System for positioning and fixing multiple fabric layers for an automatic joining operation

Abstract

The present invention relates to a system for handling and processing fabric layers. The system has: a handling robot (100) comprising an effector (101) for handling fabric layers; a handling mechanism (120) which is at least in part mounted on the effector (101), the handling mechanism (120) being designed to place a first fabric layer (111) flat on a second fabric layer (112) resting on the work surface (102) of a work table (103); and a fixing mechanism (130) which is mounted at least in part on the effector (101). The fixing mechanism (130) is designed to fix the first fabric layer (111) and the second fabric layer (112) to one another to form a fabric layer stack (113) in such a way that a joining area (114) of the first fabric layer (111) rests on an additional joining area (115) of the second fabric layer (112), it being possible to control the handling mechanism (120) in such a way that the first and second fabric layers (111, 112) lying on top of one another can be conveyed to a joining unit (140) for processing the joining areas.

Description

[0001] System for positioning and fixing multiple layers of fabric for automated joining

[0002] Technical area

[0003] The present invention relates to a system and a method for handling and processing layers of fabric with a handling mechanism.

[0004] Background of the invention

[0005] In the technical field of textile processing, one goal is to increase the level of automation in order to reduce personnel costs and, accordingly, production costs.

[0006] A textile processing system, for example, designed for automated sewing, requires a handling mechanism to separate the fabric from a stack and, after manipulation, feed it into a sewing system (or sewing machine) at a sufficient distance. For this purpose, robots with an effector are used, on which appropriate gripping mechanisms are arranged to grasp the textile piece. However, fabric pieces that constitute a garment vary in size and can have different properties (thickness, air permeability, stiffness, etc.) both among themselves and within the same piece.

[0007] Gripping these thin and easily deformable textile pieces places high demands on their handling during textile processing. Various types of effectors with corresponding grippers are known in robotics for manipulating textile pieces. These grippers can be designed as contour-adaptive grippers and, for example, enable the adaptable gripping of different types of textile pieces. Furthermore, various vacuum gripping systems are known that can secure and handle the textile piece using suction cups.

[0008] In particular, two layers of material can be placed on top of each other at least at one joining unit, whereby each layer of material must be transported individually.

[0009] Representation of the invention

[0010] It is an object of the present invention to enable manipulation of multiple layers of material.

[0011] This object is achieved by a system and a method for handling and processing layers of material according to the subject matter of the independent patent claims.

[0012] According to a first aspect of the present invention, a system for handling and processing fabric layers is described. The system comprises a handling robot with an effector for handling fabric layers and a handling mechanism that is arranged at least partially on the effector (i.e., completely on the effector or partially on the effector and partially on a work table). The handling mechanism is configured to place a first fabric layer flat onto a second fabric layer resting on the work surface of a work table.

[0013] The system further comprises a fixing mechanism, which is arranged at least partially on the effector (i.e., entirely on the effector or partially on the effector and partially on a work table). The fixing mechanism is configured to fix the first fabric layer and the second fabric layer to one another to form a fabric layer stack such that a joining region of the first fabric layer rests on another joining region of the second fabric layer. The handling mechanism is further controllable such that the superimposed first and second fabric layers can be conveyed to a joining unit for processing the joining regions.

[0014] Furthermore, according to a further aspect, a method for handling and processing fabric layers is described. A first fabric layer is placed flat on a second fabric layer resting on a work surface by means of a handling mechanism of an effector of a handling robot. The first fabric layer and the second fabric layer are fixed to one another to form a fabric layer stack by means of a fixing mechanism of the effector, such that a joining region of the first fabric layer rests on another joining region of the second fabric layer. The handling mechanism is controlled such that the superimposed first and second fabric layers can be conveyed to a joining unit for processing the joining regions.

[0015] The handling robot has the effector, to which the corresponding handling mechanism is attached, particularly in an interchangeable manner. The handling robot is attached to the floor or workbench with a stationary robot base to introduce the corresponding forces into the corresponding system. Alternatively, the handling robot can also be configured such that the robot base is designed to be movable along the floor. A robot arm can be arranged between the effector and the robot base, which, for example, has one or more joints to thus steer the effector into a desired position.

[0016] The handling robot is a programmable, multipurpose handling device for moving material, workpieces, tools, or specialized equipment. Specifically, the handling robot is designed to handle or manipulate the layers of material and to move and position them accordingly. In other words, the handling robot enables machine-controlled position changes in more than one axis and / or along a translational position change of the layers of material.

[0017] The term fabric layer refers to the possible textiles or textile parts of a textile product, in particular a piece of clothing. The term fabric layer includes different types of knitted fabrics, in particular woven fabrics and nonwovens. The left / wrong side of a fabric layer is understood to be the inside (i.e. the underside of the fabric, inside of the fabric or the 'unsightly 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 refers to the 'sightly side' of a fabric or fabric layer (e.g. the top side of the fabric, visible side, outside of the fabric). In a piece of clothing, the right side corresponds to the visible side of the fabric or fabric layer (e.g. the outside of a T-shirt). Furthermore, a fabric part can consist of several layers of fabric.For example, a piece of fabric (such as a garment) can be folded over several times and placed on a work table as a stack of multiple layers. Alternatively, the layers can each be separate pieces of fabric that form a stack of fabric layers.

[0018] 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. In particular, joining areas of two superimposed fabric layers are placed on top of one another so that they can be connected by 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 fabric layers, which in particular lie on top of one another, so that the fixed two fabric layers can be conveyed in particular as a package or as a stack of fabric layers.

[0019] In particular, 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. For example, the fixing elements described below can be arranged for this purpose, in which the individual fixing points are formed. In this case, 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 covered by the effector or the handling mechanism for fixing the fabric layers is referred to below as the effector contour.

[0020] In one exemplary embodiment, the fixation mechanism is arranged entirely on the effector. However, part of the fixation mechanism can also be arranged on a work table, on which, for example, the fabric layers are placed. Accordingly, the handling mechanism is completely attached to the effector, but part of the handling mechanism can also be attached to the work table. In exemplary embodiments, functional elements of the fixation mechanism can form elements of the handling mechanism and vice versa. For example, a holding needle device or suction device of the fixation mechanism can fix several fabric layers, but can also hold the thus formed fabric layer stack to the effector, thus also fulfilling the function of the handling mechanism.

[0021] 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 fixing mechanism.

[0022] The joining unit is configured to process the joining areas of a fabric layer and / or to join at least two fabric layers. The joining unit can be a sewing machine, a welding machine, a tacking machine, a crocheting machine, a gluing machine, or other automatic joining machines for fabric layers.

[0023] The joining unit can, for example, join two layers of fabric together, creating a seam (fabric seam or weld seam, etc.). A seam, for example, describes the connection of two layers of fabric using a thread or yarn, with at least one material essentially being a fabric, a fleece, or a woven fabric.

[0024] For the automatic manufacturing of textile products, joining two long layers of fabric is a fundamental requirement for many products. For this purpose, two layers of fabric can be precisely positioned using the handling mechanism in accordance with the invention, so that the joining areas lie exactly on top of one another and are secured using the fixing mechanism. So that several pieces of fabric can be precisely stacked on top of one another using the effector and then secured for further processing, the effector according to the invention allows a first layer of fabric to be laid down on a surface of a work table, a further layer of fabric to be precisely aligned and laid down on the layer of fabric already lying on the work table, and the two layers of fabric to be secured using the fixing mechanism. The handling mechanism can be used to 'reposition a layer of fabric' and 'stack' them.An effector / gripper system according to the invention equipped in this way is capable of precisely layering layers of fabric on top of one another so that these two layers of fabric can then be joined. However, it can also be used to fold over a piece of fabric using the folding device described below to create two layers of fabric, which can then be fixed and further processed (e.g., turning over a hem). To fix the two layers of fabric together, preparatory measures can be carried out with the system before placement. These can include folding (see the folding device described below) or adding (an adhesive), inserting (auxiliary material for ultrasonic welding), etc., as enabled by the fixing mechanism. Such a preparatory action is made possible according to the invention with an additional device or fixing mechanism, which is installed either on the effector or on the work table.

[0025] According to a further exemplary embodiment, the fixing mechanism comprises a welding device, in particular an ultrasonic welding device, for welding the first and second fabric layers together, in particular temporarily. The fixing mechanism comprises, in particular, a feed device for feeding welding material.

