Effector with adaptive contour and variable gripping capability

Abstract

The present invention relates to a system for handling and processing of fabric parts (140). The system has a handling robot (100) with an effector (110) for handling a fabric part (140) and a joining unit (130) for processing a fabric part (140) and / or for connecting at least two fabric parts (140). The effector (110) is configured to separate a fabric part (140) from a fabric stack, to supply said fabric part to the joining unit (130) and to hold same during the processing with the joining unit (130), wherein the effector (110) has at least five fixing elements (111 to 115). Each fixing element (111 to 115) is designed to fix a region of the fabric part (140) to the effector (110), wherein the five fixing elements (111 to 115) are coupled to the effector (110) so as to be movable along an x-y plane with respect to one another in such a manner that, within the x-y plane, connecting lines between the fixing elements (111 to 115) form an adjustable pentagon (108) so that a fixable fabric part (140) can be stretched.

Description

[0001] Effector with adaptive contour and variable gripping ability

[0002] Technical area

[0003] The invention relates to a system and a method for handling and processing fabric parts.

[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] However, known handling systems typically have effectors with no more than four gripper arms, with each gripper arm having only one degree of freedom within an xy-plane in which the textile piece is located. In other words, a gripper arm can only adapt to the contour of the textile piece within the xy-plane. The adaptive grippers of the handling mechanism or effector required for this, which are optimized precisely for this problem, are thus severely limited to the predefined contours of the textile piece. Therefore, individual effectors or sewing frames have been used to date, which are adapted to the individual fabric pieces (in size and texture).

[0009] It is an object of the present invention to provide a handling system for fabric parts which can flexibly adapt to different contours of fabric parts.

[0010] This object is achieved by a system and a method for handling and processing fabric parts according to the subject matter of the independent patent claims.

[0011] According to a first aspect of the present invention, a system for handling and processing fabric pieces is described. The system comprises a handling robot with an effector for handling a fabric piece and a joining unit for processing a fabric piece and / or for joining at least two fabric pieces. The effector is configured to separate a fabric piece from a fabric stack, feed it to the joining unit, and hold it during processing with the joining unit.

[0012] The effector has at least five fixing elements. Each fixing element is designed to fix a region of the fabric part to the effector. The five fixing elements are coupled to the effector so that they can be moved relative to one another along an xy plane. Within the xy plane, connecting lines between the fixing elements form an adjustable pentagon, allowing a fixable fabric part to be clamped. With more than five fixing elements, a corresponding hexagon can be formed with six fixing elements, or a corresponding n-gon with n fixing elements.

[0013] Furthermore, according to a further aspect, a method for handling and processing fabric parts is described. According to the method, a fabric part is separated from a fabric stack by means of an effector of a handling robot for handling the fabric part, and the fabric part is fed to a joining unit by means of the effector. The fabric part is processed in a joining unit and / or at least two fabric parts are joined to the joining unit. The effector is configured to hold the fabric part with the joining unit during processing, wherein the effector has at least five fixing elements, and wherein each fixing element is designed to fix a region of the fabric part to the effector. The fixing elements are moved relative to one another along an xy plane, such that connecting lines between the fixing elements form an adjustable pentagon within the xy plane, so that the fixed fabric part can be clamped.

[0014] The handling robot has the effector, to which the corresponding fixing elements are attached. The handling robot is attached to the floor with a stationary robot base to transmit the corresponding forces into the floor. Alternatively, the handling robot can also be configured so 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 steer the effector into a desired position.

[0015] The handling robot is a programmable, multipurpose handling device for moving material, workpieces, tools, or special equipment. Specifically, the handling robot is designed to handle or manipulate the fabric parts and 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 fabric parts.

[0016] Accordingly, at least five adjustable and controllable fixation elements are arranged on the effector. The effector thus forms an end section with, for example, grippers as fixation elements that grasp and manipulate a piece of fabric (e.g., a flat, unprocessed piece of fabric or an entire garment as a fabric piece).

[0017] The joining unit is configured to process the fabric piece and / or to join at least two fabric pieces. 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 pieces.

[0018] The term fabric part refers to the possible textiles or textile parts of a piece of clothing. The term fabric part includes different types of knitted fabrics, in particular woven fabrics and nonwovens. The left / wrong side of a fabric part is understood to be the inside (i.e. the underside of the fabric, inside of the fabric or the 'not attractive side' of a fabric part. In a piece of clothing, the left side corresponds to the non-visible side of the fabric part. The right / right side of a fabric part is used to describe the 'attractive side' of a fabric or fabric part (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 part (e.g. the outside of a T-shirt).

[0019] The joining unit can, for example, join two pieces of fabric together, creating a seam (fabric seam or weld seam, etc.). A seam, for example, describes the connection of two pieces of fabric using a thread or yarn, with at least one material essentially being a fabric, a fleece, or a woven fabric.

[0020] As explained, the effector according to the invention comprises at least five fixation elements. A fixation element comprises 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.

[0021] Combined grippers, which for example have vacuum nozzles for fixing by means of negative pressure and at the same time by means of holding needles, can also be attached to the effector according to the invention. The fixing elements can be designed in such a way that they are provided with zones or fixing devices which fix the desired piece of fabric using different negative pressures, different surface flows and / or different electrostatic gripping positions in order to adapt to the specific textile properties of the piece of fabric. The fixing elements each have, for example, at least one support rod (or as described below a framework of coupling rods), which is movably attached to the effector at one end. Corresponding fixing devices orA fixing mechanism is provided, 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 which 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 be made possible, for example, by integrated actuators (e.g. stepper motors with mechanical transmission to the fixing elements).

[0022] The fixing elements are arranged on the effector in such a way that at least one fixing element or all at least five 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).

[0023] The xy plane is defined as the plane in which the fabric part is located when it is fixed by the fixing elements. In particular, the fabric part is spanned between the fixing elements. In this spanned state, the fabric part 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. The effector contour or pentagon is defined by the connecting lines between the individual five fixing elements or the fixing points of the fixing elements at which there is holding contact with a held fabric part within the xy plane. The connecting lines thus form a pentagonal contour (effector contour) within the fabric part. The fabric part can be spanned inside the pentagon and thus defines the xy plane.At the outer edge areas of the fabric part, which lie outside the pentagon defined by the fixing elements, the fabric part can be untightened and, so to speak, protrude from the xy plane. In a special operating state, three fixing elements can be aligned along a straight line. The connecting lines between the outer fixing elements and the inner fixing element along this straight line also form two connecting lines, so that according to the inventive definition, a pentagon is still present.

[0024] The handling system according to the invention enables improved handling during the separation of fabric pieces from a stack and improved fixation of fabric pieces during the joining step. Separation refers to the picking up or picking up of one or two fabric pieces from a (usually pre-cut) stack of fabric pieces. In the case of two superimposed layers of a fabric piece, this can also be understood as the lifting of only one fabric piece.

[0025] The inventive solution provides a handling robot with a contour-adaptive effector that adapts to the contour of the fabric piece. The effector has at least five fixation elements that can span at least a pentagon in the xy plane. Furthermore, multiple fixation elements can span a hexagon, an octagon, a decagon, or even an even larger polygon. This makes it possible to grasp the distinctive outer edges of a piece of fabric cut for a garment so flatly during the separation process that it can subsequently be placed flat on a work surface for further processing.

[0026] According to a further exemplary embodiment, the fixing elements are designed to grasp a piece of fabric to be gripped after and / or during fixing to the fixing elements, also within the contour of the piece of fabric and / or to re-tension the piece of fabric by moving the fixing elements relative to one another.

[0027] Especially with larger pieces of fabric, there's a risk of sagging if they're only lifted at the relevant contour points or the fixing points of the fixing elements. The support rods or the grippers of the fixing elements can pre-tension the fabric piece away from the center after it's picked up.

