Fabric conveying device

Abstract

To provide a clothes conveyance device allowing a reduction in a wait time of an operator.SOLUTION: A clothes conveyance device comprises: a plurality of traveling bodies to hold clothes; a conveyance line 30 on which the plurality of traveling bodies circulate via a feed part 40 to which the clothes are fed and a discharge part 50 to discharge the clothes; and a control device. The conveyance line 30 has a feed section S1 including the feed part 40 on an approach route from the feed part 40 to the discharge part 50. The control device stops receiving the clothes at the feed part 40 when receiving a mode change instruction, changes the mode of the feed section S1 when a preceding traveling body does not exist in the feed section, and resumes receiving the clothes at the feed part 40.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a cloth conveying device. More specifically, it relates to a cloth conveying device for conveying cloth in a linen facility.

Background Art

[0002] Patent Document 1 discloses a cloth conveying device that conveys cloth to a cloth input machine. This cloth conveying device has a plurality of independent traveling clamps and a conveying rail through which each traveling clamp circulates via a supply section and a discharge section. The cloth is attached to the traveling clamp at the supply section and discharged to the cloth input machine at the discharge section.

[0003] The conveying rail has a substantially U shape that extends downward from a high main line position to the height position of the upper body of the operator at the supply section and then extends upward again toward the main line. Also, at the supply section, the conveying rail branches into left and right rails and then rejoins. When an operator attaches the right corner of the cloth to the first traveling clamp on the right rail, the first traveling clamp ascends first and waits at the standby position. As this clamp ascends, the left corner of the cloth appears in front of the operator's eyes. The operator then attaches the appeared left corner to the second traveling clamp on the left rail. This significantly reduces the labor and time required to search for the left corner of the cloth.

[0004] Patent Document 2 discloses a cloth buffer device that conveys cloth to a cloth unfolding device. This cloth buffer device has a plurality of chucks for gripping the cloth and a guide rail along which the chucks travel. The guide rail is configured such that the chucks circulate in the order of a receiving position, a stock position, a removal position, and a standby position.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] In the fabric conveying device described in Patent Document 1, the distance by which the first traveling clamp is raised in advance is set to be approximately the same as the length of one side of the fabric. Therefore, it is necessary to change the raising distance setting before starting to process a different type of fabric than the one currently being processed.

[0007] Conventional fabric conveying systems, in order to avoid mixing different types of fabric, would only change modes, such as the lifting distance, after all the fabric on the conveying rail had been discharged into the fabric input machine. As a result, workers could not attach the next type of fabric to the travel clamp until all the fabric currently being processed had reached the fabric input machine, causing waiting times.

[0008] Patent Document 2 only discloses the provision of one guide rail for a single fabric unfolding device. However, it is also conceivable to provide multiple guide rails for a single fabric unfolding device. In this way, more fabrics can be stored in the fabric buffer device, and the fabric unfolding device can be operated with high efficiency.

[0009] When multiple guide rails were installed, in order to prevent multiple types of fabric from being discharged to the fabric dispensing device in a mixed state, the next type of fabric could not be supplied until all the fabrics on all the guide rails had been discharged to the fabric dispensing device. In other words, even if the supply of the previous type of fabric was completed on some of the guide rails, the next type of fabric could not be supplied immediately, resulting in a waiting time.

[0010] In view of the above circumstances, the present invention aims to provide a fabric conveying device that can reduce the waiting time for workers. [Means for solving the problem]

[0011] The fabric conveying device of the first invention comprises a plurality of traveling bodies for gripping fabrics, a conveying line through which the plurality of traveling bodies circulate via a supply section for supplying the fabrics and a discharge section for discharging the fabrics, and a control device, wherein the conveying line has a supply section including the supply section on the outward path from the supply section to the discharge section, and the control device, upon receiving a mode change instruction, stops accepting the fabrics at the supply section, and when the preceding traveling body that gripped the fabrics before the acceptance was stopped is no longer present in the supply section, changes the mode of the supply section and resumes accepting the fabrics at the supply section. The fabric conveying device of the second invention is characterized in that, in the first invention, the conveying line has a continuous upstream section and a downstream section in the forward path from the supply section to the discharge section, and the control device has the trailing vehicle, which is the vehicle that has grasped the fabric after receiving has resumed, wait in the upstream section while the leading vehicle is in the downstream section, and releases the trailing vehicle from waiting when the leading vehicle is no longer in the downstream section. The third fabric conveying device of the second invention is characterized in that, in the second invention, the control device changes the mode of the downstream section when the preceding traveling body is no longer present in the downstream section. The fabric conveying device of the fourth invention is characterized in that, in any of the first to third inventions, it has a plurality of supply units, the conveying line has a plurality of branch lines passing through each of the plurality of supply units and an integrated line formed by the confluence of the plurality of branch lines, and the downstream end of the supply section is set to the integrated line. The fabric conveying device of the fifth invention is characterized in that, in any of the first to third inventions, it has a plurality of supply units, the conveying line has a plurality of branch lines passing through each of the plurality of supply units and an integrated line formed by the confluence of the plurality of branch lines, the supply section is set up in a plurality for each of the plurality of branch lines, the control device receives a mode change instruction for each of the supply sections, stops receiving the fabric at the supply unit included in the target supply section which is the supply section that received the mode change instruction, changes the mode of the target supply section when the preceding vehicle is no longer in the target supply section, and resumes receiving the fabric at the supply unit included in the target supply section. The fabric conveying device of the sixth invention is characterized in that, in any of the first to fifth inventions, the conveying line has two supply lines arranged in parallel to constitute the supply section, and of the two traveling bodies waiting at the respective supply standby positions of the two supply lines, the one to which the corners of the fabric are attached first travels ahead to the preceding standby position, and when the mode of the supply section is changed, the preceding standby position is changed. The fabric conveying device of the seventh invention is characterized in that, in the third invention, the downstream section is a discharge section including the discharge section, the conveying line has three or more discharge lines arranged in parallel that constitute the discharge section, and when the mode of the discharge section is changed, the discharge line on which each of the two traveling bodies that grip the two corners of the fabric travels is changed. The eighth fabric conveying device is characterized in that, in the third invention, the downstream section is a discharge section including the discharge section, and when the mode of the discharge section is changed, the spacing of the discharge waiting positions of the traveling body in the discharge section is changed. 。 [Effects of the Invention]

