Glove Folding System

Abstract

An interfolded glove folding and stacking system 10 having a folding assembly with first 14 and second 16 stack areas, a glove receiving receptacle 22 between the stack areas, and first 18 and second

Description

FIELD OF THE INVENTION This invention relates to a system and method for folding gloves in a stack. This invention relates, in particular, to a system and method for forming a stack of interleaved or interfolded gloves. It is envisaged that the system and method of the present invention may be used to form a stack of gloves prior to packing the gloves in a suitable receptacle such as a bag or box, or surrounding the stack of gloves with a suitable wrap or retaining band or sleeve. BACKGROUND TO THE INVENTION Disposable single-use gloves are used in a variety of different applications. Such gloves usually come packaged in a box or other container having an opening through which the gloves are dispensed. In some examples, the gloves are packed randomly in the box. When a user grasps a part of an uppermost glove to draw the glove out of the box through the opening, the user may grip any part of the glove that is exposed through the opening. Often the user’s finger will also touch a part of the box around the opening as they are trying to remove the glove from the box. In medical settings, for example in hospitals, clinics, surgeries and care homes, disposable medical gloves can help prevent cross-contamination and cross-infection. In these settings, it is important that the gloves are not contaminated at the time that they are drawn from a box of gloves. A problem has previously been identified whereby contamination disposed around the opening of the box is transferred to the glove as the glove is withdrawn from the opening. Contamination may also be transferred to the finger or palm part of the glove if it is this part of the glove that the user grasps to remove the glove from the box. It is therefore known to provide a box of gloves in which the gloves are arranged in a stack so that a cuff part of the glove is presented to the user through the opening of the box. As the user draws a first glove from the box, the glove is preferably interleaved or interfolded with the next glove in the stack so the cuff portion of the next glove is disposed in the opening and presented to the user as the first glove is withdrawn. In this way a user may don a pair of gloves without making contact with the finger or palm portions of the gloves, thereby avoiding possible contamination of these areas. Most gloves used in hospitals and clinics are examination gloves, and these are used in large numbers. Such gloves are supplied not in individual sterile packages, but in relatively inexpensive cardboard dispensing boxes. The size of boxed gloves is an issue owing to the need to minimise the space needed to store gloves, or the size of dispensing apparatus holding boxed gloves. It is therefore desirable to pack as many gloves as possible into the stack of gloves held within a glove dispenser. As there is a limit to reducing material thickness, the need is therefore to stack gloves as evenly as possible with a minimum of trapped air within the stack of gloves. In a known system gloves are transversely folded (i.e. across a palm portion of the glove) and placed within a packing recess. To automate this process the gloves are laid so that a part of each glove overlies the packing recess and part of the glove overlies a respective glove folding flap disposed either side of an opening of the packing recess. The folding flaps alternately fold the gloves over into the packing recess, such that the cuff portion of one glove is placed over a finger portion of another glove. In the resultant stack of gloves, with the exception of the top-most and bottom-most gloves of the stack, each glove is folded around portions of the two adjacent gloves, with each cuff-portion being sandwiched between the finger portions of the two adjacent gloves. Similarly, each finger portion is sandwiched between the cuff portions of the two adjacent gloves. Once the stack includes the desired number of gloves, for example 100 or 200 gloves, the stack is pressed or otherwise inserted into a box or container. Disposable gloves are generally manufactured in a semi-continuous process in which handshaped formers are dipped in a polymer solution. Once the polymer solution has dried, the partially formed gloves then continue through a number of further processing steps before being stripped from the former. The gloves are typically then deposited on a conveyor belt to be packaged at a packing station. Typically gloves are deposited onto the conveyor belt so that there is a constant supply of gloves to the packing station. The packing of the gloves into boxes or similar receptacles then becomes a continuous process. In some manufacturing processes there may be only about 550 milliseconds (ms) between gloves when the gloves reach the packing station. It is an aim of the present invention to provide an improved process for the stacking and packing of gloves, such as disposable gloves, that overcomes a problem with prior art apparatus and methods, whether referred to herein or otherwise. SUMMARY OF THE INVENTION A first aspect of the present invention provides a glove folding system for forming a stack of interfolded gloves, the system comprising: a glove folding assembly comprising: a first glove stack area and a second glove stack area; a glove receiving receptacle disposed between the first and second glove stack areas in a loading position; a first folding flap disposed between the glove receiving receptacle and the first glove stack area, the first glove stack area and the first folding flap forming a first station; and a second folding flap disposed between the glove receiving receptacle and the second glove stack area, the second glove stack area and the second folding flap forming a second station; and a pick and place robot comprising a head assembly including a first gripper head and a second gripper head, the head assembly being configured to move along a linear axis of movement between a first position in which the head assembly is above the first station and a second position in which the head assembly is above the second station, wherein the first folding flap is pivotable between a support position in which said folding flap extends away from the glove receiving receptacle towards the first glove stack area and a fold position in which said folding flap extends over an opening of the glove receiving receptacle, and the second folding flap is pivotable between a support position in which said folding flap extends away from the glove receiving receptacle towards the second glove stack area and a fold position in which said folding flap extends over an opening of the glove receiving receptacle, wherein the pick and place robot is configured to, in the first position, use the first gripper head to pick up a glove from the first glove stack area and deposit a glove held by the second gripper head onto the first folding flap so that a part of the glove extends over the opening of the glove receiving receptacle, and in the second position, use the second gripper head to pick up a glove from the second glove stack area and deposit a glove held by the first gripper head onto the second folding flap so that a part of the glove extends over the opening of the glove receiving receptacle, and wherein the first folding flap is configured to pivot from its support position to its fold position and return to its support position when the majority of the head assembly is above the second station, and the second folding flap is configured to pivot from its support position to its fold position and return to its support position when the majority of the head assembly is above the first station. Accordingly, the head assembly shuttles between the first position and the second position, and the first and second folding flaps pivot alternately in sequence with or in time with the movement of the head assembly. In preferred embodiments the pick and place robot is configured to, in the first position, deposit a glove held by the second gripper head onto the first folding flap so that a finger portion of the glove extends over the opening of the glove receiving receptacle and a cuff portion of the glove is supported by the first folding flap. The pick and place robot is preferably also configured to, in the second position, deposit a glove held by the first gripper head onto the second folding flap so that a finger portion of the glove extends over the opening of the glove receiving receptacle and a cuff portion of the glove is supported by the second folding flap. The first and second gripper heads are preferably configured to apply a suction force to a glove. In preferred embodiments the pick and place robot is configured to, in the first position, use the first gripper head to pick up a glove from the first glove stack area by applying a suction force to a wrist region of the glove, and in the second position, use the second gripper head to pick up a glove from the second glove stack area by applying a suction force to a wrist region of the glove. The glove folding system preferably comprises a first stack of gloves disposed on a surface in the first glove stack area and a second stack of gloves disposed on a surface in the second glove stack area. In one preferred embodiment the first stack of gloves preferably comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction towards the first folding flap, and the second stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction towards the second folding flap. In these embodiments, each of the first gripper head and second gripper head preferably includes a Bernoulli nozzle arranged to direct a flow of air over a surface of the respective first or second gripper head to, in use, decrease air pressure between the surface of said gripper head and a cuff portion of the glove held by said gripper head. In another preferred embodiment the first stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction away from the first folding flap, and the second stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction away from the second folding flap. The first and second glove stack areas, the first and second folding flaps, and the opening of the glove receiving receptacle may lie in an operating plane of the glove folding system. Preferably, the pick and place robot is configured to raise the head assembly in a direction away from the operating plane when moving the head assembly between the first and second positions. The glove receiving receptacle preferably comprises a side wall defining the opening of the glove receiving receptacle and a floor, the floor being moveable with respect to the side wall to change a distance between the floor and the opening. In preferred embodiments the glove folding system further comprises a nozzle arranged to direct a jet of air onto the opening of the glove receiving receptacle. A primary direction of the jet of air is preferably substantially perpendicular to a plane of the opening of the glove receiving receptacle. In some embodiments the nozzle may be configured to emit a pulsed jet of air so that air strikes the opening of the glove receiving receptacle when the head assembly is in the first position or the second position and the first and second folding flaps are in their respective support positions. In embodiments in which the gloves in the first stack of gloves each lie flat with a cuff end of the glove facing in a direction away from the first folding flap, and the gloves in the second stack of gloves each lie flat with