[0026] Depending on the material properties, a plastic welding technique, particularly ultrasonic welding, can be used. A suitable auxiliary material (ultrasonic welding tape, hot melt adhesive, etc.) can also be inserted beforehand (or during the welding process) using the feeder. Alternatively, an adhesive can be applied beforehand using a dosing device. For example, the effector can move to a stack of fabric layers. The feeder can, for example, feed a solid welding material, such as a welding wire, or a viscous fluid that solidifies under the influence of heat, particularly at the superimposed joining areas of the fabric layers in the fabric stack. The feeder can be attached, for example, 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 of ​​the material layers so that a weld seam can be produced.

[0027] According to a further exemplary embodiment, the fixing mechanism comprises a suction device with at least one suction cup, wherein the suction device is designed to suck air from the first and second fabric layers by means of the suction cup such that the superimposed first and second fabric layers can be fixed to the suction device. Since the fabric layers are permeable to air to a certain extent due to their material properties, two or more fabric layers in a fabric layer stack can be fastened by suction with an appropriately adjusted suction power. The suction device comprises, for example, a vacuum pump, which can be arranged at a distance from the effector, for example on the work table. One or more suction cups, such as suction cups, can be attached to the effector as part of the fixing mechanism.Furthermore, the suction device with the suction cups can also form parts of the handling mechanism for aligning and conveying the fixed fabric layers. In one exemplary embodiment, the suction device also forms parts of the handling mechanism for handling the fabric layers.

[0028] For example, the suction device can additionally form a tightening area in the work table to hold a fabric layer resting on the work table from below (based on the principle of a vacuum clamping table), while the upper fabric can be held from above with the effector. This allows for improved relative alignment between the first fabric layer and the second fabric layer, as the fabric layer resting on the work table remains fixed and does not slip.

[0029] According to another exemplary embodiment, the system comprises a folding device configured to fold an edge region of a fabric layer such that the folded edge region forms the first fabric layer, which rests on top of the second fabric layer. The folding device is arranged, in particular, on the work table. The folding device comprises a clamping device configured on the effector or on the work table, which is configured, in particular, on the effector to clamp the folded first fabric layer and the second fabric layer together.

[0030] According to a further exemplary embodiment, the fixing mechanism comprises a magnetic device configured to attract a magnetic element toward the effector such that the fabric layers that can be arranged between the effector and the magnetic element can be fixed in place. The magnetic element can, for example, form a flat magnetic disc that flies underneath a lower fabric layer on the work table. Additional fabric layers can be placed over the lower fabric layers. The magnetic device on the effector can, for example, comprise a controllable electromagnet. Thus, the effector can move to the stack of fabric layers and activate the magnetic device, so that the magnetic element arranged underneath is attracted toward the magnetic device or effector and fixes the intermediate fabric layers.

[0031] The magnetic device, in particular, has a further magnetic element, wherein the first fabric layer can be fixed with the magnetic element and the second fabric layer with the further magnetic element. For example, two fabric layers can overlap in their joining areas, and the remaining areas of the two fabric layers can rest next to each other on the work table. A corresponding magnetic element can be arranged under each of the further areas of the fabric layers, so that both fabric layers can be attracted to the effector next to each other by the magnetic device.

[0032] Furthermore, the magnetic device can comprise a feed device configured to position and align at least one magnetic element on the work surface. For example, a manipulator can pick up one magnetic element at a time from a stack of magnetic elements and place it at a desired position on the work table. Subsequently, a layer of fabric can be placed on the corresponding magnetic element using the handling mechanism.

[0033] According to another exemplary embodiment, the fixing mechanism comprises a clamping device configured to clamp the first fabric layer and the second fabric layer together. The clamping device comprises, for example, a magazine with clamps that can be temporarily and detachably attached to the stack of fabric layers to secure the fabric layers. The clamping device can also insert a corresponding clamp or staple by piercing the fabric layers, similar to a sewing step. The fabric can be fixed, so to speak, using temporary auxiliary clamps, which are then removed during or after a later work step. Sewing is also one of the relevant tacking processes here.

[0034] According to another exemplary embodiment, the fixing mechanism comprises an adhesive device configured to temporarily bond the first fabric layer and the second fabric layer together. Furthermore, the adhesive device may comprise a heating element, such as a heated bar or a hot-air gun, to enable, for example, hot bonding. In particular, various adhesive materials, such as instant adhesives, contact adhesives, pressure-activated adhesives, or welding adhesives (e.g., for PVC materials), may be used.

[0035] The adhesives are designed to generate an adhesive force that allows the fabric layers to be separated later. Furthermore, an adhesive can be designed to lose its adhesive effect under the influence of temperature or certain radiation (e.g., UV radiation), so that the fabric layers can be separated again after a joining step. Accordingly, the bonding device can comprise, for example, a temperature control device or a radiation device designed to release the adhesive bond. The temperature control device or the radiation device can be arranged, for example, on the workbench.

[0036] The bonding device further comprises, in particular, a feed device which is configured to provide a temporary bonding of the first fabric layer and the second fabric layer by adding an adhesive.

[0037] According to an exemplary embodiment, the adhesive comprises, in particular, water-soluble polymers, in particular polyethylene glycol and / or polyvinyl alcohol, sodium thiosulfate pentahydrate, sodium acetate trihydrate, ammonium alum dodecahydrate, ureas, and / or eutectic salt mixtures. According to a further exemplary embodiment, the adhesive comprises, in particular, a pressure-activated adhesive, a hot melt adhesive, and / or a two-component adhesive. In particular, the adhesive is removable during and / or after a further processing step, in particular detachable together with a material portion of the first fabric layer, the second fabric layer, and / or the fabric layer stack. The adhesive device for temporarily fixing the fabric layers can, for example, comprise an adhesive that can be thermally activated (hot melt principle) and subsequently washed out during the first wash cycle.For this purpose, water-soluble polymers with a relatively moderate melting point are used, such as PEG (polyethylene glycol). For example, a water-soluble polymer with an elevated melting temperature of around 200 degrees Celsius can form PVOH (polyvinyl alcohol) with a suitable degree of hydrolysis. Also suitable are low-melting salts such as sodium thiosulfate pentahydrate (melting point or glass transition temperature FP 45-50 degrees Celsius) or sodium acetate trihydrate (melting point FP e.g. 60 degrees Celsius) or ammonium aundodecahydrate (melting point FP e.g. 120 degrees Celsius). In these cases, a phase transition occurs during cooling and bonding, which is greatly facilitated by the fine fabric / fiber structure. These products are also relatively unproblematic in terms of toxicity and disposal / washing water.

[0038] In another exemplary embodiment, a fast-acting (e.g., pressure-activated) adhesive is used, particularly for temporary fixation. One possible implementation is an encapsulated superglue, characterized in that the capsule bursts under pressure. The capsule is made, for example, of a rigid, brittle material such as glass and is very small (capsule diameter in the micrometer range). It can be administered either as a powder of beads or further incorporated into adhesive dots or adhesive tapes. Processing can be dry or in a conveying fluid (which supplements the superglue or, alternatively, is the second phase in a fast-curing two-component adhesive [first phase within the capsules]). Pressure (from the effector or additional equipment mounted on the table) activates the adhesive, very quickly bonds the two layers of fabric, and thus achieves the desired fixation.If this is done in the area of ​​a section after the subsequent joining, the contamination, the inability to remove, and the rigidity of this process are not a disadvantage. Alternatively, this can also be achieved with hot glue.

[0039] Furthermore, PVOH adhesives with a low water content, i.e., liquid to low-melting, can be used as adhesives. A urea melt with a melting point (FP) of, for example, 133 degrees Celsius can also be used. Eutectic salt mixtures or substance mixtures can also be used as adhesives.

[0040] Good adhesive properties have been achieved, particularly with water-soluble polymers. For example, with Kollisolv PEG 3350 from BASF, which melts at just 50 degrees Celsius and is easily soluble in water.

[0041] Notably, the adhesives described above are also non-toxic and approved for medical applications, which eliminates any potential for human contact with clothing prior to washing. Additionally, the bonding can be applied to an area of ​​the fabric layers that will be separated during subsequent processing.

[0042] According to an exemplary embodiment, the fixation mechanism comprises a holding pin device configured to insert holding pins into the first fabric layer and the second fabric layer for fixation. Using the holding pin device, one or more needle-like pins or holding pins can be driven from a magazine into or through the fabric layers, either from the effector side, from the work table side, or from an auxiliary system (e.g., auxiliary plate, needle belt), in order to fasten them together.

