8 in each of the left-right direction, the front-back direction, and the up-down direction. The support member 9 moves together with the body 8. The main actuator 20 is controlled by the controller 4.

[0025] The first actuator 21 generates power to move the first holding member 11. The first actuator 21 can move the first holding member 11 in the left-right direction. The power generated by the first actuator 21 causes the first holding member 11 to move in the left-right direction relative to the support member 9. The first actuator 21 is controlled by the controller 4.

[0026] The second actuator 22 generates power to move the second holding member 12. The second actuator 22 can move the second holding member 12 in the left-right direction. The power generated by the second actuator 22 causes the second holding member 12 to move in the left-right direction relative to the support member 9. The second actuator 22 is controlled by the controller 4.

[0027] <Operation> Each of Figs. 4, 5, 6, and 7 is a diagram for explaining the operation of the fabric conveying device 3 according to this embodiment.

[0028] As described above, a plurality of fabrics 7 are placed on the upper surface of the fabric table 6. The plurality of fabrics 7 are placed in a stacked state on the upper surface of the fabric table 6. The fabric conveying device 3 picks up only the topmost fabric 7 from the stacked fabrics 7 and conveys it to the sewing machine table 5.

[0029] As shown in FIG. 4, the processor 41 controls the main actuator 20 so that the fabric conveying device 3 is disposed above the fabric 7. The processor 41 controls the main actuator 20 so that the topmost fabric 7 among the stacked fabrics 7 faces the fabric conveying device 3. The camera 15 captures an image of the fabric 7 from above. Image data of the fabric 7 captured by the camera 15 is transmitted to the controller 4. The processor 41 can calculate the position of the fabric 7 based on the image data of the fabric 7. The processor 41 controls the main actuator 20 so that the fabric conveying device 3 is disposed above the topmost fabric 7 based on the position of the fabric 7.

[0030] 5, after the fabric conveying device 3 is positioned above the topmost fabric 7, the processor 41 controls the main actuator 20 so that the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 each contact the top surface of the topmost fabric 7. That is, the processor 41 lowers the fabric conveying device 3 so that the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 each contact the top surface of the topmost fabric 7.

[0031] The processor 41 controls the main actuator 20 so that the directional fiber 10A of the first holding member 11 contacts the left end of the topmost fabric 7 and the directional fiber 10A of the second holding member 12 contacts the right end of the topmost fabric 7.

[0032] The processor 41 controls the main actuator 20 to lower the fabric conveying device 3 so that the first holding member 11 and the second holding member 12 each press the fabric 7 from above with a predetermined pressing force. Target pressing forces indicating target values ​​of the pressing forces when the first holding member 11 and the second holding member 12 each press the fabric 7 from above are stored in the storage 43 in advance.

[0033] The force sensor 16 detects the pressing force when the first holding member 11 and the second holding member 12 press the fabric 7 from above. Detection data indicating the pressing forces of the first holding member 11 and the second holding member 12 detected by the force sensor 16 is transmitted to the controller 4. The processor 41 presses the first holding member 11 and the second holding member 12 against the topmost fabric 7 based on the target pressing force. The processor 41 controls the main actuator 20 based on the detection data of the force sensor 16 so that the pressing forces when the first holding member 11 and the second holding member 12 press the fabric 7 from above become the target pressing forces.

[0034] 6, the processor 41 controls at least one of the first actuator 21 and the second actuator 22 so that the first holding member 11 and the second holding member 12 are spaced apart from each other in a state in which the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 are each in contact with the upper surface of the uppermost fabric 7. The processor 41 presses each of the first holding member 11 and the second holding member 12 against the fabric 7 with a predetermined pressing force, and then controls at least one of the first actuator 21 and the second actuator 22 so that the first holding member 11 and the second holding member 12 are spaced apart by a predetermined distance.

[0035] In this embodiment, the processor 41 controls the first actuator 21 so that the first holding member 11 moves a first distance to the left and the second holding member 12 moves a second distance to the right after each of the directional fibers 10A of the first holding member 11 and the second holding member 12 contacts the upper surface of the top fabric 7, and controls the second actuator 22 so that the second holding member 12 moves a second distance to the right. In this embodiment, the first distance and the second distance are equal. Note that the first distance and the second distance may be different. The first holding member 11 does not have to move to the left and the second holding member 12 does not have to move to the right. The second holding member 12 does not have to move to the right and the first holding member 11 does not have to move to the left.

[0036] A target distance indicating a target value of the distance when the first holding member 11 and the second holding member 12 are separated from each other is stored in the storage 43 in advance.