[0028] According to a further exemplary embodiment, the effector has at least one further fixing element, which is configured to support or fix the piece of fabric within the spanned contour and / or which is configurable to be folded away in the z-direction, which is oriented perpendicular to the xy-plane. The further fixing element is also pivotably or translationally displaceably attached to the effector. The further fixing element also has a fixing mechanism at one end, wherein the fixing point of the fixing mechanism with the piece of fabric does not form the contour of the pentagon, but is located inside the pentagon. In other words, the further fixing element can push the center of the piece of fabric away from the effector or pull it towards it in order to prevent the piece of fabric from sagging in the center of the pentagon.

[0029] For example, pre-tensioning can occasionally lead to a certain amount of shrinkage (or slippage) after laying down for joining, as the fabric part shrinks back together due to its natural self-assembly effects. For this reason (for precision during joining), the additional fixation element can prevent sagging in the center without having to introduce high tension into the fabric part due to the external fixation elements. For this reason, additional fixation elements can also be placed within the clamped contour, keeping the fabric part in the clamped plane, especially during rapid position changes of the robot.

[0030] If the fabric part to be manipulated requires fewer endpoints than would be possible with the maximum number of fixation elements on the effector, the additional fixation elements can either be used to reduce the sag described above, or they can be folded away from the spanned xy contour plane in the Z direction.

[0031] According to another exemplary embodiment, the effector has at least six, eight, or ten fixing elements, which are coupled to the effector so as to be movable relative to one another along the xy plane and / or pivotally such that, within the xy plane, connecting lines between the fixing elements and, in particular, between the respective fixing points of the fixing elements and the fabric part can form at least one adjustable hexagon, octagon, or decagon, so that the fixable fabric part can be stretched. For example, with an embodiment with six fixing elements, one half of a tank top can be gripped at six points (2x shoulder, 2x under the armhole, 2x at the bottom of the waistband) and stretched within the hexagon.

[0032] According to an exemplary embodiment, the effector has, for example, more than 10 fixing elements, in particular more than 15

[0033] Fixation elements, preferably more than 20 fixation elements. The high number of fixation points achieved in this way can be implemented conventionally (simply many fixation elements with two degrees of freedom in the xy plane). Alternatively, this can also be achieved by adding an even higher number of fixation points with fewer degrees of freedom, for example if a dozen or more dozen star-shaped fixation points are implemented with fixation elements and, for example, the support rods of the fixation elements are fixed in their angle to the effector or to each other, but are variable in their length. This means that despite only one degree of freedom per fixation element, the high number of fixation points of the fixation elements also means that an effector contour of almost any shape can be spanned.If the number of fixation points is too high for a small piece of fabric, the corresponding fixation elements can be folded away in the z-direction or an automatic folding mechanism of, for example, every second fixation point can be implemented mechanically by means of a forced guide.

[0034] In a further exemplary embodiment, a contour formed by the connecting lines of the fixing elements can be adjusted to be smaller than a portion of the outer contour of the fabric piece to be processed, at least during part of the processing of the fabric piece, particularly in the joining unit. To enable the fabric piece to be fed to a joining unit (e.g., sewing machine), it can have an overhang at the edge relative to the contour (effector contour) formed by the connecting lines of the fixing elements.

[0035] According to a further exemplary embodiment, at least one of the fixation elements has a fixation mechanism selected from the group consisting of grippers, suction cups, clamps, areas with increased friction and / or electrostatic attraction (electrostatic grippers), needles, rollers, freezing grippers, and / or Bernoulli grippers, wherein in particular at least one of the fixation elements can have a plurality of fixation mechanisms.

[0036] Electroadhesive grippers operate with electrostatic fields. Holding forces are generated through polarization. They can be generated on the upper side of the fabric part that is in contact with a gripper dielectric of the electroadhesive gripper.

[0037] A Bernoulli gripper has a suction body, with compressed air flowing outward along the xy plane between the fabric part and the suction body via a flow channel at the edges of the suction body. An air opening is located in the center of the suction body, 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 fixation force between the fabric part and the suction body.

[0038] A freeze gripper has a highly chilled contact surface with the fabric part, whereby frozen water or ice acts as an adhesive to adhere the fabric part to the contact surface. The water can be drawn from the atmosphere (humidity) or added from an adhesive supply.

[0039] In other words, for example, several (which or different) fixation devices or fixation mechanisms can be arranged on a support rod of a fixation element.

[0040] To accomplish the various tasks mentioned, it may be useful to have differentiated fixation devices or fixation mechanisms at the fixation or end points. Depending on the sub-task, the fabric properties and the left / right side of the fabric, the following can be considered: grippers, suction cups, clamps, areas with increased friction and / or electrostatic attraction, needles and / or rollers. For example, for sliding a fabric piece on a table, a fixation device with a friction element with higher friction than the table is advantageous. 'No-slip' plastics, for example, are suitable for this. Alternatively, vacuum suction cups are advantageous as a fixation device for lifting functions. In contrast, multiple layers of fabric can be ideally fixed using microneedles (holding needles).For this reason, several different gripping systems can be indexed at one fixation point, so that the same effector can be used for both pickup when separating fabric pieces from a stack and feeding for joining or precisely stapling layers of fabric.

[0041] According to a further exemplary embodiment, at least one of the fixing elements is designed to fix the fabric piece either from a right side of the fabric piece or from a left side of the fabric part (i.e. from an inside or an outside of the fabric part). Additionally or alternatively, at least one of the fixing elements is designed to fix the fabric piece from a right side of the fabric piece and from a left side of the fabric piece. The fixing element is in particular designed to fix the left side or the right side with different fixing mechanisms, and / or the fixing element is in particular designed to fix the left side and the right side with a different fixing force. In other words, all fixing elements can fix one side of the fabric part.Additionally or alternatively, fixing elements can be provided which fix the right side and the left side of the fabric piece on the one hand. Furthermore, fixing elements can be provided which have a fixing mechanism which grips the fabric piece at the edge and thus fastens or grips it simultaneously at the top and bottom or on the left and right sides of the fabric piece. Furthermore, a first type of fixing mechanism (for example vacuum suction cups) can be provided on one side of the fabric piece, while a second type of fixing mechanism (for example grippers) is provided on the other side of the fabric piece. Different fixing mechanisms on the left and right sides of the fabric piece have the advantage that one side of the fabric piece can be gripped more gently, for example (e.g. on the left side with holding pins, but on the right side with a vacuum so that the right side remains more attractive).

[0042] Furthermore, in a further exemplary embodiment, the fixing force of a fixing element can be controlled. The controllable fixing force can represent a further degree of freedom. For example, during a specific manipulation, a gripping force can be just strong enough that the fixing element grips just enough so that only one piece of fabric is grasped from a stack during separation. For example, a device can be designed as a fixing mechanism on a fixing element in such a way that holding pins can be inserted into a stack of fabric pieces in such a way that a desired number of superimposed fabric pieces can be fixed. Furthermore, by fixing individual fixing elements with different fixing forces, a different location-dependent gripping of a specific area of ​​a piece of fabric can be enabled (e.g.firmly fix it to the edge of the piece of fabric where it is sewn so that nothing slips).

[0043] Alternatively or additionally, the fixation force can also vary over time. For example, a high fixation force can be generated by applying a strong suction force to a vacuum suction cup when lifting the fabric piece, but only a low fixation force when moving it to a work table, because otherwise, for example, the effector would become stuck to the work table.

[0044] According to a further exemplary embodiment, the fixing force of one of the fixing elements is adjustable depending on a fixing location within the contour of the fabric part, and / or the fixing mechanism of one of the fixing elements is adjustable depending on a fixing location of the fabric part.

[0045] According to a further exemplary embodiment, the fixing force and / or the fixing mechanism of one of the fixing elements can be adjusted depending on a temporal processing state of the fabric part.

[0046] According to a further exemplary embodiment, at least one of the fixing elements has an actuator which is configured to control the fixing of the fabric part and / or to control the displacement of the fixing element within the xy plane.

[0047] Additionally or alternatively, the effector and / or the handling robot comprises an actuator which is configured to transmit a fixing force to the fixing element for fixing the fabric part and / or to control a displacement force to the fixing element for displacing the fixing element within the xy plane.