[0012] According to the first invention, once the preceding transport vehicle has left the supply section, the acceptance of new fabrics will resume, thus reducing the waiting time for workers. According to the second invention, the trailing vehicle is kept waiting in the upstream section until the preceding vehicle disappears from the downstream section, so that the fabrics can be kept arranged by type on the conveyor line. According to the third invention, since the mode of each section is changed in accordance with the progress of the preceding vehicle, even if a mode change is necessary in the downstream section, the acceptance of fabrics at the supply section can be resumed before the preceding vehicle disappears from the downstream section. Therefore, the waiting time for workers can be reduced. According to the fourth invention, since the downstream end of the supply section is set to an integrated line, even if there are multiple supply sections, the fabrics can be kept arranged by type on the conveyor line. According to the fifth invention, since the mode is changed for each supply section, a worker who works quickly can supply the next type of fabric without waiting for other workers to finish their work. Therefore, the waiting time for workers can be further reduced. According to the sixth invention, by changing the leading distance of the traveling body according to the width dimension of the cloth, the other corner of the cloth can be brought into a position suitable for the work. According to the seventh invention, by changing the discharge line on which the traveling body runs according to the width dimensions of the fabric, the fabric can be discharged to the next processing device in a state where it has been spread to a suitable width. According to the eighth invention, by changing the spacing of the discharge waiting positions according to the weight of the cloths, it is possible to reduce the failure of the cloths to be transferred due to overlapping. 。 [Brief explanation of the drawing]

[0013] [Figure 1] This is a perspective view of a fabric conveying device according to the first embodiment of the present invention. [Figure 2] This is a plan view of the forward path of the conveyor line. [Figure 3] Figure (A) is a side view of the vehicle. Figure (B) is a front view of the vehicle. [Figure 4] Figure (A) is a side view of the supply unit. Figure (B) is a front view of the supply unit. [Figure 5] Figure (A) is a side view of the discharge section. Figure (B) is a side view of the discharge section. [Figure 6]It is an explanatory diagram of steps (1) and (2). [Figure 7] It is an explanatory diagram of steps (3) and (4). [Figure 8] It is an explanatory diagram of steps (5) and (6). [Figure 9] It is an explanatory diagram of step (7). [Figure 10] It is a plan view of the forward path of the conveyance line in the second embodiment of the present invention. [Figure 11] It is an explanatory diagram of steps (1) and (2). [Figure 12] It is an explanatory diagram of steps (3) and (4). [Figure 13] It is a perspective view of the cloth conveyance device according to the third embodiment of the present invention. [Figure 14] Figure (A) is a side view of the traveling body. Figure (B) is a front view of the traveling body. [Figure 15] It is a perspective view of the cloth conveyance device according to the fourth embodiment of the present invention. [Figure 16] Figure (A) is a side view of the supply unit. Figure (B) is a front view of the supply unit. [Figure 17] Figure (A) is a side view of the discharge unit. Figure (B) is a side view of the discharge unit. [Figure 18] It is an explanatory diagram of steps (1) and (2). [Figure 19] It is an explanatory diagram of steps (3) and (4).

Mode for Carrying Out the Invention

[0014] Next, embodiments of the present invention will be described based on the drawings. 〔First Embodiment〕 As shown in Figure 1, the fabric conveying device AA according to the first embodiment of the present invention is a device that conveys washed fabrics C, such as sheets and duvets, to the next processing device NX in a linen facility. The next processing device NX is, for example, a fabric input machine. Downstream of the fabric input machine NX, a roll ironer, a fabric folding machine, etc., are connected, and these constitute a processing line. The fabrics C handed over to the fabric input machine NX are conveyed along the processing line and subjected to processing such as unfolding, ironing, and folding.

[0015] The fabric conveying device AA has a control device 10 that controls the various components that make it up. A computer consisting of a CPU, memory, etc., can be used as the control device 10. Input devices may be connected to the control device 10. Examples of input devices include devices that accept manual operation, such as switches and touch panels, as well as voice input devices such as microphones. A display device such as an LCD panel may also be connected to the control device 10.

[0016] The fabric conveying device AA has a plurality of traveling bodies 20 for gripping fabric C, and a conveying line 30 on which the traveling bodies 20 circulate. As shown in Figures 3(A) and 3(B), the traveling body 20 has a trolley 21. The trolley 21 is provided with four traveling wheels on the front, rear, left, and right sides, and two guide wheels on the front and rear. Two chucks 23 are fixed to the lower part of the trolley 21 on the left and right sides via stays 22. The chucks 23 may be known types in which the jaws rotate relative to the fixed part. The two chucks 23 on one traveling body 20 cooperate to grip one corner of the fabric C. Note that the number of chucks 23 on a traveling body 20 may be one.

[0017] The transport line 30 has rails 31. The rails 31 have a structure in which two channel members with a roughly C-shaped cross-section are placed on the left and right with their openings facing each other, forming a hollow space inside. The trolley 21 of the traveling body 20 is fitted into the hollow space of the rails 31. The traveling body 20 moves along the rails 31 as the running wheels and guide wheels of the trolley 21 roll.

