JP2018126354A - Cloth feeder and cloth spreading apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cloth feeder and a cloth spreading apparatus that can suppress a decline in treatment efficiency while securing safety of an operator.SOLUTION: A cloth feeder 10 comprises an insertion chuck 11 for holding cloth C, a lift 12 for lifting and lowering the insertion chuck 11, a detection part 20 for detecting the intrusion state, and a control part 30 for controlling the operation of the lift 12. The control part 30 raises a lowering speed of the insertion chuck 11 when the detection part 20 does not detect the intrusion state. The control part reduces a lowering speed of the insertion chuck 11 when the detection part 20 detects the intrusion state. Because a lowering speed of the insertion chuck 11 becomes slow when an operator W intrudes into an operating space OS of the insertion chuck 11, this can secure safety of the operator W.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a cloth feeder and a cloth unfolding apparatus. More specifically, a cloth feeding machine for loading cloths such as washed sheets, wrapping cloth (duvet cover of two fabrics), pillow covers, towels, tablecloths, etc. into a cloth unfolding device, and the cloth. The present invention relates to a cloth unfolding apparatus provided with a kind throwing machine.

  Large quantities of sheets are used in hotels and hospitals. Used sheets are washed and ironed in a laundry factory and used again in hotels and hospitals. In a laundry factory, cloths such as sheets are washed and then ironed with a roll ironer or folded with a cloth folding device. In order to supply the cloth to these processing apparatuses, it is necessary to develop the cloth in advance. When an operator performs the work of deploying the cloth, a great amount of time and labor are required for the work. Therefore, in recent years, this work is performed using a cloth deployment device.

The cloth deployment device disclosed in Patent Literature 1 is generally configured as follows.
When the worker attaches the corner of the rectangular cloth to the mounting chuck, the mounting chuck moves up and delivers the corner that has been gripped to the transverse chuck. By traversing the traversing chuck, the edge of the square-shaped cloth is placed on the belt conveyor in a state where the edge of the quadrangular fabric is linearly extended. The belt conveyer is driven forward to suspend the rectangular cloth on the front surface of the apparatus, and the extension chuck grips both ends of the rectangular cloth in the width direction and pulls it to suspend it. By this operation, the rectangular cloth is developed into a quadrangle. After the rectangular cloth in this state is drawn into the apparatus, it is discharged toward the subsequent processing apparatus.

JP 2011-30743 A

  The mounting chuck moves the cloth to the transverse chuck and then descends to the mounting work position. At this time, if the worker enters the lower side of the mounting chuck, the lowering mounting chuck may collide with the worker. Therefore, when an operator enters the operation space of the mounting chuck, it is detected and emergency stop of the cloth deployment device is performed. However, if the cloth deployment device is stopped urgently, it takes time for recovery work such as removing the cloth being processed, and the processing efficiency decreases.

  In view of the above circumstances, an object of the present invention is to provide a cloth throwing machine and a cloth unfolding apparatus that can prevent a decrease in processing efficiency while ensuring the safety of workers.

According to a first aspect of the present invention, there is provided a cloth throwing machine comprising: a feeding chuck that grips the cloth; an elevator that raises and lowers the feeding chuck; a detection unit that detects an intrusion state in which an operator has entered the operating space of the feeding chuck; A control unit that controls the operation of the elevator, and the control unit increases the lowering speed of the input chuck when the detection unit does not detect the intrusion state in the lowering process of the input chuck, When the detection unit detects the intrusion state in the lowering process of the charging chuck, the lowering speed of the charging chuck is reduced.
According to a second aspect of the present invention, there is provided the cloth feeding machine according to the first aspect, wherein, when the detecting unit detects the intrusion state in the lowering process of the closing chuck, the control unit reduces the lowering speed of the closing chuck. Instead of this, the lowering of the charging chuck is stopped.
According to a third aspect of the present invention, in the first or second aspect of the invention, when the control unit stops detecting the intruding state after the detection unit detects the intrusion state in the lowering process of the input chuck, The lowering speed of the chuck is a medium speed.
According to a fourth aspect of the present invention, there is provided a cloth throwing machine according to the second aspect, further comprising a restart button connected to the control unit, wherein the control unit detects after the detecting unit detects the intrusion state in the lowering process of the throwing chuck. In this case, when the restart button is pressed, the lowering of the input chuck is restarted.
According to a fifth aspect of the present invention, in the first, second, third, or fourth invention, the control unit does not depend on detection by the detection unit when the position of the input chuck is higher than a predetermined height. The lowering speed of the charging chuck is increased.
A cloth unfolding device according to a sixth aspect of the present invention includes the cloth throwing machine according to the first, second, third, fourth, or fifth aspect.