[0048] According to another exemplary embodiment, the handling robot has a robot base on which the effector is movably arranged. The actuator is installed in the robot base and coupled to at least one of the fixing elements by means of an adjustment mechanism such that an actuator force can be transmitted to the effector by means of the adjustment mechanism in order to control it, so that the actuator is independent of any movement of the effector.

[0049] The actuator generates the drive force for one or more fixation elements and additionally has a transmission mechanism or an adjustment mechanism for transmitting the drive force to the fixation elements. For example, the actuator can be attached to the effector and move with the effector. For example, one actuator can generate or transmit a drive force for several or even all fixation elements, or one actuator is assigned to a fixation element. The actuator can, for example, be an electric motor or a servo element that generates a drive force for the fixation elements based on electrical energy. Furthermore, the actuator can be a hydraulic or pneumatic force generator. The adjustment mechanism can transmit the drive force to the fixation elements mechanically, for example via cables, hydraulically, or pneumatically.Accordingly, the actuator and / or actuators can be arranged in the robot base so that the drive force can be transferred to the fixing elements via the adjustment mechanism.

[0050] For example, the motors or actuators for adjusting the fixation point of the guide elements can be omitted from the actuator. By outsourcing the actuator (electro-)mechanics, the weight of the effector can be reduced, thus either reducing the energy consumption of the handling robot (at the same position change rate) or increasing the position change rate (at a given robot performance). A friction brake can be provided to fix an end position of the effector or a fixation element. Instead of a friction brake, a spring and locking mechanism on the effector side can also prevent subsequent adjustment of the end positions.

[0051] According to a further exemplary embodiment, at least one of the fixing elements can be fixed in a position with a position-holding force, wherein the position-holding force is less than 1 / 5, in particular less than 1 / 10, preferably less than 1 / 20 of the power required to move the corresponding fixing element. This allows the energy consumption of adjusting the fixing elements to be reduced. Since the adjustment of the fixing points is characterized by longer periods of constant adjustment, the structure of this adjustment mechanism is designed such that energy is primarily required to adjust the fixing points of the fixing elements and not to maintain the position (as with stepper motors, for example). An electrical (electromagnetic brake) or a mechanical (friction brake, worm gear, etc.) brake can hold the fixing elements in position.Surprisingly, this design variant has shown that the stability of the effector (and thus the quality of the resulting joint) is significantly improved. The use of holding energy can be optimized in relation to the energy required during adjustment. Very good results were achieved when the holding power or position holding force is less than 1 / 5, especially less than 1 / 10, and most preferably less than 1 / 20 of the power (rated connected load of the actuator (adjustment motor)) required to move the fixation elements.

[0052] According to a further exemplary embodiment, the fixing elements are configured such that the piece of fabric is fixed to the joining unit or units throughout the entire joining process. One of the manipulations now possible by the robot due to the inventive design of the effector is the feeding and / or guiding of one or more pieces of fabric or layers during the joining process. The aforementioned projection of the piece of fabric relative to the effector contour (e.g., of 2 cm) ensures, on the one hand, sufficient proximity of the guide and thus freedom from creases, while, on the other hand, sufficient distance is maintained to prevent the effector from colliding with the joining unit. The aforementioned variable gripping can also be relevant during guidance and / or feeding to the joining process. In this way, tacking can be reinforced in the joining area, or certain holding points / fixing points can be at least partially released after the joining process.According to a further exemplary embodiment, the joining unit is selected from the group consisting of sewing machines, welding machines for welding fabric parts, stapling machines for stapling fabric parts, crochet machines, automatic gluing machines for gluing fabric parts, in particular hot-melt gluing machines, and automatic ironing machines for ironing a fabric part.

[0053] According to a further exemplary embodiment, the handling robot has at least one sensor unit, wherein the sensor unit comprises an optical sensor for determining an orientation of the fabric part relative to the effector and / or the joining unit, a force sensor for measuring the fixing force of the fixing element for fixing the fabric part, and / or a weight sensor for measuring a weight of the fixed fabric part. The handling robot is configured to control the fixing elements based on the measured sensor parameter of the sensor unit. Alternatively or additionally, the weight of the fabric stack (or the weight reduction) during singulation can also be measured with a sensor and fed back to the handling robot.

[0054] This allows the effector and the fixing elements to be adjusted in real time based on an external sensor signal. For example, an electronic weighing device for the fabric stack or the load weight on the effector can determine whether only one piece of fabric or one layer of fabric has actually been separated. Alternatively, a camera or sensor can monitor the manipulation progress in various work steps and, if necessary, influence the fixing mechanism or gripping mechanism or the manipulation of the effector. In particular, artificial intelligence mechanisms can be used for this purpose, e.g., for wrinkle detection or to prevent the formation of wrinkles. In addition, a learning process can improve the detection and / or feedback on the cleaning of the handling robot or the gripping of the fabric piece using the fixing elements.

[0055] According to another exemplary embodiment, the fixing elements are movable relative to one another in an xy plane such that the end positions of the fixing elements can be adjusted with two degrees of freedom in the xy plane. Furthermore, the fixing elements are, for example, also movable in the z direction, so that the end positions or fixing points of the fixing elements can be adjusted with three degrees of freedom in the xy plane and in the z direction.

[0056] For example, a contour-defining end position of the effector can be controlled by two degrees of freedom: an actuator (e.g., a stepper motor with a reduction gear) for the central angle and an actuator for the length (e.g., a stepper motor and transmission to a threaded rod) of a rigid structure, at whose end position the gripping mechanism of the fixation elements is located. This corresponds to alpha and 1 in a two-dimensional central coordinate system (xy plane), which coincides with the fabric plane of the fabric part. This has the advantage that all relevant fixation points in the xy plane can be approached.

[0057] According to a further exemplary embodiment, the fixing mechanism comprises holding pins configured such that a penetration depth and / or a penetration angle of at least one holding pin is controllable, in particular in real time and / or based on sensor feedback. An additional form of differentiated gripping can relate to the depth of a holding pin and / or the angle of a holding pin (and in particular a plurality thereof). For example, a holding pin can be inserted at a shallow angle or not as deeply into the fabric piece during singulation, whereas when tacking two fabric pieces (for joining), a steeper angle or a greater penetration depth can be used to securely grip both fabric pieces.

[0058] According to a further exemplary embodiment, a support element is attached at least between two fixation elements, which supports the fabric part between the fixation elements. The support element is designed to be elastic such that, when the distance between the two fixation elements changes, the length and shape of the support element can be adjusted. The support element is, in particular, configured to hold the fabric part by means of a vacuum and / or by means of holding needles. Furthermore, the fixation mechanisms, which are used in conjunction with the fixation elements, can also be formed around the support element.

[0059] The support element serves to stabilize the fabric part between two closely spaced fixing elements. The support element is arranged between two fixing elements and attached to them. The fabric part rests against the support element for stabilization or can be actively held by the support element. This prevents, for example, the fabric part from sagging between two fixing elements. The support element can be adjusted in length. For example, the support element can be telescopically retracted and extended. Furthermore, the support element can be elastically deformed. This allows the support element to follow a different distance between two fixing elements.

[0060] For example, the support element can be arranged between two fixing points of two fixing elements and form an elastic and stretchable square tube (e.g., made of silicone). The support element can be provided with holes on the fabric side. By compressing the support element, the fabric part can be clamped in the holes. Alternatively, air can be sucked out through the holes to generate a holding force. Thus, the support element creates an auxiliary holding system between the end points of the fixing elements. A uniform distribution of elasticity over the length of the support element also creates a self-organizing effect of the support element.The ends of the square tube can either be freely movable at the fixation points of the fixation elements (so that the support element forms a straight line that always remains within the contour), or the initial angle of the support element can be adjusted with an additional actuator (or a locking mechanism), enabling improved contour adaptation. As an alternative to a vacuum system for the support element, microneedles (actively movable or passively stationary) or friction surfaces on the support element can be used.