[0037] The movement amount sensor 17 can detect the distance between the first holding member 11 and the second holding member 12 when the first holding member 11 and the second holding member 12 move so as to separate from each other. Detection data indicating the distance between the first holding member 11 and the second holding member 12 detected by the movement amount sensor 17 is transmitted to the controller 4. The processor 41 moves the first holding member 11 and the second holding member 12 away from each other based on the target distance. The processor 41 controls at least one of the first actuator 21 and the second actuator 22 based on the detection data of the movement amount sensor 17 so that the distance between the first holding member 11 and the second holding member 12 after they have been separated from each other becomes the target distance.

[0038] In this embodiment, the direction in which the first holding member 11 moves away from the second holding member 12 is the leftward direction. That is, the direction in which the first holding member 11 moves away from the second holding member 12 is the leftward direction. The first holding member 11 moves leftward relative to the second holding member 12, thereby moving away from the second holding member 12.

[0039] In this embodiment, the direction in which the second holding member 12 moves away from the first holding member 11 is to the right. That is, the direction in which the second holding member 12 moves away from the first holding member 11 is to the right. The second holding member 12 moves rightward relative to the first holding member 11, thereby moving away from the first holding member 11.

[0040] The directional fibers 10A of the first holding member 11 are oriented in the left direction, which is the direction in which the first holding member 11 moves away from the second holding member 12. The directional fibers 10A of the second holding member 12 are oriented in the right direction, which is the direction in which the second holding member 12 moves away from the first holding member 11.

[0041] As the first holding member 11 moves leftward relative to the second holding member 12, the directional fibers 10A of the first holding member 11 are hooked to the upper surface of the topmost fabric 7. As the second holding member 12 moves rightward relative to the first holding member 11, the directional fibers 10A of the second holding member 12 are hooked to the upper surface of the topmost fabric 7.

[0042] The directional fiber 10A of the first holding member 11 is hooked to the left end of the upper surface of the topmost fabric 7, and the directional fiber 10A of the second holding member 12 is hooked to the right end of the upper surface of the topmost fabric 7, so that the topmost fabric 7 is held by the first holding member 11 and the second holding member 12. Each of the first holding member 11 and the second holding member 12 holds the topmost fabric 7 by the hook effect of the directional fiber 10A.

[0043] With the directional fiber 10A of the first retaining member 11 hooked to the left end of the upper surface of the topmost fabric 7 and the directional fiber 10A of the second retaining member 12 hooked to the right end of the upper surface of the topmost fabric 7, the first retaining member 11 and the second retaining member 12 are separated from each other, causing the topmost fabric 7 to stretch in the left-right direction.

[0044] 7, the processor 41 separates the first holding member 11 and the second holding member 12 by a target distance in the left-right direction, and then controls the main actuator 20 to lift each of the first holding member 11 and the second holding member 12 while maintaining the target distance. Since each of the first holding member 11 and the second holding member 12 holds the topmost fabric 7 by the hook effect of the directional fiber 10A, the fabric conveying device 3 can pick up only the topmost fabric 7 from the stacked fabrics 7 by lifting the fabric conveying device 3.

[0045] The above-mentioned target pressing force is a pressing force at which the first holding member 11 and the second holding member 12 can hold only the top fabric 7. The above-mentioned target distance is a distance at which the first holding member 11 and the second holding member 12 can hold only the top fabric 7. The pressing forces of the first holding member 11 and the second holding member 12 are adjusted to the target pressure, and the distance between the first holding member 11 and the second holding member 12 when the first holding member 11 and the second holding member 12 are separated from each other is adjusted to the target distance, so that the top fabric 7 is hooked to the directional fiber 10A with an appropriate hooking force. The target pressing force and the target distance are each obtained by a preliminary experiment and stored in the storage 43 in advance.

[0046] The processor 41 controls the main actuator 20 so that the fabric 7 picked up by the fabric conveying device 3 is conveyed to the sewing machine table 5 while maintaining the target distance between the first holding member 11 and the second holding member 12.

[0047] After the fabric conveying device 3 is positioned above the sewing machine table 5, the processor 41 controls at least one of the first actuator 21 and the second actuator 22 so that the first holding member 11 and the second holding member 12 approach each other while the fabric 7 is held by the first holding member 11 and the second holding member 12. When the first holding member 11 and the second holding member 12 approach each other, the hook effect of the directional fiber 10A is released and the fabric 7 is released from the first holding member 11 and the second holding member 12. When the fabric 7 is released from the first holding member 11 and the second holding member 12, it is conveyed to the sewing machine table 5.

