WO2024251878A1 - Système de retournement d'un vêtement - Google Patents

Système de retournement d'un vêtement Download PDF

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Publication number
WO2024251878A1
WO2024251878A1 PCT/EP2024/065613 EP2024065613W WO2024251878A1 WO 2024251878 A1 WO2024251878 A1 WO 2024251878A1 EP 2024065613 W EP2024065613 W EP 2024065613W WO 2024251878 A1 WO2024251878 A1 WO 2024251878A1
Authority
WO
WIPO (PCT)
Prior art keywords
garment
turning
fabric layer
pass
section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2024/065613
Other languages
German (de)
English (en)
Inventor
Michael Mayr
Michael HOFMANNRICHTER
Anton WOHLGEMUTH
Urs Hunziker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Silana GmbH
Original Assignee
Silana GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Silana GmbH filed Critical Silana GmbH
Priority to EP24732426.2A priority Critical patent/EP4724649A1/fr
Priority to CN202480038101.XA priority patent/CN121693604A/zh
Publication of WO2024251878A1 publication Critical patent/WO2024251878A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B33/00—Devices incorporated in sewing machines for supplying or removing the work
    • D05B33/02—Devices incorporated in sewing machines for supplying or removing the work and connected, for synchronous operation, with the work-feeding devices of the sewing machine
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H43/00—Other methods, machines or appliances
    • A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing
    • A41H43/025—Folding, unfolding or turning over
    • A41H43/0264—Turning over

Definitions

  • the present invention relates to a system and a method for robot-assisted turning of a garment inside out.
  • Textile products or clothing typically have an outer, pretty side and an inner, left side, where the seams of the sewn-together fabric layers of the garment are visible.
  • the garment is typically produced inside out so that the seams are not visible later and the right, pretty side is protected inside during production. With two layers of fabric, the inside of the fabric is draped outwards and then sewn. However, this also means that after sewing, the textiles have to be turned inside out.
  • a system for robot-assisted turning inside out a garment consisting of first and second fabric layers lying on top of one another comprises a handling robot with an effector having a handling mechanism configured to space the first fabric layer from the second fabric layer (at a predetermined distance) in order to provide an inner volume between the first fabric layer and the second fabric layer, which is accessible through an opening between the fabric layers.
  • the system comprises a turning-over device configured such that a pass-through portion of the garment can be passed through the inner volume and through the opening relative to an outer portion of the garment, so that the garment can be turned inside out.
  • a method for robot-assisted turning inside out a garment which consists of first and second layers of fabric lying on top of one another.
  • the method comprises spacing the first layer of fabric from the second layer of fabric by means of a handling mechanism of an effector on a handling robot in order to create an inner volume between the first layer of fabric from the second layer of fabric, which is accessible through an opening between the layers of fabric.
  • the garment is turned inside out by means of an everting device, wherein by means of the everting device a pass-through portion of the garment is passed through the inner volume and through the opening relative to an outer portion of the garment, so that an everting of the garment is carried out.
  • the handling robot has the effector, to which the corresponding handling mechanism is attached, in particular in an exchangeable manner.
  • the handling robot is attached to the floor or work table with a stationary robot base in order to introduce corresponding forces into the corresponding system.
  • the handling robot can also be configured in such a way that the robot base is designed to be movable along the floor.
  • a robot arm can be arranged between the effector and the robot base, which has, for example, one or more joints in order to control the effector into a desired position.
  • the handling robot is a programmable multi-purpose handling device for moving material, workpieces, tools or special equipment.
  • the handling robot is designed to handle or manipulate the material layers and to move and position them accordingly.
  • the handling robot enables a machine-controlled position change option in more than one axis and/or along a translational position change of the material layers.
  • the term fabric layer refers to the possible textiles or textile parts of a textile product, in particular a piece of clothing.
  • the term fabric layer includes different types of knitted fabrics, in particular woven fabrics and fleeces.
  • the left/left side of a fabric layer is understood to be the inside (i.e. the underside of the fabric, the inside of the fabric or the 'not pretty side' of a fabric layer.
  • a fabric part can consist of several fabric layers.
  • a fabric part (such as a piece of clothing) can be folded over several times and lie on a work table as a fabric layer stack with several fabric layers.
  • the fabric layers can each represent separate fabric parts that form a fabric layer stack on top of each other.
  • the item of clothing according to the invention has layers of fabric placed on top of one another, which are fastened together, for example, along two joining areas, e.g. seams, welds or adhesive strips. Furthermore, the two layers of fabric can be formed in one piece from a folded-over fabric layer, wherein the two layers of fabric are joined together, for example sewn, in a common joining area (for example round socks).
  • two joining areas e.g. seams, welds or adhesive strips.
  • the two layers of fabric can be formed in one piece from a folded-over fabric layer, wherein the two layers of fabric are joined together, for example sewn, in a common joining area (for example round socks).
  • the controllable handling mechanism is arranged on the effector.
  • the handling mechanism can space the superimposed fabric layers of a garment apart from each other.
  • the handling mechanism can, for example, grip the top fabric layer or otherwise fasten it and lift it so that a complaint and the corresponding inner volume are formed.
  • the The handling mechanism can have a compressed air device which uses compressed air to blow an air cushion between the first and second layers of fabric.
  • the handling mechanism can also fasten one of the layers of fabric in such a way that the entire garment can be handled or transported. For this purpose, the effector or handling robot can be controlled accordingly, for example.
