System for reversing a garment

Abstract

The present invention relates to a system for reversing a garment (120) with the assistance of a robot, said garment consisting of first and second fabric layers (121, 122) lying on top of one another. The system comprises a handling robot (100) having an effector (101) which comprises a handling mechanism (102) that is designed to space the first fabric layer (121) apart from the second fabric layer (122) in order to create an inner volume between the first fabric layer (121) and the second fabric layer (122), which inner volume can be accessed through an opening (124) between the fabric layers. The system also comprises a reversing device (200), which is designed such that a pass-through portion (201) of the garment (120) can be passed relative to an outer portion (202) of the garment (120) through the inner volume and through the opening (124) so as to make it possible to reverse the garment (120).

Description

[0001] System for turning a garment inside out

[0002] Technical area

[0003] The present invention relates to a system and a method for robot-assisted turning of a garment inside out.

[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] Textile products or garments typically have an outer, fair side and an inner, wrong side, where the seams of the sewn-together fabric layers of the garment are visible. In the production of textile products or garments, the garment is typically made inside out so that the seams are not visible later and the right, fair side is protected inside during production. In two-layer fabrics, the inside of the fabric is draped outwards and then sewn. This also means, however, that after sewing, the textiles must be turned inside out.

[0007] The turning of the garment after production is typically performed manually or with semi-automated tools, without full automation being possible. Description of the invention

[0008] It is an object of the present invention to provide a fully automatic system for turning garments inside out in production, which in particular allows high reliability and allows little wrinkling.

[0009] This object is achieved with a system and a method for robotically assisted turning inside out of a garment according to the independent claims.

[0010] According to a first aspect of the present invention, a system for robot-assisted turning inside out a garment consisting of superimposed first and second fabric layers is described. The system comprises a handling robot with an effector having a handling mechanism configured to space the first fabric layer from the second fabric layer (at a predetermined distance) to provide an inner volume between the first fabric layer and the second fabric layer, which is accessible through an opening between the fabric layers. Furthermore, the system comprises an turning-over device configured such that a pass-through portion of the garment can be passed through the inner volume and through the opening relative to an outer portion of the garment, such that turning-over of the garment can be performed.

[0011] According to a further aspect, a method for robot-assisted turning inside out a garment consisting of superimposed first and second fabric layers is described. The method comprises spacing the first fabric layer from the second fabric layer by means of a handling mechanism of an effector on a handling robot in order to provide an internal volume between the first fabric layer and the second fabric layer, which is accessible through an opening between the fabric layers.

[0012] Furthermore, according to the method, the garment is turned inside out by means of an everting device, wherein by means of the everting device a pass-through portion of the garment is passed through the inner volume and through the opening relative to an outer portion of the garment, so that an everting of the garment is carried out.

[0013] 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.

[0014] The handling robot is a programmable, multi-purpose handling device for moving material, workpieces, tools, or special equipment. In particular, the handling robot is designed to handle or manipulate the fabric layers 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 fabric layers. The term fabric layer refers to the possible textiles or textile parts of a textile product, in particular a piece of clothing. The term fabric layer includes different types of knitted fabrics, in particular woven fabrics and nonwovens. The left / wrong side of a fabric layer is understood to mean the inside (i.e. the underside of the fabric, the inside of the fabric, or the 'unsightly side') of a fabric layer.In a piece of clothing, the wrong side corresponds to the invisible side of the fabric layer. The right side of a fabric layer is the 'nice 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 piece of fabric can consist of several layers of fabric. For example, a piece of fabric (such as a piece of clothing) can be folded over several times and lie on a work table as a fabric stack with several layers of fabric. Alternatively, the fabric layers can each represent separate pieces of fabric that are placed on top of each other to form a fabric stack.

[0015] The garment according to the invention comprises correspondingly superimposed fabric layers, which are fastened together, for example, along two joining areas, e.g., seams, welds, or adhesive strips. Furthermore, the two fabric layers can be formed integrally from a folded-over fabric layer, with the two fabric layers being joined, e.g., sewn, in a common joining area (e.g., round socks).

[0016] The controllable handling mechanism is arranged on the effector. In particular, the handling mechanism can space the superimposed fabric layers of a garment from one another. For example, the handling mechanism can grip the topmost fabric layer or otherwise secure it and lift it, thereby forming a gap and, accordingly, the internal volume. Furthermore, the handling mechanism can have a compressed air device that uses compressed air to blow an air cushion between the first and second fabric layers. Furthermore, the handling mechanism can secure one of the fabric layers in such a way that the entire garment can be handled or transported. For this purpose, the effector or handling robot can be controlled accordingly.

[0017] Thus, the handling mechanism enables the automated assembly of textile products or garments, as in addition to transporting the garment to the turning device, it also enables transport to a joining unit, such as a sewing machine, or to a specific storage location for the garment. Fully automated processes can run between the process steps of preparation, processing, and turning a garment or its fabric layers inside out, without any process interruption or manual intervention required. After turning inside out, the handling device can reposition the turned-out garment, transport it further for finishing, or send it to a finishing stage.