[0043] The holding needle device has, in particular, a feed device, for example, a holding needle magazine, which is configured to feed holding needles for the holding needle device. According to an exemplary embodiment, the fixing mechanism has a stapling device which is configured to insert at least one staple into the first fabric layer and the second fabric layer for fixing, wherein the stapling device has, in particular, a feed device which is configured to feed staples for the stapling device.

[0044] According to another exemplary embodiment, the fixation mechanism comprises a hold-down device configured to apply a contact force to the first fabric layer and the second fabric layer toward the work surface. The hold-down device can press against the work table / work surface with a force, resulting in the fixation of the two intermediate fabric layers. Alternatively, the effector can also allow compressed air to flow between its underside and the fabric layers. This is particularly helpful when the effector needs to reposition itself so that it can quickly overcome the adhesive forces between the effector and the first fabric layer.

[0045] According to a further exemplary embodiment, 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 by means of the fixing mechanism. The work surface can also be fixed to the work table on or with the help of a base (work surface) that is movably placed on the work table. For example, only the lower fabric layer can be fixed to this base (e.g., by clamping it). This base plate can also be a tackboard. For example, the work surface can be designed as a thin plate and moved across the work table by means of an air pressure cushion or rollers. The work surface can also be magnetic (permanently magnetic or electromagnetic) and accordingly function as a magnetic element of the magnetic device described above.According to another exemplary embodiment, the fixation mechanism has a fixation surface within an effector contour, in which a fixation force can be transferred to at least the first fabric layer. The fixation surface is smaller than 1 cm. 2 , especially smaller than 20 mm 2 , especially smaller than 8 mm 2 Additionally or alternatively, the fixation mechanism has a plurality of fixation surfaces that are spaced apart by more than 2 cm, in particular more than 3 cm, and furthermore in particular more than 4 cm. For a subsequent joining process, no prior, continuous fixation surface for the fixation of the fabric layer stack needs to be provided. It has been found that even smaller fixations at certain intervals are sufficient for high seam quality.

[0046] The effector contour describes the area on a fabric layer at which the fixation mechanism and / or the handling mechanism exerts a fixation force or holding force. The effector contour is defined, for example, by the border of the fixation surface or by the connecting lines between the individual fixation points at which there is holding contact with a held fabric layer within the xy plane. The connecting lines form an effector contour within the fabric layer. Inside the holding area, the fabric layer can be tensioned and thus defines the xy plane. At the outer edge areas of the fabric layers, which lie outside the effector contour and are defined by the fixation points, the joining areas are formed and the fabric layer can be untensioned there and, so to speak, protrude from the xy plane.

[0047] According to a further exemplary embodiment, the fixing mechanism is designed such that the joining region 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 fabric projection defines the joining regions and enables subsequent joining. The joining region can then be placed on at least one other free joining region of a further fabric layer. Alternatively, the joining region can be manipulated such that it is folded (e.g., for a hem), thus forming the fabric layer.

[0048] 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 configured to fix and transport the stack of fabric layers for handling to the joining unit, 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. In particular, the fixing element has multiple handling mechanisms (and / or multiple fixing mechanisms).

[0049] Electroadhesive grippers for electrostatic attraction work with electrostatic fields. Holding forces are generated through polarization. They can be generated on the upper side of the fabric layer, which is in contact with a gripper dielectric of the electroadhesive gripper.

[0050] A Bernoulli gripper has a suction body, with compressed air flowing outwards along the xy plane between the fabric part and the suction body via a flow channel in 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 to the suction body. A freezing gripper has a strongly cooled contact surface with the fabric part, whereby frozen water or ice acts as an adhesive that adheres the fabric part to the contact surface. The water can be taken as an adhesive from the atmosphere (air humidity) or added from an adhesive supply.

[0051] The effector can have several, e.g., five or more, fixation elements. A fixation element has at least one fixation mechanism, for example, a mechanical gripper, a gripper with vacuum nozzles, a needle unit with holding needles, a fixation system with electrostatic attraction, fixation rollers, in particular counter-rotating fixation rollers, and / or clamps.

[0052] Combined grippers, which, for example, have vacuum nozzles for securing using negative pressure and, at the same time, holding needles, can also be attached to the effector according to the invention. The securing elements can be designed in such a way that they are provided with zones or securing devices that secure using different negative pressures, different surface flows, and / or different electrostatic gripping positions to adapt to the specific textile properties of the fabric layer.

[0053] The fixing elements each have, for example, at least one support rod, which is movably attached to the effector at one end. Corresponding fixing devices or fixing mechanisms are provided along the support rod or at a free end of the support rod, such as a gripper or a holding needle device which has holding needles for holding the piece of fabric. The support rod can in particular be attached to the effector so as to be pivotable and / or translationally displaceable. Furthermore, the support rod can, for example, be telescopically extendable and retractable in order to change its length. In addition, the support rod itself can have at least one joint, so that the support rod itself has two partial areas that can be pivoted towards one another. This enables precise setting and adjustment of the gripping device of a fixing element. The adjustment of the effector contour of the effector can, for example, be achieved by integrated actuators (e.g.B. stepper motors with mechanical transmission to the fixing elements).

[0054] The fixing elements are arranged on the effector in such a way that at least one fixing element or all guide elements have two degrees of freedom per arm in an xy-plane and in particular a further additional degree of freedom in the z-plane (for folding away inactive grippers).

[0055] The xy plane is defined as the plane in which the fabric layer exists when it is secured by the fixing elements. Specifically, the fabric layer is spanned between the fixing elements. In this spanned state, the fabric layer has a flat shape and thus lies within the xy plane. The normal to the xy plane forms the z direction. In other words, the xy plane forms the fabric plane, and the thickness of the fabric is defined along the z direction.

[0056] According to a further exemplary embodiment, the fixing element has at least two, in particular different, handling mechanisms. The two handling mechanisms have different gripping mechanisms and / or the handling mechanisms can apply different gripping intensities to the left and right sides of one of the fabric layers or the fabric layer stack. The handling mechanisms can be activated and controlled, in particular depending on a manipulation step and / or a joining step, wherein the handling mechanisms have, in particular, electrostatic and / or vacuum-based handling mechanisms.

[0057] If, for example, fabric layers of different thickness, different technical / haptic properties or different layering 'left' / 'right' have to be processed with the same handling mechanism, it is advantageous if the gripping can be controlled in an additional degree of freedom.

[0058] According to a further exemplary embodiment, the handling mechanism is controllable such that different gripping intensities can be controlled for fixing one of the fabric layers or the fabric layer stack, and / or wherein the effector has at least two handling mechanisms that can be selectively controlled for fixing one of the fabric layers or the fabric layer stack.

[0059] For example, the left and right sides of a fabric layer or a stack of fabric layers can be gripped differently, e.g. on the left side with needles of a needle device, and on the right side with a vacuum device, so that the right side is not penetrated by the holding needles and remains more attractive.

[0060] For example, different location-dependent gripping can be useful for a fabric layer if, for example, the effector has only one gripper for a large area, but at another location the effector has several grippers close together. Furthermore, a stronger fixation can be initiated at the edge of the fabric layer where the joining takes place.

[0061] Furthermore, temporally variable gripping (e.g., varying gripping intensities during manipulation, placement, and / or movement) is possible. This makes it possible to apply a deeper suction force when moving the fabric layers on the work table, because otherwise the effector would become stuck to the work table, compared to freely manipulating a fabric layer.

[0062] According to a further exemplary embodiment, the handling mechanism has a support element, in particular a support plate, for placing the stack of fabric layers to be conveyed, wherein the handling mechanism is in particular configured such that the first fabric layer and second fabric layer fixed by the fixing mechanism can be lifted together and the support element can be conveyed under the fixed first fabric layer and second fabric layer. The support element can, for example, be fork-shaped, or the support plate can have a round support surface or a square support surface. Furthermore, the support element can have an adhesive surface so that the fabric layers do not accidentally slip off during transport or joining. The support element can, for example, be arranged in an articulated manner on the effector (e.g. via a further robot arm) in order to be inserted accordingly under or between the fabric layers.

