WO2024251894A1 - Système de positionnement et de fixation de plusieurs couches de tissu pour un assemblage automatisé - Google Patents

Système de positionnement et de fixation de plusieurs couches de tissu pour un assemblage automatisé Download PDF

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Publication number
WO2024251894A1
WO2024251894A1 PCT/EP2024/065641 EP2024065641W WO2024251894A1 WO 2024251894 A1 WO2024251894 A1 WO 2024251894A1 EP 2024065641 W EP2024065641 W EP 2024065641W WO 2024251894 A1 WO2024251894 A1 WO 2024251894A1
Authority
WO
WIPO (PCT)
Prior art keywords
fabric layer
fabric
effector
handling
fixing
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/EP2024/065641
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 CN202480038043.0A priority Critical patent/CN121620312A/zh
Priority to AU2024286760A priority patent/AU2024286760A1/en
Priority to KR1020267000235A priority patent/KR20260027225A/ko
Publication of WO2024251894A1 publication Critical patent/WO2024251894A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A41H42/00—Multi-step production lines for making clothes
    • 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
    • A41H43/0207—Stacking
    • A41H43/0214—Stacking laying flat
    • 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
    • A41H43/04—Joining garment parts or blanks by gluing or welding ; Gluing presses
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B19/00—Program-controlled sewing machines
    • D05B19/02—Sewing machines having electronic memory or microprocessor control unit
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B19/00—Program-controlled sewing machines
    • D05B19/02—Sewing machines having electronic memory or microprocessor control unit
    • D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
    • D05B19/16—Control of workpiece movement, e.g. modulation of travel of feed dog
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06H—MARKING, INSPECTING, SEAMING OR SEVERING TEXTILE MATERIALS
    • D06H7/00—Apparatus or processes for cutting, or otherwise severing, specially adapted for the cutting, or otherwise severing, of textile materials
    • D06H7/22—Severing by heat or by chemical agents
    • D06H7/221—Severing by heat or by chemical agents by heat
    • D06H7/223—Severing by heat or by chemical agents by heat using ultrasonic vibration
    • 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
    • A41H43/0257—Folding
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2207/00—Use of special elements
    • D05D2207/05—Magnetic devices
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2207/00—Use of special elements
    • D05D2207/05—Magnetic devices
    • D05D2207/06—Permanent magnets
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05D—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES D05B AND D05C, RELATING TO SEWING, EMBROIDERING AND TUFTING
    • D05D2305/00—Operations on the work before or after sewing
    • D05D2305/02—Folding