a cuff end of the glove facing in a direction away from the second folding flap the nozzle is preferably arranged to additionally direct the jet of air over the first folding flap when the head assembly is in the second position and the first folding flap is in its support position and the nozzle is arranged to additionally direct the jet of air over the second folding flap when the head assembly is in the first position and the second folding flap is in its support position. In preferred embodiments the glove folding system further comprises a first glove stack infeed assembly comprising a holder for receiving a stack of gloves and a transfer mechanism for transferring said stack of gloves to the first glove stack area, and a second glove stack infeed assembly comprising a holder for receiving a stack of gloves and a transfer mechanism for transferring said stack of gloves to the second glove stack area. The first and second glove stack areas, the first and second folding flaps, and the opening of the glove receiving receptacle in its loading position together define a working region of the system. In preferred embodiments the glove receiving receptacle is a first glove receiving receptacle and the system further comprises a second glove receiving receptacle. Each of the first and second glove receiving receptacles are preferably moveable between the loading position and an unloading position, the unloading position being outside the working region. In preferred embodiments each of the first and second folding flaps is configured to rotate about its respective pivot through an arc of 180° from the support position to the fold position and to return through the same arc of 180° from the fold position to the support position. In preferred embodiments each of the first and second folding flaps comprises a plurality of fingers. To increase output from the glove folding system the system may comprise a plurality of glove folding assemblies. In these embodiments the pick and place robot preferably comprises a corresponding plurality of head assemblies, each head assembly being configured to move along a linear axis of movement between a first position in which the head assembly is above the first station of the corresponding glove folding assembly and a second position in which the head assembly is above the second station of the corresponding glove folding assembly. The head assemblies are preferably in fixed positions relative to each other such that all of the head assemblies are at a first time point simultaneously in the first position and at a second time point simultaneously in the second position. A second aspect of the present invention provides a method of forming a stack of interfolded gloves using the glove folding system according to the first aspect of the invention, the method comprising: placing a first stack of gloves on the first stack area; placing a second stack of gloves on the second stack area; operating the pick and place robot to: (i) move the head assembly to the first position; (ii) use the first gripper head to pick up a glove from the first stack of gloves; (iii) move the head assembly to the second position; (iv) simultaneously use the second gripper head to pick up a glove from the second stack of gloves and release the glove from the first gripper head onto the second folding flap; (v) move the head assembly to the first position; (vi) simultaneously use the first gripper head to pick up a glove from the first stack of gloves and release the glove from the second gripper head onto the first folding flap; and (vii) repeat steps (iii) to (vi) until a folded stack of gloves in the glove receiving receptacle comprises a predetermined number of gloves; while the head assembly is in the second position after depositing a glove onto the second folding flap, pivoting the first folding flap from its support position to its fold position and back to its support position; and while the head assembly is in the first position after depositing a glove onto the first folding flap, pivoting the second folding flap from its support position to its fold position and back to its support position. In preferred embodiments, the method step of using the first gripper head to pick up a glove from the first stack of gloves comprises operating a vacuum system associated with the first gripper head to apply a suction force to the glove of the first stack of gloves, the method step of using the second gripper head to pick up a glove from the second stack of gloves comprises operating a vacuum system associated with the second gripper head to apply a suction force to the glove of the first stack of gloves, the method step of releasing the glove from the second gripper head onto the first folding flap comprises operating the vacuum system associated with the second gripper head to reduce or remove the suction force applied to the glove, and the method step of releasing the glove from the first gripper head onto the second folding flap comprises operating the vacuum system associated with the first gripper head to reduce or remove the suction force applied to the glove. In preferred embodiments, the method further comprises operating the pick and place robot to, after picking up a glove from either the first stack of gloves or the second stack of gloves, raising the head assembly in a direction away from the operating plane, and before releasing a gloves onto either the first folding flap or the second folding flap, lowering the head assembly in a direction towards the operating plane. In embodiments in which the glove folding system comprises a nozzle arranged to direct a jet of air onto the opening of the glove receiving receptacle, the method further comprises emitting a blast of air from the nozzle when the head assembly is in the first position or the second position and each of the first and second folding flaps is in its respective support position. In embodiments in which each of the first gripper head and second gripper head includes a Bernoulli nozzle, the method preferably further comprises emitting a flow of air from the Bernoulli nozzle of the first gripper head when the first gripper head picks up a glove from the first stack of gloves, and emitting a flow of air from the Bernoulli nozzle of the second gripper head when the second gripper head picks up a glove from the second stack of gloves. In embodiments in which the glove folding system comprises a first and second glove receiving receptacles moveable between loading and unloading positions, the method preferably further comprises, when the first glove receiving receptacle holds a stack of interfolded gloves including a predetermined number of gloves, moving the first glove receiving receptacle from the loading position to the unloading position and moving the second glove receiving receptacle from the unloading position to the loading position. Preferred and / or optional features of each aspect and embodiment described above may also be used, alone or in appropriate combination, in the other aspects and embodiments also. BRIEF DESCRIPTION OF THE DRAWINGS The invention will now be further described by way of example only and with reference to the accompanying drawings, in which like reference signs are used for like features, and in which: Figure 1 is a plan view from above of a glove stacking system according to a first preferred embodiment of the present invention; Figure 2 is a plan view from above of one half of the glove stacking system of Figure 1; Figure 3 is a plan view from a side of the glove stacking system of Figure 1; Figure 4 is a plan view from above of a glove stacking system according to a second preferred embodiment of the present invention; Figure 5 is a plan view from above of one half of the glove stacking system of Figure 4; and Figure 6 is a plan view from a side of the glove stacking system of Figure 4. DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a glove folding system 10 according to the present invention is illustrated in Figures 1 to 3. In general terms the glove folding system 10 is configured to pick gloves 12 from first and second stacks of gloves 14, 16, and place them individually onto two folding flaps 18, 20 that are disposed either side of a glove receiving receptacle 22. The flaps 18, 20 then operate alternately to fold the gloves 12 into the glove receiving receptacle 22 to create an interfolded stack of gloves. The folded stack of gloves may then be removed from the glove receiving receptacle 22 to be packaged as required. The glove folding system 10 comprises a glove receiving receptacle 22 that, in this embodiment, has an upper opening 24 through which gloves 12 are inserted into the receptacle 22. In preferred embodiments the glove receiving receptacle 22 comprises four side walls 26 that are arranged to define a generally rectangular opening 24. In other embodiments the glove receiving receptacle may have any number of side walls and the opening may have any desired perimeter shape. However, the opening is preferably rectangular to form a cuboidal stack of gloves that may be easily packaged in a cuboidal box or container. The glove receiving receptacle 22 further includes a support floor 28 that is disposed within an internal volume 30 of the glove receiving receptacle 22. The support floor 28 is preferably arranged to be movable with respect to the side walls 26 in an axial direction, perpendicular to a plane of the opening 24 of the glove receiving receptacle 22. In use, gloves in the stack being formed are supported by the floor 28 within the glove receiving receptacle 22. As a height of the stack increases, the floor 28 is arranged to move downwards in a direction away from the opening 24. This has the advantage that the current top of the stack is always disposed near the top of the glove receiving receptacle 22 at or proximate the opening 24. On opposite sides of the glove receiving receptacle 22 are two folding flaps 18, 20. A first folding flap 18 is disposed on a first side of the glove receiving receptacle 22, and a second folding flap 20 is disposed on a second, opposite side of the glove receiving receptacle 22. Each of the folding flaps 18, 20 extends between opposite proximal and distal ends 32, 34 in a first longitudinal direction and extends between opposite first and second sides 36, 38 in a second lateral direction. The lateral direction is generally perpendicular to the longitudinal direction. Each of the first and second folding flaps 18, 20 provides a respective support surface 40. In this embodiment, each of the first and second folding flaps 18, 20 comprises a plurality of fingers or tines 42. The fingers 42 extend in the longitudinal direction and are spaced apart in the lateral direction. Preferably the fingers 42 extend parallel to each other. In this embodiment, therefore, the support surface 40 is provided by a part of the surface of each of the fingers 42 that lies in a plane. In other embodiments each of the folding flaps may have any suitable construction. Each of the folding flaps may comprise a plate having a smooth or textured surface, a mesh, fingers extending in the lateral direction, or any similar structure that provides a continuous or non-continuous support surface. The first and second folding flaps 18, 20 are arranged so that the proximal end 32a of the first flap 18 is adjacent a first side wall 26a of the glove receiving receptacle 22 and the proximal end 32b of the second flap 20 is adjacent an opposite second side wall 26b of the glove receiving receptacle 22. The glove folding system 10 further comprises first and second glove stack areas 44, 46. The first glove stack area 44 is disposed adjacent the first folding