[0063] In other words, the topmost layer(s) of fabric from a stack of fabric layers can be lifted. To do this, the handling mechanism can lift the topmost layer of fabric or at least one edge or border using the embodiments explained (e.g. using a temporary adhesive, holding or microneedles, a Bernoulli gripper, suction cups or a vacuum), so that the support element can be moved in between, i.e. can then be transported between the topmost layer(s) of fabric and the layers of fabric underneath or to the work table. In other words, the support element first moves in the x- or y-direction underneath the layer of fabric to be lifted, so that at the beginning the front edge of the support element is parallel to the straight cut edge of the layer of fabric. When the support element has been pushed underneath completely (or at least), the support element is moved vertically or horizontally together with the layer of fabric to be lifted.lifted in the z-direction and thus separated from the rest of the underlying layers of material.

[0064] According to a further exemplary embodiment, the effector has at least two fixing elements, each having at least one handling mechanism, wherein the fixing elements are coupled to the effector in a manner that is movable relative to one another, in particular along an xy plane of the fabric layer, such that a fixed fabric layer or the fabric layer stack can be clamped.

[0065] According to a further exemplary embodiment, the handling robot has at least one sensor unit, wherein the sensor unit has an optical sensor for determining an orientation of the fabric layer stack relative to the effector and / or the joining unit, a force sensor for measuring a fixing force of the fixing mechanism for fixing the fabric layer, and / or a weight sensor for measuring a weight of the fixed fabric layer stack. The handling robot is configured to control the fixing mechanism based on the measured sensor parameter of the sensor unit. In an exemplary embodiment, the handling mechanisms are adapted in real time based on a spatial area or a sensor signal.For example, the 'gripping' at a very short distance above a fabric layer can be reduced so that the new fabric layer falls flat onto the already applied fabric layer, or an additional handling mechanism for the second fabric layer or the fold-over of one fabric part can be activated at a suitable time. Such an influence of a sensor on the handling mechanism can be implemented both as a control and a regulation. In a control system, the action on the handling mechanism does not act as a control loop, but only as an initiator. In a regulation system, the action on the gripping system feeds back to the sensor signal, and a control loop is formed. According to a further exemplary embodiment, the handling mechanism has holding needles which are configured such that a piercing depth and / or a piercing angle of at least one holding needle can be controlled, in particular in real time and / or based on sensor feedback.An additional form of differentiated gripping with the handling mechanism can involve the depth and / or angle of a holding pin (and especially the number of them). For example, a holding pin can be inserted at a shallow angle or not as deeply into the fabric layer during singulation, while when tacking two fabric layers (for joining), a steeper angle or a greater penetration depth can be used to securely grip both fabric layers.

[0066] According to a further exemplary embodiment, the holding needles have a diameter of less than 1300 micrometers, less than 900 micrometers, in particular less than 550 micrometers, and more particularly less than 250 micrometers. It has been found that, when fine microneedles are used as holding needles in combination with a suitable vacuum and a suitable air flow, no quality-impairing effects remain on the fabric surface after processing. This has been demonstrated particularly with needle diameters of less than 1300 micrometers, less than 900 micrometers, in particular less than 550 micrometers, and preferably less than 250 micrometers.

[0067] According to a further exemplary embodiment, the work surface for a fabric layer has a support device which is configured to fix one of the fabric layers or the stack of fabric layers on the work surface by means of a support force, in particular by means of pneumatic, mechanical and / or electrostatic support forces. The support device is fastened to the work table, for example. The support device can be based on pneumatic, electrostatic or magnetic principles. For example, a ferromagnetic plate can lie on the work table, onto which a fabric layer (in particular the bottom first fabric layer) is placed. After folding over some of these fabric layers or after placing a second fabric layer, the handling mechanism can attract the metal plate by means of a magnet (in particular an electromagnet) and thus fix the fabric layers between them.Alternatively, an electrostatic holding mechanism can be used on both the table and the effector side. This is particularly helpful for precisely positioning two layers of fabric on top of each other. After placement, the effector or the fixation mechanism can then reinforce the fixation so that two layers of fabric are securely held, and a support device built into the table can be deactivated.

[0068] According to a further exemplary embodiment, the system comprises a smoothing mechanism configured to smooth one of the fabric layers or the fabric layer stack to reduce wrinkles, wherein the smoothing mechanism is configured to smooth, roll, reposition, shake, blow, flatten, stretch and / or full one of the fabric layers (or the fabric layer stack). The smoothing mechanism has, in particular, a wrinkle detection sensor for wrinkle detection, wherein the smoothing mechanism is controllable such that a smoothing process can be carried out upon wrinkle detection. The smoothing mechanism can be arranged on the work table and / or on the effector. The smoothing mechanism can be carried out or activated in every process step or only upon detection of wrinkles.

[0069] The smoothing mechanism, for example, includes a roller or a rod element, allowing the fabric layer to be smoothed by smoothing or rolling. The fabric layer is placed on the work surface, for example, and the friction / adhesion to the work surface can be greater than the force applied by the effector for smoothing, which can be achieved with a flat comb or rollers. This allows smoothing to be achieved.

[0070] Furthermore, the smoothing mechanism of the effector can be implemented in such a way that a fabric layer is positioned by the effector lifting it again and then smoothing it out before being laid down again. Similarly, the smoothing mechanism of the effector can be implemented in such a way that a fabric layer is shaken to reduce the wrinkles.

[0071] The smoothing mechanism may further comprise a compressed air outlet so that compressed air is blown smooth onto the surface of the fabric layers, particularly in places with wrinkles, thereby pushing them out.

[0072] Furthermore, the smoothing mechanism can form a plate-shaped flat zone on the effector, with which any wrinkles can be smoothed out when the smoothing mechanism is on.

[0073] Furthermore, the smoothing mechanism can create wrinkle-free fabric layers by stretching. For example, the effector can lay down a fabric layer and then pick it up again. Due to the friction between the fabric layers and the substrate, the fabric layer can be stretched away from the center of the effector. This process can take place in small steps and be repeated multiple times.

[0074] Furthermore, the smoothing mechanism can include an elastic or inflatable stamp, which can be used to apply pressure to the fabric layer. This expands the elastic or inflatable stamp and pulls the fabric layer along with it, causing it to smooth out.

[0075] According to a further exemplary embodiment, the effector has a contact surface within the effector contour, against which one of the fabric layers or the fabric layer stack can be placed. 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, based on 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 positioning or stacking the fabric layers, 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. Furthermore, the contact surface can be provided with vacuum, with mechanical elements (e.g.continuous microneedles) or with electrostatic elements that hold the layers of fabric.

[0076] According to a further exemplary embodiment, the contact surface is designed as a suction surface as part of the handling mechanism, against which one of the fabric layers or the stack of fabric layers can be placed. The suction surface has a plurality of suction openings, in particular more than 9, more than 15, more than 22 and / or more than 30 suction openings, wherein the suction openings are designed in particular with a diameter of less than 20 mm, in particular less than 10 mm, furthermore in particular less than 5 mm, furthermore in particular less than 3 mm. With a handling mechanism based on negative pressure, with a small suction opening, sufficient force can only be generated with a high degree of negative pressure to hold the fabric layers. The fabric layer deforms, which could in particular make ironing necessary in a subsequent work step.On the other hand, large suction openings deform the textile material so severely, even with little vacuum, that it no longer lies flat enough in the xy plane. In addition, when positioning it on top of another layer of fabric, this can also be sucked in, which counteracts precise positioning. For this reason, a solution was chosen which uses a large number of small suction openings (distributed over a larger area or edge). Good results are achieved with more than 9, in particular more than 15, preferably more than 22, particularly preferably more than 30 suction openings. Tests with smaller diameters of these suction openings have shown that the fabric layers are kept flat in the xy plane. This in particular prevents warping and the formation of wrinkles when laying them down later.

[0077] According to a further exemplary embodiment, the system comprises a data processing unit configured to provide fabric layer data relating in particular to fabric layer material and / or fabric layer geometry, wherein the data processing unit is further configured to provide processing data, in particular to the left / right position, orientation, folds, and / or manufacturing quality of one of the fabric layers or of the fabric layer stack. Thus, the system can transfer information details regarding the placement of the fabric layers to a subsequent handling system for the next work step. This eliminates the need to re-record position details, material details, and / or left / right placement of the fabric layer. It has been shown that details relating to material properties, left / right position, location, folds, and / or manufacturing quality are particularly suitable for transfer.