  • the handling mechanism can thus be used to enable the automatic assembly of textile products or items of clothing, since in addition to transporting the item of clothing to the turning device, it can also be transported to a joining unit, such as a sewing machine, or to a specific storage location for the item of clothing. Fully automatic processes can take place between the process steps of preparing, processing and turning a piece of clothing or its fabric layers, without the need for process interruption or manual intervention. After turning, the handling device can reposition the turned-over item of clothing, transport it further for final processing or feed it to final processing.
  • the handling mechanism in particular carries out the preparatory work for the turning device, since the handling mechanism provides an accessible inner volume of the garment so that the turning device can turn the garment inside out.
  • the turning device moves a pass-through section of the garment relative to an outer section of the garment through the inner volume and through the opening so that the garment can be turned inside out.
  • the pass-through section describes the section of the garment that is passed through the opening for turning inside out.
  • either the pass-through section of the garment can be fixed and the outer section can be moved relative to the pass-through section or the Outer portion is fixed and the pass-through portion of the garment is moved relative to the outer portion.
  • the pass-through portion can be held stationary in the inner volume and the outer portion of the garment can be slid over the pass-through portion.
  • the turning device is configured to move the turning process, i.e. the pass-through section relative to the outer section of the garment, in order to completely carry out the turning.
  • the turning device can, for example, as described in some examples below, have a gripping device and grip the pass-through section inside the inner volume and pass it through the opening relative to the outer section.
  • the necessary force for passing the pass-through section through can also be carried out by means of fluid forces, for example by means of compressed air, or based on the effect of gravity.
  • the item of clothing can be provided in a predetermined position, i.e. with a formed internal volume that is accessible through the opening, by means of the handling mechanism and can be turned inside out by means of the turning-over device.
  • the handling mechanism which can be controlled by means of a handling robot, can also be used to integrate the turning-over process into a fully automatic production process for producing an item of clothing.
  • the handling mechanism is designed to handle at least the first fabric layer and to space it from the second fabric layer, wherein the handling mechanism is selected from the group consisting of grippers, suction cups, clamps, areas with increased friction and/or electrostatic attraction, magnetic devices (in particular an electromagnet for attracting a ferromagnetic counterplate), holding needles, rollers, freezing grippers, and/or Bernoulli grippers.
  • the handling mechanism is selected, for example, from the group consisting of grippers, suction cups, clamps, areas with increased friction and/or electrostatic attraction, holding needles, rollers, freezing grippers, and/or Bernoulli grippers.
  • An effector can also have multiple handling mechanisms.
  • a handling mechanism can have two counter-rotating rollers to form a protrusion so that the protrusion can be gripped more easily.
  • Electroadhesive grippers for electrostatic attraction work with electrostatic fields. Holding forces are generated by polarization. They can be generated on the top side of the fabric layer that is in contact with a gripper dielectric of the electroadhesive gripper.
  • a Bernoulli gripper has a suction body, whereby compressed air flows outwards between the fabric part and the suction body along the x-y plane via a flow channel of the suction body at the edge areas of the suction body. In the center of the suction body there is an air opening which is coupled to the flow channel. Due to the Bernoulli effect, air is sucked into the flow channel from the direction of the fabric part. This creates a fixing force of the fabric part on the suction body.
  • a freezing gripper has a strongly cooled contact surface with the fabric part, whereby frozen water or ice acts as an adhesive to adhere the fabric part to the contact surface.
  • the water can act as an adhesive from the atmosphere (humidity) or added from an adhesive supply.
  • the handling mechanism has a holding needle device which is configured such that a piercing depth and/or a piercing angle of at least one holding needle into the first fabric layer and/or the second fabric layer can be controlled, in particular in real time and/or based on sensor feedback.
  • the holding needle device is configured to move the holding needles in the direction of the garment with a stroke length of less than 6 mm, in particular less than 4.5 mm or less than 3 mm.
  • the holding needles in particular have a diameter of less than 1300 micrometers, 900 micrometers, in particular less than 550 micrometers, further in particular less than 250 micrometers.
  • the holding needle device is designed to introduce holding needles into the first, topmost fabric layer for fixing purposes, for example.
  • one or more needle-like pins or holding needles can be driven from a magazine into or through the top first fabric layer from the effector side or from an auxiliary system (e.g. auxiliary plate, needle band) in order to attach it to the effector and lift it off the second fabric layer below, thereby forming the inner volume.
  • the holding needle device has in particular a feed device, for example a holding needle magazine, which is configured to feed holding needles for the holding needle device.
  • An additional form of differentiated gripping can involve the depth of a piercing needle or holding needle and/or the angle of a holding needle (and in particular a plurality of them).
  • a holding needle can be inserted at a flat angle or not so deeply into the fabric layer during singulation, while with thicker fabric layers a a steeper angle or a greater penetration depth can be used to securely access the fabric layer or layers.
  • a needle for transporting a garment (which then essentially consists of the first and second fabric layers) can be inserted at a steeper angle or deeper into the fabric piece, while to open the top first a shallower angle or a smaller penetration depth is used to ensure that only the top fabric layer is held by the effector to form the internal volume.
  • the holding needles have a diameter of less than 1300 micrometers, less than 900 micrometers, in particular less than 550 micrometers, and more particularly less than 250 micrometers. It has been found that when fine microneedles are used as holding needles in combination with a suitable vacuum and a suitable air flow, no quality-impairing effects remain on the fabric surface after processing. This has been shown particularly with needle diameters of less than 1300 micrometers, less than 900 micrometers, in particular less than 550 micrometers, preferably less than 250 micrometers.