According to the first invention, when the operator enters the operating space of the input chuck, the lowering speed of the input chuck becomes low, so that the safety of the operator can be ensured. In addition, since the lowering speed of the closing chuck in the normal state is high, useless time does not occur and a reduction in processing efficiency can be suppressed.
According to the second aspect of the present invention, when the worker enters the operation space of the input chuck, the lowering of the input chuck is stopped, so that it is safer for the operator.
According to the third invention, when the worker leaves the operating space of the input chuck, the input chuck is lowered at a medium speed, so that the fear of the worker is alleviated compared to the case where the input chuck is lowered at a high speed. be able to.
According to the fourth aspect of the present invention, since the lowering of the closing chuck is resumed only after the worker has left the operating space of the closing chuck and presses the restart button, it is safer for the worker.
According to the fifth aspect of the invention, when the input chuck is at a high position where it does not collide with the worker, the descending speed is always high, so that no wasted time is generated and the processing efficiency is improved.
According to the sixth aspect of the present invention, even if an operator enters the operating space of the closing chuck, the cloth deployment device does not make an emergency stop, so that the recovery operation does not take time and the processing efficiency is improved.

It is a front view of the cloth deployment device concerning a 1st embodiment of the present invention. It is a right view of the cloth deployment device. It is a top view of the cloth deployment device. FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 1. It is a right view of the cloth feeding machine which concerns on 1st Embodiment of this invention. It is a front view of the cloth throwing machine. It is a block diagram of the control system of the cloth feeding machine. It is a flowchart of control of the descent | fall operation | movement of the cloth throwing machine. It is explanatory drawing of the basic operation | movement of the cloth injection machine. It is explanatory drawing of the descent | fall operation | movement of the cloth throwing machine. It is a block diagram of the control system of the cloth feeding machine which concerns on 2nd Embodiment of this invention. It is a flowchart of control of the descent | fall operation | movement of the cloth throwing machine. It is a flowchart of control of the descent | fall operation | movement of the cloth throwing machine which concerns on 3rd Embodiment of this invention.

Next, an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
(Clothing deployment device)
The cloth unfolding apparatus 1 according to the first embodiment of the present invention is a large cloth cloth C such as a washed sheet, a wrapping cloth (duvet cover made of two sheets of cloth), a pillow cover, a towel, a table cloth, and the like. It is an apparatus for unfolding and supplying to a next process apparatus such as a roll ironer. In this specification, the front-rear, left-right, and up-down directions of the cloth spreading device 1 are defined as shown in FIGS.

Next, the basic configuration of the cloth deployment device 1 will be described together with the operation.
As shown in FIG. 1, two cloth throwing machines 10 are provided at the left and right ends of the front surface of the cloth unfolding apparatus 1. Moreover, the supply conveyor 2 is arrange | positioned ahead of the cloth expansion | deployment apparatus 1, and the cloth C after washing is supplied to the worker W (refer FIG. 3). The cloth feeding machine 10 includes a feeding chuck 11 that grips corners of the cloth C. The input chuck 11 is moved up and down between an input operation position DP where the operator holds the cloth C by the input chuck 11 at a position where the input chuck 11 is lowered and a delivery position UP which is raised to the uppermost end.

  As shown in FIG. 2, a relay chuck 41 is disposed at the delivery position UP of the input chuck 11. When the input chuck 11 that grips the cloth C rises to the delivery position UP, the cloth C is delivered to the relay chuck 41.

  A lifting chuck 42 is disposed on the side of the cloth developing device 1. The relay chuck 41 that has received the cloth C from the input chuck 11 moves to the ascending position of the lifting chuck 42 and transfers the cloth C to the lifting chuck 42. The lifting chuck 42 that has received the fabric C descends and transfers the fabric C to the transverse chucks 43L and 43R.

  As shown in FIGS. 1 and 3, the cloth deployment device 1 includes two transverse chucks 43L and 43R. The transverse chucks 43L and 43R are movable in the left-right direction above the stacking conveyor 51. The transverse chucks 43 </ b> L and 43 </ b> R that grip the cloth C traverse above the stacking conveyor 51, so that the rear edge of the cloth C is straightened and placed on the stacking conveyor 51.