Definitions

  • the present invention relates to a system and a method for handling and processing layers of fabric with a handling mechanism.
  • a textile processing system which is designed for automated sewing, for example, requires a handling mechanism to separate the fabric from a stack and, after manipulation, to feed it to a sewing system (or sewing machine) in sufficient proximity.
  • robots with an effector are used, on which appropriate gripping mechanisms are arranged to grip the piece of fabric.
  • pieces of fabric that make up a piece of clothing have different sizes and can have different properties (thickness, air permeability, stiffness, etc.) both among each other and within the same piece.
  • 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.
  • 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. In a piece of clothing, the left side corresponds to the non-visible side of the fabric layer.
  • the right/right side of a fabric layer is used to refer to the 'pretty side' of a fabric or fabric layer (e.g. the top of the fabric, the visible side, the outside of the fabric).
  • 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.
  • a joining area of a fabric layer describes an area that is to be processed with a joining unit.
  • the joining area can, for example, be the area of a fabric layer where a seam or hem can run.
  • joining areas of two superimposed fabric layers are placed on top of each other so that they can be connected using the joining unit (for example by sewing or welding).
  • the controllable handling mechanism and the fixing mechanism are arranged on the effector.
  • the fixing mechanism is designed to fasten at least two layers of material, which in particular lie on top of one another, so that the fixed two layers of material can be conveyed in particular as a package or as a stack of layers of material.
  • the handling mechanism can transport a fabric layer or the described fabric layers fixed together, for example to the joining unit.
  • the effector or the handling mechanism can adapt to the contour of the fabric layers, for example by adjusting the fixing points of the handling mechanism to which the fabric layer is fixed.
  • the fixing elements described below can be arranged for this purpose, in which the individual fixing points are formed.
  • the handling mechanism covers in particular the outline-relevant points of a contour of the fabric layer, with one edge of the fabric layers preferably remaining free as a joining area and not being covered by the handling mechanism.
  • the area of the fabric layers that is covered by the effector or the handling mechanism for fixing the fabric layers is referred to below as the effector contour.
  • the fixing mechanism is arranged entirely on the effector.
  • part of the fixing mechanism can also be arranged on a work table on which, for example, the fabric layers are placed.
  • the handling mechanism is completely attached to the effector, but part of the handling mechanism can also be attached to the work table.
  • functional elements of the fixing mechanism can form elements of the handling mechanism and vice versa.
  • a holding needle device or suction device of the fixing mechanism can fix several fabric layers, but also hold the stack of fabric layers thus formed to the effector, so that the function of the handling mechanism is also fulfilled.
  • the effector thus forms an end part of the handling robot with, for example, grippers as handling mechanisms, which grasp and manipulate a fabric layer (for example a flat, unprocessed fabric layer or an entire garment as a fabric layer) or a fabric layer stack consisting of fabric layers that are fastened with the fixation mechanism.
  • grippers as handling mechanisms, which grasp and manipulate a fabric layer (for example a flat, unprocessed fabric layer or an entire garment as a fabric layer) or a fabric layer stack consisting of fabric layers that are fastened with the fixation mechanism.
  • the joining unit is configured to process the joining areas of a fabric layer and/or to connect at least two fabric layers.
  • the joining unit can be a sewing machine, a welding machine, a stapling machine, a crochet machine, an automatic gluing machine or other automatic connecting machines for fabric layers.
  • the joining unit can, for example, connect two layers of material to one another to create a seam (fabric seam or weld seam, etc.).
  • the seam describes, for example, the connection of two layers of material using a thread or yarn, with at least one material essentially being a fabric, a fleece or a woven fabric.
  • An effector/gripper system according to the invention equipped in this way is able to layer fabric layers precisely on top of one another so that these two fabric layers can then be joined.
  • a piece of fabric can also be folded over using the folding device described below to create two fabric layers, which can then be fixed and processed further (e.g. folding over the hem).
  • preparatory measures can be carried out with the system before placement, these can include folding (see folding device described below), or adding (an adhesive), inserting (auxiliary material for ultrasonic welding), etc. made possible with the fixing mechanism.
  • such a preparatory action is made possible by an additional device or fixation mechanism, which is installed either on the effector or on the work table.
  • a plastic welding technique especially ultrasonic welding
  • a suitable auxiliary material (ultrasonic welding tape, hot glue, etc.) can also be inserted beforehand (or during the welding process) using the feed device.
  • an adhesive can be placed beforehand using a dosing device.
  • the feed device can, for example, feed a solid welding material, such as a welding wire, or a viscous fluid, which solidifies under the influence of heat, in particular to the superimposed joining areas of the fabric layers in the stack of fabric layers.
  • the feed device can, for example, be attached to the work table or to the effector.
  • the fixing mechanism accordingly has a heat-generating welding element, which heats the welding material in the joining area in the fabric layers so that a weld seam can be produced.
  • the fixing mechanism has a holding-down device which is designed to apply a pressing force to the first material layer and the second material layer in the direction of the work surface.
  • the holding-down device can press against the work table/work surface with a force, which leads to a fixing of the two intermediate material layers.
  • the effector can also allow compressed air to flow between its underside and the material layers. This is particularly helpful when the effector has to reposition itself so that it can quickly overcome the adhesive forces between the effector and the first material layer.