  • the holding needle device is designed so that the holding needles can be moved in a relatively short stroke length from the effector in the direction of the fabric layer to be lifted, in particular with a stroke length of less than 6 mm, in particular less than 4.5 mm or less than 3 mm in the direction of the garment. It has been shown that short stroke lengths are particularly advantageous because the lower weight of the needles means that they can be fired out more quickly and thus penetrate the fabric more easily, taking into account the mass inertia.
  • the system comprises a sewing machine which can be coupled to a work table.
  • the handling mechanism is configured to feed a fabric layer stack consisting of the first fabric layer and the second fabric layer to the sewing machine, wherein joining areas of the fabric layers are freely accessible to the sewing machine.
  • the sewing machine is configured to sew the joining areas, wherein the handling mechanism is configured to guide the fabric layer stack relative to the sewing machine during sewing.
  • the handling mechanism is configured to convey the sewn fabric stack from the sewing machine to the everting device. According to another exemplary embodiment, the handling mechanism is configured to convey the everted garment from the everting device to a further processing location.
  • the handling robot is coupled to a control unit which knows the operating parameters and position data of the individual functional units, such as the sewing machine or the turning device, or can obtain them from the sensor units described or from a database.
  • One and the same handling robot can guide the garment or the fabric layers to the joining unit and then to the turning device.
  • the handling robot can be controlled by the control unit in such a way that the handling robot handles and positions the fabric layers during sewing (joining) and also during the turning process. It has been shown that it is efficient if the handling robot carries out more than one activity based on position knowledge. For this reason, it is advantageous if more than just turning is done by the same robot (for example, sewing beforehand or folding afterwards).
  • the system has a sensor unit for determining the turning-over progress on the turning-over device, wherein the sensor unit detects sensor data which is indicative of the turning-over progress or of the formation of creases in the garment.
  • the sensor unit has in particular an optical sensor for optically recording the garment, a 3D sensor, a distance sensor (in the Z direction, i.e. for example the distance between the effector and the first or second fabric layer) and/or a scanning sensor for scanning a contour of the garment.
  • the progress of a turning-over process can be detected by analyzing the sensor data, in particular by means of a control unit. It can thus be ensured that the garment is completely turned inside out, in particular using a sensor, preferably using artificial intelligence mechanisms, wherein conclusions can be drawn about the quality of a current turning-over process from the quality of past turning-over processes. This increases the reliability of the method, since automatic sorting can take place in the event of an error.
  • Characteristic values for the quality or progress of an everting process can be derived from the analysis of the measured crease formation, the position of certain areas of the garment (sleeves, button strips, etc.), measurement of a location-dependent weight (collar section weighs more than a sleeve section of a garment, for example, from this the position of the sections can be determined and accordingly the progress of the everting process), analysis of the shape deviation from a target shape of the garment after everting (e.g. using the optical sensor).
  • an AI unit artificial intelligence
  • the control unit can be coupled with the optical sensor, so that the AI unit based on Image recognition or image analysis methods that evaluate the images captured by the optical sensor. Based on target data or based on experience data from previous inversion analyses that have been evaluated and are therefore available to the AI unit, the AI unit can evaluate how the inversion process is progressing or whether the inversion process was successful.
  • the sensor unit is configured to determine a marker element on the garment, which marker element is indicative of the progress of the turning inside out.
  • the sensor unit has, for example, an optical sensor for determining a color pattern as a marker element on the garment.
  • the marker element is, for example, attached to a predetermined location in the garment so that conclusions can be drawn about the quality and progress of the turning inside out based on the position and/or shape of the marker element.
  • the sensor unit can be designed to detect an optical marking, in particular ultraviolet ink, as a marker element on the item of clothing in the non-visible range of light.
  • the optical marking can, for example, be arranged on the item of clothing in a washable manner. The position and pattern of the optical marking can be determined, and thus a position before and/or after turning inside out can be determined.
  • the sensor unit can have a magnetic sensor for determining a magnetic element, so that a magnetically detectable marker element in the garment can be detected and a position detection can be carried out accordingly with the magnetic sensor.
  • the sensor unit may comprise a force sensor for determining a
  • Stiffness range of the garment as a marker element For example, a fabric layer stack of the garment, which has two fabric layers resting on a work table, is softer and/or lighter under the same pressure force than if only one fabric layer rests on a work table.
  • the system has a further sensor unit for determining a material of the garment, wherein the further sensor unit is coupled to the handling mechanism in such a way that the handling mechanism can be controlled based on the material of the garment.
  • the further sensor unit can, for example, be an optical sensor which records optical image data so that the material or textile material of the garment can be accessed based on an image analysis.
  • a two-part metal gripper of the handling mechanism can be electrically insulated between the clamping gripping elements. If the material slips out of the gripper or if the gripping is unsuccessful, this can be detected based on the change in resistance between the two insulated components and action can be taken accordingly.
  • the system comprises the control unit which is configured to obtain from a sensor unit (e.g. the sensor units described above) or from a database unit garment data relating in particular to fabric layer material and/or fabric layer geometry, left/right position, local positioning, folds and/or manufacturing quality of the garment.
  • a sensor unit e.g. the sensor units described above
  • a database unit garment data relating in particular to fabric layer material and/or fabric layer geometry, left/right position, local positioning, folds and/or manufacturing quality of the garment.