[0018] The conveyor line 30 may be provided with a drive mechanism (not shown) for driving the traveling body 20, if necessary. The drive mechanism consists of, for example, a toothed belt wrapped between a pair of pulleys and a motor that rotates the pulleys. By engaging the toothed belt with the traveling body 20, the traveling body 20 can be made to move. Alternatively, the rail 31 may be inclined so that the traveling body 20 moves by its own weight without relying on the drive mechanism.

[0019] As shown in Figure 1, the transport line 30 has branching points where it splits into multiple lines, and confluence points where multiple lines merge. A switch (not shown) is provided at the branching points to switch the direction of travel of the transport body 20. The transport line 30 is also provided with a stopper (not shown) at necessary locations to temporarily stop the travel of the transport body 20, and an extruder (not shown) to push the temporarily stopped transport body 20 forward.

[0020] The fabric conveying device AA has a supply section 40 to which fabric C is supplied and a discharge section 50 to which fabric C is discharged. The conveying line 30 has a forward path in which the traveling body 20 travels from the supply section 40 to the discharge section 50 and a return path in which it travels from the discharge section 50 to the supply section 40. Therefore, the traveling body 20 circulates through the conveying line 30, passing through the supply section 40 and the discharge section 50.

[0021] The fabric conveying device AA of this embodiment has a plurality of supply units 40 (four in the illustrated example). Figure 2 shows the forward path of the conveying line 30. The conveying line 30 has a plurality of branch lines 32 (the same number as the supply units 40) that pass through each of the plurality of supply units 40. The conveying line 30 also has an integrated line 33 formed by the confluence of the plurality of branch lines 32. A discharge unit 50 is provided downstream of the integrated line 33.

[0022] The number of supply units 40 is not particularly limited and may be just one. Also, although there is one discharge unit 50 in the illustrated example, there may be multiple discharge units. In this case, the next-stage processing device NX will have multiple sections for receiving the fabrics C. Multiple discharge units 50 will be arranged corresponding to each section.

[0023] Each branch line 32 further branches into two supply lines 34A and 34B. The two supply lines 34A and 34B form a pair that constitutes a single supply unit 40. As shown in Figure 4(A), each supply line 34A and 34B is roughly U-shaped in side view, extending downward from a high position away from the floor, and then extending upward again towards a high position. The lowest point of supply lines 34A and 34B is set at approximately the height of a human arm. As shown in Figure 4(B), the two supply lines 34A and 34B are arranged in parallel to each other on the left and right. The distance between the left and right supply lines 34A and 34B is approximately the width of a human shoulder. In addition, each of the two supply lines 34A and 34B has a supply standby position P1 at the lowest point and a preceding standby position P2 located a predetermined distance above the supply standby position P1.

[0024] For the sake of explanation, the supply line 34A on the left will be referred to as the first supply line 34A, and the supply line 34B on the right will be referred to as the second supply line 34B. Furthermore, the vehicle 20 supplied to the first supply line 34A will be referred to as the first vehicle 20A, and the vehicle 20 supplied to the second supply line 34B will be referred to as the second vehicle 20B.

[0025] The transport vehicles 20 traveling on the return route of the transport line 30 are alternately distributed to the first supply line 34A and the second supply line 34B at a branching point on the return route. The first and second transport vehicles 20A and 20B wait at their respective supply standby positions P1 on the first and second supply lines 34A and 34B. Workers find both corners of one side of the fabric C and attach them to the first and second transport vehicles 20A and 20B, respectively. Of the first and second transport vehicles 20A and 20B, the one whose corner of the fabric C is attached first travels ahead to the preceding standby position P2.

[0026] For example, suppose a worker finds the left corner of cloth C first. In this case, the worker attaches the left corner of cloth C to the first traveling body 20A. Then, the first traveling body 20A rises ahead to the preceding waiting position P2 and waits there. As the first traveling body 20A rises, the right corner of cloth C appears in front of the worker. The worker attaches the newly appeared right corner to the second traveling body 20B, which is waiting at the supply waiting position P1. As a result, the first and second traveling bodies 20A and 20B, as a pair, are holding one piece of cloth C. After that, the first and second traveling bodies 20A and 20B, still holding cloth C, travel along the forward path of the conveyor line 30.

[0027] Conversely, suppose the worker finds the right corner of cloth C first. In this case, the worker attaches the right corner of cloth C to the second travel body 20B. Then, the second travel body 20B rises ahead to the preceding waiting position P2 and waits there. As the second travel body 20B rises, the left corner of cloth C appears in front of the worker. The worker attaches the newly appeared left corner to the first travel body 20A, which is waiting at the supply waiting position P1. As a result, the first and second travel bodies 20A and 20B, as a pair, are holding one piece of cloth C. After that, the first and second travel bodies 20A and 20B, still holding cloth C, travel along the forward path of the conveyor line 30.

[0028] The preceding standby position P2 is set so that its distance from the supply standby position P1 is approximately the same as the length of one side of the fabric C. Therefore, when the traveling body 20, with the corner of the fabric C already attached, travels ahead to the preceding standby position P2, the other corner will naturally appear in front of the worker. As a result, the effort and time required for the worker to find the other corner are significantly reduced.

[0029] Furthermore, on the outbound journey of the transport line 30, the first and second traveling bodies 20A and 20B should travel in the order in which the corners of the fabric C are attached. Alternatively, regardless of the order in which the corners of the fabric C are attached, one of the first and second traveling bodies 20A and 20B may always travel in front.