  • the work table has a work surface that can be moved across a surface of the work table.
  • the first fabric layer and the second fabric layer can be fastened to the work surface using the fixing mechanism.
  • the fixation to the work table can also be done on or with the help of a base (work surface) that is movably placed on the work table.
  • a base work surface
  • This base plate can also be a tackboard.
  • the work surface can be designed as a thin plate and moved across the work table using an air pressure cushion or rollers.
  • the work surface can also be magnetic (permanently magnetic or electromagnetic) and act accordingly as a magnetic element of the magnetic device described above.
  • the fixing mechanism has a fixing surface within an effector contour, in which a fixing force can be transferred to at least the first material layer.
  • the fixing surface is smaller than 1 cm 2 , in particular smaller than 20 mm 2 , in particular smaller than 8 mm 2 .
  • the fixing mechanism has a plurality of fixing surfaces which are spaced apart from one another by more than 2 cm, in particular more than 3 cm, and more particularly more than 4 cm. For a later joining process, no prior continuous fixing surface for fixing the stack of material layers needs to be provided. It has been found that even smaller fixations at certain intervals are sufficient for a high seam quality.
  • the effector contour describes the area on a material layer at which the fixing mechanism and/or the handling mechanism exerts a fixing force or holding force.
  • the effector contour is defined, for example, by the border of the fixing surface or by the connecting lines between the individual fixing points at which there is holding contact with a held material layer within the x-y plane.
  • the connecting lines form an effector contour within the material layer.
  • the material layer can be tensioned and thus defines the x-y plane.
  • the joining areas are formed on the outer edge areas of the material layers, which lie outside the effector contour, which is defined by the fixing points, and the material layer can be untensioned there and protrude from the x-y plane, so to speak.
  • the fixing mechanism is designed such that the joining area forms a projection of more than 0.5 cm, in particular more than 1 cm, further in particular more than 2 cm or more than 3 cm relative to an effector contour.
  • the resulting material projection defines the joining areas and a subsequent joining becomes possible.
  • the joining area can then be placed on at least one other free joining area of another fabric layer.
  • the joining area can be manipulated in such a way that it is folded (e.g. for a hem) and thus form the fabric layer.
  • the fixing elements can be arranged on the effector so that they can pivot and extend.
  • the handling mechanism and/or the fixing mechanism can be arranged on one of the fixing elements, wherein the handling mechanism is further designed to fix and transport the stack of fabric layers to the joining unit for handling, in particular within the effector contour.
  • the handling mechanism is selected 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.
  • the fixing element has several handling mechanisms (and/or several fixing mechanisms).
  • 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 xy 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 very cooled contact surface with the material part, whereby frozen water or ice acts as an adhesive that adheres the material part to the contact surface. The water can be taken as an adhesive from the atmosphere (humidity) or added from an adhesive supply.
  • Combined grippers which for example have vacuum nozzles for fixing using negative pressure and at the same time using holding needles, can also be attached to the effector according to the invention.
  • the fixing elements can be designed in such a way that they are designed with zones or fixing devices that fix with different negative pressures, different surface flows and/or different electrostatic gripping positions to adapt to special textile properties of the material layer.
  • the effector has a contact surface within the effector contour, on which one of the Fabric layers or the fabric layer stack can be applied.
  • the contact surface forms in particular part of the handling mechanism for fixing one of the fabric layers or the fabric layer stack, wherein the contact surface is designed to hold one of the fabric layers or the fabric layer stack magnetically, using air pressure, mechanically or electrostatically to the effector.
  • the contact surface allows the fabric layers or the fabric layer stack to be transported and later deposited without distortion or wrinkles. After the fabric layers have been positioned or stacked, the fabric layers can be fixed more easily with the contact surface.
  • the contact surface can, for example, be part of the magnetic device and be designed accordingly to be magnetic.
  • the contact surface can hold the fabric layers with negative pressure, with mechanical elements (e.g. continuous microneedles) or with electrostatic elements.
  • Fig. 1 to Fig. 4 show schematic representations of a system for handling and processing fabric layers according to an exemplary embodiment, wherein two fabric layers 111, 112 are fixed and conveyed to a joining unit 140.
  • the system has a handling robot 100 with an effector 101 for handling fabric layers, a handling mechanism 120 which is at least partially arranged on the effector 101, wherein the handling mechanism 120 is designed to place a first fabric layer 111 flat on a second fabric layer 112 lying on the work surface 102 of a work table 103, and a fixing mechanism 130 which is at least partially arranged on the effector 101.
  • the effector 101 thus forms an end part of the handling robot 100 with, for example, a suction device as handling mechanism 120, which grasps and manipulates a fabric layer 111, 112 or a fabric layer stack 113 consisting of fabric layers 111, 112 that are fastened with the fixing mechanism 130.
  • a suction device as handling mechanism 120, which grasps and manipulates a fabric layer 111, 112 or a fabric layer stack 113 consisting of fabric layers 111, 112 that are fastened with the fixing mechanism 130.
  • the fixation device 130 is activated on the effector 101.
  • the fixation mechanism 130 has a holding needle device 131, which penetrates holding needles 132 through the two fabric layers 111, 112 in order to hold these two together in a fabric layer stack 113.
  • the handling mechanism 120 is activated again, for example by a suction cup/suction device generating negative pressure, and thus the fabric layer stack 113 is attached to the effector 101.
  • the effector 101 is then conveyed together with the fabric layer stack 113 to the joining unit 140, so that the joining areas 114, 115 are positioned exactly in the processing area of the joining unit 140.