  • the handling robot thus passes information details on the processed garment to a subsequent handling system or joining system for the next work step and/or obtains information details from a previous work step. This eliminates the need for the complex re-recording of position details, material details and/or left/right placement of the fabric part. It has been shown that details on material properties, left/right position, location, folds and/or manufacturing quality are particularly advantageous.
  • the control unit analyses the sensor data to determine whether the respective manipulation, positioning, placement, fixing and/or sewing of the garment was successful. This allows a change in reliability to be detected and communicated to a higher-level system or the control unit. This can be used to initiate preventive maintenance or an adjustment of the handling parameters, for example.
  • the control unit can also receive information, for example from the sewing machine.
  • Coordinates for the step of opening and/or turning inside out are thus obtained from a previous production step, preferably coordinates for a gripping position for turning inside out and/or opening the inner volume. If the method or system according to the invention is directly attached to an automated production, a set of coordinates can be adopted from the automated production which contains suitable gripping points for reaching through before pulling, thus eliminating the time-consuming search for the suitable point for pulling through for turning inside out.
  • the sensor unit determines the position of the item of clothing or of the fabric layers before contact with the handling mechanism, e.g. before gripping, in order to prevent incorrect manipulation so that a countermeasure, e.g. a new corrected gripping process, is initiated.
  • the detection of errors or malfunctions is also improved if sensors (before access) ensure that the fabric is available at the desired location and/or is not covered with other fabric (e.g. due to tangling). This can be achieved, e.g., using optical sensors, in particular cameras, as a sensor unit and a downstream image processing unit (e.g. in the control unit). Depending on the situation, the turning process can be aborted or a countermeasure can be initiated, such as repositioning a gripper of the handling mechanism.
  • the turning device is configured such that the garment can be aligned such that the pass-through section can be passed through the opening by means of gravitational force, so that the garment can be turned inside out.
  • the turning device has, for example, a fixing device with a pass-through opening, such as a work table with a hole or a vertically positioned pipe, wherein the turning device has fixing elements, such as grippers, which fasten the outer section of the garment to the edge of the pass-through opening, in particular such that the opening of the garment and the pass-through opening form a common passage.
  • the handling mechanism can position the pass-through section such that it is above the pass-through opening in the direction of gravity.
  • the handling mechanism now releases the pass-through section completely or partially, so that the released section of the pass-through section in the direction of gravity (direction of gravity) relative to the outer section through the opening of the garment and through the through-hole, so that the garment is turned inside out.
  • the outer section can be released from the turning device and the garment can be transported further using the handling device.
  • the everting device has a suction device, wherein the everting device is configured such that the pass-through section can be sucked through the opening by means of suction force, and/or wherein the everting device is configured such that the pass-through section can be fixed and the outer section can be guided over the pass-through section by means of suction force.
  • the suction device can accordingly suck the movable area, i.e. the pass-through section or the outer section, in such a way that the pass-through section can be moved relative to the opening in such a way that it is sucked through the opening (for example by means of a corresponding movement of the pass-through section or a movement of the outer section) in order to implement an everting.
  • the turning device has a compressed air device, wherein the turning device is configured such that the pass-through section can be blown through the opening by means of compressed air.
  • the turning device is configured such that the pass-through section can be fixed and the outer section can be guided over the pass-through section by means of compressed air.
  • the compressed air device can accordingly move the movable area, ie the pass-through section or the outer section, by means of compressed air such that the pass-through section can be moved relative to the opening such that it is blown through the opening (for example by means of a corresponding movement of the pass-through section or a movement of the outer section) to implement an inversion.
  • the turning device has a gripping device, wherein the gripping device is configured to grip the pass-through section through the opening and to guide it through the opening relative to the outer section.
  • the turning device is configured such that the pass-through section of the garment can be fixed and the gripping device is configured to grip the outer section and to guide the outer section over the pass-through section, wherein the gripping device is arranged in particular on the effector.
  • the turning device has a turning aid that can be inserted between the first fabric layer and the second fabric layer in order to stabilize the inner volume or to hold the garment in the open, stretched state.
  • the handling robot is configured to attach the garment to the turning aid, in particular by pulling the garment over.
  • the turning aid in particular has a bar-shaped element or a hollow body, in particular a tube.
  • the turning aid can have a fit that corresponds to the shape of a body part intended for the garment.
  • the handling mechanism thus forms the inner volume, which is accessible through the opening.
  • the handling mechanism or the effector can then be controlled in such a way that the turning aid can be inserted or positioned through the opening into the inner volume.
  • the turning aid thus gives the garment stability so that it can be in the open state.
  • the turning device can, for example, pass through the opening into the inner volume and, by gripping the pass-through section, Carry out the turning inside out.
  • the turning inside out aid can be an inflatable bellows or a tube.
  • the turning inside out aid can be a negative form of the item of clothing, whereby the negative form in particular forms a shape of a body part for which the item of clothing is intended (for example a foot shape for a sock, the shape of an upper body for a shirt or a leg for trousers as an item of clothing).
  • the turning aid can also be attached to the effector.
  • a double tube-like turning aid consisting of parallel tubes can be inserted into the opening of the trousers as a piece of clothing. These two tubes are then only partially inserted into the leg tubes of the trousers (or vice versa: the effector, which opens the waistband as a free space, turns this [including the trousers inside out] over the two stationary tubes), then the rest of the trouser legs, i.e.
  • the pass-through section of the garment is sucked into the inside of the tubes using negative pressure, for example, and a relative movement is carried out again between the free space and the beginning of the tube (for example, the tubes are pulled out of the waistband while maintaining the negative pressure), so that the trousers are turned inside out as a piece of clothing.