  In addition, the cloth C thrown into the cloth throwing machine 10 on the right side of the apparatus is gripped by the right lateral chuck 43R and pulled in the left direction. The cloth C loaded into the cloth throwing machine 10 on the left side of the apparatus is gripped by the left lateral chuck 43L and pulled rightward.

  A pair of extension chucks 44 </ b> L and 44 </ b> R that are movable in the left-right direction is provided in front of the stacking conveyor 51. The stacking conveyor 51 is driven, and the cloth C after the edging is transferred forward to hang down on the front surface of the apparatus. Next, both corners of the edge of the cloth C are sandwiched between the extension chucks 44L and 44R. Then, the cloth C is suspended in a state of being developed in a square shape.

  As shown in FIG. 4, a shaping duct 61 and a blower 62 connected to the shaping duct 61 are provided at the lower part of the cloth deployment device 1. While the corner portion of the fabric C is sandwiched between the extension chucks 44L and 44R, the upper edge of the fabric C is sandwiched between the vacuum box 52 and the contact plate 53, and the lower portion of the fabric C is formed into the shaping duct 61. Aspirate into. Thereby, the cloth C is trimmed.

  After the wrinkle removal, the upper edge of the fabric C is sucked into the vacuum box 52 and the vacuum box 52 is moved rearward to transfer the upper edge of the fabric C onto the vacuum conveyor 54. By driving the vacuum conveyor 54 and the discharge conveyor 55, the cloth C is sent backward. Thereby, the cloth C developed in a square shape can be supplied to the next process apparatus.

(Clothing machine)
Next, the cloth feeder 10 that is a characteristic part of the present embodiment will be described.
As shown in FIGS. 5 and 6, the cloth feeding machine 10 includes a pair of feeding chucks 11 that grip the cloth C, and an elevator 12 that raises and lowers the feeding chuck 11. The elevator 12 has a main body 12a, an elevator 12b, and a servo motor 12c. By driving the servo motor 12c, the elevating part 12b can be raised and lowered along the main body part 12a. A chuck base 13 that supports the input chuck 11 is fixed to the elevating part 12b. An air cylinder 14 is provided on the chuck base 13. By making the air cylinder 14 extend and contract, the input chuck 11 can be turned.

  In the present specification, the “operating space OS” of the input chuck 11 includes a space in which a member such as the input chuck 11 provided in the elevating unit 12b sweeps by the lifting operation and a space in which the input chuck 11 sweeps by the turning operation. ".

  The operator W performs an operation of causing the input chuck 11 to grip the cloth C in front of the input operation position DP where the input chuck 11 is lowered. In the present specification, a space in which the worker W operates in a normal work in which the cloth C is gripped by the making chuck 11 is referred to as a “working work space IS” (see FIG. 3). The input work space IS is in front of the input work position DP of the input chuck 11.

  In the ascending process of the input chuck 11, when the cloth C is detached from the input chuck 11 for some reason, the cloth C falls on the floor surface below the cloth input machine 10. In such a case, the worker W may attempt to pick up the cloth C that has fallen, and may enter the lower part of the cloth feeder 10 and enter the operating space OS of the feeder chuck 11. In the present specification, a state where the operator W has entered the operating space OS of the input chuck 11 is referred to as an “intrusion state”. In the intrusion state, the input chuck 11 may collide with the worker W. Therefore, the cloth feeding machine 10 has a function of detecting an intrusion state.

  The cloth throwing machine 10 has a main detection sensor 21 as a member that realizes a function of detecting an intrusion state. The main detection sensor 21 may be any type of sensor as long as it can detect the presence of the worker W in the input work space IS. However, it is preferable to use a non-contact sensor such as a photoelectric sensor or an ultrasonic sensor as the main detection sensor 21. This is because the operation of the worker W is not hindered if the main detection sensor 21 is a non-contact sensor.

  The present embodiment is an example in which a diffuse reflection type photoelectric sensor is used as the main detection sensor 21. The diffuse reflection type photoelectric sensor detects the presence of the worker W based on whether or not the worker W reflects light. The main detection sensor 21 is attached to the lower part of the main body 12 a of the elevator 12. The optical axis (detection axis) of the main detection sensor 21 is set in front of the input work position DP. That is, the detection area of the main detection sensor 21 is set in the input work space IS. The optical axis of the main detection sensor 21 is preferably set so as to intersect the upper part of the worker W's body and the center in the width direction.