flap 18 and the second glove stack area 46 is disposed adjacent the second folding flap 20. With this arrangement the first folding flap 18 is disposed between the glove receiving receptacle 22 and the first glove stack area 44, and the second folding flap 20 is disposed between the glove receiving receptacle 22 and the second glove stack area 46. In this way the first and second glove stack areas 44, 46, the first and second folding flaps 18, 20 and the glove receiving receptacle 22 are aligned along a linear axis 48. The first glove stack area 44 provides a first stacking surface 50 on which a stack of gloves may be deposited or formed. Similarly, the second glove stack area 46 provides a second stacking surface 52 on which a stack of gloves may be deposited or formed. The gloves 12 in the stacks of gloves disposed on each of the first and second glove stack areas 44, 46 preferably lie flat and are oriented in the same direction as each other. In this way, a finger portion 6 of one glove 12 overlies the finger portion 6 of another glove 12 and, similarly, a palm region 8 of one glove 12 overlies the palm region 8 of the other glove 12. In this embodiment, and as shown in Figures 1 and 2, the stacks of gloves in the first and second stack areas 44, 46 are oriented so that a cuff end 7 of the gloves 12 faces in a direction towards the glove receiving receptacle 22. The first glove stack area 44 and the first folding flap 18 together form a first station 54 of the glove folding system 10. The second glove stack area 46 and the second folding flap 20 together form a second station 56 of the glove folding system 10. Each of the first and second folding flaps 18, 20 is moveable between a support position and a fold position. In the support position the longitudinal axis of the folding flap 18, 20 from the proximal end 32 to the distal end 34 extends in a direction away from the glove receiving receptacle 22 towards the respective glove stack area 44, 46. According, when the first folding flap 18 is in the support position the first folding flap 18 extends from the proximal end 32a to the distal end 34a in a direction towards the first glove stack area 44, and when the second folding flap 20 is in the support position the second folding flap 20 extends from the proximal end 32b to the distal end 34b in a direction towards the second glove stack area 46. When a folding flap 18,20 is in the support position, the support surface 40 of the folding flap 18, 20 faces in a generally upwards direction. Preferably, when a folding flap 18, 20 is in the support position, a plane of the support surface 40 of the folding flap 18, 20 is substantially parallel to the plane of the opening 24 of the glove receiving receptacle 22. In its respective fold position, each of the first and second folding flaps 18, 20 extends over the opening 24 of the glove receiving receptacle 22. As such, when the first folding flap 18 is in the fold position the longitudinal direction from the proximal end 32a to the distal end 34a extends in a direction towards the second station 56. When the second folding flap 20 is in the fold position the longitudinal direction from the proximal end 32b to the distal end 34b extends in a direction towards the first station 54. When a folding flap 18, 20 is in the fold position, the support surface 40 of the folding flap 18,20 faces in a generally downwards direction. To facilitate this movement of the folding flaps 18, 20 between the support position and the fold position, each of the first and second folding flaps 18, 20 is pivotable about a rotational axis 58. Each of the first and second folding flaps 18, 20 is mounted on a pivot axle 60, which in this embodiment is disposed at the proximal end 32 of the folding flap 18, 20. The pivot axle 60 extends in a direction parallel to the proximal end 32 of the folding flap 18, 20 such that the rotational axis 58 is parallel to the lateral direction between the first and second sides 36, 38 of the folding flap 18, 20. Accordingly, a first pivot axle 60a is disposed at the proximal end 32a or proximal edge of the first folding flap 18 and a second pivot axle 60b is disposed at the proximal end 32b or proximal edge of the second folding flap 20. A first drive assembly 62a is connected to the first pivot axle 60a. The first drive assembly 62a is configured to rotate the first folding flap 18 about the first rotational axis 58a between the support position and the fold position. In preferred embodiments the first folding flap 18 pivots through a 180° arc between the support position and the fold position. In particularly preferred embodiments the first drive assembly 62a is configured to rotate the first folding flap 18 in a first direction through the 180° arc from the support position to the fold position and to rotate the first folding flap 18 in an opposite second direction back through the same 180° arc from the fold position to the support position. A second drive assembly 62b is connected to the second pivot axle 60b. The second drive assembly 62b is configured to rotate the second folding flap 20 about the second rotational axis 58b between the support position and the fold position. In preferred embodiments the second folding flap 20 pivots through a 180° arc between the support position and the fold position. In particularly preferred embodiments the second drive assembly 62b is configured to rotate the second folding flap 20 in a first direction through the 180° arc from the support position to the fold position and to rotate the second folding flap 20 in an opposite second direction back through the same 180° arc from the fold position to the support position. The glove folding system 10 further comprises a pick and place robot 64 configured to pick up a glove 12 from each of the first and second stack areas 44, 46 and to place the glove 12 so that it overlies one of the first and second folding flaps 18, 20. The pick and place robot 64 includes a head assembly 66 including a first gripper head 68 and a second gripper head 70. The first and second gripper heads 68, 70 are in fixed positions with respect to each other. The pick and place robot 64 is configured to move the head assembly 66 between a first position in which the head assembly 66 is above the first station 54 and a second position in which the head assembly 66 is above the second station 56. The pick and place robot 64 is configured to move the head assembly 66 along a linear axis of movement, parallel to the linear axis 48, between the first position and the second position. The first and second gripper heads 68, 70 are preferably identical in their configuration and operation. Each of the first and second gripper heads 68, 70 is configured to grip a glove 12 to pick a glove 12 up from a stack of gloves on one of the first and second glove stack areas 44, 46 and to release the glove 12 so that the glove 12 is partially supported by one of the first and second folding flaps 18, 20. In this embodiment each of the first and second gripper heads 68, 70 comprises a suction unit 72. Each of the first and second gripper heads 68, 70 is therefore configured to apply a suction force to a glove 12 to pick the glove up from the stack. In this embodiment each of the first and second gripper heads 68, 70 further includes a Bernoulli nozzle 74. In use, and as described further below, each of the first and second gripper heads 68, 70 is arranged to apply a suction force to a wrist region 9 of the respective glove 12 adjacent the cuff end 7 of the glove 12 (typically about 10 mm to 30 mm from the cuff end 7). Accordingly, there is a tendency for the cuff end 7 of the glove to hang downwardly from the gripper head 68, 70. The Bernoulli nozzle 74 is arranged to direct a flow of air over a surface of the gripper head 68, 70 corresponding to the position of the cuff end 7 of the glove 12. The flow of air from the Bernoulli nozzle 74 increases the speed of the air flow in this region so that, in turn, the air pressure between the surface of the gripper head 68, 70 and the cuff end 7 of the glove 12 is decreased. This applies a force to the cuff end 7 of the glove 12 to retain the cuff end 7 in proximity to the surface of the gripper head 68, 70. The glove folding system 10 further comprises a stack nozzle 76 arranged to direct a jet of air onto the opening 24 of the glove receiving receptacle 22. The stack nozzle 76 is preferable disposed directly above the opening 24 so that a primary direction of the jet of air is substantially perpendicular to a plane of the opening 24 of the glove receiving receptacle 22. The stack nozzle 76 is, therefore, configured to direct a jet of air onto the area of the opening 24 to compress a stack of interfolded gloves in the glove receiving receptacle 22. As described above, in its respective fold position each of the first and second folding flaps 18, 20 extends over the opening 24 of the glove receiving receptacle 22. The stack nozzle 76 is, therefore, preferably configured to emit a pulsed jet of air so that air strikes the opening 24 of the glove receiving receptacle 22 when the head assembly 66 is in the first position or the second position and the first and second folding flaps 18, 20 are in their respective support positions. The stack of interfolded gloves formed by the glove folding system 10 will subsequently be removed from the glove receiving receptacle 22 to be packaged in a suitable box or container. The stack of interfolded gloves therefore comprises a predetermined or required number of gloves, for example 100, 150 or 200. To facilitate removal of the stack of interfolded gloves, the glove receiving receptacle 22 is preferably moveable from a loading position, in which the glove receiving receptacle 22 is disposed between the first and second folding flaps 18, 20, to an unloading position. The unloading position is preferably outside or at a distance from a working region 78 of the glove folding system 10. The working region 78 is defined by the first and second glove stack areas 44, 46, the first and second folding flaps 18, 20, and the opening 24 of the glove receiving receptacle 22. The glove folding system 10 therefore preferably includes means to move the glove receiving receptacle 22 between the loading and unloading positions. The gloves supplied to the glove folding system 10 will typically be disposable gloves. Disposable gloves are generally manufactured in a semi-continuous process in which handshaped formers are dipped in a polymer solution. Once the polymer solution has dried, the partially formed gloves then continue through a number of further processing steps before being stripped from the former. The gloves are typically then deposited on a conveyor belt, such that there is a continuous supply of gloves to downstream processes such as stacking and packing. In the present glove folding system 10, the interfolding and stacking of gloves 12 is a semi-continuous process. In particular, each of the stacks of gloves on the first and second glove stack areas 44, 46 will comprise a predetermined and finite number of gloves. The total number of gloves 12 stacked on the first and second glove stack areas 44, 46 may equal the total number of gloves in the final stack of interfolded gloves. To facilitate a supply of gloves to the first and second glove stack areas, the glove folding system 10 preferably comprises a first glove stack infeed assembly 80 and a second glove infeed assembly 82. The first glove stack infeed assembly 80 comprises a holder 84 for receiving a first stack of gloves and a transfer mechanism for transferring the first stack of gloves to the first glove stack area 44. The second glove stack infeed assembly 82 