  • a proximity sensor and/or a contact sensor is formed on the turning aid (for example on the surface of the item of clothing) in such a way that a position of the item of clothing on the turning aid can be determined. This allows the fit of the item of clothing on the turning device to be checked before and after turning.
  • the turning aid has a surface with a coating, in particular Teflon, to reduce the frictional resistance with the garment.
  • a coating in particular Teflon
  • the effector, the Handling mechanisms and the turning device, and in particular the turning aid, can be protected against the garment getting caught or snagged by additional measures in the form of surface coatings.
  • the surface coatings have a low frictional resistance.
  • the surface coating can, for example, have a polished surface and/or a surface with a slippery Teflon coating. The risk of official liability can be reduced by these components having a substantially flat surface and/or deflector surfaces.
  • the system has a fixing device which is configured to fix the second fabric layer, while the first fabric layer can be spaced apart from the second fabric layer by means of the handling mechanism, wherein the fixing device can be coupled to a work table or to another effector of the handling robot.
  • the work table forms a support surface for the second fabric layer.
  • the support surface can have suction openings in order to fasten the second fabric layer by means of negative pressure.
  • a clamping device fastened to the work table can be provided in order to press on areas, for example edge areas, of the second fabric layer in order to clamp it firmly to the work table. The opening process can thus be made easier, since slipping of the second fabric layer is prevented when the first fabric layer is lifted by means of the handling mechanism. Furthermore, this also offers advantages during
  • Handling robots have two, in particular three, four or more, effectors, wherein each of the effectors has a handling mechanism that is configured to space the first fabric layer from the second fabric layer.
  • Each effector can be moved independently of one another.
  • the multiple handling mechanisms of the effectors can be used to open the inner volume of the individual clothing areas.
  • the turning-over device can be formed on one or more effectors.
  • the turning-over device on the effectors can each form circular devices.
  • the gripping device can grip (or, for example, suck in) the pass-through sections of the respective effectors in, for example, two sleeves or two trouser legs (at the furthest point) and simultaneously pull them back so that a uniformity of movement, for example, reduces the formation of tangles.
  • 4 effectors are provided that can grip the item of clothing, for example a T-shirt.
  • a first effector with a handling mechanism can grip and open a lower hem.
  • a gripping device of the turning device is formed on the second effector, so that a reach through to the left sleeve and a corresponding fixation of the pass-through section there takes place.
  • a further gripping device of the turning device is formed on the third effector, so that a reach through to the right sleeve and a corresponding fixation of the pass-through section there takes place.
  • a further gripping device of the turning device is formed on the fourth effector, so that a reach through to the collar and a corresponding fixation of the pass-through section there takes place.
  • the gripped pass-through sections can be pulled through the opening in the hem in a common movement process, so that a homogeneous turning over can be carried out.
  • the system has a further processing device, wherein the handling robot is designed to transport the turned-over item of clothing from the turning-over device to the further processing device.
  • the further processing device is configured for cutting, sanding, embroidering, printing, flocking, rubberizing, lasering, painting and/or gluing the item of clothing.
  • the item of clothing is further processed before or after turning-over. Since it is often fixed at the outermost points during the turning process, this is a particularly suitable starting point for additional further processing in the finishing device:
  • jeans can be (fashionably) cut open in a cutting device as a finishing device (for shabby chic lock), sanded in a grinding device as a finishing device, embroidered, flocked or glued (e.g.
  • the first fabric layer is gripped by means of the handling mechanism and is spaced apart from the second fabric layer, which can be fixed in particular to a work table, in order to form the inner volume.
  • the opening to the inner volume is formed at the location of the garment by having the largest opening diameter in the garment. This creates a suitable inner volume for the subsequent turning inside out.
  • the largest cross-section of the opening of the garment is selected for the turning inside out step to create the inner volume. This makes it easier to pass the pass-through section of the garment through. The risk of layers of fabric getting caught or creases being created when the pass-through section is passed through is reduced.
  • the item of clothing is shaken after being turned inside out, in particular by means of a shaking movement of the effector. In this way, any sections that are still stuck can be released in order to finalize an incomplete turning inside out process.
  • data of the garment for handling, in particular for gripping the pass-through section, or data relating to turning the garment inside out are obtained by means of a control unit.
  • the item of clothing is ironed by means of an ironing device before the step of spacing the item of clothing.
  • the ironed item of clothing is conveyed from the ironing device to the turning device by means of the handling robot.
  • the item of clothing is ironed before turning (i.e. still 'inside out'). This means that subsequent ironing can be avoided, since the method according to the invention carries out a turning process in a particularly gentle manner with regard to the formation of creases.
  • the method according to the invention carries out a turning process in a particularly gentle manner with regard to the formation of creases.
  • a computer program for robot-assisted turning inside out of a garment is operated, which, when executed by a processor, is configured to carry out the method described above.
  • the method described above can be implemented accordingly as a computer and integrated into the method.
  • Fig. 1 shows a schematic representation of a system wherein the handling mechanism generates an internal volume of the garment, according to an exemplary embodiment of the present invention
  • Fig. 2 shows a schematic representation of a system illustrating an everting process with an everting device according to an exemplary embodiment of the present invention.
  • Fig. 3 shows a schematic representation of a system, wherein a garment is shown after the everting process of Fig. 2, according to an exemplary embodiment of the present invention.