  • the joining unit 140 can then process the joining areas 114, 115.
  • the effector contour 501 describes the area on a material layer 111, 112, on which the fixing mechanism 130 and/or the handling mechanism 120 exerts a fixing or holding force.
  • the effector contour 501 is defined, for example, by the border of the fixing surface or by the connecting lines between the individual fixing points, at which there is a holding contact with a held material layer 111, 112 within the xy plane.
  • a plurality of holding needles 132 have been introduced by the holding needle device 131 in order to hold the two material layers 111, 112 together.
  • the connecting lines form the Effector contour 501 within the material layer 111, 112.
  • Fig. 7 shows a schematic representation of an effector 101 with a contact surface 701 according to an exemplary embodiment.
  • the contact surface 701 is formed within the effector contour 501, to which one of the material layers 111, 112 or the material layer stack 113 can be applied.
  • the contact surface 701 forms in particular a part of the handling mechanism 120 for fixing one of the material layers or the material layer stack 113, wherein the contact surface 701 is designed in such a way that one of the material layers 111, 112 or the material layer stack 113 is held magnetically, based on air pressure, mechanically or electrostatically on the effector 101.
  • the contact surface 701 allows the fabric layers 111, 112 or the fabric layer stack 113 to be transported without distortion or creases and to be deposited later. After positioning or stacking the fabric layers 111, 112, the fabric layers 111, 112 can be fixed more easily using the contact surface 701.
  • the work surface 102 has a support device 702 which is designed to fix one of the material layers 111, 112 or the material layer stack 113 on the work surface 102 by means of a support force, in particular by means of pneumatic, mechanical and/or electrostatic support forces.
  • the support device 702 is fastened to the work table 103, for example.
  • the support device 702 can be based on pneumatic, electrostatic or magnetic principles. For example, a ferromagnetic plate can lie on the work table 103, onto which a material layer 111, 112 is placed, which can later serve as the magnetic element 601 of the magnetic device.
  • Fig. 8 shows a schematic representation of an effector 101 with a handling mechanism 120 and a fixing mechanism 130 according to an exemplary embodiment.
  • the effector 101 can first be placed over a fabric layer stack 113 in order to introduce holding needles 132 into the fabric layers 111, 112 so that the fabric layers 111, 112 are fastened to one another.
  • the effector 101 with the handling mechanism 120 which has a suction device, for example, can be placed over the fabric layer stack 113 in order to hold it to the effector 101 and to be transported further to a joining unit 140.
  • the effector 101 can have several, e.g. five, fixation elements 901.
  • a fixation element 901 has at least one fixation mechanism 130, for example a mechanical gripper 1001, gripper with vacuum nozzles, needle unit with holding needles 132, a fixation system with electrostatic attraction, fixation rollers, in particular counter-rotating fixation rollers and/or clamps.
  • the x-y plane is defined as the plane in which the material layer is located when it is fixed by the fixing elements.
  • the material layer is stretched between the fixing elements. In this stretched state, the material layer has a flat shape and is therefore located within the x-y plane.
  • the normal of the x-y plane forms the z direction.
  • the x-y plane forms the material plane and the thickness of the material is defined along the z direction.
  • the handling robot 100 has at least one sensor unit 902, wherein the sensor unit 902 has an optical sensor for determining an orientation of the fabric layer stack 113 relative to the effector 101 and/or the joining unit 140, a force sensor for measuring a fixing force of the fixing mechanism 130 for fixing the fabric layer 111, 112 and/or a weight sensor for measuring a weight of the fixed fabric layer stack 113.
  • the handling robot 100 is configured to control the fixing mechanism 130 based on the measured sensor parameter of the sensor unit 902.
  • the handling mechanisms 120 are adjusted in real time based on a location area or a sensor signal.
  • the control unit 105 for controlling the handling robot 100 and the joining unit 140 is coupled to the sensor unit 902 so that the control unit 105 can process all relevant measurement data for controlling the system.
  • an environmental sensor 903 for measuring an environmental parameter can be coupled to the control unit 105, in particular to measure the temperature, the humidity and/or the dew point of the surrounding atmosphere, wherein the handling mechanism 120 and/or the fixing mechanism 130 can be controlled based on the measured environmental parameter. It has been shown that taking the local climate (humidity, temperature fluctuations, dew point, etc.) into account when setting the holding forces is important for the reliability of the overall process.
  • FIG. 10 shows a schematic representation of a handling mechanism 120 with a gripping device according to an exemplary embodiment of the present invention.
  • a gripper 1001 of the gripping device is designed such that it encloses the edge of the fabric layer stack 113 and grips it from above and below, i.e. from the left and right side of the fabric layer stack 113.
  • Fig. 11 shows a schematic representation of a handling mechanism 120 with a suction device according to an exemplary embodiment of the present invention.
  • the suction device has a suction device 1101, wherein the suction device is designed to suck air from the first and second fabric layers 111, 112 by means of the suction device 1101 in such a way that the first and second fabric layers 111, 112 lying on top of one another can be fixed to the suction device. Since the fabric layers 111, 112 are permeable to air to a certain extent due to their material properties, two or more fabric layers can be attached in a fabric layer stack 113 by means of suction with an appropriately set suction power.
  • the suction device has, for example, a vacuum pump, which can be arranged, for example, at a distance from the effector, for example on the work table 103.
  • Fig. 12 shows a schematic representation of a handling mechanism 120 with an electrostatically charged attraction element 1201 according to an exemplary embodiment of the present invention.
  • the electrostatically charged attraction element 1201 can, for example, be electrostatically charged in order to fix the material of the material layers 111, 112 accordingly.