comprises a holder 84 for receiving a second stack of gloves and a transfer mechanism for transferring the second stack of gloves to the second glove stack area 46. In preferred embodiments the first and second stack infeed assemblies 80, 82 are disposed above the respective first and second glove stack areas 44, 46. The transfer mechanism of each of these first and second stack infeed assemblies 80, 82 may comprise a trapdoor in a floor of the holder 84 that may be opened so that the stack of gloves within or on the holder 84 falls onto the glove stack area 44, 46 below. A method of forming a stack of interfolded gloves using the glove folding system 10 of this embodiment will now be described with further reference to Figures 1 to 3. Initial Configuration In an initial or starting configuration, a first stack of gloves 12 is disposed on the first glove stack area 44 and a second stack of gloves 12 is disposed on the second glove stack area 46. The first stack of gloves 12 is oriented such that the cuff end 7 of each of the gloves 12 faces towards the glove receiving receptacle 22. Similarly, the second stack of gloves 12 is oriented such that the cuff end 7 of each of the gloves 12 faces towards the glove receiving receptacle 22. In preferred embodiments the first and second stacks of gloves 12 are also oriented such that a thumb portion 9 of each of the gloves 12 faces in a direction towards a first side edge 86 of the respective first or second glove stack area 44, 46; the first side edge 86a of the first glove stack area 44 being aligned with the first side edge 86b of the second glove stack area 46. Step 1 The pick and place robot 64 is operated to move the head assembly 66 into the first position so that the first gripper head 68 is disposed above the first glove stack area 44 and the second gripper head 70 is disposed above the first folding flap 18. The head assembly is lowered to bring the first gripper head 68 proximate the top glove 12 of the first stack of gloves 12 and the suction unit 72 is operated to apply a suction force to a first glove 12a to draw the glove 12a into contact with a surface of the first gripper head 68. It will be appreciated that the stack of gloves 12 on each of the first and second glove stack areas 44, 46 may not be in exactly the same place each time the glove folding system 10 is operated. Accordingly, the pick and place robot 64 is preferably configured such that the first gripper head 68 is disposed so that the suction force is applied to a wrist region 9 of the glove 12 at a distance from or adjacent the cuff end 7. Preferably the first gripper head 68 is disposed so that the suction force is applied to a wrist region 9 of the glove 12 at a distance of between about 10 mm and 30 mm from the cuff end 7. This allows for variations in the position of the glove 12 on the first glove stack area 44 while still permitting reliable picking of the glove 12 from the stack. Similarly, the head assembly 66 is preferably configured so that the second gripper head 70 is disposed so that the suction force is applied to a wrist region 9 of a glove 12 on the second glove stack area 46 at a distance from the cuff end 7 of the glove 12, as described further below. The head assembly 66 then lifts the glove 12a in contact with the first gripper head 68 off the stack of gloves. The head assembly 66 therefore preferably moves in an upwards direction away from the first glove stack area 44. The first stacking surface 50 and the second stacking surface 52 preferably lie in the same plane, which may be referred to as an operating plane. The head assembly 66 is therefore moved upwards in a direction away from the operating plane. As the glove 12a is lifted the cuff end 7 may have a tendency to hang down from the first gripper head 68. To minimise or prevent this, the first gripper head 68 is operated to direct a flow of air out of the Bernoulli nozzle 74 and over a surface of the gripper head 68, as described above. Step 2 The head assembly 66 is then moved in a linear direction parallel to the linear axis 48 into the second position so that the first gripper head 68 is disposed above the second folding flap 20 and the second gripper head 70 is disposed above the second glove stack area 46. The head assembly 66 is lowered in a direction towards the operating plane. The position of the first gripper head 68 relative to the second folding flap 20 is such that the first glove 12a held by the first gripper head 68 partially overlies the second folding flap 20 and partially overlies the opening 24 of the glove receiving receptacle 22. In particular, the finger portion 6 of the glove 12a preferably overlies the opening 24 and the palm region 8 and wrist region 9 of the glove 12a overlies the second folding flap 20. The suction unit 72 associated with the first gripper head 68 is then operated to reduce or switch off the suction force applied to the glove 12a such that the glove 12a is detached from the surface of the first gripper head 68 and lies on the second folding flap 20. The cuff end 7 of the glove 12a faces in a direction away from the glove receiving receptacle 22. At the same time as the glove is being released from the first gripper head 68, the suction unit 72 associated with the second gripper head 70 is operated to apply a suction force to a top glove 12 of the second stack of gloves 12 to draw a second glove 12b into contact with a surface of the second gripper head 70. The head assembly 66 then moves in an upwards direction to lift the glove 12b in contact with the second gripper head 70 off the second stack of gloves. The second gripper head 70 is operated to direct a flow of air out of the Bernoulli nozzle 74 associated with the second gripper head 70 and over a surface of the second gripper head 70 to retain the cuff end 7 of the glove 12b adjacent the surface. Step 3 The head assembly 66 is then moved in the linear direction parallel to the linear axis 48 back into the first position so that the first gripper head 68 is disposed above the first glove stack area 44 and the second gripper head 70 is disposed above the first folding flap 18. The head assembly 66 is lowered in a direction towards the operating plane. The position of the second gripper head 70 relative to the first folding flap 18 is such that the glove 12b held by the second gripper head 70 partially overlies the first folding flap 18 and partially overlies the opening 24 of the glove receiving receptacle 22. In particular, the finger portion 6 of the glove 12b preferably overlies the opening 24 and the palm region 8 and wrist region 9 of the glove 12b overlies the first folding flap 18. The suction unit 72 associated with the second gripper head 70 is then operated to reduce or switch off the suction force applied to the glove 12b such that the glove 12b is detached from the surface of the second gripper head 70 and lies on the first folding flap 18. The cuff end 7 of the glove 12 faces in a direction away from the glove receiving receptacle 22. The finger portion 6 of this second glove 12b overlies the finger portion 6 of the first glove 12a disposed in the glove receiving receptacle 22. At the same time as a glove is being released from the second gripper head 70, the suction unit 72 associated with the first gripper head 68 is operated to apply a suction force to a top glove 12 of the first stack of gloves 12 to draw the glove 12 into contact with the surface of the first gripper head 68. The head assembly 66 is moved upwards in a direction away from the operating plane to lift the glove 12 from the stack of gloves, and the Bernoulli nozzle 74 is operated as described earlier. Step 4 Before the head assembly 66 moves from the first position to the second position, the second folding flap 20 is operated to rotate about its rotational axis 58 from the support position to the fold position, as described above. This folds the wrist region 9 and cuff end 7 of the first glove 12a over the finger portion 6 of the second glove 12b so that the wrist region 9 and cuff end 7 of the first glove 12a overlies the finger portion 6 of the second glove 12b within the glove receiving receptacle 22. The first glove 12a then lies fully within the glove receiving receptacle 22. After folding the glove 12, the second folding flap 20 is then operated to rotate about its rotational axis 58 from the fold position back to the support position. Step 5 The head assembly 66 is then moved in the linear direction parallel to the linear axis 48 from the first position to the second position. The head assembly 66 is lowered to bring the second gripper head 70 proximate the top glove 12 of the second stack of gloves 12 and the suction unit 72 is operated to apply a suction force to the top glove 12 to draw the glove 12 into contact with a surface of the second gripper head 70. At the same time the suction unit 72 associated with the first gripper head 68 is operated to reduce or switch off the suction force applied to the glove 12 such that the glove 12 is detached from the surface of the first gripper head 68 and lies on the second folding flap 20. The finger portion 6 of this glove 12 overlies the cuff end 7 of the glove 12 previously folded into the glove receiving receptacle 22. The head assembly 66 is moved upwards in a direction away from the operating plane to lift the glove 12 from the stack of gloves, and the Bernoulli nozzle 74 is operated as described earlier. Step 6 Before the head assembly 66 moves from the second position to the first position, the first folding flap 18 is operated to rotate about its rotational axis 58 from the support position to the fold position, as described above. This folds the wrist region 9 and cuff end 7 of the second glove 12b over the finger portion 6 of the glove just deposited onto the second folding flap 20. The second glove 12b then lies fully within the glove receiving receptacle 22. After folding the glove 12, the first folding flap 18 is then operated to rotate about its rotational axis 58 from the fold position back to the support position. In the method, Steps 3 to 6 are then repeated until there are no gloves remaining in the first and second stacks of gloves, and the required number of gloves 12 have been interfolded to form a stack in the glove receiving receptacle 22. Unloading Step Once the stack of interfolded gloves comprises a predetermined or required number of gloves. The glove receiving receptacle 22 is then moved from the loading position between the first and second folding flaps 18, 20, to the unloading position. A user of the system 10 or another automated mechanism may then remove the interfolded stack of gloves from the glove receiving receptacle 22. In preferred embodiments, to minimise downtime of the glove folding system 10, the filled glove receiving receptacle 22 may be interchanged for an empty glove receiving receptacle. In particular, a second glove receiving receptacle 22’ may be moved from the unloading position to the loading position ready to receive the next stack of interfolded gloves. The first and second glove receiving receptacles 22, 22’ are preferably identical in their shape and construction. Initialising Step Before the above method can be repeated to form another stack of interfolded gloves, a new stack of flat gloves must be placed on each of the first and second glove stack areas 44, 46. This step of the method therefore comprises transferring a stack of gloves from a first glove stack infeed assembly 80 to the first glove stack area 44 and transferring a stack of gloves from a second glove infeed assembly 82 to the second glove stack area 46. This returns the glove folding system 10 to the initial configuration. In embodiments