[0030] The first and second traveling bodies 20A and 20B, which are gripping the fabric C, travel along the conveyor line 30 toward the discharge section 50. As shown in Figure 5(B), at the discharge section 50, the conveyor line 30 branches into four discharge lines 35. The four discharge lines 35 are arranged in parallel on the left and right. These together constitute a single discharge section 50.

[0031] The discharge lines 35 to which the first and second traveling bodies 20A and 20B are distributed are selected according to the width dimension of the fabric C. Specifically, when gripping narrow fabric C, the first and second traveling bodies 20A and 20B are distributed to the two centrally located discharge lines 35, 35, respectively. On the other hand, when gripping wide fabric C, the first and second traveling bodies 20A and 20B are distributed to the two outerly located discharge lines 35, 35, respectively. When gripping fabric C of medium width, the first and second traveling bodies 20A and 20B may be distributed to the centrally located discharge line 35 and the outer discharge line 35. In this way, by selecting the discharge lines 35, the spacing between the first and second traveling bodies 20A and 20B can be adjusted according to the width dimension of the fabric C. Therefore, the fabric C can be discharged to the next process device NX in a state where it has been spread to a suitable width.

[0032] Furthermore, from the perspective of adjusting the spacing between the first and second traveling bodies 20A and 20B to match the width dimension of the fabric C, the discharge section 50 only needs to have three or more discharge lines 35. Also, if it is not necessary to adjust the spacing between the first and second traveling bodies 20A and 20B, the number of discharge lines 35 may be two.

[0033] As shown in Figure 5(A), each discharge line 35 is roughly U-shaped in side view, extending downward from a high point and then upward again towards a high point. In the descending section of the discharge line 35, multiple vehicles 20 that have reached the discharge section 50 form a queue and temporarily wait until they are processed. Here, multiple discharge waiting positions P3 are set at predetermined intervals in the descending section of the discharge line 35. The vehicles 20 wait at the discharge waiting positions P3 in the order in which they reach the discharge section 50.

[0034] When it is the vehicle's turn to be processed, the vehicle 20 rises up the riser section of the discharge line 35. A plate 51 is provided at the riser section of the discharge line 35. As the vehicle 20 passes the plate 51, the jaws of the chuck 23 are pushed against the plate 51, causing the chuck 23 to open. As a result, the cloth C that was being held by the chuck 23 is transferred to the next processing device NX. The empty vehicle 20, having transferred the cloth C, travels back along the transport line 30 and is supplied back to the supply unit 40.

[0035] Furthermore, since the traveling body 20 transports the fabric C while it is suspended, it is preferable that most of the transport line 30 (excluding the supply section 40 and the discharge section 50) be installed at a high location so that the fabric C is not dragged on the ground during transport.

[0036] As shown in Figure 2, the transport line 30 in this embodiment is divided into three sections on the outbound path from each supply unit 40 to the discharge unit 50: a supply section S1, an intermediate section S2, and a discharge section S3. The supply section S1 is the section that includes each supply unit 40 and is located at the uppermost part of the outbound path. The supply section S1 corresponds to the branch line 32. The discharge section S3 is the section that includes the discharge unit 50 and is located at the lowermost part of the outbound path. The discharge section S3 corresponds to the discharge line 35. The intermediate section S2 is the section between the supply section S1 and the discharge section S3. The intermediate section S2 corresponds to the integration line 33.

[0037] In addition, among the multiple sections set in the transport line 30, the upstream section of two consecutive sections is called the upstream section, and the downstream section is called the downstream section. The terms upstream section and downstream section indicate a relative positional relationship and do not refer to specific sections. In this embodiment, if the supply section S1 is the upstream section, then the intermediate section S2 is the downstream section. Also, if the intermediate section S2 is the upstream section, then the discharge section S3 is the downstream section.

[0038] The conveyor line 30 has a device for counting the number of traveling bodies 20 in each section S1 to S3. For example, sensors that detect the passage of traveling bodies 20 are installed at the boundary between the supply section S1 and the intermediate section S2, and at the boundary between the intermediate section S2 and the discharge section S3. By counting the number of traveling bodies 20 that enter the intermediate section S2 and the number of traveling bodies 20 that exit the intermediate section S2 using these sensors, the number of traveling bodies 20 in the intermediate section S2 can be counted. In addition, the number of traveling bodies 20 that enter the supply section S1 can be counted from the gripping operation of the traveling bodies 20 of the fabric C in the supply section 40. The number of traveling bodies 20 that exit the discharge section S3 can be counted from the release operation of the traveling bodies 20 of the fabric C in the discharge section 50. By combining this information with the information from the sensors, the number of traveling bodies 20 in the supply section S1 and the discharge section S3 can be counted.

[0039] Alternatively, or in combination with this, information from a device that identifies each individual mobile body 20 may be used. Each mobile body 20 has a barcode attached that indicates its individual ID. The identification device is equipped with a barcode reader, and by reading the barcode on the mobile body 20, the location of each mobile body 20 can be determined. Alternatively, a two-dimensional barcode may be used instead of a barcode, or the ID may be read using wireless communication such as RFID. By combining the information on the type of fabric C received by the supply unit 40 with the identification information of each mobile body 20, the location of each mobile body 20 and the type of fabric C it is holding can be determined.

[0040] The various components of the fabric conveying device AA can be switched modes. When an operator instructs the control device 10 to change modes via an input device or the like, the control device 10 changes the mode of the equipment. Mode change instructions can be given by the operator operating a switch, touch panel, etc., or by voice input by the operator speaking.

[0041] Mode changes alter the device's settings and other parameters. The device's mode is primarily changed according to the type of fabric C. Here, the type of fabric C refers to its shape, dimensions, weight, etc., and specifically refers to distinctions such as sheets and duvets. A mode change instruction may also be an input to the control device 10 to change the type of fabric C.