  • Fig. 4 shows a schematic representation of a system illustrating an everting process with an everting device with a gripping device, according to an exemplary embodiment of the present invention.
  • Fig. 5 shows a schematic representation of a system illustrating an everting process with an everting device with a gripping device, wherein the handling mechanism holds the outer portion during everting, according to an exemplary embodiment of the present invention.
  • Fig. 6 shows a schematic representation of a system illustrating an inversion process based on gravitational force, according to an exemplary embodiment of the present invention.
  • Fig. 7 shows a schematic representation of a system with two effectors whose handling mechanisms control the internal volume of a garment according to an exemplary embodiment of the present invention.
  • Fig. 8 shows a schematic representation of a handling mechanism with a gripper according to an exemplary embodiment of the present invention.
  • Fig. 9 shows a schematic representation of a handling mechanism with a holding needle device according to an exemplary embodiment of the present invention.
  • Fig. 10 shows a schematic representation of a handling mechanism with a suction plate according to an exemplary embodiment of the present invention.
  • Fig. 11 shows a schematic representation of a handling mechanism with a suction cup according to an exemplary embodiment of the present invention.
  • Fig. 1 shows a schematic representation of a system, wherein a handling mechanism 102 generates an internal volume Vi of a garment 102.
  • Fig. 2 shows a schematic representation of a system, wherein an everting process with an everting device 200 is shown.
  • the system thus provides a robot-assisted turning inside out of a garment 120, which consists of superimposed first and second fabric layers 121, 122.
  • the system has a handling robot 100 with an effector 101, which has a handling mechanism 102 that is configured to space the first fabric layer 121 from the second fabric layer 122 in order to provide an inner volume between the first fabric layer 121 and the second fabric layer 122, which is accessible through an opening 124 between the fabric layers.
  • the system has an turning-over device 200, which is configured such that a pass-through section 201 of the garment 120 can be passed through the inner volume and through the opening 124 relative to an outer section 202 of the garment 120, so that the garment 120 can be turned inside out.
  • the handling robot 100 has the effector 101, to which the corresponding handling mechanism 102 is attached, in particular in an exchangeable manner.
  • the handling robot 100 is attached to the floor or to a work table 103 with a stationary robot base in order to introduce corresponding forces into the corresponding system.
  • the handling robot 100 can also be configured such that the robot base is designed to be movable along the floor.
  • a robot arm can be arranged between the effector 101 and the robot base, which has, for example, one or more joints in order to control the effector 101 into a desired position.
  • the handling robot 100 is thus designed to handle or manipulate the material layers 121, 121 and to move and position them accordingly.
  • the handling robot 100 enables a machine-controlled position change option in more than one axis and/or along a translational position change of the material layers 121, 121.
  • the item of clothing 120 according to the invention accordingly has the superimposed fabric layers 121, 121, which are fastened, for example, along two joining areas, eg seams 123.
  • the two fabric layers 121, 121 can be formed in one piece from a folded-over fabric layer, wherein the two fabric layers 121, 121 are joined together with a common seam 123 (for example, round socks).
  • the handling mechanism 102 grips the topmost fabric layer 121 so that a gap and the corresponding internal volume Vi are formed.
  • the handling mechanism 102 can have other mechanisms, such as a compressed air device, which uses compressed air to blow an air cushion between the first and second fabric layers 121, 122.
  • the handling mechanism 102 can fasten at least one of the fabric layers 121 and accordingly the entire garment 120 in such a way that handling or transporting the entire garment is possible.
  • the second material layer 122 rests on the work table 103 and is fixed to the work table 103 by means of a fixing device 109, while the first material layer 121 is spaced apart from the second material layer 122 by means of the handling mechanism 103.
  • the work table forms a support surface for the second material layer and can have suction openings in order to fix the second material layer 122 by means of negative pressure.
  • a clamping device attached to the work table 103 can be provided, for example, in order to press on areas, for example edge areas, of the second material layer 122 in order to clamp it firmly to the work table 103.
  • the handling mechanism 102 thus forms an accessible inner volume Vi of the garment 120, so that the turning device can turn the garment inside out.
  • a pass-through section 201 of the garment 120 is moved relative to a Outer section 202 of the garment through the inner volume Vi and through the opening 124, so that the garment 120 is turned inside out.
  • the pass-through section 201 describes the section of the garment 120 that is passed through the opening 124 for turning inside out.
  • either the pass-through section 201 of the garment 120 can be fixed and the outer section 202 can be moved relative to the pass-through section 201, or the outer section 202 is fixed and the pass-through section 201 of the garment 120 is moved relative to the outer section 202.
  • the handling robot 100 is coupled to a control unit 107, which knows the operating parameters and position data of the individual functional units, such as a sewing machine or the turning device 200, or can obtain them from sensor units 104 or from a database unit 108 having a database.
  • One and the same handling robot 100 can accordingly feed the item of clothing 120 or the fabric layers 121, 122 to a joining unit and then to the turning device 200.
  • the handling robot 100 can be controlled by the control unit 107 in such a way that the handling robot 100 handles and positions the fabric layers 121, 122 during the sewing (joining) and also during the turning process.
  • the sensor unit 104 can be used to determine the progress of the turning inside out, whereby the sensor unit 104 detects sensor data which is indicative of the progress of the turning inside out or of the formation of a fold 125 of the garment.
  • the sensor unit 104 has in particular an optical sensor for optically recording the garment 120, a 3D sensor, a distance sensor (in the Z direction, ie for example the distance between the effector and the first or second fabric layer) and/or a scanning sensor for scanning a contour of the garment.