[0061] According to another exemplary embodiment, the holding needles of the fixation mechanism or the holding needles of the carrier element 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.

[0062] According to another exemplary embodiment, the effector comprises an effector base and a central rod, wherein the effector base is attached to an arm element of the handling robot, and the central rod extends from the effector base (in particular toward the fabric part opposite the arm element). The fixation elements are attached to the central rod, wherein at least one fixation element comprises a coupling rod mechanism with a plurality of coupling rods articulated at articulation points.

[0063] At least two articulation points form fixation points, each of which is provided with at least one fixation mechanism, such as a suction cup for securing the fabric part. The coupling rods are connected to each other in a pantograph-like manner, such that the fixation points can be moved relative to the central rod within the xy plane and, during the movement, maintain a predefined change in distance proportional to the distance from the central rod.

[0064] If, for example, a fixation point is moved relative to the central rod using an actuator, the coupling rods, which are coupled in the manner of a pantograph, cause the other fixation point to change in a predetermined manner proportional to the distance from the central rod. The coupling rods form a framework designed in the manner of a pantograph, so that a predetermined proportionality of the fixation points is maintained during a displacement. For example, if the outermost fixation point is moved 5 cm further away from the central rod, the middle fixation point between the outer fixation point and the central rod can also move by 5 cm due to the predetermined proportionality. The proportionality ratio would thus be 1 to 1.Alternatively, the coupling rods can be designed and coupled in such a way that any desired proportionality ratio can be set with respect to the displacement distance. Thus, in another exemplary embodiment, the coupling rods can be coupled in such a way that the outermost fixation point is moved 10 cm further away from the central rod, and the middle fixation point between the outer fixation point and the central rod can move 5 cm due to the predetermined proportionality of 1:2 between the outer fixation point and the central rod. Using the described pantograph-type arrangement of coupling rods, a plurality of fixation points can be referenced along the xy plane, with a drive force only having to be transmitted to one fixation point, so that only one actuator is required.

[0065] According to another exemplary embodiment, the fixing elements are pivotably mounted on the central rod. This allows for an additional degree of freedom for adjusting the fixing elements, in addition to the above-described pantograph-like arrangement of the coupling rod. In particular, adjacent fixing elements can be pivoted relative to one another, allowing their spacing (particularly in the xy plane) to be adjusted.

[0066] According to another exemplary embodiment, the effector comprises a sliding element arranged on the central rod so as to be displaceable along the central rod. The coupling rod mechanism is configured such that a first coupling rod is rigidly attached to the central rod, and a further second coupling rod, which is articulated to the first coupling rod, is attached to the sliding element such that upon displacement of the sliding element along the central rod, an angle between the first coupling rod and the second coupling rod changes, and accordingly, the fixing points experience a predefined change in distance proportional to the distance from the central rod.

[0067] The central rod forms a guide rod, so to speak, which extends from the effector towards the fabric parts. The sliding element can be guided in a sliding manner along the central rod. One end of the first coupling rod is firmly attached to the central rod and one end of the second coupling rod is firmly attached to the sliding element. If the sliding element now moves towards the coupling point at which the first coupling rod is firmly attached to the central rod, the ends of the first coupling rod and the second coupling rod move closer together. Accordingly, the angle between the first coupling rod and the second coupling rod becomes smaller and the free ends of the first and second coupling rods move accordingly away from the central rod. Thus, due to the displacement of the sliding element along the central rod, the distance between the free ends of the first and second coupling rods and the central rod can be adjusted.If a fixation point to which a gripping element is attached is located at a free end of the first or second coupling rod, the arrangement of the fixation point can be adjusted accordingly, particularly along the xy plane. The described embodiment provides a mechanically robust solution that enables simple and robust control, for example, by requiring an actuator to control only the sliding element to adjust the appropriate distance or orientation of a fixation element.

[0068] In an exemplary embodiment, one or more additional fixing elements with corresponding coupling rods can be arranged on the sliding element. Thus, when controlling one and the same sliding element, a plurality of fixing elements can be adjusted or controlled.

[0069] According to a further exemplary embodiment, the system comprises a control unit for controlling the handling robot and / or the joining unit, wherein the control unit is configured to collect and evaluate the data relating to the movement of the effector and the joining result of the joining unit in order to take measures relating to the control of the movement of the effector and the joining process of the joining unit in the event of a predetermined deviation from a predeterminable limit value. The control unit can be coupled wirelessly or via cable to the individual sensors of the system in order to receive the corresponding movement data, position data, and status data of the effector, as well as the data of the joining unit and the status data of the joining point or the joining result of the fabric part. Furthermore, the control unit can be equipped with a storage unit with a database or can be coupled to a remote, web-based or cloud-stored database.For example, the database can contain target values ​​for the data or measured parameters. Based on a comparison of actual and target values, the control unit can generate corresponding control commands for the system. In other words, the system according to the invention uses the findings from the sensory evaluation to determine whether the respective manipulation was successful. This allows a change in reliability to be detected and communicated to a higher-level system. This can be used, for example, to initiate preventive maintenance or an adjustment of the handling parameters.

[0070] The control unit can be configured accordingly to adapt the gripping mechanisms in real time based on a sensor signal. For example, an electronic weighing device as a weight sensor for the fabric stack or a sensor for measuring the load weight on the effector can determine whether only one layer of fabric has actually been separated. Alternatively, a camera as an optical sensor can monitor the manipulation progress in various work steps and, if necessary, react to the gripping mechanism or the manipulation. In particular, artificial intelligence mechanisms can be used for this purpose. For example, optical sensors can be used, based on a contrast value analysis, for example, to determine whether gripping a piece of fabric will cause inadmissible creasing. In addition, a learning process can improve the detection and / or the reaction to the handling robot and the gripping in this embodiment.

[0071] According to a further exemplary embodiment, in a

[0072] Fixing mechanism by means of suction cups for fixing the fabric part, the pressure in the fixing mechanism can be varied by more than 15%, in particular more than 30%, preferably by more than 45%.

[0073] In the exemplary embodiment, in which the fixation mechanism is implemented by means of a suction device, a gripping function is achieved by means of negative pressure. The suction device comprises a suction cup or a suction bell, to which a vacuum pump or a suction pump is connected to suck air out of the suction cup. This creates a negative pressure in the space between the fabric part and the suction cup, which generates a fixation force. The negative pressure can be measured, for example, using sensors to control the suction power accordingly using the control device.

[0074] The suction power or vacuum can be adjusted for different fabric types. Good results were achieved with the following vacuum levels:

[0075] The control unit and the vacuum pump are configured such that a negative pressure can vary by more than 15%, in particular more than 30%, preferably by more than 45%. This enables a high degree of adaptability to different materials. According to a further exemplary embodiment of the method, two fabric pieces are at least partially superimposed and fixed on the joining unit by means of the effector, in particular with the fixing elements of the effector. In particular, the joining unit connects the two superimposed fabric pieces, for example by sewing or welding.

[0076] With the system according to the invention for handling and processing fabric pieces, not only is an effector considered in isolation, but also the interaction between effector and handling robot and between effector and joining unit. For example, the sensors can detect that only one piece of fabric is being picked up during separation. Furthermore, the joining unit and, for example, its forward feed of the fabric pieces during the joining process can also be controlled, particularly via the control unit. For example, the effector or its fixing elements can be used to build up or release a certain tension in the fabric piece during the joining process, depending on the fabric material, or to move the fabric piece faster or slower than the normal joining feed rate, for example if the fabric is fluffed up in the Z direction due to the sewing technique.

[0077] With the effector according to the invention and in particular its fixing elements, different types of material pieces can be separated and subsequently further processed using one and the same effector / obot.

[0078] With the inventive adjustment of the fixation elements along the x-y plane, fabric pieces can have just enough overhang (that which is outside the contour of the effector) beyond the fixation points to reliably feed them to the joining point and, if necessary, later guide them during the joining process. Since garments are often sewn inside out, the system has the subtask of laying the right side down flush with the right side. This means that the technical and tactile differences of a fabric between the front and back sides must be handled using the same infrastructure. In particular, the front side must not be visually or haptically affected by handling. The fixation elements can grip a fabric piece so gently and evenly that ironing of the garment is not necessary after joining (reducing energy and effort).