[0042] In this embodiment, the fabric conveying device AA changes its mode for each section S1 to S3. The following description will explain the case where the fabric C supplied to the fabric conveying device AA is changed from a first type of fabric C1 to a second type of fabric C2, and the modes of the supply section S1 and discharge section S3 are changed accordingly, with reference to Figures 6 to 9. Note that the intermediate section S2 does not require a mode change.

[0043] (1) to (7) in Figures 6 to 9 correspond to (1) to (7) in the following explanation, respectively. In Figures 6 to 9, the vehicle 20 gripping the first type of cloth C1 is shown as a white rectangle, and the vehicle 20 gripping the second type of cloth C2 is shown as a black rectangle. The vehicle 20 gripping the first type of cloth C1 is referred to as the leading vehicle 20L, and the vehicle 20 gripping the second type of cloth C2 is referred to as the trailing vehicle 20T.

[0044] (1) Application suspended The worker loads the first type of fabric C1. A mobile unit 20 (leading mobile unit 20L) holding the first type of fabric C1 is moving along the conveyor line 30. Both the supply section S1 and the discharge section S3 are in a mode corresponding to the first type of fabric C1.

[0045] In this state, the worker inputs a change in the type of fabric C to the input device provided in the control device 10. That is, the control device 10 receives the mode change instruction. Upon receiving this instruction, the control device 10 stops accepting new fabric C at each supply unit 40. Here, stopping acceptance can be achieved by making the jaws of the chuck 23 of the traveling body 20 waiting at the supply standby position P1 immobile so that it cannot grasp the fabric C. Alternatively, the traveling body 20 may be allowed to grasp the fabric C, and even after the grasping of the fabric C is complete, the traveling body 20 may remain waiting at the supply standby position P1. Furthermore, the traveling body 20 may not be supplied to the supply standby position P1 at all. The traveling body 20 that grasped the fabric C1 before this stopping of acceptance, that is, the traveling body 20 that grasped the first type of fabric C1, is the preceding traveling body 20L.

[0046] (2) Mode change of supply section S1 The lead transport units 20L travel along the conveyor line 30 and, in the order they reach the discharge section 50, hand over the fabrics C1 to the next process device NX. When all of the lead transport units 20L have passed the downstream end of the supply section S1 (the boundary between the supply section S1 and the intermediate section S2), that is, when the lead transport units 20L are no longer present in the supply section S1, the control device 10 changes the mode of the supply section S1 to the mode corresponding to the second type of fabric C2.

[0047] A specific example of changing the mode in the supply section S1 is changing the lead standby position P2 in the supply unit 40. The lead standby position P2 is set so that its distance from the supply standby position P1 is approximately the same as the length of one side of the fabric C. For example, when processing wide fabrics C such as sheets, the lead standby position P2 is set to a position far from the supply standby position P1. On the other hand, when processing narrow fabrics C such as duvets, the lead standby position P2 is set to a position close to the supply standby position P1. In this way, by changing the lead distance of the traveling body 20 according to the width dimension of the fabric C, the other corner of the fabric C can be brought to a position suitable for processing.

[0048] (3) Reopening of applications Once the mode change in supply section S1 is complete, the acceptance of fabric C in the supply unit 40 resumes. That is, the worker can attach the second type of fabric C2 to the vehicle 20. The vehicle 20 that has grasped the fabric C2 after acceptance resumes, i.e., the vehicle 20 that has grasped the second type of fabric C2, is the trailing vehicle 20T. In this way, as soon as the leading vehicle 20L is gone from supply section S1, acceptance of new fabric C2 resumes. Since there is no need to wait until all processing of the leading vehicle 20L is complete, the waiting time for the worker can be reduced.

[0049] (4) Standby 1 The trailing vehicle 20T travels along the transport line 30. Here, the control device 10 makes the trailing vehicle 20T wait at the downstream end of the supply section S1 (upstream section) while the leading vehicle 20L is in the intermediate section S2 (downstream section). For example, the movement of the trailing vehicle 20T is stopped by a stopper installed at the downstream end of the supply section S1.

[0050] Then, the control device 10 releases the standby of the trailing vehicle 20T when all of the leading vehicles 20L have passed the downstream end of the intermediate section S2 (downstream section), that is, when the leading vehicles 20L are no longer present in the intermediate section S2 (downstream section).

[0051] In this way, the trailing vehicle 20T is kept waiting in the supply section S1 (upstream section) until the leading vehicle 20L leaves the intermediate section S2 (downstream section), so that the fabrics C can be kept arranged by type on the conveyor line 30. Here, in this embodiment, the downstream end of the supply section S1 is set to the integration line 33. Therefore, even if there are multiple supply units 40, the fabrics C can be kept arranged by type on the conveyor line 30.

[0052] (5) Standby 2 Next, the control device 10 makes the trailing vehicle 20T wait at the downstream end of the intermediate section S2 (upstream section) while the leading vehicle 20L is in the discharge section S3 (downstream section). For example, the movement of the trailing vehicle 20T is stopped by a stopper installed at the downstream end of the intermediate section S2.

[0053] (6) Mode change for discharge section S3 Next, the control device 10 changes the mode of the discharge section S3 (downstream section) when all of the leading vehicles 20L have passed the downstream end of the discharge section S3 (downstream section), that is, when the leading vehicles 20L are no longer present in the discharge section S3 (downstream section). In this way, the mode of each section is changed in accordance with the progress of the leading vehicles 20L. Therefore, even when a mode change is necessary for the downstream section (discharge section S3 in this embodiment), the acceptance of cloth materials C at the supply unit 40 can be resumed before the leading vehicles 20L disappear from the downstream section (discharge section S3). This reduces the waiting time for workers.