  • the sensor unit 104 can be configured to determine a marker element 106 on the garment 120, which marker element is indicative of an everting progress.
  • the sensor unit 104 has, for example, an optical sensor for determining a color pattern as a marker element 106 on the garment 120.
  • the marker element 106 is, for example, attached to a predetermined location in the garment 120, so that conclusions can be drawn about the quality and progress of the everting based on the position and/or shape of the marker element 106.
  • the control unit 107 is configured to obtain garment data from a sensor unit 104 or from the database unit 108 relating in particular to fabric layer material and/or fabric layer geometry, left/right position, local positioning, folds and/or manufacturing quality of the garment.
  • the control unit 104 is further configured to collect and/or evaluate garment data relating to manipulation, positioning, placement, fixing and/or sewing by the handling robot 100, wherein the control unit 107 is configured to control the handling robot 100, the turning device 200 and/or the sewing machine 105 based on the garment data. Coordinates for the step of opening and/or turning inside out are thus obtained from a previous production step, preferably coordinates for a gripping position for turning inside out and/or opening the inner volume Vi.
  • the everting device 200 has a suction device 204, wherein the everting device 200 is configured such that the pass-through section 201 can be sucked through the opening 124 by means of suction force.
  • the suction device 204 accordingly sucks the pass-through section 201 so that the pass-through section 201 can be moved relative to the opening 124 such that it is sucked through the opening 124 in order to implement an everting.
  • the inversion device 200 can have a compressed air device 205, wherein the inversion device 200 is configured such that the pass-through section 201 can be blown through the opening 124 using compressed air.
  • the compressed air device 205 can accordingly move the movable region, i.e. the pass-through section 201, using compressed air such that the pass-through section 201 can be moved relative to the opening 124 such that it is blown through the opening 124 in order to implement inversion.
  • the turning device 200 has a turning aid 203, which is inserted between the first fabric layer 121 and the second fabric layer 122 in order to stabilize the inner volume Vi or to hold the garment 120 in the open, stretched state.
  • the handling robot 100 is configured to attach the garment 120 to the turning aid 203, in particular by pulling the garment over.
  • the turning aid 203 consists of a tube, via which the handling mechanism 102 can pull the garment 120 open.
  • the handling mechanism 102 thus forms the inner volume Vi in a first step, which is accessible through the opening 124.
  • the suction device 204 can be arranged to draw air through the tube. On the other side of the tube, this is open and the pass-through section 201 can be present there. The suction device 204 thus sucks the pass-through section 201 into the pipe when it is turned inside out.
  • the outer section 202 slides along the outer surface of the pipe up to the opening 124, which is present at the open end of the pipe.
  • Fig. 3 shows the garment 120 after the turning process from Fig. 2.
  • the garment 120 is located inside the tube and can, for example, be gripped therefrom with the handling mechanism 102 and transported further.
  • a proximity sensor and/or a contact sensor can be designed on the turning aid 203 (for example on the surface of the item of clothing 120) in such a way that a position of the item of clothing 120 on the turning aid 203 can be determined. This allows the fit of the item of clothing 120 on the turning device 203 to be checked before, during and after turning. After turning, the item of clothing 120 can be shaken, in particular by means of a shaking movement of the effector 101.
  • Fig. 4 shows a schematic representation of a system, wherein an inversion process is shown with an inversion device 200 with a gripping device 401.
  • the item of clothing 120 is pulled over a tube as an inversion aid 203.
  • the gripping device 401 is configured to grip the pass-through section 201 through the opening 124 and to guide it through the opening 124 relative to the outer section 202.
  • the gripping device 401 is arranged in particular on the effector 101.
  • the gripping device has, for example, a gripper which is arranged on a holding rod which is adjustable in length.
  • the holding rod can, for example, be telescopically extendable and retractable.
  • FIG. 5 shows a schematic representation of a system, wherein an everting process is shown with an everting device 200 with a gripping device 401, wherein the handling mechanism 102 holds the outer section 202 during the everting and releases it in sections during the everting.
  • the first material layer 121 is thus first gripped by means of the handling mechanism 102 and spaced from the second material layer 122, which can be fixed in particular to a work table 103, in order to form the inner volume Vi.
  • the opening 124 to the inner volume Vi is formed at the location of the garment 120 in which the largest opening diameter is present in the garment 120.
  • the gripping device 401 then grips the pass-through section 201 in the inner volume Vi and pulls it through the opening 124, while the handling mechanism 102 gradually releases the outer section 202 until the everting process is implemented.
  • Fig. 6 shows a schematic representation of a system, where an inversion process based on gravitational force G is shown.
  • the turning device 200 has, for example, a fixing device or a tube as turning aid 203 with a through-hole, wherein the tube is positioned vertically.
  • the turning device 200 has fixing elements, such as grippers, which fasten the outer section 202 of the garment 120 to the edge of the through-hole, in particular such that the opening 124 of the garment 120 and the through-hole form a common passage.
  • the handling mechanism 102 can position the pass-through section 201 such that it is above the through-hole in the direction of gravity G.
  • the handling mechanism 102 now releases the pass-through section 201 completely or partially, so that the released section of the pass-through section in the direction of gravity (direction of gravity) G relative to the outer section 202 through the opening 124 of the garment 120 and through the through-opening, so that the garment 120 is turned inside out.
  • the outer section 202 can be released from the turning device 200 and the garment 120 can be transported further by means of the handling device.