[0079] 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.

[0080] Short description of the drawings

[0081] 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:

[0082] Fig. 1 shows a schematic representation of a system for handling and processing fabric pieces according to an exemplary embodiment of the present invention.

[0083] Fig. 2 shows a schematic representation of the effector with fixation elements according to an exemplary embodiment of the present invention.

[0084] Fig. 3 shows a schematic representation of a fixing element with a gripper according to an exemplary embodiment of the present invention.

[0085] Fig. 4 shows a schematic representation of a fixation element with a suction cup according to an exemplary embodiment of the present invention.

[0086] Fig. 5 shows a schematic representation of a fixing element with an electrostatically charged element according to an exemplary

[0087] Embodiment of the present invention.

[0088] Fig. 6 shows a schematic representation of a fixation element with holding needles according to an exemplary embodiment of the present invention. Fig. 7 shows a schematic representation of a fixation element with several different holding mechanisms, for example with a suction cup and holding needles, according to an exemplary embodiment of the present invention.

[0089] Fig. 8 shows a schematic representation of a fixing element with a gripper that grips an upper side of a fabric part, according to an exemplary embodiment of the present invention.

[0090] Fig. 9 shows a schematic representation of an effector with fixing elements designed in the manner of a pantograph with coupling rods, according to an exemplary embodiment of the present invention.

[0091] Fig. 10 shows a schematic representation of an effector on which pivotable fixation elements are arranged, according to an exemplary embodiment of the present invention.

[0092] Detailed by exem

[0093] Identical or similar components in different figures are provided with the same reference numerals. The representations in the figures are schematic.

[0094] Fig. 1 shows a system for handling and processing fabric pieces 140. The system comprises a handling robot 100 with an effector 110 for handling a fabric piece 140 and a joining unit 130 for processing a fabric piece 140 and / or for joining at least two fabric pieces 140. The effector 110 is configured to separate a fabric piece 140 from a fabric stack, feed it to the joining unit 130, and hold it during processing with the joining unit 130. The effector 110 has at least five fixing elements 111 to 115.Each fixing element 111 to 115 is designed to fix a region of the fabric part 140 to the effector 110, wherein the five fixing elements 111 to 115 are coupled to the effector 110 so as to be movable relative to one another along an xy plane such that connecting lines between the fixing elements 111 to 115 form an adjustable pentagon 108 within the xy plane so that a fixable fabric part 140 can be clamped.

[0095] The handling robot 100 is attached to the floor by a stationary robot base 102 in order to introduce corresponding forces into the floor. The robot base 102 can, for example, be designed to be movable along the floor. A robot arm 104 is arranged between the effector 110 and the robot base 102, which arm has, for example, one or more joints in order to control the effector 110 into a desired position. The handling robot is designed to move and position the fabric parts 140. The handling robot 100 enables a machine-controlled position change in more than one axis and / or along a translational position change of the fabric parts 140.

[0096] Accordingly, at least five adjustable and controllable fixing elements 111 to 115 are arranged on the effector 110. The effector 110 thus forms an end part with, for example, grippers as fixing elements 111 to 115, which grasp and then manipulate a fabric part (for example, a flat, unprocessed fabric part or an entire garment as a fabric part) 140.

[0097] The joining unit 130 is configured to process the fabric piece 140 and / or to join at least two fabric pieces 140. The joining unit 130 can be a sewing machine, a welding machine, a tacking machine, a crocheting machine, an automatic gluing machine, or other automatic joining machines for fabric pieces. For example, the joining unit 130 can join two fabric pieces 140 together to create a seam (fabric seam or weld seam, etc.).

[0098] A fixation element 111 to 115 has at least one fixation mechanism. In the exemplary embodiment shown in Figure 1, corresponding suction cups 101 are arranged at the ends of the fixation elements 111 to 115, which, for example, hold a fabric part 140 by means of negative pressure.

[0099] The fixing elements 111 to 115 each have, for example, at least one support rod (or, as described in Figure 9, a framework of coupling rods 901), which are movably attached to the effector 110 at one end. Along the support rod or at a free end of the support rod, corresponding fixing devices are provided, such as a gripper 101 or a holding needle device (see Figure 6), which has holding needles 601 for holding the piece of fabric 140. The support rod can, in particular, be pivotably and / or translationally displaceably attached to the effector 110. 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 pivotable sub-regions.This enables precise adjustment and adjustment of the fixation mechanism of a fixation element 111 to 115. Adjustment of the effector contour 108 of the effector 110 can be achieved, for example, by integrated actuators (e.g., stepper motors with mechanical transmission to the fixation elements).

[0100] The fixing elements 111 to 115 are arranged on the effector 110 such that at least one fixing element 111 to 115 or all at least five guide elements 111 to 115 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 fixing elements 111 to 115).

[0101] The pentagon as effector contour 108 is defined by the connecting lines between the individual five fixation elements 111 to 115 or the outermost fixation points of the fixation elements 111 to 115, as seen from the effector, at which there is holding contact with a held fabric part 140, within the xy plane. The connecting lines thus form a pentagonal contour (effector contour) 108 within the fabric part 140. Inside the pentagon 108, the fabric part 140 is taut and thus defines the xy plane. At the outer edge regions of the fabric part, which lie outside the pentagon 108, the fabric part can be untaut and, in the case of slack or soft fabrics, protrude from the xy plane in the z direction. In a special operating state, three fixation elements can be aligned along a straight line.

[0102] The effector contour 108, which is formed by the connecting lines of the fixing elements or their fixing points, is smaller than a part of an outer contour of the piece of fabric 140 to be processed. In order for the piece of fabric 140 to be fed to a joining unit (e.g. sewing machine), it can have a projection at the edge relative to the effector contour 108.

[0103] The fixing force of a fixing element 111 to 115 can be variably controlled. The controllable fixing force can represent a further degree of freedom. For example, during a specific manipulation, a gripping force or a suction force of the suction device 101 can be just strong enough that the fixing element 111 to 115 only grasps one piece of fabric 140 from a stack 141 during separation. Furthermore, the fixing force of a fixing element 111 to 115 can change over time over the holding time. For example, a high fixing force can be generated by a lot of suction from a (vacuum) suction device 101 during lifting, but only a little fixing force when moving the piece of fabric 140 onto a work table, because otherwise, for example, the effector 110 would become stuck to a work table.

[0104] Actuators 106 are configured to control the handling robot 100 and its functional elements. For example, an actuator 106 can control the arm element 104 of the handling robot 100. The arm element 104 has, for example, several joints, wherein a corresponding actuator 106 can be provided at each of the joints to control the position of the arm element 104. The actuators 106 can be controlled, for example, by a control unit 105.

[0105] The robot arm 104 is, for example, attached to the robot base 102. An actuator 106 is installed in particular in the robot base 102 and is coupled to at least one of the fixing elements 111 to 115 by means of an adjustment mechanism, for example, via cables or hydraulic force transmission elements, such that an actuator force can be transmitted to the effector 110 by means of the adjustment mechanism in order to control it, so that the actuator 106 is independent of a movement of the effector 110.

[0106] The actuator 106 generates the drive force for one or more fixation elements 111 to 115 and additionally has a transmission mechanism or an adjustment mechanism. An actuator 106 can be attached to the effector 110 and move with the effector 110. For example, an actuator 106 can generate or transmit a drive force for several or even all of the fixation elements 111 to 115, or an actuator 110 can be assigned to a fixation element. The actuator 106 can, for example, be an electric motor or a servo element that generates a drive force for the fixation elements based on electrical energy. Furthermore, the actuator 106 can be a hydraulic or pneumatic force generator.