  As shown in FIG. 7, the cloth feeding machine 10 includes a control device 15. The control device 15 is a computer configured with a CPU, a memory, and the like. The control device 15 includes a determination unit 24 and a control unit 30. The determination unit 24 and the control unit 30 are realized by the control device 15 that is a computer executing a program.

  The detection result of the main detection sensor 21 is input to the determination unit 24. Based on the detection result of the main detection sensor 21, the determination unit 24 determines whether the intrusion state is present. More specifically, the determination unit 24 determines that the intrusion state occurs when the main detection sensor 21 does not detect the worker W. In the present embodiment, the main detection sensor 21 and the determination unit 24 constitute a detection unit 20 that detects an intrusion state.

  In the normal state, since the worker W exists in the input work space IS, the main detection sensor 21 detects the worker W. On the other hand, when the worker W bends or leaves the workplace, the main detection sensor 21 does not detect the worker W. The determination unit 24 determines this state as an intrusion state. Therefore, even if the worker W leaves the workplace, it is determined that the intrusion state has occurred. However, this can be determined as an intrusion state even when detection has been difficult in the past, such as when the worker W bends and puts his head into the operating space OS of the input chuck 11. Thus, it can be reliably detected that the operator W has entered the operation space OS of the input chuck 11 by determining that the operator W is in the intrusion state when the operator W does not exist in the input work space IS.

  In order to detect that the operator W has entered the operating space OS of the closing chuck 11, it is considered that a photoelectric sensor having an optical axis set below the cloth charging machine 10 may be provided. However, the cloth C held by the closing chuck 11 passes below the cloth charging machine 10. Since the photoelectric sensor also detects the cloth C, it is difficult to detect only the entry of the worker W.

  The control unit 30 has a function of controlling the operation of the elevator 12. More specifically, the raising and lowering of the closing chuck 11 is switched by switching the forward / reverse rotation of the servo motor 12c. Further, the raising / lowering speed of the input chuck 11 is changed by changing the rotation speed of the servo motor 12c. As will be described later, the control unit 30 switches the operation of the elevator 12 based on the detection result input from the detection unit 20 (determination unit 24).

(basic action)
Next, the basic operation of the cloth feeder 10 will be described with reference to FIG.
(I) First, the input chuck 11 is located at the input operation position DP and is turned downward. In this state, the worker W causes the closing chuck 11 to grip the corner portion of the cloth C by manual work.

  (II) When the cloth C is gripped by the input chuck 11, the input chuck 11 is turned upward. In this state, the feeding chuck 11 is raised and the cloth C is suspended. When the input chuck 11 is raised to the delivery position UP, the cloth C is delivered to the relay chuck 41. This process is referred to as an “ascending process”.

  (III) After the cloth C is transferred to the relay chuck 41, the input chuck 11 is lowered from the transfer position UP to the input work position DP. Further, the closing chuck 11 turns downward. Then, the process waits until the next cloth C is gripped by the closing chuck 11. This process is referred to as a “lowering process”.

(Descent process)
Next, the detailed operation of the lowering process of the input chuck 11 will be described.
The controller 30 that controls the operation of the elevator 12 controls the lowering operation of the charging chuck 11 in the lowering process of the charging chuck 11 as shown in the flowchart of FIG.

  First, the control unit 30 determines whether or not the position CP of the input chuck 11 matches the input work position DP (step S10). That is, it is determined whether the input chuck 11 is lowered to the input work position DP. Here, the position CP of the input chuck 11 is obtained from the rotation speed of the servo motor 12c.

  When the position CP of the input chuck 11 does not coincide with the input work position DP in step S10, the control unit 30 determines whether the position CP of the input chuck 11 is higher than a predetermined height TP (step S20). Here, the predetermined height TP is set to a height at which the input chuck 11 cannot collide with the worker W, for example, 2 m from the floor surface, and is stored in the control unit 30 in advance.

  When the position CP of the input chuck 11 is higher than the predetermined height TP in step S20, the control unit 30 increases the lowering speed of the input chuck 11 (step S50). Here, the high speed value is set to a speed at which the processing efficiency of the cloth throwing machine 10 is improved, for example, 100 m / min, and is stored in the control unit 30 in advance.