[0078] According to a further exemplary embodiment, the first fabric layer, the second fabric layer, and / or the stack of fabric layers represents a textile product, in particular a piece of clothing or parts thereof. The system according to the invention offers the possibility of very gentle fabric treatment and the subsequent invisible (or barely visible) traces left behind by the manipulation systems, which represents a particular advantage, especially for the clothing industry. According to a further exemplary embodiment, the system comprises an environmental sensor for measuring an environmental parameter, in particular the temperature, the humidity, and / or the dew point of the surrounding atmosphere, wherein the handling mechanism and / or the fixing mechanism is controllable based on the measured environmental parameter. It has been shown that taking into account the local climate (humidity, temperature fluctuations, dew point, etc.)) for adjusting the holding forces is crucial for the reliability of the overall process. For this reason, corresponding sensors feed back into the gripping systems described. A control loop implemented in this way is particularly advantageous for electrostatic gripping processes.

[0079] According to a further exemplary embodiment, the work surface is at least partially embedded in a work table, wherein the work surface is less than 1 cm, in particular less than 5 mm, and further in particular less than 3 mm thick. The work surface can either be a fixed work table or a movable auxiliary plate (work surface) that can be moved in at least one coordinate direction. Alternatively, this auxiliary plate can also be temporarily connected to the effector and thus move simultaneously with the effector. In particular, the work surface can be partially integrated into the work table and form a surface without significant height differences in at least one direction (and, for example, be displaceable in another direction). The work surface can also be designed to be relatively thin (in the z-direction, i.e., technically speaking, 'of low height').

[0080] It should be noted that the embodiments described here represent only a limited selection of possible embodiments of the invention. It is thus possible to combine the features of individual embodiments in a suitable manner, so that a multitude of different embodiments can be regarded as obviously disclosed to a person skilled in the art with the embodiments explicitly described here. In particular, some embodiments of the invention are described with device claims and other embodiments of the invention with method claims. However, upon reading this application, it will immediately become clear to a person skilled in the art that, unless explicitly stated otherwise, in addition to a combination of features belonging to one type of subject matter of the invention, any combination of features belonging to different types of subject matter of the invention is also possible.

[0081] Short description of the drawings

[0082] For further explanation and better understanding of the present invention, exemplary embodiments are described in more detail below with reference to the accompanying drawings. They show:

[0083] 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 are fixed and conveyed to a joining unit, according to an exemplary embodiment.

[0084] Fig. 5 shows a schematic representation of a handling mechanism that holds a stack of fabric layers within an effector contour.

[0085] Fig. 6 shows a schematic representation of a magnetic device as a fixing mechanism according to an exemplary embodiment.

[0086] Fig. 7 shows a schematic representation of an effector with a contact surface according to an exemplary embodiment. Fig. 8 shows a schematic representation of an effector with a handling mechanism and a fixation mechanism according to an exemplary embodiment.

[0087] Fig. 9 shows a schematic representation of a system for handling and processing fabric layers with fixation elements arranged on the effector, according to an exemplary embodiment.

[0088] Fig. 10 shows a schematic representation of a handling mechanism with a gripping device according to an exemplary embodiment of the present invention.

[0089] Fig. 11 shows a schematic representation of a handling mechanism with a suction device according to an exemplary embodiment of the present invention.

[0090] Fig. 12 shows a schematic representation of a handling mechanism with an electrostatically charged element according to an exemplary embodiment of the present invention.

[0091] Fig. 13 shows a schematic representation of a handling mechanism with holding needles according to an exemplary embodiment of the present invention.

[0092] Fig. 14 shows a schematic representation of an effector with several different handling mechanisms, for example, with a suction cup and holding needles, according to an exemplary embodiment of the present invention. Fig. 15 shows a schematic representation of a handling mechanism with a gripper that grips the top side of a fabric layer, according to an exemplary embodiment of the present invention.

[0093] Fig. 16 shows a schematic representation of a handling mechanism with a suction surface according to an exemplary embodiment of the present invention.

[0094] Fig. 17 to Fig. 19 show schematic representations of a fixation mechanism with a folding device according to an exemplary embodiment of the present invention.

[0095] Fig. 20 shows a schematic representation of the folding device arranged on a work table according to an exemplary embodiment of the present invention.

[0096] Fig. 21 shows a schematic representation of fabric layers with an overhang outside an effector contour, according to an exemplary embodiment.

[0097] Fig. 22 to Fig. 24 show schematic representations of a handling mechanism with holding needles according to an exemplary embodiment.

[0098] Fig. 25 shows a schematic representation of a positioning of a third fabric layer on two already sewn fabric layers according to another exemplary embodiment. Identical or similar components in different figures are provided with the same reference numerals. The representations in the figures are schematic.

[0099] 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 comprises 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 resting 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 fixing mechanism 130 is configured to fix the first fabric layer 111 and the second fabric layer 112 to one another to form a fabric layer stack 113 such that a joining region 114 of the first fabric layer 111 rests on a further joining region 115 of the second fabric layer 112, wherein the handling mechanism 120 is further controllable such that the superimposed first and second fabric layers 111, 112 can be conveyed to a joining unit 140 for processing the joining regions.

[0100] The handling robot 100 has the effector 101, to which the corresponding handling mechanism 120 is attached, in particular in an interchangeable manner. The handling robot 100 is attached to the floor by a stationary robot base in order to introduce corresponding forces into the floor. A robot arm 104 is arranged between the effector 101 and the robot base. This robot arm has, for example, one or more joints in order to control the effector 101 into a desired position. In particular, the handling robot 100 is designed to handle or manipulate the fabric layers 111, 112 and to move and position them accordingly.

[0101] The handling robot 100, as well as the corresponding handling mechanism 120, the fixing mechanism 130 and / or the joining unit 140 (or a sewing machine) are coupled by means of a control unit 105, so that a fully automatic positioning of the fabric layers 111, 112 and a subsequent joining can be carried out.

[0102] The controllable handling mechanism 120 and the fixing mechanism 130 are arranged on the effector 101. The fixing mechanism 130 is designed to fasten at least two fabric layers 111, 112, which in particular lie one on top of the other, so that the fixed two fabric layers 111, 112 can be conveyed in particular as a package or as a stack of fabric layers 113.

[0103] In particular, the handling mechanism 120 can transport a fabric layer 111 or the described fabric layers 111, 112 fixed together, for example, to the joining unit 140 or another joining unit. The effector or the handling mechanism 120 can adapt to the contour of the fabric layers 111, 112, for example, by adjusting the fixing points of the handling mechanism 120 to which the fabric layer 111, 112 is fixed. For example, the fixing elements 901 shown in Fig. 9, in which the individual fixing points are formed, can be arranged for this purpose.

[0104] In one exemplary embodiment, the fixation mechanism 130 is arranged entirely on the effector 101. However, a portion of the fixation mechanism 130 can also be arranged on a work table 103, on which, for example, the fabric layers are placed. Accordingly, the handling mechanism 120 is completely attached to the effector 101, but a portion of the handling mechanism 120 can also be attached to the work table 103.

[0105] 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.

[0106] The joining unit 140 is configured to process the joining areas of a material layer 111, 112 and / or to connect at least two material layers

[0107] 111, 112. The joining unit 140 can be a joining unit, a welding machine, a stapling machine, a crocheting machine, an automatic gluing machine or other automatic joining machines for fabric layers 111, 112.

[0108] Fig. 1 shows the handling robot 100, which places a fabric layer 112 on a work surface 102 of the work table 103 using a suction device as the handling mechanism 120. The work surface 102 is aligned in a horizontal x,y plane. The effector 101 can be moved, for example, along the horizontal plane as well as in the vertical z direction.

[0109] Next, as shown in Fig. 2, a first fabric layer 111 can be applied to the second fabric layer by means of the suction device as handling mechanism 120

[0110] 112, which is already placed on the work table. The fabric layers 111, 112 are aligned with one another such that, for example, the joining areas 114, 115 here, where the two fabric layers 111, 112 are to be connected, for example by means of a seam, lie on top of one another and are aligned. In a next step, as shown, for example, in Fig. 3, the fixing device 130 on the effector 101 is activated. In the exemplary illustration, the fixing mechanism 130 has a holding needle device 131, which penetrates holding needles 132 through the two fabric layers 111, 112 in order to hold them together in a fabric layer stack 113.