  • Fig. 7 shows a schematic representation of a system with two effectors 101, 701, whose handling mechanisms 102 form the inner volume of a garment 120. Each handling mechanism 102 grips a fabric layer 121, 122.
  • the effector 101 and the effector 701 are controlled in such a way that they move the fabric layers 121, 122 apart in order to form the inner volume Vi.
  • Another effector could have the everting device 200 in order to then grip the pass-through section 201 and pull it through the inner volume Vi for everting.
  • Fig. 8 shows a schematic representation of a handling mechanism 102 with a gripper 801.
  • the gripper 801 is designed such that it grips a fabric layer 121, 122 of the garment 120, so that the inner volume Vi can be formed by moving the effector 101.
  • Fig. 9 shows a schematic representation of a handling mechanism 102 with a holding needle device 901.
  • the holding needle device 901 is configured such that a piercing depth and/or a piercing angle of at least one holding needle, eg of the first fabric layer 121, can be controlled, in particular in real time and/or based on sensor feedback.
  • An additional form of differentiated gripping with the handling mechanism 102 can represent the depth of a holding needle and/or the angle of a holding needle in the fabric layer 121, 122.
  • Fig. 10 shows a schematic representation of a handling mechanism 102 with a suction plate 1000 according to an exemplary embodiment of the present invention.
  • the suction surface 1601 has a plurality of suction openings so that a material layer 121, 122 can be sucked in by means of negative pressure for attachment to the effector 101.
  • Fig. 11 shows a schematic representation of a handling mechanism 102 with a suction device 1100.
  • the suction device 1100 By means of the suction device 1100, air can be sucked out of the first material layer 121 in such a way that the uppermost first material layer 121 is attached to the effector 101 and can be spaced from the second material layer 122 in order to form the inner volume Vi.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sewing Machines And Sewing (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

La présente invention concerne un système de retournement d'un vêtement (120) à l'aide d'un robot, ledit vêtement étant constitué de première et seconde couches de tissu (121, 122) s'étendant l'une sur l'autre. Le système comprend un robot de manipulation (100) possédant un effecteur (101) qui comprend un mécanisme de manipulation (102) qui est conçu pour espacer la première couche de tissu (121) de la seconde couche de tissu (122) afin de créer un volume interne entre la première couche de tissu (121) et la seconde couche de tissu (122), ledit volume interne pouvant être accédé à travers une ouverture (124) entre les couches de tissu. Le système comprend également un dispositif de retournement (200), qui est conçu de telle sorte qu'une partie traversante (201) du vêtement (120) peut être passée par rapport à une partie externe (202) du vêtement (120) à travers le volume interne et à travers l'ouverture (124) de façon à permettre de retourner le vêtement (120).
PCT/EP2024/065613 2023-06-07 2024-06-06 Système de retournement d'un vêtement Ceased WO2024251878A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP24732426.2A EP4724649A1 (fr) 2023-06-07 2024-06-06 Système de retournement d'un vêtement
CN202480038101.XA CN121693604A (zh) 2023-06-07 2024-06-06 用于翻转衣物件的系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023114973.3 2023-06-07
DE102023114973.3A DE102023114973A1 (de) 2023-06-07 2023-06-07 System zum Umstülpen eines Kleidungsstücks

Publications (1)

Publication Number Publication Date
WO2024251878A1 true WO2024251878A1 (fr) 2024-12-12

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PCT/EP2024/065613 Ceased WO2024251878A1 (fr) 2023-06-07 2024-06-06 Système de retournement d'un vêtement

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EP (1) EP4724649A1 (fr)
CN (1) CN121693604A (fr)
DE (1) DE102023114973A1 (fr)
WO (1) WO2024251878A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005100665A1 (fr) * 2004-04-16 2005-10-27 Golden Lady Company S.P.A. Procede et dispositif permettant de manipuler un article tricote tubulaire, en particulier une chaussette
WO2009141842A1 (fr) * 2008-05-19 2009-11-26 Golden Lady Company S.P.A Procédé et dispositif pour retourner des articles tubulaires, tels que des chaussettes et des bas, après la fermeture du talon
WO2018129217A1 (fr) * 2017-01-04 2018-07-12 Sewbo, Inc. Systèmes et procédés de fabrication automatisée d'articles flexibles et technologies associées

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1110600B (it) * 1978-02-21 1985-12-23 Pastorello Bruno Meccanismo rivolta calzoni che puo trovare impiego nelli industria delle confezioni nelle lavanderie industriali o altro
US4645193A (en) * 1984-05-30 1987-02-24 Richard R. Walton Fabric pickup and the like
US5134947A (en) * 1990-12-20 1992-08-04 Atlanta Attachment Company Method and apparatus for forming and everting a work product

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005100665A1 (fr) * 2004-04-16 2005-10-27 Golden Lady Company S.P.A. Procede et dispositif permettant de manipuler un article tricote tubulaire, en particulier une chaussette
WO2009141842A1 (fr) * 2008-05-19 2009-11-26 Golden Lady Company S.P.A Procédé et dispositif pour retourner des articles tubulaires, tels que des chaussettes et des bas, après la fermeture du talon
WO2018129217A1 (fr) * 2017-01-04 2018-07-12 Sewbo, Inc. Systèmes et procédés de fabrication automatisée d'articles flexibles et technologies associées

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CN121693604A (zh) 2026-03-17
EP4724649A1 (fr) 2026-04-15
DE102023114973A1 (de) 2024-12-12

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