  If the position CP of the closing chuck 11 is equal to or less than the predetermined height TP in step S20, the control unit 30 determines whether the detection unit 20 detects an intrusion state (step S30). If the detection unit 20 has not detected the intrusion state, the control unit 30 increases the lowering speed of the closing chuck 11 (step S50). When the detection unit 20 detects the intrusion state, the control unit 30 sets the lowering speed of the closing chuck 11 to a low speed (step S40). Here, the low speed value is set to a speed that does not hinder even when the input chuck 11 contacts the worker W, for example, 1 m / min, and is stored in the control unit 30 in advance.

  After step S40 or step S50, the process returns to step S10. The processes of steps S10 to S50 are repeated until the input chuck 11 reaches the input work position DP.

  When the input chuck 11 reaches the input work position DP, the position CP of the input chuck 11 coincides with the input work position DP in step S10. In this case, the control unit 30 stops the lowering of the charging chuck 11 (step S60). Thus, the lowering process of the input chuck 11 is completed.

The operation of the closing chuck 11 by the above control will be described with reference to FIG.
(1) First, the input chuck 11 descends at high speed from the delivery position UP to the predetermined height TP regardless of the detection of the detection unit 20. When the input chuck 11 is at a high position where it does not collide with the worker W, the lowering speed is always high, so that no wasted time is generated and the processing efficiency is improved.

  (2) It is assumed that the operator W has entered the operating space OS of the input chuck 11 when the position CP of the input chuck 11 is equal to or less than the predetermined height TP. Then, the detection unit 20 detects the intrusion state, and the lowering speed of the closing chuck 11 becomes low. Therefore, the safety of the worker W can be ensured.

  (3) When the worker W returns to the input work space IS again, the detection unit 20 does not detect the intrusion state. As a result, the lowering speed of the input chuck 11 becomes high. As described above, since the lowering speed of the input chuck 11 in the normal state is high, useless time does not occur, and a reduction in processing efficiency can be suppressed.

  In step S40 (see FIG. 8), the lowering of the charging chuck 11 may be stopped instead of lowering the lowering speed of the charging chuck 11. Then, (2) when the operator W enters the operating space OS of the input chuck 11, the lowering of the input chuck 11 stops. Therefore, it is safer for the worker W.

  As described above, even if the operator W enters the operating space OS of the input chuck 11, the cloth unfolding device 1 does not come to an emergency stop, so that the restoration work does not take time and the processing efficiency is improved.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
As shown in FIG. 11, the cloth feeding machine 10 according to the present embodiment includes a restart button 31 that instructs to restart the lowering of the closing chuck 11. The resume button 31 is connected to the control unit 30. The restart button 31 is disposed at a position where the operator W can easily operate, such as the lower part of the main body 12a of the elevator 12.

The control unit 30 of the present embodiment controls the lowering operation of the charging chuck 11 as shown in the flowchart of FIG.
Steps S10, S20, S30, S50, and S60 are the same as in the first embodiment.

  When the detection unit 20 detects the intrusion state in step 30, the control unit 30 stops the lowering of the closing chuck 11 (step S40). Thereafter, the control unit 30 waits for the restart button 31 to be pressed (step S41). During this time, the closing chuck 11 remains lowered.

  After the resume button 31 is pressed, the process returns to step S10. If the detection unit 20 has not detected the intrusion state in step S30 again, the control unit 30 resumes the lowering of the closing chuck 11 (step S50). That is, when the detection unit 20 stops detecting after detecting the intrusion state, and when the restart button 31 is pressed, the lowering of the input chuck 11 is restarted.

The operation of the closing chuck 11 by the above control will be described with reference to FIG.
(1) is the same as in the first embodiment.
(2) It is assumed that the operator W has entered the operating space OS of the input chuck 11 when the position CP of the input chuck 11 is equal to or less than the predetermined height TP. If it does so, the detection part 20 will detect an invasion state, and the fall of the making | feeding chuck | zipper 11 will stop.

  (3) When the worker W returns to the input work space IS again, the detection unit 20 does not detect the intrusion state. When the operator W presses the restart button 31 in this state, the lowering of the closing chuck 11 is restarted. Since the lowering of the input chuck 11 is resumed only after the worker W has exited the operating space OS of the input chuck 11 and presses the restart button 31, it is safer for the operator W.

[Third Embodiment]
Next, a third embodiment of the present invention will be described.
The controller 30 of the present embodiment controls the lowering operation of the charging chuck 11 in the lowering process of the charging chuck 11 as shown in the flowchart of FIG.
Steps S10, S20, S30, S40, S50, and S60 are the same as in the first embodiment.