of the glove folding system 10 that include a stack nozzle 76, the method preferably additionally includes steps to operate the stack nozzle 76 to direct a jet of air onto the opening 24 of the glove receiving receptacle 22. The jet of air acts to flatten the top layer of the stack of gloves in the glove receiving receptacle 22 and to compress the stack of interfolded gloves. The stack nozzle 76 may be operated to direct the jet of air at the opening 24 only when the head assembly 66 is in the first position or the second position and the first and second folding flaps 18, 20 are in their respective support positions. A second embodiment of a glove folding system 110 according to the present invention is illustrated in Figures 4 to 6. This glove folding system 110 is substantially identical to the glove folding system 10 of the first embodiment and like features have been indicated with reference numerals incremented by 100. In this glove folding system 110, first and second glove stack areas 144, 146, first and second folding flaps 118, 120 and a glove receiving receptacle 122 are identical in configuration to the first and second glove stack areas 44, 46, the first and second folding flaps 18, 20 and the glove receiving receptacle 22 of the first embodiment. Furthermore, the first and second folding flaps 118, 120 of this embodiment operate in an identical manner to those of the first embodiment. The first glove stack area 144 and the first folding flap 118 together form a first station 154 of the glove folding system 110. The second glove stack area 146 and the second folding flap 120 together form a second station 156 of the glove folding system 110. The first glove stack area 144 provides a first stacking surface 150 on which a first stack of gloves may be deposited or formed. Similarly, the second glove stack area 146 provides a second stacking surface 152 on which a second stack of gloves may be deposited or formed. The gloves 12 in the stacks of gloves disposed on each of the first and second glove stack areas 144, 146 preferably lie flat and are oriented in the same direction as each other. In this way, a finger portion 6 of one glove 12 overlies the finger portion 6 of another glove 12 and, similarly, a palm region 8 of one glove 12 overlies the palm region 8 of the other glove 12. In this embodiment, and as shown in Figures 4 and 5, the stacks of gloves in the first and second stack areas 144, 146 are oriented so that a cuff end 7 of the gloves 12 faces in a direction away from the glove receiving receptacle 122. The glove folding system 110 further comprises a pick and place robot 164 configured to pick up a glove 12 from each of the first and second stack areas 144, 146 and to place the glove 12 so that it overlies one of the first and second folding flaps 118, 120. The pick and place robot 164 includes a head assembly 166 including a first gripper head 168 and a second gripper head 170. The first and second gripper heads 168, 170 are preferably identical in their configuration and operation. Each of the first and second gripper heads 168, 170 is configured to grip a glove 12 to pick a glove 12 up from a stack of gloves on one of the first and second glove stack areas 144, 146 and to release the glove 12 so that the glove 12 is partially supported by one of the first and second folding flaps 118, 120. In this embodiment each of the first and second gripper heads 168, 170 comprises a suction unit 172. Each of the first and second gripper heads 168, 170 is therefore configured to apply a suction force to a glove 12 to pick the glove up from the stack. The pick and place robot 164 is configured to move the head assembly 166 between a first position in which the head assembly 166 is above the first station 154 and a second position in which the head assembly 166 is above the second station 156. The pick and place robot 164 is configured to move the head assembly 166 along a linear axis of movement, parallel to the linear axis 148, between the first position and the second position. The pick and place robot 164 is preferably configured such that, in the first position, the first gripper head 168 is disposed so that the suction force is applied to a wrist region 9 of a glove 12 of the first stack of gloves at a distance from the cuff end 7. This allows for variations in the position of the glove 12 on the first glove stack area 144 while still permitting reliable picking of the glove 12 from the stack. Similarly, the head assembly 166 is preferably configured so that, in the second position, the second gripper head 170 is disposed so that the suction force is applied to a wrist region 9 of a glove 12 on the second glove stack area 146 at a distance from the cuff end 7 of the glove 12. The glove folding system 110 further comprises a stack nozzle 176 arranged to direct a jet of air onto the opening 124 of the glove receiving receptacle 122. The stack nozzle 176 is preferable disposed directly above the opening 124 so that a primary direction of the jet of air is substantially perpendicular to a plane of the opening 124 of the glove receiving receptacle 122. The stack nozzle 176 is, therefore, configured to direct a jet of air onto the area of the opening 124 to compress a stack of interfolded gloves in the glove receiving receptacle 122. In this embodiment the stack nozzle 176 is further configured to direct a jet of air over the first and second folding flaps 118, 120 when they are in their respective support positions. The stack nozzle 176 may be configured so that the half-angle of the spread of the jet of air from the nozzle 176 is greater in this embodiment than in the first embodiment. The stack nozzle 176 may be configured so that the jet of air strikes the opening 124 of the glove receiving receptacle 122 and a support surface 140 of each of the first and second folding flaps 118, 120. The stack nozzle 176 may be configured to emit a constant flow of air onto the opening 124 of the glove receiving receptacle 122 and a support surface 140 of each of the first and second folding flaps 118, 120. However, this may disturb the placing of the gloves 12 onto the first and second folding flaps 118,120. Accordingly, in preferred embodiments the stack nozzle 176 is configured to emit a pulsed jet of air so that air strikes the opening 124 of the glove receiving receptacle 122 when the head assembly 166 is in the first position or the second position and the first and second folding flaps 118, 120 are in their respective support positions. The stack nozzle may also be configured so that the pulsed jet of air strikes or passes over the first folding flap 118 when the head assembly 166 is in the second position and the first folding flap 118 is in its support position and strikes or passes over the second folding flap 120 when the head assembly 166 is in the first position and the second folding flap 120 is in its support position. The stack nozzle 176 may have a moveable baffle to direct the jet of air, with the baffle in a first position, onto the opening 124 of the glove receiving receptacle 122 and onto the first folding flap 118 and, with the baffle in a second position, onto the opening 124 of the glove receiving receptacle 122 and onto the second folding flap 120. In other embodiments the stack nozzle may be configured to direct a jet of air towards the opening 124 of the glove receiving receptacle 122, and separate auxiliary nozzles may be provided to direct a jet of air at each of the first and second folding flaps 118, 120 when they are in their respective support positions. A method of forming a stack of interfolded gloves using the glove folding system 110 of this embodiment will now be described with further reference to Figures 4 to 6. Initial Configuration In an initial or starting configuration, a first stack of gloves 12 is disposed on the first glove stack area 144 and a second stack of gloves 12 is disposed on the second glove stack area 146. The first stack of gloves 12 is oriented such that the cuff end 7 of each of the gloves 12 faces away from the glove receiving receptacle 122. Similarly, the second stack of gloves 12 is oriented such that the cuff end 7 of each of the gloves 12 faces away from the glove receiving receptacle 122. In preferred embodiments the first and second stacks of gloves 12 are also oriented such that a thumb portion 9 of each of the gloves 12 faces in a direction towards a first side edge 186 of the respective first or second glove stack area 144, 146; the first side edge 186a of the first glove stack area 144 being aligned with the first side edge 186b of the second glove stack area 146. Step 1 The pick and place robot 164 is operated to move the head assembly 166 into the first position so that the first gripper head 168 is disposed above the first glove stack area 144 and the second gripper head 170 is disposed above the first folding flap 118. The head assembly 166 is lowered to bring the first gripper head 168 proximate the top glove 12 of the first stack of gloves 12 and the suction unit 172 is operated to apply a suction force to a first glove 12a to draw the glove 12a into contact with a surface of the first gripper head 168. The head assembly 166 then lifts the glove 12a in contact with the first gripper head 168 off the stack of gloves. The head assembly 166 therefore preferably moves in an upwards direction away from the first glove stack area 144. The first stacking surface 150 and the second stacking surface 152 preferably lie in the same plane, which may be referred to as an operating plane. The head assembly 166 is therefore moved upwards in a direction away from the operating plane. As the glove 12a is lifted the finger portion 6 has a tendency to hang down from the first gripper head 168. However, this is not an issue due to the way that the glove 12 is subsequently laid over the glove receiving receptacle 122. Step 2 The head assembly 166 is moved in a linear direction parallel to the linear axis 148 into the second position so that the first gripper head 168 is disposed above the second folding flap 120 and the second gripper head 170 is disposed above the second glove stack area 146. The head assembly 166 is lowered in a direction towards the operating plane. As the head assembly 166 is lowered the finger portion 6 of the glove 12a is laid into the opening 124 of the glove receiving receptacle 122. The suction unit 172 associated with the first gripper head 168 is then operated to reduce or switch off the suction force applied to the glove 12a such that the glove 12a is detached from the surface of the first gripper head 168. Due to the orientation of the glove 12a, as the glove 12a is released onto the second folding flap 120 the cuff end 7 of the glove 12a has a tendency to fold over and lie on top of the palm region 8 of the glove 12a. At the same time as the glove is being released from the first gripper head 168, the suction unit 172 associated with the second gripper head 170 is operated to apply a suction force to a top glove 12 of the second stack of gloves 12 to draw a second glove 12b into contact with a surface of the second gripper head 170. The head assembly 166 then moves in an upwards direction to lift the glove 12b in contact with the second gripper head 170 off the second stack of gloves. Step 3 The head assembly 166 is then moved in the linear direction parallel to the linear axis 148 back into the first position so that the first gripper head 168 is disposed above the first glove stack area 144 and the second gripper head 170 is disposed above the first folding flap 118. The stack nozzle 176 may be operated before or after the head assembly 166 has moved from the second position to the first