  • the electrostatic charge can, for example, be generated via a correspondingly connected power generation device which is controlled by the control unit 105.
  • Fig. 15 shows a schematic representation of a handling mechanism 120 with a gripper 1001 that grips an upper side of a fabric layer, according to an exemplary embodiment of the present invention.
  • the gripper 1001 grips a region of a surface of the fabric layer stack 113 in a pincer-like manner.
  • Fig. 16 shows a schematic representation of a handling mechanism 120 with a suction surface 1601 according to an exemplary embodiment of the present invention.
  • the suction surface 1601 forms a contact surface 701 as part of the handling mechanism 120, against which one of the material layers 111, 112 or the material layer stack 113 can be placed.
  • the suction surface 1601 has a plurality of suction openings 1602.
  • Fig. 17 to Fig. 19 show schematic representations of a fixing mechanism 130 with a folding device according to an exemplary embodiment of the present invention.
  • the folding device is designed to fold an edge region of a fabric layer 111 such that the folded edge region forms the first fabric layer 111, which lies on top of the second fabric layer 112.
  • the folding device has a clamping element 1703 in order to clamp the folded first fabric layer 111 and the second fabric layer 112 together.
  • the folding device is attached to the work table 103 by means of a bearing 1704.
  • a fixed support beam 1702 is arranged on the bearing 1704.
  • the folding device also has a movable folding beam 1701, which is movably arranged on the bearing 1704.
  • the folding beam 1701 runs parallel to the support beam 1702 and can be pivoted about this support beam 1702.
  • the folding beam 1701 and the support beam 1702 run parallel (and e.g. horizontally) to the work surface 102.
  • the folding beam 1701 is pivoted around the support beam 1702, whereby the folding beam 1701 remains parallel to the support beam 1702 and an area of the fabric layers
  • the clamping element 1703 is then swung out over the edge of the effector 101 or the suction surface 1601 and clamps the two fabric layers 111, 112 together.
  • the effector 101 or the suction surface 1601 has a contact area 1705 on which an edge area of the folded-over second fabric layer 112 rests, so that the clamping element 1703 can clamp this edge area or press it against the contact area 1705.
  • the contact area 1705 can have a projection on the effector 101 or the suction surface 1601, which extends from an edge of the effector 101 or the suction surface 1601, and around which the fabric layer 112 rests after being folded over. In other words, the projection is arranged between the two fabric layers 111, 112 after being folded over.
  • the length of the folded second material layer 112 can be longer than a distance between an edge of the effector 101 or the suction surface 1601 and the support bar 1702.
  • an end region of the folded second material layer 112 is folded up and placed on the edge surface.
  • the clamping element 1703 then pivots in the direction edge surface and clamps the folded-up part of the second fabric layer 112.
  • the effector 101 can pull out the fabric layers 111, 112 horizontally, in the direction of extension of the folding bar 1701 and the support bar 1702, with the fabric layers 111, 112 being held in the folded position by means of the clamping element 1703.
  • the effector 101 can now be pivoted into a horizontal position so that the fabric layers 111, 112 can lie flat on the work table 103.
  • the clamping element 1703 continues to clamp the fabric layers 111, 112 together.
  • the joining areas 114, 115 are shown at the free end, where the sewing machine 140 can, for example, set a seam.
  • Fig. 20 shows a schematic representation of the folding device, which can be arranged on a work table 103.
  • the folding beam 1701 and the support beam 1702 are attached at one end to the bearing 1704. Free ends are provided at the opposite ends of the folding beam 1701 and the support beam 1702.
  • the effector 101 can be moved horizontally so that the folding beam 1701 is moved out of the pocket formed between the fabric layers 111, 112.
  • Fig. 21 shows a schematic representation of a fabric layer 111 with a projection 2101 outside an effector contour 501, according to an exemplary embodiment.
  • the fabric layer 111 has, for example, the shape of a shirt.
  • the second fabric layer 112 is arranged below the fabric layer 111.
  • the first fabric layer 111 has a plurality of fixing areas 2100.
  • the fixing points of the handling mechanism 120 and/or the fixing mechanism 130 engage the fixing area in 2100.
  • fixing points such as Handling mechanism 120 is provided to lift the first fabric layer 111 as tensioned as possible without creases.
  • Fixing elements for the fixing mechanism 130 can be provided inside the effector contour 501, to which the fixing mechanism 130 fixes both fabric layers 111, 112 together.
  • corresponding holding needles 132 of the holding needle device 131 can be introduced into the fixing elements of the fixing mechanism 130 in order to fasten both fabric layers 111, 112 together.
  • the holding pins 1301 spread and fix the two fabric layers 111, 112.
  • the holding needles 1301 which are in particular again aligned parallel to one another, are released again from the material layers 111, 112.
  • the surface shape of the control surface 2201 can be deformable and in particular pre-tensioned by means of mechanical, pneumatic or hydraulic elements.
  • the elastic control surface 2201 can be designed to be deformable so that it can be pre-tensioned and automatically deformed back into an initial position without an external restoring force, for example by the holding needles 1301 running parallel or by the holding needles 1301 being at an angle to one another.
  • a control chamber 2202 is formed between the effector 101 and the control surface 2201.
  • the control chamber can be supplied with air (or a gas, in a hydraulic embodiment a hydraulic fluid) via an air line 2203.
  • air or a gas, in a hydraulic embodiment a hydraulic fluid
  • an overpressure can be generated in the control chamber 2202, whereby the control surface 2201 is deformed outwards and the holding needles 1301 are spread accordingly (see Fig. 23).
  • air can also be drawn out of the control chamber 2202, so that a negative pressure is generated and the control surface 2201 is deformed inwards (see Fig. 24).
  • the holding needles 1301 are thus pressed together at their tips.
  • a corresponding material layer 111, 112 can be held by means of the spread or compressed holding needles 1301.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Manipulator (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