  First, the control unit 30 substitutes an initial value 0 for the flag F (step S01). The flag F indicates whether or not an intrusion state is detected in one descending process. F = 0 means that no intrusion state has been detected. F = 1 means that an intrusion state has been detected at least once.

  When the detection unit 20 detects an intrusion state in step S30, the control unit 30 substitutes 1 for the flag F (step S31). Then, the control unit 30 sets the lowering speed of the closing chuck 11 to a low speed (step S40). In step S40, the lowering of the charging chuck 11 may be stopped.

  When the detection unit 20 does not detect the intrusion state in step S30, the control unit 30 determines whether the value of the flag F is 0 (step S32). If F = 0, that is, if no intrusion state has been detected, the control unit 30 increases the lowering speed of the closing chuck 11 (step S50). When F = 1, that is, when an intrusion state is detected at least once, the control unit 30 sets the lowering speed of the closing chuck 11 to a medium speed (step S51).

  Therefore, when the detection unit 20 does not detect after detecting the intrusion state, the lowering speed of the closing chuck 11 becomes a medium speed. Here, the medium speed value is set to a speed between high speed and low speed, for example, 10 to 30 m / min, and is stored in the control unit 30 in advance.

The operation of the closing chuck 11 by the above control will be described with reference to FIG.
(1) and (2) are the same as in the first embodiment.
(3) When the worker W returns to the input work space IS again, the detection unit 20 does not detect the intrusion state. Then, the lowering speed of the closing chuck 11 becomes a medium speed.

  When the operator W leaves the operating space OS of the input chuck 11, if the input chuck 11 is immediately lowered at a high speed, the operator W may be afraid. On the other hand, in this embodiment, when the operator W leaves the operating space OS of the input chuck 11, the input chuck 11 descends at a medium speed, so that compared with a case where the input chuck 11 descends at a high speed. The fear of the worker W can be relieved.

[Other Embodiments]
The detection unit 20 is not limited to the above embodiment as long as it can detect the intrusion state in which the operator W has entered the operating space OS of the input chuck 11. For example, a mat switch laid on the floor below the operating space OS of the input chuck 11 may be used as the detection unit 20.

  The number of the cloth throwing machines 10 provided in the cloth developing device 1 is not limited to two, and may be one or three or more. Moreover, the cloth throwing machine 10 can be employed in any apparatus that involves the work of throwing the cloth C in addition to the cloth unfolding apparatus 1. For example, the cloth feeding machine 10 may be used in a cloth transporting apparatus that transports the cloth C from the supply position set in the linen facility to the discharge position. In this case, the cloth feeding machine 10 is disposed at the supply position of the cloth conveying device, and the processing device such as the cloth unfolding device is disposed at the discharge position.

DESCRIPTION OF SYMBOLS 1 Cloth deployment apparatus 10 Cloth input machine 11 Input chuck 12 Elevator 15 Control apparatus 20 Detection part 21 Main detection sensor 24 Judgment part 30 Control part 31 Resume button

Claims (6)

An input chuck for gripping cloths;
An elevator for raising and lowering the charging chuck;
A detection unit for detecting an intrusion state in which an operator has entered the operation space of the input chuck;
A control unit for controlling the operation of the elevator,
The controller is
When the detection unit does not detect the intrusion state in the lowering process of the input chuck, the lowering speed of the input chuck is set to a high speed,
The cloth feeding machine characterized in that the lowering speed of the feeding chuck is lowered when the detecting unit detects the intrusion state in the lowering process of the feeding chuck. The controller is
When the detecting unit detects the intrusion state in the lowering process of the charging chuck, the lowering of the charging chuck is stopped instead of lowering the lowering speed of the charging chuck. The cloth throwing machine according to claim 1. The controller is
The cloth according to claim 1 or 2, wherein the lowering speed of the charging chuck is set to a medium speed when the detection unit stops detecting the intrusion state in the lowering process of the charging chuck. Input machine. The control unit comprising a resume button connected to the control unit,
The lowering of the charging chuck is resumed when the detecting unit stops detecting the intrusion state in the lowering process of the charging chuck and when the restart button is pressed. The cloth feeder according to claim 2. The controller is
5. The cloth according to claim 1, wherein when the position of the input chuck is higher than a predetermined height, the lowering speed of the input chuck is increased regardless of detection by the detection unit. Input machine. A cloth unfolding apparatus comprising the cloth throwing machine according to claim 1, 2, 3, 4 or 5.

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