position to direct a jet of air towards the opening 124 of the glove receiving receptacle 122 and towards the second folding flap 120. This jet or stream of air acts to flatten the finger portion 6 of the glove 12 in the opening 124 and to fold back the cuff end 7 of the glove 12 so that the palm region 6 and cuff end 7 of the glove 12 lie flat on the support surface 140 of the second folding flap 120 with the cuff end 7 facing away from the opening 124. The advantage of waiting until the head assembly 166 has moved from the second position to the first position is that this ensures that the head assembly 166 is clear of the second folding flap 120. Step 4 The head assembly 166 is lowered, in the first position, in a direction towards the operating plane. As the head assembly 166 is lowered the finger portion 6 of the glove 12b is laid into the opening 124 of the glove receiving receptacle 122. The finger portion 6 of this second glove 12b overlies the finger portion 6 of the first glove 12a disposed in the glove receiving receptacle 122. The suction unit 172 associated with the second gripper head 170 is then operated to reduce or switch off the suction force applied to the glove 12b such that the glove 12b is detached from the surface of the second gripper head 170. Due to the orientation of the glove 12b, as the glove 12b is released onto the first folding flap 118 the cuff end 7 of the glove 12b has a tendency to fold over and lie on top of the palm region 8 of the glove 12b. At the same time as a glove is being released from the second gripper head 170, the suction unit 172 associated with the first gripper head 168 is operated to apply a suction force to a top glove 12 of the first stack of gloves 12 to draw the glove 12 into contact with the surface of the first gripper head 168. The head assembly 166 is moved upwards in a direction away from the operating plane to lift the glove 12 from the stack of gloves. Step 5 Before the head assembly 166 moves from the first position to the second position, the second folding flap 120 is operated to rotate about its rotational axis 158 from the support position to the fold position, as described above. This folds the palm region 8 and cuff end 7 of the first glove 12a over the finger portion 6 of the second glove 12b so that the palm region 8 and cuff end 7 of the first glove 12a overlies the finger portion 6 of the second glove 12b within the glove receiving receptacle 122. The first glove 12a then lies fully within the glove receiving receptacle 12. After folding the glove 12, the second folding flap 20 is then operated to rotate about its rotational axis 158 from the fold position back to the support position. Step 6 The head assembly 166 is then moved in the linear direction parallel to the linear axis 148 from the first position to the second position. The stack nozzle 176 may be operated before or after the head assembly 166 has moved from the first position to the second position to direct a jet of air towards the opening 124 of the glove receiving receptacle 122 and towards the first folding flap 118. This jet or stream of air acts to flatten the finger portion 6 of the glove 12 in the opening 124 and to fold back the cuff end 7 of the glove 12 so that the palm region 6 and cuff end 7 of the glove 12 lie flat on the support surface 140 of the first folding flap 118 with the cuff end 7 facing away from the opening 124. The advantage of waiting until the head assembly 166 has moved from the first position to the second position is that this ensures that the head assembly 166 is clear of the first folding flap 118. Preferably the stack nozzle 176 is operated after the second folding flap 120 has rotated from the support position, to the fold position and back to the support position. Step 7 The head assembly 166 is lowered to bring the second gripper head 170 proximate the top glove 12 of the second stack of gloves 12 and the suction unit 172 is operated to apply a suction force to the top glove 12 to draw the glove 12 into contact with a surface of the second gripper head 170. At the same time the suction unit 172 associated with the first gripper head 168 is operated to reduce or switch off the suction force applied to the glove 12 such that the glove 12 is detached from the surface of the first gripper head 168 and lies on the second folding flap 120. The finger portion 6 of this glove 12 overlies the cuff end 7 of the glove 12 previously folded into the glove receiving receptacle 122. The head assembly 166 is moved upwards in a direction away from the operating plane to lift the glove 12 from the stack of gloves. Step 8 Before the head assembly 166 moves from the second position to the first position, the first folding flap 118 is operated to rotate about its rotational axis 158 from the support position to the fold position, as described above. This folds the palm region 8 and cuff end 7 of the second glove 12b over the finger portion 6 of the glove just deposited onto the second folding flap 120. The second glove 12b then lies fully within the glove receiving receptacle 122. After folding the glove 12, the first folding flap 118 is then operated to rotate about its rotational axis 158 from the fold position back to the support position. In the method, Steps 3 to 8 are then repeated until there are no gloves remaining in the first and second stacks of gloves, and the required number of gloves 12 have been interfolded to form a stack in the glove receiving receptacle 122. The unloading step and the initialising step of this method are then identical to the unloading step and the initialising step of the method of first embodiment. In the above description the glove folding system 10, 110 has been described including a first glove stack area, a second glove stack area, a glove receiving receptacle disposed between the first and second glove stack areas, a first folding flap disposed between the glove receiving receptacle and the first glove stack area, and a second folding flap disposed between the glove receiving receptacle and the second glove stack area. These components of the system may be collectively referred to as a glove folding assembly. It will be appreciated that a glove folding system may include multiple glove folding assemblies. For example, and as illustrated in Figures 1 and 4, the glove folding system may include four glove folding assemblies. In these embodiments the glove folding assemblies are preferably arranged so that the linear axes of the glove folding assemblies are parallel to each other. Furthermore, the glove folding assemblies are preferably arranged so that all of the glove receiving receptacles lie on a line perpendicular to the linear axes, the first glove stack areas lie on a line perpendicular to the linear axes, and the second glove stack areas lie on a line perpendicular to the linear axes. The glove folding system preferably comprises a single pick and place robot comprising a plurality of head assemblies. It will be appreciated that the number of head assemblies corresponds to the number of glove folding assemblies. Each head assembly is configured to move along a linear axis of movement between a first position in which the head assembly is above the first station of the corresponding glove folding assembly and a second position in which the head assembly is above the second station of the corresponding glove folding assembly. In preferred embodiments the head assemblies are in fixed positions relative to each other such that all of the head assemblies are, at a first time point, simultaneously in the first position and, at a second time point, simultaneously in the second position. In alternative embodiments the glove folding system may include a separate pick and place robot with a single head assembly associated with each of the glove folding assemblies. This enables each of the glove folding assemblies to be operated independently. Each of the glove folding assemblies may have associated first and second glove receiving receptacles, which may be interchanged by moving the first and second glove receiving receptacles between a loading position and an unloading position. The glove folding system preferably has a distinct unloading position associated with each glove folding assembly to allow the glove folding assemblies to operate simultaneously. In these embodiments including multiple glove folding assemblies, each drive assembly may be connected to a pivot axle that is connected to more than one folding flap. For example, each pivot axle may drive rotation of two or more folding flaps. Although in the above embodiments of the glove folding systems and methods the gloves were placed on the folding flaps with a finger portion in the opening of the glove receiving receptacle and a palm portion and cuff end on the respective folding flap, in other embodiments the glove folding system and method may be arranged such that the gloves are placed on the folding flaps with a palm portion and cuff end in the opening of the glove receiving receptacle and a finger portion on the respective folding flap. In further embodiments the relative positions of the first glove stack area, the second glove stack area, the glove receiving receptacle, the first folding flap, and the second folding flap may be different. For example, the surfaces of the first and second glove stack areas, the first and second folding flaps, and the opening of the glove receiving receptacle may not lie in a single operating plane. The folding flaps and opening of the glove receiving receptacle may lie in a first plane and the surfaces of the first and second glove stack areas may lie in a second plane. In some embodiments, in particular those embodiments in which the stacks of gloves in the first and second stack areas are oriented so that a cuff end of the gloves faces in a direction away from the glove receiving receptacle, the support surface of each of the first and second folding flaps when the folding flaps are in the support position may not lie in a plane parallel to a plane of the opening of the glove receiving receptacle. A plane of the support surface of each of the first and second folding flaps may lie at an angle to the plane of the opening of the glove receiving receptacle such that a distal end of the folding flap is lower than the plane of the opening of the glove receiving receptacle. It will be appreciated that the proximal end of the folding flaps must lie in a plane proximate the plane of the opening so that the gloves are correctly folded into the glove receiving receptacle. Disposing the folding flaps at an angle in the support position means that when the palm region of the glove is released from the corresponding gripper head the cuff portion has a tendency to unfold due to the slope of the support surface of the folding flap. In these embodiments it will be appreciated that the folding flaps would then be configured to rotate through an arc of greater than 180° between the support position and the fold position. 5 In the embodiments described above the first and second gripper heads included a suction unit configured to apply a suction force to a glove to pick the glove up from a stack. In other embodiments of the glove folding system, each gripper head may include an alternative pick mechanism in place of the suction unit. Each gripper head may, for example, include 10 two or more gripping fingers. In embodiments in which the gripper head includes a suction unit, the suction unit may include one or more suction cups. Other modifications and variations not explicitly disclosed above may also be contemplated without departing from the scope of the invention as defined in the appended claims. 15