[0054] A specific example of changing the mode in the discharge section S3 is the change of the discharge line 35 on which the traveling body 20 travels in the discharge section 50. The discharge section 50 in this embodiment has four discharge lines 35 arranged in parallel. The discharge line 35 on which each of the two traveling bodies 20, 20 that grip two corners of a piece of fabric C travels is changed according to the width dimension of the fabric C. For example, when processing wide fabric C such as a sheet, the two traveling bodies 20, 20 are distributed to the two outer discharge lines 35, 35. On the other hand, when processing narrow fabric C such as a duvet, the two traveling bodies 20, 20 are distributed to the two central discharge lines 35, 35. In this way, by changing the discharge line 35 on which the traveling body 20 travels according to the width dimension of the fabric C, the fabric C can be discharged to the next process device NX in a state where it has been spread to a suitable width.

[0055] Another specific example of changing the mode in the discharge section S3 is changing the spacing of the discharge standby positions P3 of the traveling body 20 in the discharge section 50. For example, when processing light fabrics C such as sheets, the possibility of the fabrics C falling off the traveling body 20 is low even if they overlap. Therefore, the spacing of the discharge standby positions P3 is narrowed to allow more fabrics C to wait. On the other hand, when processing heavy fabrics C such as duvets, the possibility of the fabrics C falling off the traveling body 20 increases if they overlap. Therefore, the spacing of the discharge standby positions P3 is widened to make it less likely for the fabrics C to overlap. In this way, by changing the spacing of the discharge standby positions P3 according to the weight of the fabrics C, it is possible to reduce the failure of the transfer caused by the overlapping of fabrics C.

[0056] (7) Deactivate standby Once the mode change in discharge section S3 is complete, the standby mode of the trailing vehicle 20T is released. This initiates the discharge of the second type of fabric C2 to the next processing device NX.

[0057] Furthermore, the number of sections set in the transport line 30 is not limited to three. The forward path of the transport line 30 may be divided into two sections (supply section S1 and discharge section S3), or into four or more sections (by further dividing the intermediate section S2).

[0058] The modes of the equipment in each section are not limited to just two: a mode corresponding to the first type of fabric C1 and a mode corresponding to the second type of fabric C2. Depending on the number of types of fabric C, multiple modes may be possible.

[0059] The mode change is not limited to the three specific examples described above. Other modes may be changed as needed.

[0060] [Second Embodiment] As shown in Figure 10, multiple supply sections S1 may be set for each branch line 32. In this case, each supply section S1 includes one supply unit 40. The downstream end of each supply section S1 is set just before the confluence point where the branch line 32 merges with the integration line 33. An intermediate section S2 follows downstream of each supply section S1.

[0061] In this embodiment, mode change instructions can be received for each supply section S1. For example, multiple input devices are provided corresponding to multiple supply units 40. When an operator operates one of the input devices, a mode change instruction for the supply section S1 that includes the supply unit 40 corresponding to that input device is input to the control device 10.

[0062] In this embodiment, for each supply section S1, the equipment mode is changed and new fabrics are accepted as soon as preparations are complete. The details will be explained below with reference to Figures 11 to 12. Note that (1) to (4) in Figures 11 to 12 correspond to (1) to (4) in the following explanation, respectively.

[0063] (1) Application suspended All workers are responsible for loading Type 1 fabric C1. A mobile unit 20 (leading mobile unit 20L) holding Type 1 fabric C1 is traveling along the conveyor line 30. All supply sections S1 and discharge sections S3 are in a mode corresponding to Type 1 fabric C1.

[0064] Let's assume that worker W on the far right has completed the loading of the first type of fabric C1. At this time, worker W inputs a change in the type of fabric C into the input device provided in the supply unit 40 in charge of their work. Then, a mode change instruction for the rightmost supply section S1 is input to the control device 10. Hereafter, the supply section S1 that received the mode change instruction will be referred to as the target supply section S1t.

[0065] The control device 10 stops accepting new fabrics C in the supply unit 40 included in the target supply section S1t. However, in other supply sections S1 that have not received a mode change instruction, the acceptance of fabrics C is not stopped. That is, the supply unit 40 in other supply sections S1 continues to accept the first type of fabric C1.

[0066] (2) Mode change for the target supply section S1t When all of the preceding vehicles 20L traveling through the target supply section S1t have passed the downstream end of the target supply section S1t, that is, when the preceding vehicles 20L are no longer present in the target supply section S1t, the control device 10 changes the mode of the target supply section S1t to the mode corresponding to the second type of fabric C2.

[0067] (3) Reopening of applications Once the mode change for the target supply section S1t is complete, the acceptance of fabric C in the supply unit 40 included in the target supply section S1t will resume. In other words, worker W can attach the second type of fabric C2 to the vehicle 20.

[0068] (4) Standby 1 After the reception resumes, the vehicle 20 (rear vehicle 20T) holding the fabric C2 travels through the target supply section S1t. At this point, the control device 10 has the rear vehicle 20T wait at the downstream end of the target supply section S1t (upstream section) while the leading vehicle 20L is in the intermediate section S2 (downstream section).

[0069] The operations described above, from (1) stopping reception to (4) waiting 1, are performed in parallel for each supply section S1. That is, in the order that the loading of the first type of fabric C1 is completed, the reception of fabric C1 is stopped, the mode is changed, the reception of fabric C2 is resumed, and the following vehicle 20T goes into standby mode. Ultimately, all supply sections S1 will be ready to be loaded with the second type of fabric C2 onto the vehicle 20.

[0070] Subsequently, when all of the leading vehicles 20L have passed the downstream end of the intermediate section S2 (downstream section), that is, when the leading vehicles 20L are no longer present in the intermediate section S2 (downstream section), the control device 10 releases the standby of all trailing vehicles 20T in the supply section S1.