[0111] Subsequently, as shown in Fig. 4, the handling mechanism 120 is activated again, for example, by a suction cup / suction device creating negative pressure, thus attaching the fabric layer stack 113 to the effector 101. The effector 101 is then transported together with the fabric layer stack 113 to the joining unit 140, so that the joining areas 114, 115 are precisely positioned in the processing area of ​​the joining unit 140. The joining unit 140 can then process the joining areas 114, 115.

[0112] Fig. 5 shows a schematic representation of a handling mechanism 120, which holds a fabric layer stack 113 within an effector contour 501. The fixing mechanism 130 or the handling mechanism 120 has, within the outer joining regions 114, 115, an effector contour 501 with a fixing surface, in which a fixing force can be transferred to at least the fabric layer 111, 112.

[0113] The effector contour 501 describes the area on a fabric layer 111, 112 at which the fixation mechanism 130 and / or the handling mechanism 120 exerts a fixation or holding force. The effector contour 501 is defined, for example, by the border of the fixation surface or by the connecting lines between the individual fixation points at which there is holding contact with a held fabric layer 111, 112 within the xy plane. In the illustration in Fig. 5, a plurality of holding needles 132 have been inserted by the holding needle device 131 to hold the two fabric layers 111, 112 together. The connecting lines form the effector contour 501 within the fabric layer 111, 112.At the outer edge regions of the material layers 111, 112, which lie outside the effector contour 501, which is defined by the fixing points at which the handling mechanism holds the material layers 111, 112, the joining regions 114, 115 are formed and the material layer 111, 112 can be unstretched there and, so to speak, protrude from the xy plane.

[0114] Fig. 6 shows a schematic representation of a magnetic device as a fixing mechanism 130. The magnetic device has a magnetic element 601. The magnetic device can attract the magnetic element 601 toward the effector 101 such that the material layers 111, 112, which can be arranged between the effector 101 and the magnetic element 601, can be fixed. The magnetic element 601 can, for example, form a flat magnetic disc that flies under a lower material layer 111, 112 on the work table 103. Additional material layers 111, 112 can be placed over the lower material layers 111, 112. The magnetic device on the effector 101 can, for example, have a controllable electromagnet. Thus, the effector 101 can move to the fabric layer stack 113 and activate the magnetic device, so that the magnetic element 601 arranged below is attracted towards the magnetic device or effector 101 and fixes the intermediate fabric layers 111, 112.

[0115] Fig. 7 shows a schematic representation of an effector 101 with a contact surface 701 according to an exemplary embodiment. The contact surface 701, against which one of the fabric layers 111, 112 or the fabric layer stack 113 can be placed, is formed within the effector contour 501. The contact surface 701 forms, in particular, part of the handling mechanism 120 for securing one of the fabric layers or the fabric layer stack 113, wherein the contact surface 701 is designed to hold one of the fabric layers 111, 112 or the fabric layer stack 113 magnetically, based on air pressure, mechanically, or electrostatically to the effector 101. The contact surface 701 allows the fabric layers 111, 112 or the fabric layer stack 113 to be transported and later deposited without distortion or creases. After positioning or stacking the fabric layers 111, 112, the fabric layers 111, 112 can be fixed more easily with the contact surface 701.

[0116] The work surface 102 has a support device 702, which is configured 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 attached, for example, to the work table 103. 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.

[0117] 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. For example, the effector 101 can first be placed over a fabric layer stack 113 in order to insert holding pins 132 into the fabric layers 111, 112 so that the fabric layers 111, 112 are fastened to one another. In a next step, the effector 101 with the handling mechanism 120, which has, for example, a suction device, 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.

[0118] Fig. 9 shows a schematic representation of a system for handling and processing fabric layers with fixing elements 901 arranged on the effector 101. The fixing elements 901 can be arranged pivotably and extendably on the effector 101. The handling mechanism 120 and / or the fixing mechanism 130 can be arranged on one of the fixing elements 901, wherein the handling mechanism 120 is further configured to fix and transport the fabric layer stack 113 for handling to the joining unit 140, in particular within the effector contour 501.

[0119] 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, a gripper with vacuum nozzles, a needle unit with holding needles 132, a fixation system with electrostatic attraction, fixation rollers, in particular counter-rotating fixation rollers, and / or clamps.

[0120] The fixing elements 901 each have, for example, at least one support rod, which is movably attached to the effector 101 at one end. Along the support rod or at a free end of the support rod, corresponding fixing devices or fixing mechanisms 130 or handling mechanisms 120 are provided, such as a gripper 1001 (see Fig. 10) or a holding needle device 131, which has holding needles 132 for holding the piece of fabric. The support rod can, in particular, be attached to the effector 101 in a pivotable and / or translationally displaceable manner. Furthermore, the support rod can, for example, be telescopically extendable and retractable in order to change its length. Furthermore, the support rod itself can have at least one joint, so that the support rod itself has two partial sections that can be pivoted towards each other. This enables precise adjustment and setting of the gripping device of a fixing element.The adjustment of the effector contour 501 of the effector can be enabled, for example, by integrated actuators (e.g., stepper motors with mechanical transmission to the fixation elements 901). The fixation elements 901 are arranged on the effector 101 such that at least one fixation element 901 or all guide elements have two degrees of freedom per arm in an xy plane and, in particular, a further additional degree of freedom in the z plane (for folding away inactive grippers 1001).

[0121] The xy plane is defined as the plane in which the fabric layer exists when it is secured by the fixing elements. Specifically, the fabric layer is spanned between the fixing elements. In this spanned state, the fabric layer has a flat shape and thus lies within the xy plane. The normal to the xy plane forms the z direction. In other words, the xy plane forms the fabric plane, and the thickness of the fabric is defined along the z direction.

[0122] Furthermore, 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. In an exemplary embodiment, the handling mechanisms 120 are adjusted in real time based on a spatial area or a sensor signal.

[0123] 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, humidity, and / or dew point of the surrounding atmosphere. The handling mechanism 120 and / or the fixation 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 adjusting the holding forces is important for the reliability of the overall process.

[0124] 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 sides of the fabric layer stack 113.

[0125] 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 superimposed first and second fabric layers 111, 112 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 in a fabric layer stack 113 can be fastened by suction with an appropriately adjusted 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 accordingly fix the fabric material of the fabric layers 111, 112. The electrostatic charge can be generated, for example, via a correspondingly connected power generation device controlled by the control unit 105.

[0126] Fig. 13 shows a schematic representation of a handling mechanism 120 with holding needles 1301 according to an exemplary embodiment of the present invention. The handling mechanism 120 has a holding needle device configured such that a penetration depth and / or a penetration angle of at least one holding needle 1301 is controllable, in particular in real time and / or based on sensor feedback. An additional form of differentiated gripping with the handling mechanism 120 can represent the depth of a holding needle 1301 and / or the angle of a holding needle 1301 (and in particular relate to a plurality thereof).

[0127] Fig. 14 shows a schematic representation of an effector 101 with several different handling mechanisms 120, for example with a suction cup 1101 and holding needles 1301 according to an exemplary embodiment of the present invention.

[0128] 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 fabric layers 111, 112 or the fabric layer stack 113 can be placed. The suction surface 1601 has a plurality of suction openings 1602.

[0129] 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 configured to fold over 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 for clamping the folded first fabric layer 111 and the second fabric layer 112 together.

[0130] 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. Furthermore, the folding device 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, for example, horizontally) to the work surface 102.

[0131] As shown in Fig. 17, a fabric layer 111 is attached to a suction surface 1601 on the effector 101. Furthermore, a pivotable clamping element 1703 is arranged on the effector 101 or the suction surface 1601. The clamping element 1703 can be pivoted over an edge of the effector 101 or the suction surface 1601. In an initial position, the folding bar 1701 and the support bar 1702 are spaced apart, so that a portion of the fabric layer 111 can be positioned between the folding bar 1701 and the support bar 1702.

[0132] Subsequently, as shown in Fig. 18, the folding beam 1701 is pivoted around the support beam 1702, whereby the folding beam 1701 remains parallel to the support beam 1702 and a region of the fabric layers

[0133] 111 and thus folded around the support beam 1702. Accordingly, two material layers 111, 112 lie on top of each other. Between the effector 101 or the suction surface 1601 and the folding beam 1701 lies in particular the joining area 115 or an edge area of ​​the second material layer

[0134] 112. The clamping element 1703 is then pivoted over the edge of the effector 101 or the suction surface 1601 and clamps the two fabric layers 111, 112 together.