La présente invention concerne un système de manipulation et de traitement de couches de tissu. Le système comprend un robot de manipulation (100) doté d'un effecteur (101) pour manipuler des couches de tissu, un mécanisme de manipulation (120), qui est disposé au moins en partie sur l'effecteur (101), le mécanisme de manipulation (120) étant conçu de manière à placer une première couche de tissu (111) à plat sur une seconde couche de tissu (112) reposant sur la surface de travail (102) d'une table de travail (103), et un mécanisme de fixation (130), qui est disposé au moins en partie sur l'effecteur (101). Le mécanisme de fixation (130) est conçu de manière à fixer la première couche de tissu (111) et la seconde couche de tissu (112) l'une sur l'autre en un empilement de couches de tissu (113), de telle sorte qu'une zone d'assemblage (114) de la première couche de tissu (111) repose sur une autre zone d'assemblage (115) de la seconde couche de tissu (112), le mécanisme de manipulation (120) pouvant en outre être commandé de telle sorte que les premières et les secondes couches de tissu superposées (111 112) peuvent être transportées vers une unité d'assemblage (140) destinée à traiter les zones d'assemblage
PCT/EP2024/065641 2023-06-07 2024-06-06 Système de positionnement et de fixation de plusieurs couches de tissu pour un assemblage automatisé Ceased WO2024251894A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202480038043.0A CN121620312A (zh) 2023-06-07 2024-06-06 用于自动接合的多织物层定位和固定系统
AU2024286760A AU2024286760A1 (en) 2023-06-07 2024-06-06 System for positioning and fixing a plurality of fabric layers for automated joining
KR1020267000235A KR20260027225A (ko) 2023-06-07 2024-06-06 자동 접합을 위해 다수의 직물층을 배치하고 고정하기 위한 시스템

