Fabric conveyance device

Abstract

A fabric conveyance device (3) comprises a first holding member (11), a second holding member (12), a directional fiber (10A) disposed on the lower surface of the first holding member (11), and a processor (41). The processor (41) separates the first holding member (11) and the second holding member (12) from each other in a state in which the directional fiber (10A) of the first holding member (11) is in contact with the upper surface of a fabric (7), and a part of the fabric (7) is held by the second holding member (12). The directional fiber (10A) of the first holding member (11) is oriented in a direction in which the first holding member (11) is separated from the second holding member (12).

Description

Fabric conveying device

[0001] The present disclosure relates to a fabric conveying device.

[0002] In the technical field related to fabric conveying devices, a fabric gripping device such as that disclosed in Patent Document 1 is known.

[0003] Japanese Patent Publication No. 59-172341

[0004] The present disclosure is directed to picking up only the top fabric from a stack of fabrics.

[0005] The present application discloses a fabric conveying device including a first holding member, a second holding member, directional fibers disposed on the underside of the first holding member, and a processor. The processor separates the first holding member and the second holding member from each other while bringing the directional fibers of the first holding member into contact with the upper surface of the fabric and holding a portion of the fabric on the second holding member. The directional fibers of the first holding member are oriented in a direction away from the second holding member.

[0006] According to the present disclosure, only the top fabric can be picked from a stack of fabrics.

[0007] FIG. 1 is a diagram schematically showing a sewing system according to a first embodiment. FIG. 2 is a side view schematically showing a fabric conveying device according to the first embodiment. FIG. 3 is a block diagram showing the fabric conveying device according to the first embodiment. FIG. 4 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. FIG. 5 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. FIG. 6 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. FIG. 7 is a diagram for explaining the operation of the fabric conveying device according to the first embodiment. FIG. 8 is a top view schematically showing a fabric conveying device according to a second embodiment. FIG. 9 is a side view schematically showing a fabric conveying device according to a third embodiment.

[0008] The following describes an embodiment with reference to the drawings. In the embodiment, the positional relationship of each part is described using terms such as left, right, front, rear, top, and bottom. These directions are relative directions set for the fabric conveying device illustrated in FIG.

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

[0010] <Sewing System> Fig. 1 is a diagram schematically showing a sewing system 1 according to this embodiment. As shown 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 in a stacked state on the upper surface of the fabric table 6. The fabric conveying device 3 picks up only the top 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. Here, the cloth is a woven fabric, for example, a natural fiber cloth or a chemical fiber cloth. Examples of natural fiber cloth include cotton cloth, linen cloth, silk cloth, and blanket. Examples of chemical fiber cloth include polyester cloth, nylon cloth, rayon cloth, acrylic cloth, and polyurethane cloth. The fabric 7 may be a nonwoven fabric. The fabric 7 may also be a sheet-like sponge.

[0013] 2 is a side view schematically showing the fabric conveying device 3 according to this 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-rear, 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 support member 11 is connected to the left part of the lower surface of the support member 9. The second support member 12 is connected to the right part of the lower surface of the support member 9. The first support member 11 is connected to the support member 9 so as to be movable in the left-right direction. The second support 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 underside of the first holding member 11 and the underside 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 and weft yarns. The pile fabric 10 is a raised fabric. In this embodiment, the pile fabric 10 is a lint brush. Directional fibers 10A are provided on the underside of the pile fabric 10. The directional fibers 10A protrude downward from the underside of the pile fabric 10. A plurality of the directional fibers 10A are provided on the underside of the pile fabric 10. The lengths of the plurality of directional fibers 10A are equal to each other.

[0016] Directional fibers 10A refer to fibers that are oriented in a certain direction. The directional fibers 10A are arranged on the underside of each of the first holding member 11 and the second holding member 12. The orientation direction of the directional fibers 10A of the first holding member 11 is different from the orientation direction of the directional fibers 10A of the second holding member 12. In this embodiment, the orientation direction of the directional fibers 10A of the first holding member 11 is opposite to the orientation direction of the directional fibers 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 tilted downward and to the left. In other words, the directional fibers 10A of the first holding member 11 are tilted downward and to the left.