Claims

1. A glove folding system for forming a stack of interfolded gloves, the system comprising:a glove folding assembly comprising:a first glove stack area and a second glove stack area;a glove receiving receptacle disposed between the first and second glove stack areas in a loading position;a first folding flap disposed between the glove receiving receptacle and the first glove stack area, the first glove stack area and the first folding flap forming a first station; anda second folding flap disposed between the glove receiving receptacle and the second glove stack area, the second glove stack area and the second folding flap forming a second station; anda pick and place robot comprising a head assembly including a first gripper head and a second gripper head, the head assembly being configured to move along a linear axis of movement between a first position in which the head assembly is above the first station and a second position in which the head assembly is above the second station,wherein the first folding flap is pivotable between a support position in which said folding flap extends away from the glove receiving receptacle towards the first glove stack area and a fold position in which said folding flap extends over an opening of the glove receiving receptacle, and the second folding flap is pivotable between a support position in which said folding flap extends away from the glove receiving receptacle towards the second glove stack area and a fold position in which said folding flap extends over an opening of the glove receiving receptacle,wherein the pick and place robot is configured to, in the first position, use the first gripper head to pick up a glove from the first glove stack area and deposit a glove held by the second gripper head onto the first folding flap so that a part of the glove extends over the opening of the glove receiving receptacle, and in the second position, use the second gripper head to pick up a glove from the second glove stack area and deposit a glove held by the first gripper head onto the second folding flap so that a part of the glove extends over the opening of the glove receiving receptacle, andwherein the first folding flap is configured to pivot from its support position to its fold position and return to its support position when the majority of the head assembly is above the second station, and the second folding flap is configured to pivot from its support positionto its fold position and return to its support position when the majority of the head assembly is above the first station.