[0107] The fixing elements 111 to 115 are configured such that the fabric part 140 remains fixed in position on the joining unit 130 throughout the entire joining process. The aforementioned projection of the fabric part relative to the effector contour 108 of the effector 110 (e.g., 2 cm) allows, on the one hand, sufficient proximity of the guide and thus freedom from creases to be ensured, while, on the other hand, sufficient distance ensures that the effector 110 does not collide with the joining unit 130.

[0108] The joining unit can comprise a sewing machine unit 131, as shown in Figure 1, which, for example, sews a piece of fabric 140 or sews two pieces of fabric 140 together.

[0109] Furthermore, the handling robot 100 has at least various sensor units 103. The sensor units 103 can, for example, have an optical sensor for determining an orientation of the fabric part relative to the effector 110 and / or the joining unit 130. Furthermore, a sensor 130 can have a force sensor for measuring the fixing force of the fixing element 111 to 115 for fixing the fabric part 140 and / or a weight sensor 107 for measuring a weight of the fixed fabric part 140. The handling robot 100 or the control unit 105 is configured to control the fixing elements based on the measured sensor parameter of the sensor unit 103.

[0110] Thus, the effector 110 and the fixing elements 111 to 115 can be adjusted in real time based on an external sensor signal. For example, an electronic weighing device or weight sensor 107 of the fabric stack 141 or the load weight on the effector 110 can determine whether only one fabric part 140 or one fabric layer has actually been separated. Alternatively, a camera of the sensor unit 103 can monitor the manipulation progress in various work steps and, if necessary, influence the fixing mechanism or gripping mechanism or the manipulation of the effector 110.

[0111] The control unit 105 is configured to collect and evaluate data relating to the movement of the effector 110 and the joining result of the joining unit 130 in order to take measures relating to the control of the movement of the effector 110 and the joining process of the joining unit 120 in the event of a predetermined deviation from a predeterminable limit value. The control unit 105 can be coupled wirelessly or via cable to the individual sensors 103 of the system in order to receive the corresponding movement data, position data, and status data of the effector 110 as well as the data of the joining unit 130 and the status data of the joining point or the joining result of the material part 140. Furthermore, the control unit 105 can be equipped with a storage unit with a database or can be coupled to a remote, web-based or cloud-stored database. The database can contain, for example, target values ​​for the data or measured parameters.Based on an actual / target value comparison, the control unit 105 can generate corresponding control commands for the system.

[0112] The control unit 105 is configured to adjust the gripping or securing mechanisms in real time based on a sensor signal. For example, an electronic weighing device as the weight sensor 107 of the fabric stack 141 or a sensor for measuring the load weight on the effector 110 can determine whether only one layer of fabric has actually been separated. Alternatively, a camera as the optical sensor 103 can monitor the manipulation progress in various work steps and, if necessary, react to the gripping mechanism or the manipulation.

[0113] Fig. 2 shows a schematic representation of the effector 110 with fixing elements 111 to 115. The fixing elements 111 to 115 are designed to grasp and fix a piece of fabric 140 to be gripped within the contour of the fabric part 140. Furthermore, the fixing elements 111 to 115 can be positioned relative to one another so that a fabric part 140 can be tensioned. Thus, for example, a fold 201 of the fabric part 140 can be resolved.

[0114] In the embodiment of Fig. 2, the fixing elements 111 to 115 have, for example, suction cups 101 as fixing mechanisms, so that the fabric part 140 can be fixed by means of negative pressure. The suction cups 101 are attached to corresponding support rods of the fixing elements 111 to 115. The support rods fix the suction cups 101 to the effector 110. The support rods can also have joints and can accordingly adjust the position of the fixing points or the distance to the effector 110. Furthermore, the support rods can be designed so that they can be extended and retracted telescopically. The support rods can also be pivotably arranged on the effector 110 and can thus, for example, adjust the distance between two fixing elements 111 to 115.

[0115] The fixing elements 111 to 115 span the pentagon as effector contour 108 between the fixing points with the fabric part 140 or between the suction cups 101. If the distance between two adjacent fixing elements 111 to 115 is increased, the fabric part 140 is tensioned accordingly in this area. Especially with larger fabric parts 140, there is a risk that they will sag if they are only lifted at the relevant contour points or fixing points of the fixing elements 111 to 115. The fixing elements 111 to 115 can thus be moved relative to one another in the xy plane in such a way that the end positions of the fixing elements (i.e. the fixing point of the fabric part 140 or the location of the suction cups 101) can be adjusted with two degrees of freedom in the xy plane. Furthermore, for example, the fixing elements 111 to 115 are movable in particular in the z-direction, so that end positions orFixing points of the fixing elements 111 to 115 can be adjusted with three degrees of freedom in the xy plane and in the z direction.

[0116] Furthermore, an additional fixing element 202 is arranged on the effector 110, which is configured to support the fabric part 110 within the spanned effector contour 108 and / or which is configurable to be folded away or retracted in the z-direction, which is oriented perpendicular to the xy plane. The additional fixing element 202 is also pivotably or translationally displaceably attached to the effector 110. The additional fixing element 202 also has a fixing mechanism at one end, wherein the fixing point of the fixing mechanism with the fabric part 140 does not form the effector contour 108 of the pentagon, but is located inside the pentagon. In other words, the additional fixing element 202 can push the center of the fabric part away from the effector 110 or pull it toward it in order to prevent the fabric part 140 from sagging in the center of the pentagon.

[0117] Furthermore, a support element 203 can be attached between two fixing elements 111 to 115, which supports the fabric part 140 between the fixing elements 111 to 115. The support element 203 is, for example, designed to be elastic such that the length and shape of the support element 203 can be adjusted when the distance between the two fixing elements 111 to 115 changes. The support element 203 is, in particular, configured to hold the fabric part 140 by means of a vacuum and / or by means of holding needles. For example, the support element 203 can be formed from an elastic and stretchable square tube (e.g., made of silicone).

[0118] The optical sensor unit can, for example, check the surface of the fabric part 140 and, if necessary, detect a fold 201 in the fabric part. Based on this, a distance x1 or x2 between adjacent fixing elements 111 to 115 can be adjusted, for example, in order to correct the fold 201. If a distance x2 is increased or decreased, the support element 203 can be lengthened or shortened accordingly.

[0119] Furthermore, the fixing force Fl, F2 and various fixing mechanisms on individual fixing elements 111 to 115 can be individually controlled by means of a control unit 105, so that, for example, a first fixing force Fl of a first suction device 101 differs from a second fixing force F2 of a second suction device 101.

[0120] Fig. 3 shows a schematic representation of a fixing element 111 with a gripper 301. The gripper 301 is designed such that it encloses the edge of the fabric part 140 and grips it from above and from below, ie from the left and from the right side of the fabric part 140.

[0121] Fig. 4 shows a schematic representation of a fixing element 111 with a suction device 101. The suction device 101 has a suction cup, which generates a guiding force by means of negative pressure. The suction cup is connected to a vacuum pump or a suction pump in order to suck air out of the suction cup. In the process, a negative pressure is generated in the volume between the fabric part 140 and the suction cup, with which a fixing force is generated. The negative pressure can be measured, for example, using sensor units 103 in order to control the suction power accordingly using the control device 105. Fig. 5 shows a schematic representation of a fixing element 111 with an electrostatically charged element 501. An electrostatically charged element can, for example, be electrostatically charged in order to accordingly fix the fabric material of the fabric part 140.The electrostatic charge can be generated, for example, via a correspondingly connected power generation device which is controlled by the control unit 105.

[0122] Fig. 6 shows a schematic representation of a fixing element 111 with holding needles 601. For example, a fixing mechanism on a fixing element 111 can be configured such that holding needles 601 can be inserted into a stack 141 of fabric pieces 140 in such a way that a desired number of superimposed fabric pieces 140 can be fixed. Furthermore, by fixing individual fixing elements 111 to 115 with different fixing forces F1, F2, a different location-dependent gripping of a specific area of ​​a fabric piece 140 can be enabled. Accordingly, the penetration depth and / or a penetration angle of the holding needles 601 can be controlled, in particular in real time and / or based on sensor feedback.