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023114959.8 2023-06-07
DE102023114959.8A DE102023114959A1 (de) 2023-06-07 2023-06-07 System zum Positionieren und Fixieren von mehreren Stofflagen für ein automatisiertes Fügen

Publications (1)

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WO2024251894A1 true WO2024251894A1 (fr) 2024-12-12

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PCT/EP2024/065641 Ceased WO2024251894A1 (fr) 2023-06-07 2024-06-06 Système de positionnement et de fixation de plusieurs couches de tissu pour un assemblage automatisé

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Country Link
KR (1) KR20260027225A (fr)
CN (1) CN121620312A (fr)
AU (1) AU2024286760A1 (fr)
DE (1) DE102023114959A1 (fr)
WO (1) WO2024251894A1 (fr)

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US4498404A (en) * 1982-07-23 1985-02-12 Beta Engineering & Development Ltd. Automatic sewing apparatus
EP1048772A1 (fr) * 1999-04-29 2000-11-02 MK Nähtechnische Systeme GmbH Dispositif et procédé pour la couture automatique
US8060998B2 (en) * 2002-12-30 2011-11-22 Hbi Branded Apparel Enterprises, Llc Handling method and device for simultaneous processing of textile pieces
US20180129185A1 (en) * 2011-11-18 2018-05-10 Nike, Inc. Automated manufacturing of shoe parts with a pickup tool
EP2716585A2 (fr) * 2012-10-08 2014-04-09 Günther Stephan Zimmer Préhenseur à aiguille doté d'un actionneur électrodynamique
WO2014093863A1 (fr) * 2012-12-13 2014-06-19 Zornow Jonathon Facilitation de l'assemblage de produits par la modification temporaire des attributs de matériaux de composants flexibles
WO2017123816A1 (fr) * 2016-01-12 2017-07-20 Grabit, Inc. Procédés et systèmes de manipulation basée sur l'électroadhésion utilisée dans la fabrication
GB2561853A (en) * 2017-04-25 2018-10-31 Rfast Ltd Apparatus for and method of assembling flexible articles
US20210023681A1 (en) * 2019-07-22 2021-01-28 Robinson Jr Paul Cushman Fabric retaining device with switchable magnet
US11512423B1 (en) * 2022-06-21 2022-11-29 CreateMe Technologies LLC Methods and systems for 3D folding of garments and other articles

Also Published As

Publication number Publication date
DE102023114959A1 (de) 2024-12-12
KR20260027225A (ko) 2026-02-27
CN121620312A (zh) 2026-03-06
AU2024286760A1 (en) 2026-01-15

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