[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 are tilted to the right as they extend downward. In other words, the directional fibers 10A of the second holding member 12 are tilted 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, a memory 42, and a storage 43. The processor 41 is, for example, a CPU (Central Processing Unit). The memory 42 includes a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). 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 in accordance with the computer program. The computer program may be distributed to the controller 4 via a network (not shown).

[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 against 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. By detecting 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. 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 the left-right direction, the front-rear 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> FIGS. 4, 5, 6, and 7 are diagrams 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 positioned above the fabric 7. The processor 41 controls the main actuator 20 so that the topmost fabric 7 of 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 sent 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 based on the position of the fabric 7 so that the fabric conveying device 3 is positioned above the topmost fabric 7.

[0030] 5 , after the fabric conveying device 3 is positioned above the top 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 come into contact with the top surface of the top 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 come into contact with the top surface of the top 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 top fabric 7, and the directional fiber 10A of the second holding member 12 contacts the right end of the top fabric 7. The left end of the fabric 7 is an example of a first end. The right end of the fabric 7 is an example of a second end.

[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, which indicate 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 advance in the storage 43.

[0033] The force sensor 16 detects the pressing force when the first holding member 11 and the second holding member 12 press against 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 sent to the controller 4. The processor 41 presses the first holding member 11 and the second holding member 12 against the top 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 against 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 while the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 are 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 brings the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 into contact with the top surface of the top fabric 7, and then controls the first actuator 21 to move the first holding member 11 a first distance to the left and controls the second actuator 22 to move the second holding member 12 a second distance to the right. In this embodiment, the first distance and the second distance are equal. However, the first distance and the second distance may be different. The first holding member 11 may move leftward and the second holding member 12 may not move rightward. The second holding member 12 may move rightward and the first holding member 11 may not move leftward.

[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 advance in the storage 43 .

[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 apart. 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 sent to the controller 4. The processor 41 moves the first holding member 11 and the second holding member 12 apart 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 moved apart 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 to the left. That is, the direction in which the first holding member 11 moves away from the second holding member 12 is to the left. 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 second holding member 12 moves away from the first holding member 11 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 away from the first holding member 11 by moving rightward relative to the first holding member 11.

[0040] The directional fibers 10A of the first holding member 11 are oriented to the left, 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 to the right, 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 fibers 10A of the first holding member 11 are hooked to the left edge of the top surface of the top fabric 7, and the directional fibers 10A of the second holding member 12 are hooked to the right edge of the top surface of the top fabric 7, so that the top 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 top fabric 7 due to the hook effect of the directional fibers 10A.

[0043] With the directional fiber 10A of the first holding member 11 hooked to the left end of the top surface of the top fabric 7 and the directional fiber 10A of the second holding member 12 hooked to the right end of the top surface of the top fabric 7, the first holding member 11 and the second holding member 12 move apart from each other, causing the top fabric 7 to stretch in the left-right direction and become taut.

[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 top fabric 7 by the hook effect of the directional fiber 10A, the fabric conveying device 3 can lift only the top fabric 7 from the stacked fabrics 7 by lifting it.

[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 determined by a preliminary experiment and stored in advance in the storage 43.

[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 move closer to 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 move 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. 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 a first holding member 11, a second holding member 12, directional fibers 10A arranged on the underside of each of the first holding member 11 and the second holding member 12, and a processor 41. The processor 41 separates the first holding member 11 and the second holding member 12 from each other while keeping the directional fibers 10A of the first holding member 11 and the directional fibers 10A of the second holding member 12 in contact with the upper surface of the top fabric 7. The directional fibers 10A of the first holding member 11 are oriented leftward, which is the direction in which the first holding member 11 is separated from the second holding member 12. The directional fibers 10A of the second holding member 12 are oriented rightward, 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 hook effect of the directional fibers 10A on the fabric 7 allows the fabric 7 to be held by the first holding member 11 and the second holding member 12. Therefore, the fabric conveying device 3 can pick up only the top fabric 7 from the stacked fabrics 7.