[0071] The subsequent steps of (5) the standby of the trailing vehicle 20T in the intermediate section S2, (6) the mode change in the discharge section S3, and (7) the release of the standby of the trailing vehicle 20T are the same as in the first embodiment.

[0072] In this embodiment, since the mode is changed for each supply section S1, a worker W who is fast at loading can supply the next type of fabric C2 to the supply unit 40 without waiting for other workers to finish loading. Therefore, the waiting time for workers can be further reduced.

[0073] [Third Embodiment] The traveling body 20 may be configured to grip one piece of cloth C on its own. As shown in Figures 14(A) and 14(B), the traveling body 20 has a trolley 21. A horizontal beam 24 is provided at the bottom of the trolley 21 via a stay 22. The beam 24 is approximately the width of a person's shoulders. A pair of chucks 23 are fixed to each end of the beam 24. In other words, the traveling body 20 has a total of four chucks 23. The pair of chucks 23 provided at one end work together to grip one corner of the cloth C. The pair of chucks 23 provided at the other end work together to grip the other corner of the cloth C. Alternatively, one chuck 23 may be provided at each end of the beam 24.

[0074] As shown in Figure 13, the fabric conveying device CC of this embodiment uses the traveling body 20 with the above configuration, so each supply unit 40 is composed of a single line instead of two supply lines 34A and 34B. Similarly, the discharge unit 50 is composed of a single line instead of multiple discharge lines 35.

[0075] [Fourth Embodiment] Next, the fabric conveying device DD according to the fourth embodiment will be described. As shown in Figure 15, the fabric conveying device DD of this embodiment has a plurality of conveying lines 30 (two in the illustrated example). Each conveying line 30 has a supply section 40 and a discharge section 50. The traveling body 20 circulates through the conveying lines 30, passing through the supply section 40 and the discharge section 50. Each conveying line 30 is arranged in parallel with one next-processing device NX. The number of conveying lines 30 is not particularly limited. The next-processing device NX has multiple sections for receiving fabrics C. Conveying lines 30 should be provided to correspond to each section.

[0076] As shown in Figures 16(A) and 16(B), in the supply section 40, the conveyor line 30 is roughly U-shaped in side view, extending downward from a high point away from the floor, and then extending upward again towards a high point. The lowest part of the conveyor line 30 is set at approximately the height of a human arm.

[0077] As the traveling body 20, the configuration shown in Figures 14(A) and 14(B) can be used. The traveling body 20 is supplied to the supply unit 40 from the return path of the conveyor line 30 and waits at the supply standby position P1. The worker finds both corners of one side of the cloth C and attaches it to the traveling body 20. After that, the traveling body 20 travels along the forward path of the conveyor line 30 while holding the cloth C.

[0078] The traveling unit 20, which is gripping the fabric C, travels along the conveyor line 30 toward the discharge section 50. In the section between the supply section 40 and the discharge section 50, multiple traveling units 20 form a queue and temporarily wait until processing is complete.

[0079] As shown in Figures 17(A) and 17(B), in the discharge section 50, the transport line 30 is roughly U-shaped in side view, extending downward from a high point and then upward again towards a high point. When the traveling body 20 reaches the bottom of the transport line 30, it opens the chuck 23 and hands over the fabric C to the next process device NX. The empty traveling body 20 that has received the fabric C travels back along the transport line 30 and is supplied again to the supply section 40.

[0080] As shown in Figure 15, the fabric conveying device DD has an input device 11 that outputs a type change signal to the control device 10. Here, the type change signal is a signal that means the type of fabric C to be supplied to the supply unit 40 is being changed. The type change signal is output from the input device 11 to the control device 10 by an input operation by the worker. In other words, the worker can instruct a change in the type of fabric C.

[0081] Furthermore, the control device 10 receives type change signals for each transport line 30. For example, an input device 11 is provided in each supply unit 40. When a worker operates one of the input devices 11, a type change signal for the transport line 30 corresponding to that input device 11 is input to the control device 10.

[0082] Next, referring to Figures 18 to 19, we will explain the operation of the fabric conveying device DD when the fabric C supplied to the device is changed from the first type of fabric C1 to the second type of fabric C2. Note that (1) to (4) in Figures 18 to 19 correspond to (1) to (4) in the following explanation, respectively.

[0083] (1) Initial state All workers are responsible for loading Type 1 fabric C1. Only the transport units 20 (leading transport unit 20L) holding Type 1 fabric C1 are running on all transport lines 30.

[0084] (2) Change of type Let's assume that worker W on the right has completed the loading of the first type of fabric C1. At this time, worker W inputs a change in the type of fabric C to the input device 11 located in the supply unit 40 that he is in charge of. Then, a type change signal is input to the control device 10 for the transport line 30 on the right. Hereafter, the transport line 30 that receives the type change signal will be referred to as the target transport line 30t.

[0085] Subsequently, worker W attaches the second type of fabric C2 to the vehicle 20. In this embodiment, worker W can immediately begin feeding the second type of fabric C2 after operating the input device 11. In addition, other transport lines 30 that have not received a type change signal continue to accept the first type of fabric C1.

[0086] (3) Waiting The vehicle that has grasped the fabric C2 after receiving the type change signal is referred to as the trailing vehicle 20T. The trailing vehicle 20T travels along the target transport line 30t. On the target transport line 30t, the discharge section 50 continues to discharge the fabric C1 from the leading vehicle 20L.