[0135] For this purpose, the effector 101 or the suction surface 1601 has a contact area 1705 against 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.

[0136] Furthermore, the length of the folded-over second fabric layer 112 can be longer than the distance between an edge of the effector 101 or the suction surface 1601 and the support bar 1702. Thus, an end region of the folded-over second fabric layer 112 is folded up and positioned against the edge surface. The clamping element 1703 then pivots toward the edge surface and clamps the folded-up portion of the second fabric layer 112.

[0137] As shown in Fig. 19, the effector 101 can pull out the fabric layers 111, 112 horizontally, in the extension direction of the folding bar 1701 and the support bar 1702, with the fabric layers 111, 112 being held in the folded position by the clamping element 1703. The effector 101 can now be pivoted into a horizontal position so that the fabric layers 111, 112 can rest 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, sew a seam.

[0138] 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. After the fabric layers 111, 112 have been folded over by means of the folding beam 1701, 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.

[0139] Fig. 21 shows a schematic representation of a fabric layer 111 with an overhang 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 regions 2100. The fixing points of the handling mechanism 120 and / or the fixing mechanism 130 engage the fixing region in 2100. At the edge of the inner effector contour 501, in particular, fixing points such as the handling mechanism 120 are provided in order to lift the first fabric layer 111 under tension in a way that is as wrinkle-free as possible. 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.For example, corresponding holding needles 132 of the holding needle device 131 can be inserted into the fixing elements of the fixing mechanism 130 in order to fasten both fabric layers 111, 112 together.

[0140] The effector contour 501 is smaller than the outer contour of the fabric layers 111, 112, so that in this area between the outer contour of the fabric layers 111, 112 and the effector contour 501, the overhang 2101 is formed, in which, in particular, the joining area 114 is formed. The effector 101 can thus convey the fabric layers 111, 112 to a sewing machine 140, so that the sewing machine creates a corresponding seam in the joining area 114.

[0141] Fig. 22 to Fig. 24 show schematic representations of a handling mechanism 120 with holding needles 1301 according to an exemplary embodiment.

[0142] Holding needles 1301 are arranged on a control surface 2201 of the handling mechanism 120, wherein a surface shape of the control surface 2201 is adjustable such that in a first embodiment of the surface shape the holding needles 1301 are oriented parallel to one another (see Fig. 22) in order to penetrate into or extend out of at least one material layer 111, 112, and in a second embodiment of the surface shape the holding needles 1301 are not aligned parallel to one another (see Fig. 23 or Fig. 24) in order to fix them in at least one material layer 111, 112.

[0143] When the control surface bends, the retaining pins 1301 spread and fix the two fabric layers 111, 112. When the control surface bends back, for example, during a smooth movement or abruptly by clicking back, the retaining pins 1301, which are again aligned parallel to one another, detach from the fabric layers 111, 112. The surface shape of the control surface 2201 can be deformable and, in particular, prestressed by means of mechanical, pneumatic, or hydraulic elements. The elastic control surface 2201 can be deformable so that it can be prestressed and automatically deformed back into an initial position without external restoring force, for example, by aligning the retaining pins 1301 parallel or by aligning the retaining pins 1301 at an angle to one another.

[0144] In the embodiment shown, 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. For example, an overpressure can be generated in the control chamber 2202, whereby the control surface 2201 deforms outwards and the holding needles 1301 are spread accordingly (see Fig. 23). Alternatively, air can also be drawn out of the control chamber 2202, so that a negative pressure is generated and the control surface 2201 deforms inwards (see Figure 24). Thus, the holding needles 1301 are pressed together at their tips. By means of the spread-apart or pressed-together holding needles 1301, a corresponding fabric layer 111, 112 can be held.

[0145] Fig. 25 shows a schematic representation of the positioning of a third fabric layer 2501 on two already sewn fabric layers 111, 112 according to another exemplary embodiment. A first fabric layer 111 and a second fabric layer 112 lie partially on top of one another on a work table 103 and have already been sewn together with a seam 2503, in particular using the method according to the invention. The handling mechanism 120 is equipped with a suction cup 1101, which already holds another third fabric layer 2501 within the effector contour 501. The edge regions of the third fabric layer 2501 are freely accessible and form a third joining region 2502. The effector 101 is controlled by the robot arm 104, so that the third fabric layer 2501 is placed over the first fabric layer 111. For example, the third joining region 2502 can thus lie above the seam 2503 and thus above the respective first and second joining regions 114, 115.The first fabric layer 111, the second fabric layer 112, and the third fabric layer 2501 can then be sewn together. The second fabric layer 112 can, for example, represent a label and can thus be sewn into a type of hem.

[0146] Additionally, it should be noted that "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limitations.

[0147]

[0148] Handling robot 701 Effector contact surface Effector 702 Support device

[0149] Work surface

[0150] Work table 901 fixing elements

[0151] Robot arm 902 sensor unit

[0152] Control unit 903 Environmental sensor first fabric part / fabric layer 1001 Gripper second fabric part / fabric layer 1101 Suction cup fabric layer stack 1201 Electrostatic first joining area attraction element further joining area 1301 Holding pins

[0153] Handling mechanism 1601 Suction surface Fixing mechanism 1602 Suction opening Holding needle device Holding needles 1701 Movable folding bar

[0154] Joining unit 1702 folding beam

[0155] 1703 clamping element

[0156] Effector contour 1704 Storage on the work table Magnetic element 1705 Contact area

[0157] 2100 fixation area

[0158] 2101 Overhang

[0159] 2201 control surface

[0160] 2202 Control Chamber

[0161] 2203 Air line

[0162] 2501 third layer of fabric

[0163] 2502 third joining area

[0164] 2503 Seam

Claims

Patent claims 1. System for handling and processing fabric layers, the system comprising 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), a fixing mechanism (130) which is at least partially arranged on the effector (101), wherein the fixing mechanism (130) is designed to fix the first fabric layer (111) and the second fabric layer (112) to one another to form a fabric layer stack (113) in such a way that a joining region (114) of the first fabric layer (111) lies on a further joining region (115) of the second fabric layer (112), wherein the Handling mechanism (120) is further controllable such that the superimposed first and second material layers (111,112) can be conveyed to a joining unit (140) for processing the joining areas., 2. System according to claim 1, wherein the fixing mechanism (130) comprises a welding device, in particular an ultrasonic welding device, for, in particular temporarily, welding the first and second fabric layers (111, 112) together, wherein the fixing mechanism (130) in particular comprises a feeding device for feeding welding material.

3. System according to claim 1 or 2, wherein the fixing mechanism (130) comprises a suction device with at least one suction cup (1101), wherein the suction device is designed to suck air from the first and second material layers (111, 112) by means of the suction device (1101) in such a way that the superimposed first and second material layers (111, 112) can be fixed to the suction device.

4. System according to one of claims 1 to 3, further comprising a folding device, which is arranged in particular on a work table and is designed to fold an edge region of a fabric layer (111, 112) such that the folded edge region forms the first fabric layer (111), which lies on top of the second fabric layer (112), wherein the folding device has a clamping device, which is designed on the effector (101) or on the work table (103) to clamp the folded first fabric layer (111) and the second fabric layer (112) together.

5. System according to one of claims 1 to 4, wherein the fixing mechanism (130) comprises a magnetic device which is configured to attract a magnetic element in the direction of the effector (101) in such a way that the material layers (111, 112) which can be arranged between the effector (101) and the magnetic element can be fixed, wherein in particular the magnetic device comprises a further magnetic element, wherein the first material layer (111) can be fixed with the magnetic element and the second material layer (112) with the further magnetic element, wherein the magnetic device comprises a feeding device which is configured to position and align at least one magnetic element on the work surface.

6. System according to one of claims 1 to 5, wherein the fixing mechanism (130) comprises a clamping device which is configured to clamp the first fabric layer (111) and the second fabric layer (112) together.

7. System according to one of claims 1 to 6, wherein the fixing mechanism (130) comprises an adhesive device which is configured to provide a temporary bonding of the first fabric layer (111) and the second fabric layer (112), wherein the adhesive device in particular comprises a feed device which is configured to provide a temporary bonding of the first fabric layer (111) and the second fabric layer (112) by adding an adhesive.