[0050] Furthermore, according to this embodiment, the processor 41 brings the directional fibers 10A of the first holding member 11 into contact with the left end (first end) of the top fabric 7, and brings the directional fibers 10A of the second holding member 12 into contact with the right end (second end) of the top 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] Furthermore, according to the present embodiment, the processor 41 separates the first holding member 11 and the second holding member 12 by a target distance, and then, while maintaining the target distance, raises each of the first holding member 11 and the second holding member 12. 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] Furthermore, according to this embodiment, a target pressing force indicating a target value of the pressing force at which the first holding member 11 and the second holding member 12 can hold the dough 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 dough 7 based on the target pressing force. This allows the first holding member 11 and the second holding member 12 to hold the dough 7.

[0053] Furthermore, according to this embodiment, 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] Furthermore, according to the present embodiment, the processor 41 moves the first holding member 11 and the second holding member 12 closer to 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 move 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, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and descriptions of the components and operations will be simplified or omitted.

[0056] Fig. 8 is a top view schematically showing 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. As with the first holding member 11 and the second holding member 12, directional fibers 10A are arranged on the lower surface of the third holding member 13. In Fig. 8, the fabric 7 has a circular shape when viewed from above.

[0057] The processor 41 separates the first holding member 11, the second holding member 12, and the third holding member 13 from one another while keeping the directional fibers 10A of the first holding member 11, the directional fibers 10A of the second holding member 12, and the directional fibers 10A of the third holding member 13 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 along the circumferential direction of the fabric 7. The processor 41 moves the first holding member 11, the second holding member 12, and the third holding member 13 radially outward from the center of the fabric 7 while keeping the directional fibers 10A of the first holding member 11, the directional fibers 10A of the second holding member 12, and the directional fibers 10A of the third holding member 13 in contact with the upper surface of the fabric 7.

[0058] The directional fibers 10A of the first holding member 11 are oriented outward in the radial direction, 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 outward in the radial direction, 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 outward in the radial direction, 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 will be denoted by the same reference numerals, and the description of the components and operations will be simplified or omitted.

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

[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 spraying gas from the gas jetting port. By spraying gas onto the fabric 7 from the gas jetting 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 and the second holding member 12 are provided on the fabric conveying device 3, but the aspects of the present disclosure are not limited to the above-described example. For example, the first holding member 11 may be provided on the first fabric conveying device, and the second holding member 12 may be provided on the second fabric conveying device. In this case, the first fabric conveying device has a first body and a first support member fixed to a lower part of the first body, and the second fabric conveying device has a second body and a second support member fixed to a lower part of the second body.

[0064] In the above-described embodiment, an example in which the directional fibers 10A are fixed to each of the first holding member 11 and the second holding member 12 has been described, but aspects of the present disclosure are not limited to the above example. For example, when the fabric 7 is conveyed using the first holding member 11 and the second holding member 12, the directional fibers 10A may be disposed on the underside of the first holding member 11, and the directional fibers 10A may not be disposed on the second holding member 12. In this case, the first holding member 11 may hold the fabric 7 by the hook effect of the directional fibers 10A, and the second holding member 12 may hold a portion of the fabric 7 using any holding method. The second holding member 12 may include, for example, a gripper that grips a portion of the fabric 7, a needle that pierces a portion of the fabric 7, or a suction nozzle that suction-holds a portion of the fabric 7.