[0048] <Effects> As described above, the fabric conveying device 3 according to this embodiment includes the first holding member 11, the second holding member 12, the directional fiber 10A disposed on the lower surface of each of the first holding member 11 and the second holding member 12, and the processor 41. The processor 41 separates the first holding member 11 and the second holding member 12 from each other while the directional fiber 10A of the first holding member 11 and the directional fiber 10A of the second holding member 12 are in contact with the upper surface of the top fabric 7. The directional fiber 10A of the first holding member 11 is oriented in the left direction, which is the direction in which the first holding member 11 is separated from the second holding member 12. The directional fiber 10A of the second holding member 12 is oriented in the right direction, which is the direction in which the second holding member 12 is separated from the first holding member 11.

[0049] According to this embodiment, the fabric 7 is held by the first holding member 11 and the second holding member 12 due to the hook effect of the directional fiber 10A on the fabric 7. Therefore, the fabric conveying device 3 can pick up only the top fabric 7 from the stacked fabrics 7.

[0050] The processor 41 brings the directional fiber 10A of the first holding member 11 into contact with the left end (first end) of the topmost fabric 7, and brings the directional fiber 10A of the second holding member 12 into contact with the left end (second end) of the topmost fabric 7. With the first holding member 11 holding one end of the fabric 7 and the second holding member 12 holding the other end of the fabric 7, the first holding member 11 and the second holding member 12 are separated from each other, so that the fabric conveying device 3 can convey the fabric 7 in a taut state.

[0051] The processor 41 separates the first holding member 11 and the second holding member 12 by a target distance, and then raises each of the first holding member 11 and the second holding member 12 while maintaining the target distance. This allows the fabric conveying device 3 to raise only the top fabric 7 while maintaining the hook effect of the directional fiber 10A on the fabric 7.

[0052] A target pressing force indicating a target value of the pressing force with which the first holding member 11 and the second holding member 12 can hold the fabric 7 is stored in advance in the storage 43. The processor 41 presses the first holding member 11 and the second holding member 12 against the fabric 7 based on the target pressing force. This allows the first holding member 11 and the second holding member 12 to hold the fabric 7.

[0053] A target distance indicating a target value of the distance at which the first holding member 11 and the second holding member 12 can hold the fabric 7 is stored in advance in the storage 43. The processor 41 separates the first holding member 11 and the second holding member 12 from each other based on the target distance. This allows the first holding member 11 and the second holding member 12 to hold the fabric 7.

[0054] The processor 41 brings the first holding member 11 and the second holding member 12 closer to each other in a state in which the fabric 7 is held by the first holding member 11 and the second holding member 12. By bringing the first holding member 11 and the second holding member 12 closer to each other, the hook effect of the directional fiber 10A is released, and the fabric 7 is released from the first holding member 11 and the second holding member 12.

[0055] [Second embodiment] A second embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0056] Fig. 8 is a top view diagrammatically illustrating the fabric conveying device 3 according to this embodiment. As shown in Fig. 8, the fabric conveying device 3 may include a third holding member 13 in addition to the first holding member 11 and the second holding member 12. Similar to the first holding member 11 and the second holding member 12, the directional fiber 10A is disposed on the lower surface of the third holding member 13.

[0057] The processor 41 separates the first holding member 11, the second holding member 12, and the third holding member 13 from each other while the directional fiber 10A of the first holding member 11, the directional fiber 10A of the second holding member 12, and the directional fiber 10A of the third holding member 13 are in contact with the upper surface of the fabric 7. In the example shown in FIG. 8, the first holding member 11, the second holding member 12, and the third holding member 13 are arranged at equal intervals in the circumferential direction of the center of the fabric 7. The processor 41 moves the first holding member 11, the second holding member 12, and the third holding member 13 to the outside in the radial direction of the center of the fabric 7 while the directional fiber 10A of the first holding member 11, the directional fiber 10A of the second holding member 12, and the directional fiber 10A of the third holding member 13 are in contact with the upper surface of the fabric 7.

[0058] The directional fibers 10A of the first holding member 11 are oriented radially outward, which is the direction in which the first holding member 11 moves away from the second holding member 12 and the third holding member 13. The directional fibers 10A of the second holding member 12 are oriented radially outward, which is the direction in which the second holding member 12 moves away from the third holding member 13 and the first holding member 11. The directional fibers 10A of the third holding member 13 are oriented radially outward, which is the direction in which the third holding member 13 moves away from the first holding member 11 and the second holding member 12.

[0059] As described above, the fabric conveying device 3 may have three holding members (the first holding member 11, the second holding member 12, and the third holding member 13). The fabric conveying device 3 may also have any number of holding members, such as four or more.