[0123] Fig. 7 shows a schematic representation of a fixing element 111 with several different fixing mechanisms, for example with a suction cup 101 and holding needles 601. In particular, different fixing mechanisms can be applied to one and the same or to different fixing elements 111 to 115. Thus, for example, vacuum nozzles or suction cups 101 for fixing by means of negative pressure and simultaneously by means of holding needles 601 can be present. The holding needles 301 of the fixing mechanism or the holding needles 601 of the carrier element 203 can have a diameter of less than 1300 micrometers or less than 900 micrometers. With fine microneedles as holding needles 6001 in combination with a suitable vacuum negative pressure on the suction cups 101, the fabric part 140 is gently gripped without leaving any quality-impairing effects on the fabric surface.

[0124] Fig. 8 shows a schematic representation of a fixing element 111 with a gripper 301 that grips the upper side of a fabric part 140. The gripper 301 grips a portion of a surface of the fabric part 140 in a pincer-like manner, forming a fold 201. The fold 201 is clamped between the pincer-shaped gripper 301, thus securing the fabric part 140.

[0125] Fig. 9 shows a schematic representation of an effector 110 with fixation elements 111, 112, which are designed in the manner of a pantograph with coupling rods 901. An effector base 904 is attached to a robot arm 104 of the handling robot 100. A central rod 902 extends from the effector base 904 toward the fabric part 140. The fixation elements 111, 112 are attached to the central rod 902, wherein the fixation elements 111, 112 have a coupling rod mechanism with a plurality of coupling rods 901 articulated at articulation points.

[0126] At least two articulation points form fixation points 905, at each of which at least one fixation mechanism, in particular a suction cup 101 for fixing the fabric part 140, is provided. The coupling rods 901 are articulated to one another in the manner of a pantograph such that the fixation points 905 are displaceable relative to the central rod 902 within the xy plane and, during the displacement, maintain a predefined change in distance proportional to the distance from the central rod 902.

[0127] If, for example, a fixing point 905 is moved relative to the central rod 902 by means of an actuator 106, the coupling rods 901, which are coupled in the manner of a pantograph, cause the further fixing point 905 to change in a predetermined manner proportional to the distance from the central rod 902. The coupling rods 901 form a framework designed in the manner of a pantograph such that a predetermined proportionality of the fixing points 905 is ensured during a displacement.

[0128] To control the coupling rods 901 and the corresponding distances of the fixation points 905 from the central rod 902, the effector 110 has a sliding element 903, which is arranged displaceably along the central rod 902. The coupling rod mechanism is designed such that a first coupling rod 901 is fixedly attached to the central rod 902, and a further second coupling rod 901, which is articulated to the first coupling rod 901, is attached to the sliding element 903 such that upon displacement of the sliding element 903 along the central rod 902, an angle between the first coupling rod 901 and the second coupling rod 901, and accordingly the fixation points 905, experience a predefined change in distance proportional to the distance from the central rod 902.

[0129] The sliding element 903 can be guided slidably along the central rod 902. One end of the first coupling rod 901 is firmly attached to the central rod 902, and one end of the second coupling rod 901 is firmly attached to the sliding element 903. If the sliding element 903 now moves toward the coupling point at which the first coupling rod 901 is firmly attached to the central rod 902, the ends of the first coupling rod 901 and the second coupling rod 901 approach each other. Accordingly, the angle between the first coupling rod 901 and the second coupling rod 901 becomes smaller and the free ends of the first and second coupling rods 901 move away from the central rod 902 accordingly. Thus, due to the displacement of the sliding element 903 along the central rod 902, a distance of the free ends of the first and second coupling rods 901 from the central rod 902 can be adjusted.

[0130] Fig. 10 shows a schematic representation of an effector 110, on which pivotable fixing elements 111 to 115 are arranged. The fixing elements can, for example, be pivotably attached to the central rod 902 or pivotably attached to a corresponding slider 903, which is displaceably arranged on the central rod 902. Thus, in addition to the arrangement of the coupling rods 901 described in Fig. 9 in the manner of a pantograph, an additional degree of freedom for the adjustment of the fixing elements 111 to 115 can be enabled. In particular, for example, adjacent fixing elements 111 to 115 can be pivoted relative to one another so that their distance (particularly in the xy plane) is adjustable. Furthermore, in the exemplary embodiment, it is emphasized that the number of fixing mechanisms, such as the suction cups 101, varies between the fixing elements 111 to 115.For example, three suction cups 101 can be arranged on one fixing element 111 and only two suction cups 101 on another fixing element 112.

[0131] 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 symbols in the claims are not to be considered as limiting. List of reference symbols:

[0132] 100 handling robots 301 grippers

[0133] 101 vacuum cleaners

[0134] 102 Robot base 501 electrostatically charged element

[0135] 103 Sensor unit

[0136] 104 Arm element 601 Holding needle

[0137] 105 Control unit

[0138] 106 Actuator 901 Coupling rod

[0139] 107 Weight sensor 902 Central rod

[0140] 108 Pentagon / Effector Contour 903 Sliding Element

[0141] 904 Effector base

[0142] 110 Effector 905 Fixation point

[0143] 111 first fixation element

[0144] 112 second fixing element xl distance between

[0145] 113 third fixation element fixation elements

[0146] 114 fourth fixing element x2 distance between

[0147] 115 fifth fixing element fixing elements

[0148] Fl first fixation force

[0149] 130 Joining unit F2 second fixing force

[0150] 131 Sewing machine unit

[0151] 140 fabric part

[0152] 141 stacks

[0153] 201 fold

[0154] 202 additional fixing element

[0155] 203 support element

Claims

Patent claims 1. A system for handling and processing fabric parts (140), the system comprising a handling robot (100) with an effector (110) for handling a fabric part (140), a joining unit (130) for processing a fabric part (140) and / or for joining at least two fabric parts (140), wherein the effector (110) is configured to feed a fabric part (140) to the joining unit (130) and to hold it during processing with the joining unit (130), wherein the effector (110) has at least five fixing elements (111 to 115), wherein each fixing element (111 to 115) is configured to fix a region of the fabric part (140) to the effector (110), wherein the five fixing elements (111 to 115) are movable relative to one another along an xy plane on the effector (110). are coupled in such a way that an adjustable pentagon (108) can be formed within the xy plane connecting lines between the fixing elements (111 to 115),so that a fixable fabric part (140) can be clamped., 2. System according to claim 1, wherein the fixing elements (111 to 115) are designed to grasp a piece of fabric to be gripped after and / or during fixing to the fixing elements (111 to 115) also within the contour of the piece of fabric and / or to re-tension the piece of fabric by moving the fixing elements (111 to 115) relative to one another.

3. System according to claim 1 or 2, wherein the effector (110) has at least one further fixing element (202) which is configured to fix the piece of fabric within the clamped to support the contour and / or which can be configured to be folded away in the z-direction, which is oriented perpendicular to the xy-plane.

4. System according to one of claims 1 to 3, wherein the effector (110) has at least six, eight or ten fixing elements (111 to 115) which are coupled to the effector (110) so as to be movable relative to one another along the xy plane in such a way that connecting lines between the fixing elements (111 to 115) form at least one adjustable hexagon, octagon or decagon within the xy plane so that the fixable fabric part (140) can be clamped.

5. System according to one of claims 1 to 4, wherein a contour formed by the connecting lines of the fixing elements (111 to 115) can be set to be smaller than a part of an outer contour of the piece of fabric to be processed, at least during part of the processing of the fabric part (140), in particular in the joining unit (130).

6. System according to one of claims 1 to 5, wherein at least one of the fixation elements (111 to 115) has a fixation mechanism selected from the group consisting of grippers (301), suction cups (101), clamps, areas with increased friction and / or electrostatic attraction, needles (601), rollers, freezing grippers, and / or Bernoulli grippers, wherein in particular at least one of the fixation elements (111 to 115) has a plurality of fixation mechanisms.