[0087] The control device 10 keeps the trailing transporter 20T waiting in front of the discharge section 50 of the target transport line 30t until all of the leading transporters 20L have discharged the fabric C1 in all transport lines 30. In other words, even if the process of discharging the fabric C1 from the leading transporters 20L is completed in the target transport line 30t, if there are leading transporters 20L in other transport lines 30, the control device 10 keeps the trailing transporter 20T waiting.

[0088] Furthermore, the control device 10 can distinguish between the leading vehicle 20L and the trailing vehicle 20T depending on whether the vehicle 20 grasps the fabric C before or after receiving the type change signal. In addition, the control device 10 can determine the order of each vehicle 20 from the vehicle 20's grasping operation of the fabric C at the supply unit 40 and the vehicle 20's release operation of the fabric C at the discharge unit 50. In other words, the control device 10 can determine when the trailing vehicle 20T has reached the discharge unit 50 and whether or not the leading vehicle 20L is present on the transport line 30.

[0089] The above operations of (2) type change and (3) waiting are performed in parallel for each conveyor line 30. That is, the type change and the waiting of the trailing vehicle 20T are performed in the order in which the input operation of the first type of fabric C1 is completed. Ultimately, all conveyor lines 30 will be in a state where all of the trailing vehicles 20L have discharged the fabric C1.

[0090] (4) Deactivate standby Subsequently, the control device 10 releases the standby status of the trailing transport units 20T in all transport lines 30. This initiates the supply of the second type of fabric C2 to the next process device NX.

[0091] In this embodiment, the trailing transport unit 20T is kept waiting until all types of fabric C1 have been discharged from the transport line 30. Therefore, even if multiple types of fabric are present on the transport line 30, they will be discharged in order of type. As a result, the worker can immediately supply the second type of fabric C2 after the supply of the first type of fabric C1 is complete, thus reducing waiting time.

[0092] The above describes an example in which an operator operates the input device 11 to output a type change signal. Alternatively, a type detector that detects the type of fabric C may be used. The type of fabric C can be determined based on differences in weight, length, shape, pattern, etc. For example, the weight of fabric C can be determined from the load rate of the servo motor that raises the traveling body 20 in the conveyor line 30 that constitutes the supply unit 40. The length of fabric C can also be determined from the detection time of fabric C by the photoelectric sensor. The shape and pattern of the fabric can be determined by analyzing images of fabric C taken by a camera.

[0093] The type detector automatically detects the type of fabric C being transported on the conveyor line 30. When the type of fabric C changes, it outputs a type change signal to the control device 10. With this configuration, the type of fabric C is automatically detected, eliminating the need for manual input by workers and reducing the workload. [Explanation of Symbols]

[0094] AA, CC, DD Fabric Conveying Devices 10 Control device 20 Running bodies 30 Conveyor Line 32 branch lines 33 Integrated Line 34A supply line 34B Supply Line 35 Discharge line 40 Supply section 50 Discharge section S1 Supply Section S2 Intermediate Section S3 Discharge Section

Claims

1. Multiple mobile bodies that grasp fabrics, A transport line in which the multiple traveling bodies circulate, passing through a supply unit to which the cloths are supplied and a discharge unit to which the cloths are discharged, A control device is provided, The transport line has a supply section including the supply section in the forward path from the supply section to the discharge section. The control device is When a mode change instruction is received, The acceptance of the fabrics at the supply unit is stopped, When the preceding vehicle, which is the vehicle that grasped the cloth before the reception was stopped, is no longer present in the supply section, the mode of the supply section is changed, and the reception of the cloth in the supply section is resumed before all the preceding vehicles reach the discharge section and finish discharging the cloth. A fabric conveying device characterized by the following features.

2. The transport line has a continuous upstream section and a downstream section in the forward path from the supply section to the discharge section. The control device is While the preceding vehicle is in the downstream section, after the reception resumes, the following vehicle, which is the vehicle that is gripping the cloths, will wait in the upstream section. When the preceding vehicle is no longer present in the downstream section, the waiting state of the following vehicle is released. The fabric conveying device according to claim 1.

3. The control device changes the mode of the downstream section when the preceding vehicle is no longer present in the downstream section. The fabric conveying device according to claim 2.

4. Having multiple supply units, The transport line has a plurality of branch lines that pass through each of the plurality of supply units, and an integrated line formed by the confluence of the plurality of branch lines. The downstream end of the supply section is set to the integration line. The fabric conveying device according to claim 1.

5. Having multiple supply units, The transport line has a plurality of branch lines that pass through each of the plurality of supply units, and an integrated line formed by the confluence of the plurality of branch lines. Multiple supply sections are set for each of the multiple branch lines. The control device is The mode change instruction is received for each of the supply sections. The supply unit included in the target supply section, which is the supply section that received the mode change instruction, stops receiving the fabrics. When the preceding vehicle is no longer present in the target supply section, the mode of the target supply section is changed, and the acceptance of the fabrics at the supply unit included in the target supply section is resumed. The fabric conveying device according to claim 1.

6. The transport line has two supply lines arranged in parallel, which constitute the supply unit. Of the two traveling bodies waiting at the respective supply standby positions of the two supply lines, the one to which the corners of the fabrics are attached first travels ahead to the preceding standby position. When the mode of the supply section is changed, the preceding standby position is changed. A fabric conveying device according to any one of the features 1 to 5.

7. The downstream section is a discharge section including the discharge section, The transport line has three or more discharge lines arranged in parallel to constitute the discharge section. When the mode of the discharge section is changed, the discharge line on which each of the two traveling bodies that grip the two corners of the cloth travels is changed. The fabric conveying device according to feature 3.

8. The downstream section is a discharge section including the discharge section, When the mode of the discharge section is changed, the interval between the discharge standby positions of the traveling body in the discharge section is changed. The fabric conveying device according to feature 3.

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