[0060] [Third embodiment] A third embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0061] 9 is a side view diagrammatically showing the fabric conveying device 3 according to this embodiment. In this embodiment, at least one of the lower surface of the first holding member 11 and the lower surface of the second holding member 12 is provided with a gas ejection port.

[0062] When releasing the fabric 7 held by the first holding member 11 and the second holding member 12 from the first holding member 11 and the second holding member 12, the processor 41 may move the first holding member 11 and the second holding member 12 closer to each other while gas is being ejected from the gas ejection port. By blowing gas onto the fabric 7 from the gas ejection port, the fabric 7 is smoothly released from the first holding member 11 and the second holding member 12.

[0063] Other embodiments In the above-described embodiment, the first holding member 11 may be provided on the first fabric conveying device (first body, first support member), and the second holding member 12 may be provided on the second fabric conveying device (second body, second support member).

[0064] In the above-described embodiment, when the fabric 7 is conveyed using the first holding member 11 and the second holding member 12, the directional fiber 10A may be arranged on the lower surface of the first holding member 11, and the directional fiber 10A may not be arranged on the second holding member 12. The first holding member 11 may hold the fabric 7 by the hook effect of the directional fiber 10A, and the second holding member 12 may hold a part of the fabric 7 by any holding method. The second holding member 12 may include, for example, a gripper that grips a part of the fabric 7, a needle that pierces a part of the fabric 7, or a suction nozzle that suctions and holds a part of the fabric 7. [Explanation of symbols]

[0065] 1...sewing system, 2...sewing machine, 3...fabric conveying device, 4...controller, 5...sewing machine table, 6...fabric table, 7...fabric, 8...body, 9...support member, 10...pile fabric, 10A...directional fiber, 11...first holding member, 12...second holding member, 13...third holding member, 15...camera, 16...force sensor, 17...movement amount sensor, 20...main actuator, 21...first actuator, 22...second actuator, 41...processor, 42...memory, 43...storage.

Claims

1. A first holding member; A second holding member; directional fibers disposed on a lower surface of the first retaining member; a processor; the processor brings the directional fibers of the first holding member into contact with an upper surface of the fabric, and separates the first holding member and the second holding member from each other in a state in which the second holding member holds a portion of the fabric; The directional fibers of the first retaining member are oriented in a direction in which the first retaining member is separated from the second retaining member. Fabric conveying device.

2. A directional fiber is disposed on a lower surface of the second holding member, holding a portion of the fabric on the second holding member includes contacting directional fibers of the second holding member with an upper surface of the fabric; The directional fibers of the second retaining member are oriented in a direction in which the second retaining member is separated from the first retaining member. The fabric conveying device according to claim 1.

3. the processor contacts the directional fibers of the first retention member with a first end of the fabric and contacts the directional fibers of the second retention member with a second end of the fabric; The fabric conveying device according to claim 2.

4. the processor separates the first holding member and the second holding member by a predetermined distance, and then raises each of the first holding member and the second holding member while maintaining the distance; The fabric conveying device according to claim 2.

5. the processor presses each of the first holding member and the second holding member against the fabric with a predetermined pressing force, and then separates the first holding member and the second holding member by a predetermined distance; a storage device that stores a target pressing force indicating a target value of the pressing force at which the first holding member and the second holding member can hold the fabric; The processor presses the first holding member and the second holding member against the fabric based on the target pressing force. The fabric conveying device according to claim 4.

6. a storage device configured to store a target distance indicating a target value of the distance at which the first holding member and the second holding member can hold the fabric; the processor separates the first holding member and the second holding member from each other based on the target distance. The fabric conveying device according to claim 4.

7. The processor moves the first holding member and the second holding member closer to each other in a state in which the fabric is held by the first holding member and the second holding member. The fabric conveying device according to claim 4.

8. A gas ejection port is provided on at least one of a lower surface of the first holding member and a lower surface of the second holding member, The processor brings the first holding member and the second holding member closer to each other while gas is being ejected from the gas ejection port. The fabric conveying device according to claim 7.

9. A third holding member is provided, A directional fiber is disposed on a lower surface of the third holding member, The processor separates the first holding member, the second holding member, and the third holding member from each other while contacting the directional fibers of the first holding member, the directional fibers of the second holding member, and the directional fibers of the third holding member with an upper surface of the fabric, The directional fibers of the third retaining member are oriented in a direction in which the third retaining member is separated from the first retaining member and the second retaining member. The fabric conveying device according to claim 2.

10. A lint brush is fixed to the lower surface of the first holding member, The directional fibers are provided on the lint brush. The fabric conveying device according to claim 1.

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