8. System according to claim 7, wherein the adhesive comprises in particular water-soluble polymers, in particular polyethylene glycol and / or polyvinyl alcohol, Na thiosulfate pentahydrate, Na acetate trihydrate, ammonium alum dodecahydrate, ureas and / or eutectic salt mixtures, wherein the adhesive comprises in particular a pressure-activated adhesive, a hot melt adhesive and / or a two-component adhesive, in particular that the adhesive is removable again during and / or after a further processing step, in particular is detachable together with a material part of the first fabric layer (111), the second fabric layer (112) and / or the fabric layer stack (113).

9. System according to one of claims 1 to 8, wherein the fixing mechanism (130) comprises a holding needle device (131) which is configured to introduce holding needles (132) into the first fabric layer (111) and the second fabric layer (112) for fixing, wherein the holding needle device (131) in particular comprises a feeding device which is configured to feed holding needles (132) for the holding needle device (131).

10. System according to one of claims 1 to 9, wherein the fixing mechanism (130) comprises a stapling device which is configured to introduce at least one staple into the first fabric layer (111) and the second fabric layer (112) for fixing, wherein the stapling device in particular comprises a feeding device which is configured to feed staples for the stapling device and / or wherein the fixing mechanism (130) comprises a holding-down device which is configured to apply a contact pressure to the first fabric layer (111) and the second fabric layer (112) in the direction of the working surface (102).

11. System according to one of claims 1 to 10, wherein the work table (103) has a work support which is movable over a surface of the work table (103), wherein the first fabric layer (111) and the second fabric layer (112) can be fastened to the work support by means of the fixing mechanism.

12. System according to one of claims 1 to 11, wherein the fixation mechanism (130) has a fixation surface within an effector contour (501) in which a fixation force can be transferred to at least the first fabric layer (111), wherein the fixation surface is smaller than 1 cm 2 , especially smaller than 20 mm 2 , especially smaller than 8 mm 2 and / or this fixing mechanism (130) has a plurality of fixing surfaces which are spaced apart from one another by more than 2 cm, in particular more than 3 cm, further in particular more than 4 cm.

13. System according to one of claims 1 to 12, wherein the fixing mechanism (130) is designed such that the joining region (114, 115) 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 (501).

14. System according to one of claims 1 to 13, wherein the effector (101) has at least one fixing element (901) on which the handling mechanism (120) is formed, wherein the handling mechanism (120) is further designed to fix and convey the fabric layer stack (113) for handling to the joining unit (140), in particular within the effector contour (501), wherein the handling mechanism (120) is selected from the group consisting of grippers (1001), suction cups (1101), clamps, areas with increased friction and / or electrostatic attraction, holding needles (1301), rollers, freezing grippers, and / or Bernoulli grippers, wherein in particular the fixing element (901) has a plurality of handling mechanisms.

15. System according to claim 14, wherein the fixing element (901) has at least two, in particular different, handling mechanisms, wherein the two handling mechanisms have different gripping mechanisms and / or apply different gripping intensities on the left and the right side of one of the fabric layers (111, 112) or of the fabric layer stack (113), wherein the handling mechanisms can be activated and controlled in particular as a function of a manipulation step and / or a joining step, wherein the handling mechanisms have in particular electrostatic and / or vacuum-based handling mechanisms.

16. System according to claim 14 or 15, wherein the effector (101) has at least two fixing elements (901) each with at least one handling mechanism (120), wherein the fixing elements (901), in particular along an xy plane of the fabric layer (111, 112), are coupled to the effector (101) in such a way that they can be moved relative to one another in such a way that a fixed fabric layer (111, 112) or the fabric layer stack (113) can be clamped.

17. System according to one of claims 1 to 16, wherein the handling mechanism (120) is controllable such that different gripping intensities for fixing one of the fabric layers (111, 112) or the fabric layer stack (113) are controllable, and / or wherein the effector (101) has at least two handling mechanisms which are selectively controllable for fixing one of the fabric layers (111, 112) or the fabric layer stack (113).

18. System according to one of claims 1 to 17, wherein the handling mechanism (120) has a support element, in particular a support plate, for placing the stack of fabric layers (113) to be conveyed, wherein the handling mechanism (120) is in particular configured such that the first fabric layer (111) and second fabric layer (112) fixed by the fixing mechanism (130) can be lifted together and the support element can be conveyed under the fixed first fabric layer (111) and second fabric layer (112).

19. System according to one of claims 1 to 18, wherein 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), wherein the handling robot (100) is configured to control the fixing mechanism (130) based on the measured sensor parameter of the sensor unit (902).

20. System according to one of claims 1 to 19, wherein the handling mechanism (120) comprises holding needles (1301) which are configured such that a piercing depth and / or a piercing angle of at least one holding needle (1301) is controllable, in particular in real time and / or based on sensor feedback.

21. System according to claim 9 or 20, wherein holding needles (1301) have a diameter of less than 1300 micrometers, less than 900 micrometers, in particular less than 550 micrometers, further in particular less than 250 micrometers.

22. System according to one of claims 1 to 21, wherein the working surface (102) for a fabric layer (111, 112) has a support device (702) which is designed to fix one of the fabric layers (111, 112) or the fabric layer stack (113) on the working surface (102) by means of a support force, in particular by means of pneumatic, mechanical and / or electrostatic support forces.

23. System according to one of claims 1 to 22, further comprising a smoothing mechanism configured to smooth one of the fabric layers (111, 112) or the fabric layer stack (113) to reduce wrinkles, wherein the smoothing mechanism is configured to smooth, roll, reposition, shake, blow, flatten, stretch and / or full one of the fabric layers (111, 112) or the fabric layer stack (113), wherein the smoothing mechanism for wrinkle detection in particular has a wrinkle detection sensor, wherein the smoothing mechanism is controllable such that a smoothing process can be carried out upon wrinkle detection.

24. System according to one of claims 1 to 23, wherein the effector (101) has a contact surface (701) within the effector contour (501), against which one of the fabric layers (111, 112) or the fabric layer stack (113) can be placed, wherein the contact surface (701) in particular forms part of the handling mechanism (120) for fixing one of the fabric layers (111, 112) or the fabric layer stack (113), wherein the contact surface (701) is designed such that one of the fabric layers (111, 112) or the fabric layer stack (113) is held magnetically, based on air pressure, mechanically or electrostatically on the effector (101).

25. System according to claim 24, wherein the contact surface (701) as part of the handling mechanism (120) forms a suction surface (1601) against which one of the fabric layers (111, 112) or the fabric layer stack (113) can be placed, wherein the suction surface (1601) has a plurality of suction openings (1602), in particular more than 9, more than 15, more than 22 and / or more than 30 suction openings (1602), wherein the suction openings (1602) are designed in particular with a diameter of less than 20 mm, in particular less than 10 mm, further in particular less than 5 mm, further in particular less than 3 mm.

26. System according to one of claims 1 to 25, further comprising a data processing unit which is configured to provide fabric layer data relating in particular to fabric layer material and / or fabric layer geometry, wherein the data processing unit is further configured to provide processing data, in particular left / right position, orientation, folds and / or manufacturing quality of one of the fabric layers (111, 112) or the fabric layer stack (113).

27. System according to one of claims 1 to 26, wherein the first fabric layer (111), the second fabric layer (112) and / or the fabric layer stack (113) represent a textile product, in particular a garment or parts thereof.

28. System according to one of claims 1 to 27, further comprising an environmental sensor (903) for measuring a Environmental parameter, in particular the temperature, the humidity and / or the dew point of the surrounding atmosphere, wherein the handling mechanism and / or the fixing mechanism is controllable based on the measured environmental parameter.

29. System according to one of claims 1 to 28, wherein the work surface (102) is at least partially embedded in a work table (103), wherein the work surface (102) is less than 1 cm, in particular less than 5 mm, further in particular less than 3 mm thick.

30. Method for handling and processing layers of material (111, 112), the method comprising Placing a first fabric layer (111) flat on a second fabric layer (112) lying on a work surface (102) by means of a handling mechanism (120) of an effector (101) of a handling robot (100), Fixing the first fabric layer (111) and the second fabric layer (112) to each other to form a fabric layer stack (113) by means of a fixing mechanism (130) of the effector (101), such that a joining area (114) of the first fabric layer (111) rests on a further joining area (115) of the second fabric layer (112), Controlling the handling mechanism (120) such that the superimposed first and second material layers (111, 112) can be conveyed to a joining unit (140) for processing the joining areas.

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