An object of the present invention is to provide a processing apparatus with which an operation for retaining and switching a processing subject can be shortened in order to reduce an amount of time required for folding processing. A processing apparatus (1C) for unfurling or folding a processing subject (T) includes a first retaining device (300A) and a second retaining device (300B) that are capable of moving within a first area and retaining the processing subject (T), a carrying device (400) disposed within the first area so as to be capable of carrying the processing subject (T), and a third retaining device (300C) that is capable of moving within a second area disposed below the first area so as to overlap the first area, and retaining the processing subject (T) below the carrying device (400).

A robotic system includes a movable platform disposed at a bottom of a work volume, the movable platform being configured to transit outside the work volume, at least three lifters disposed about a perimeter of the work volume, two or more sensors disposed at fixed locations about the work volume, and a memory including a neural network. A controller is in operative communication with the memory, the two or more sensors, and the lifters. The controller is configured to receive output signals from the two or more sensors, determine, based processing on the received signals with the neural network, whether the deformable laundry article suspended by two lifters is repositioned, and instruct, based on a determination of the deformable laundry article being repositioned, the lifters to lower the repositioned deformable laundry article onto the movable platform.

A robotic system includes a movable platform disposed at a bottom of a work volume, the movable platform being configured to transit outside the work volume, at least three lifters disposed about a perimeter of the work volume, two or more sensors disposed at fixed locations about the work volume, and a memory including a neural network. A controller is in operative communication with the memory, the two or more sensors, and the lifters. The controller is configured to receive output signals from the two or more sensors, determine, based processing on the received signals with the neural network, whether the deformable laundry article suspended by two lifters is repositioned, and instruct, based on a determination of the deformable laundry article being repositioned, the lifters to lower the repositioned deformable laundry article onto the movable platform.

A cloth piece folding device includes a conveyor (12) to transfer a cloth piece (Y), a bending unit (32) to fold the cloth piece (Y), and a controller (50) to control operation of the bending unit (32). The bending unit (32) includes a bending plate (32a) and an actuator (32d) to make the bending plate (32a) move forward and backward. The actuator (32d) is capable of controlling an operating speed. The controller (50) adjusts a driving speed of the bending plate (32a) by controlling an operating speed of the actuator (32d) depending on a transfer speed of the conveyor (12). The driving speed of the bending plate (32a) is adjusted by the controller (50). This synchronizes the transfer speed of the conveyor (12) and the driving speed of the bending plate (32a) with each other.

A cloth piece folding device includes a conveyor (12) to transfer a cloth piece (Y), a bending unit (32) to fold the cloth piece (Y), and a controller (50) to control operation of the bending unit (32). The bending unit (32) includes a bending plate (32a) and an actuator (32d) to make the bending plate (32a) move forward and backward. The actuator (32d) is capable of controlling an operating speed. The controller (50) adjusts a driving speed of the bending plate (32a) by controlling an operating speed of the actuator (32d) depending on a transfer speed of the conveyor (12). The driving speed of the bending plate (32a) is adjusted by the controller (50). This synchronizes the transfer speed of the conveyor (12) and the driving speed of the bending plate (32a) with each other.

An apparatus and method for pre-shrinking a wet fabric prior to drying. The apparatus includes, among other components, a balloon extractor station and a hydro-sizer compression station. The balloon extractor station removes some water from the wet fabric. The hydro-sizer compression station is operatively connected to, and disposed downstream of, the balloon extractor station, and compresses the wet fabric in a lengthwise direction, and in so doing, pre-shrinks the wet fabric prior to drying. The method includes, among other steps, extracting some water from the wet fabric so as to faun a hydro-extracted and wet fabric, compressing lengthwise the hydro-extracted and wet fabric so as to form a compacted and wet fabric that is now pre-shrunk prior to drying, and drying the compacted and wet fabric so as to form a compacted and dry fabric.

An object of the present invention is to provide a more compact processing apparatus than previously available. Provided is a processing apparatus for unfurling or folding a processing subject (T), including a pair of retaining devices (310A, 310B) capable of retaining the processing subject (T), a carrying device (402) capable of carrying the processing subject (T) such that a part of the processing subject (T) hangs down therefrom while the processing subject (T) is retained by at least one of the pair of retaining devices (310A, 310B), and a control device that controls movement of the retaining devices (310A, 310B) and the carrying device (402), wherein the control device rotates the carrying device (402) in a condition where the retained processing subject (T) hangs down from the carrying device (402).

Methods and systems for spreading out and folding a suspended laundry article are described. A robotic system for spreading out and folding a laundry article includes at least three lifters disposed about a perimeter of a surface, two or more sensors disposed at fixed locations about the surface, and a controller in operative communication with the two or more sensors and the at least lifters. The controller is configured to receive output signals from the two or more sensors, determine whether the laundry article suspended by at least two lifters of the at least three lifters is spread out, and instruct, based on a determination of the laundry article being spread out, one or more of the at least three lifters to fold the spread out laundry article one or more times.

Methods and systems for spreading out and folding a suspended laundry article are described. A robotic system for spreading out and folding a laundry article includes at least three lifters disposed about a perimeter of a surface, two or more sensors disposed at fixed locations about the surface, and a controller in operative communication with the two or more sensors and the at least lifters. The controller is configured to receive output signals from the two or more sensors, determine whether the laundry article suspended by at least two lifters of the at least three lifters is spread out, and instruct, based on a determination of the laundry article being spread out, one or more of the at least three lifters to fold the spread out laundry article one or more times.

A garment folding apparatus serves to fold a garment while conveying the garment. The garment folding apparatus includes a loading assembly configured to load a garment, a folding assembly configured to fold the loaded garment while conveying the garment, and an unloading assembly disposed below the folding assembly and configured to unload a completely folded garment. The folding assembly includes a first conveyor configured to convey the garment in a horizontal direction, a second conveyor disposed to be spaced apart from the first conveyor in the horizontal direction, and a horizontal folding assembly including a folding bar configured to be inserted into a separation space between the first conveyor and the second conveyor, where an inclined surface of the first conveyor and an inclined surface of the second conveyor face each other, such that various horizontal folding processes are performed within a limited space.