7. System according to claim 6, wherein at least one of the fixing elements (111 to 115) is designed to fix the piece of fabric either from a right side of the piece of fabric or from a left side of the piece of fabric, and / or wherein at least one of the fixing elements (111 to 115) is designed to fix the piece of fabric from a right side of the piece of fabric and from a left side of the piece of fabric, wherein the fixing element (111 to 115) is designed in particular to fix the left side or the right side with different fixing mechanisms, and / or wherein the fixing element (111 to 115) is designed in particular to fix the left side and the right side with a different fixing force (F1, F2).

8. System according to claim 7, wherein the fixing force (F1, F2) of one of the fixing elements (111 to 115) is adjustable depending on a fixing location within the contour of the fabric part (140), and / or wherein the fixing mechanism of one of the fixing elements (111 to 115) is adjustable depending on a fixing location of the fabric part (140).

9. System according to claim 7 or 8, wherein the fixing force (F1, F2) and / or the fixing mechanism of one of the fixing elements (111 to 115) is adjustable depending on a temporal processing state of the fabric part (140).

10. System according to one of claims 1 to 9, wherein at least one of the fixing elements (111 to 115) has an actuator (106) which is configured to control the fixing of the fabric part (140) and / or to control the displacement of the fixing element (111 to 115) within the xy plane, and / or wherein the effector (110) has an actuator (106) which is configured to transmit a fixing force (F1, F2) to the fixing element (111 to 115) for fixing the fabric part (140) and / or to transmit a displacement force to to control the fixing element (111 to 115) to move the fixing element (111 to 115) within the xy plane.

11. System according to one of claims 1 to 10, wherein the effector (110) has more than 10 fixation elements (111 to 115), in particular more than 15 fixation elements (111 to 115), preferably more than 20 fixation elements (111 to 115).

12. System according to one of claims 1 to 11, wherein at least one of the fixing elements (111 to 115) can be fixed in a position with a position-holding force, wherein the position-holding force is less than 1 / 5, in particular less than 1 / 10, preferably less than 1 / 20 of the power which can be applied to displace the corresponding fixing element (111 to 115).

13. System according to one of claims 10 to 12, wherein the handling robot (100) has a robot base (102) on which the effector (110) is movably arranged, wherein the actuator (106) is installed in particular in the robot base (102) and is coupled to at least one of the fixing elements (111 to 115) by means of an adjustment mechanism such that an actuator force can be transmitted to the effector (110) by means of the adjustment mechanism in order to control the latter, so that the actuator (106) is independent of a movement of the effector (110).

14. System according to one of claims 1 to 13, wherein the fixing elements (111 to 115) are configured such that the piece of fabric is fixed during the entire joining with the joining unit (130) or with the joining units (130).

15. System according to one of claims 1 to 14, wherein the joining unit (130) is selected from the group consisting of sewing machines (131), welding machines for welding fabric parts (140), stapling machines for stapling fabric parts (140), crocheting machines, automatic gluing machines for gluing fabric parts (140), in particular hot-melt gluing machines, and automatic ironing machines for ironing a fabric part (140).

16. System according to one of claims 1 to 15, wherein the handling robot (100) has at least one sensor unit (103), wherein the sensor unit (103) has an optical sensor for determining an orientation of the fabric part (140) relative to the effector (110) and / or the joining unit (130), a force sensor for measuring the fixing force (F1, F2) of the fixing element (111 to 115) for fixing the fabric part (140) and / or a weight sensor (107) for measuring a weight of the fixed fabric part (140), wherein the handling robot (100) is configured to control the fixing elements (111 to 115) based on the measured sensor parameters of the sensor unit (103).

17. System according to one of claims 1 to 16, wherein the fixing elements (111 to 115) are movable relative to one another in an xy-plane such that end positions of the fixing elements (111 to 115) are adjustable with two degrees of freedom in the xy-plane, wherein the fixing elements (111 to 115) are in particular further movable in the z-direction so that end positions of the fixing elements (111 to 115) are adjustable with three degrees of freedom in the xy-plane and in the z-direction.

18. System according to claim 6, wherein the fixation mechanism comprises holding needles (601) which are configured such that a penetration depth and / or a penetration angle is at least a holding needle (601) is controllable, in particular in real time and / or based on sensor feedback.

19. System according to one of claims 1 to 18, wherein a carrier element (203) is fastened at least between two fixing elements (111 to 115), which carrier element carries the fabric part (140) between the fixing elements (111 to 115), wherein the carrier element (203) is designed to be elastic such that when the distance between the two fixing elements (111 to 115) is changed, a length and a shape of the carrier element (203) can be adjusted, wherein the carrier element (203) is configured in particular to hold the fabric part (140) by means of a vacuum and / or by means of holding needles.

20. System according to claim 6, 18 or 19, wherein holding needles (601) of the fixation mechanism or the holding needles of the carrier element (203) have a diameter of less than 1300 micrometers, 900 micrometers, in particular less than 550 micrometers, further in particular less than 250 micrometers.

21. System according to one of claims 1 to 19, wherein the effector (110) comprises an effector base (904) and a central rod (902), wherein the effector base (904) is attached to an arm element (104) of the handling robot (100) and the central rod (902) extends from the effector base (904), wherein the fixing elements (111 to 115) are attached to the central rod (902), wherein at least one fixing element (111 to 115) comprises a coupling rod mechanism with a plurality of coupling rods (901) articulated at articulation points, wherein at least two articulation points form fixing points (905), at each of which at least one fixing mechanism, in particular a suction cup (101), is provided for fixing the fabric part (140), wherein the coupling rods (901) are articulated to one another in the manner of a pantograph in such a way that the fixing points (905) are displaceable relative to the central rod (902) within the xy plane and, during the displacement, maintain a predefined change in distance proportional to the distance to the central rod (902).

22. System according to claim 21, wherein the fixing elements (111 to 115) are pivotally attached to the central rod (902).

23. System according to claim 21 or 22, wherein the effector (110) has a sliding element (903) which is arranged displaceably along the central rod (902), wherein the coupling rod mechanism is designed such that a first coupling rod (901) is fixedly fastened to the central rod (902) and a further second coupling rod (901), which is articulatedly coupled to the first coupling rod (901), is fastened to the sliding element (903) such that upon displacement of the sliding element (903) along the central rod (902), an angle between the first coupling rod (901) and the second coupling rod (901) and accordingly the fixing points (905) experience a predefined change in distance proportional to the distance to the central rod (902).

24. System according to one of claims 1 to 23, further comprising a control unit (105) for controlling the handling robot (100) and / or the joining unit (130), wherein the control unit (105) is configured to receive data relating to the movement of the effector (110) and data of the joining result of the joining unit (130) in order to take measures concerning the control of the movement of the effector (110) and the joining process of the joining unit (130) in the event of a predetermined deviation from a predeterminable limit value.

25. System according to claim 6, wherein in a fixing mechanism by means of suction cups (101) for fixing the fabric part (140), the negative pressure in the fixing mechanism can be varied by more than 15%, in particular more than 30%, preferably by more than 45%.

26. A method for handling and processing fabric parts (140), the method comprising Separating a fabric part (140) from a fabric stack by means of an effector (110) of a handling robot (100) for handling the fabric part (140), Feeding the fabric part (140) to a joining unit (130) by means of the effector (110), Processing the fabric part (140) in a joining unit (130) and / or connecting at least two fabric parts (140) with the joining unit (130), wherein the effector (110) is configured to hold the fabric part (140) during processing with the joining unit (130), wherein the effector (110) has at least five fixing elements, wherein each fixing element (111 to 115) is designed to fix a region of the fabric part (140) to the effector (110), and Moving the fixing elements (111 to 115) relative to each other along an xy plane, so that within the xy plane connecting lines between the fixing elements (111 to 115) form an adjustable pentagon (108) so that the fixed fabric part (140) can be clamped.

27. Method according to claim 26, wherein at the joining unit (130) by means of the effector (110) two fabric parts are at least partially placed on top of each other and fixed, wherein in particular the joining unit (130) connects the two superimposed fabric parts.

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