[0065] The present disclosure includes the following aspects. (1) A fabric conveying device comprising: a first holding member; a second holding member; directional fibers arranged on a lower surface of the first holding member; and a processor, wherein the processor brings the directional fibers of the first holding member into contact with an upper surface of a fabric, and separates the first holding member and the second holding member from each other while the second holding member holds a portion of the fabric, and the directional fibers of the first holding member are oriented in a direction in which the first holding member moves away from the second holding member. (2) The fabric conveying device described in (1), wherein directional fibers are arranged on a lower surface of the second holding member, and having the second holding member hold a portion of the fabric includes bringing the directional fibers of the second holding member into contact with the upper surface of the fabric, and the directional fibers of the second holding member are oriented in a direction in which the second holding member moves away from the first holding member. (3) The fabric conveying device according to (2), wherein the processor brings the directional fibers of the first holding member into contact with a first end of the fabric and brings the directional fibers of the second holding member into contact with a second end of the fabric. (4) The fabric conveying device according to any one of (1) to (3), wherein 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. (5) The fabric conveying device according to any one of (1) to (4), wherein 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, and includes storage 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, and the processor presses the first holding member and the second holding member against the fabric based on the target pressing force. (6) A fabric conveying device according to any one of (1) to (5), further comprising a storage for storing 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, and the processor separates the first holding member and the second holding member from each other based on the target distance.(7) The fabric conveying device according to any one of (1) to (6), wherein the processor moves the first holding member and the second holding member closer to each other while the fabric is held by the first holding member and the second holding member. (8) The fabric conveying device according to any one of (1) to (7), wherein 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, and the processor moves the first holding member and the second holding member closer to each other while ejecting gas from the gas ejection port. (9) The fabric conveying device according to (2), further comprising a third holding member, wherein the directional fibers are arranged on a lower surface of the third holding member, and the processor separates the first holding member, the second holding member, and the third holding member from one another while bringing 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 into contact with an upper surface of the fabric, and the directional fibers of the third holding member are oriented in a direction in which the third holding member is separated from the first holding member and the second holding member. (10) The fabric conveying device according to any one of (1) to (9), further comprising a lint brush fixed to a lower surface of the first holding member, and the directional fibers are provided on the lint brush.

[0066] This application is based on Japanese Patent Application No. 2023-146328 filed on September 8, 2023, the contents of which are incorporated herein by reference.

Claims

1. A fabric conveying device comprising: a first holding member; a second holding member; directional fibers arranged on the underside of the first holding member; and a processor, wherein 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 portion of the fabric, so that the directional fibers of the first holding member are oriented in the direction in which the first holding member moves away from the second holding member.

2. A fabric conveying device as described in claim 1, wherein directional fibers are arranged on the underside of the second holding member, and holding a portion of the fabric with the second holding member includes contacting the directional fibers of the second holding member with the upper surface of the fabric, and the directional fibers of the second holding member are oriented in a direction in which the second holding member moves away from the first holding member.

3. The fabric conveying device according to claim 2, wherein the processor brings the directional fibers of the first holding member into contact with a first end of the fabric and brings the directional fibers of the second holding member into contact with a second end of the fabric.

4. The fabric conveying device according to claim 2, wherein 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.

5. The fabric conveying device described in claim 4, wherein 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; the processor is provided with 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; and the processor presses the first holding member and the second holding member against the fabric based on the target pressing force.

6. A fabric conveying device as described in claim 4, further comprising a storage for storing 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, and the processor separates the first holding member and the second holding member from each other based on the target distance.

7. The fabric conveying device according to claim 4, wherein the processor moves the first holding member and the second holding member closer to each other while the fabric is held by the first holding member and the second holding member.

8. A fabric conveying device as described in claim 7, wherein a gas injection port is provided on at least one of the undersides of the first holding member and the second holding member, and the processor brings the first holding member and the second holding member closer to each other while injecting gas from the gas injection port.

9. A fabric conveying device as described in claim 2, further comprising a third holding member, directional fibers being arranged on an underside of the third holding member, and the processor separating the first holding member, the second holding member and the third holding member from one another while bringing 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 into contact with an upper surface of the fabric, and the directional fibers of the third holding member being oriented in a direction in which the third holding member is separated from the first holding member and the second holding member.

10. The fabric conveying device according to claim 1, wherein a lint brush is fixed to the underside of said first holding member, and said directional fibers are provided on said lint brush.

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