2. A glove folding system according to Claim 1, in which the pick and place robot is configured to, in the first position, deposit a glove held by the second gripper head onto the first folding flap so that a finger portion of the glove extends over the opening of the glove receiving receptacle and a cuff portion of the glove is supported by the first folding flap, and in the second position, deposit a glove held by the first gripper head onto the second folding flap so that a finger portion of the glove extends over the opening of the glove receiving receptacle and a cuff portion of the glove is supported by the second folding flap.

3. A glove folding system according to Claim 1 or Claim 2, in which the first and second gripper heads are configured to apply a suction force to a glove.

4. A glove folding system according to Claim 3, in which the pick and place robot is configured to, in the first position, use the first gripper head to pick up a glove from the first glove stack area by applying a suction force to a wrist region of the glove, and in the second position, use the second gripper head to pick up a glove from the second glove stack area by applying a suction force to a wrist region of the glove.

5. A glove folding system according to any one of Claims 1 to 4, in which a first stack of gloves is disposed on a surface in the first glove stack area and a second stack of gloves is disposed on a surface in the second glove stack area.

6. A glove folding system according to Claim 5, in which the first stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction towards the first folding flap, and the second stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction towards the second folding flap.

7. A glove folding system according to Claim 5, in which the first stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction away from the first folding flap, and the second stack of gloves comprises a plurality of gloves each lying flat with a cuff end of the glove facing in a direction away from the second folding flap.

8. A glove folding system according to any one of Claims 1 to 7, in which the first and second glove stack areas, the first and second folding flaps, and the opening of the glove receiving receptacle lie in an operating plane of the glove folding system.

9. A glove folding system according to Claim 8, in which the pick and place robot is configured to raise the head assembly in a direction away from the operating plane when moving the head assembly between the first and second positions.

10. A glove folding system according to any one of Claims 1 to 9, further comprising a nozzle arranged to direct a jet of air onto the opening of the glove receiving receptacle, a primary direction of the jet of air being substantially perpendicular to a plane of the opening of the glove receiving receptacle.

11. A glove folding system according to Claim 10, in which the nozzle is configured to emit a pulsed jet of air so that air strikes the opening of the glove receiving receptacle when the head assembly is in the first position or the second position and the first and second folding flaps are in their respective support positions.

12. A glove folding system according to Claim 10 or Claim 11, when dependent on Claim 7, in which the nozzle is arranged to additionally direct the jet of air over the first folding flap when the head assembly is in the second position and the first folding flap is in its support position and the nozzle is arranged to additionally direct the jet of air over the second folding flap when the head assembly is in the first position and the second folding flap is in its support position.

13. A glove folding system according to Claim 6 or any claim dependent on Claim 6, in which each of the first gripper head and second gripper head includes a Bernoulli nozzle arranged to direct a flow of air over a surface of the respective first or second gripper head to, in use, decrease air pressure between the surface of said gripper head and a cuff portion of the glove held by said gripper head.

14. A glove folding system according to any one of Claims 1 to 13, further comprising a first glove stack infeed assembly comprising a holder for receiving a stack of gloves and a transfer mechanism for transferring said stack of gloves to the first glove stack area, and asecond glove stack infeed assembly comprising a holder for receiving a stack of gloves and a transfer mechanism for transferring said stack of gloves to the second glove stack area.

15. A glove folding system according to any one of Claims 1 to 14, in which the glove receiving receptacle comprises a side wall defining the opening of the glove receiving receptacle and a floor, the floor being moveable with respect to the side wall to change a distance between the floor and the opening.

16. A glove folding system according to any one of Claims 1 to 15, in which the first and second glove stack areas, the first and second folding flaps, and the opening of the glove receiving receptacle in its loading position together define a working region of the system, and wherein the glove receiving receptacle is a first glove receiving receptacle, and the system further comprises a second glove receiving receptacle, each of the first and second glove receiving receptacles being moveable between the loading position and an unloading position, the unloading position being outside the working region.

17. A glove folding system according to any one of Claims 1 to 16, in which each of the first and second folding flaps is configured to rotate about its respective pivot through an arc of 180° from the support position to the fold position and to return through the same arc of 180° from the fold position to the support position.

18. A glove folding system according to any one of Claims 1 to 17, in which each of the first and second folding flaps comprises a plurality of fingers.

19. A glove folding system according to any one of Claims 1 to 18, the system comprising a plurality of glove folding assemblies, and the robot comprising a corresponding plurality of head assemblies, each head assembly being configured to move along a linear axis of movement between a first position in which the head assembly is above the first station of the corresponding glove folding assembly and a second position in which the head assembly is above the second station of the corresponding glove folding assembly, wherein the head assemblies are in fixed positions relative to each other such that all of the head assemblies are at a first time point simultaneously in the first position and at a second time point simultaneously in the second position.

20. A method of forming a stack of interfolded gloves using the glove folding system ofany one of Claims 1 to 19, the method comprising:placing a first stack of gloves on the first stack area;placing a second stack of gloves on the second stack area;operating the pick and place robot to:(i) move the head assembly to the first position;(ii) use the first gripper head to pick up a glove from the first stack of gloves; (iii) move the head assembly to the second position;(iv) simultaneously use the second gripper head to pick up a glove from the second stack of gloves and release the glove from the first gripper head onto the second folding flap;(v) move the head assembly to the first position;(vi) simultaneously use the first gripper head to pick up a glove from the first stack of gloves and release the glove from the second gripper head onto the first folding flap; and(vii) repeat steps (iii) to (vi) until a folded stack of gloves in the glove receiving receptacle comprises a predetermined number of gloves;while the head assembly is in the second position after depositing a glove onto the second folding flap, pivoting the first folding flap from its support position to its fold position and back to its support position; andwhile the head assembly is in the first position after depositing a glove onto the first folding flap, pivoting the second folding flap from its support position to its fold position and back to its support position.

21. A method according to Claim 20, wherein the glove folding system is according to Claim 4, and the method step of using the first gripper head to pick up a glove from the first stack of gloves comprises operating a vacuum system associated with the first gripper head to apply a suction force to the glove of the first stack of gloves, the method step of using the second gripper head to pick up a glove from the second stack of gloves comprises operating a vacuum system associated with the second gripper head to apply a suction force to the glove of the first stack of gloves, the method step of releasing the glove from the second gripper head onto the first folding flap comprises operating the vacuum system associated with the second gripper head to reduce or remove the suction force applied to the glove, and the method step of releasing the glove from the first gripper head onto the second folding flap comprises operating the vacuum system associated with the first gripper head to reduce or remove the suction force applied to the glove.

22. A method according to Claim 20 or Claim 21, wherein the glove folding system is according to Claim 9, and the method further comprises operating the pick and place robot to:after picking up a glove from either the first stack of gloves or the second stack of gloves, raising the head assembly in a direction away from the operating plane; and before releasing a glove onto either the first folding flap or the second folding flap, lowering the head assembly in a direction towards the operating plane.

23. A method according to any one of Claims 20 to 22, wherein the glove folding system is according to Claim 10 or Claim 11, and the method further comprises emitting a blast of air from the nozzle when the head assembly is in the first position or the second position and each of the first and second folding flaps is in its respective support position.

24. A method according to any one of Claims 20 to 23, wherein the glove folding system is according to Claim 13, and the method further comprises emitting a flow of air from the Bernoulli nozzle of the first gripper head when the first gripper head picks up a glove from the first stack of gloves, and emitting a flow of air from the Bernoulli nozzle of the second gripper head when the second gripper head picks up a glove from the second stack of gloves.

25. A method according to any one of Claims 20 to 24, wherein the glove folding system is according to Claim 16, and the method further comprises, when the first glove receiving receptacle holds a stack of interfolded gloves including a predetermined number of gloves, moving the first glove receiving receptacle from the loading position to the unloading position and moving the second glove receiving receptacle from the unloading position to the loading position.

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