[0018] The handling mechanism in particular carries out the preparatory work for the turning device, as the handling mechanism provides an accessible inner volume of the garment so that the turning device can turn the garment inside out. The turning device moves a pass-through section of the garment relative to an outer section of the garment through the inner volume and through the opening so that the garment can be turned inside out. The pass-through section describes the section of the garment that is passed through the opening for turning inside out. In this case, either the pass-through section of the garment can be fixed and the outer section moved relative to the pass-through section, or the outer section can be fixed and the pass-through section of the garment moved relative to the outer section.In other words, the pass-through section can be held stationary in the inner volume and the outer section of the garment can be pushed over the pass-through section.

[0019] The eversion device is configured to perform the eversion process, i.e., to move the pass-through portion relative to the outer portion of the garment to complete the eversion. For example, as described in some examples below, the eversion device may comprise a gripping device and grip the pass-through portion inside the interior volume and pass it through the opening relative to the outer portion. In addition to mechanical gripping devices, the necessary force for passing the pass-through portion can also be applied using fluid forces, for example, using compressed air, or based on the effect of gravity.

[0020] With the system according to the invention, the garment can be prepared in a predetermined position, i.e., with a formed internal volume accessible through the opening, by means of the handling mechanism, and then turned inside out by means of the turning-over device. This allows for fully automatic turning-over. Furthermore, the handling mechanism, which can be controlled by a handling robot, allows the turning-over process to be integrated into a fully automated production process for producing a garment.

[0021] According to an exemplary embodiment, the handling mechanism is configured to handle at least the first fabric layer and to space it from the second fabric layer, wherein the handling mechanism is selected from the group consisting of grippers, suction cups, clamps, areas with increased friction and / or electrostatic attraction, magnetic devices (in particular an electromagnet for attracting a ferromagnetic counterplate), holding needles, rollers, freezing grippers, and / or Bernoulli grippers. The handling mechanism is selected, for example, from the group consisting of grippers, suction cups, clamps, areas with increased friction and / or electrostatic attraction, holding needles, rollers, freezing grippers, and / or Bernoulli grippers.

[0022] An effector can also have multiple handling mechanisms. For example, a handling mechanism can have two counter-rotating rollers to form a protrusion, making it easier to grasp.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] According to a further exemplary embodiment, the handling mechanism comprises a holding needle device configured such that a penetration depth and / or a penetration angle of at least one holding needle into the first fabric layer and / or the second fabric layer can be controlled, in particular in real time and / or based on sensor feedback. The holding needle device is configured to move the holding needles toward the garment with a stroke length of less than 6 mm, in particular less than 4.5 mm or less than 3 mm. The holding needles have, in particular, a diameter of less than 1300 micrometers, 900 micrometers, in particular less than 550 micrometers, and further in particular less than 250 micrometers.

[0027] The holding needle device is configured to insert holding needles into, for example, the first, uppermost fabric layer for fixation. By means of the holding needle device, one or more needle-like pins or holding needles can be driven from a magazine into or through the uppermost first fabric layer from the effector side or from an auxiliary system (e.g., auxiliary plate, needle band) in order to be attached to the effector and lifted off from the underlying second fabric layer to thus form the inner volume. The holding needle device has, in particular, a feed device, for example, a holding needle magazine, which is configured to feed holding needles for the holding needle device.

[0028] An additional form of differentiated gripping can relate to the depth of an insertion needle or holding needle and / or the angle of a holding needle (and in particular a plurality of them). For example, a holding needle can be inserted at a shallow angle or not as deeply into the fabric layer during singulation, whereas for thicker fabric layers a steeper angle or a greater penetration depth can be used to securely grip the fabric layer or layers. For example, a needle for transporting a garment (which then essentially consists of the first and second fabric layers) can be inserted at a steeper angle or deeper into the fabric piece, whereas for opening the topmost first layer a shallower angle or a smaller penetration depth is used to ensure that only the topmost fabric layer is held by the effector to form the internal volume.

[0029] According to another 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.

[0030] The holding needle device is designed so that the holding needles can be moved from the effector toward the fabric layer to be lifted with a relatively short stroke length, in particular with a stroke length of less than 6 mm, especially less than 4.5 mm or less than 3 mm toward the garment. Short stroke lengths have been shown to be particularly advantageous because the lower weight of the needles allows them to be fired more quickly and thus penetrate the fabric more easily, taking into account mass inertia.

[0031] According to another exemplary embodiment, the system comprises a sewing machine that can be coupled to a work table. The handling mechanism is configured to feed a fabric layer stack consisting of the first fabric layer and the second fabric layer to the sewing machine, with joining areas of the fabric layers being freely accessible to the sewing machine. The sewing machine is configured to sew the joining areas, with the handling mechanism being configured to guide the fabric layer stack relative to the sewing machine during the sewing process.

[0032] According to another exemplary embodiment, the handling mechanism is configured to transport the sewn fabric stack from the sewing machine to the everting device. According to another exemplary embodiment, the handling mechanism is configured to transport the everted garment from the everting device to a further processing location.

[0033] The handling robot is coupled to a control unit that knows the operating parameters and position data of the individual functional units, such as the sewing machine or the eversion device, or can obtain them from the described sensor units or from a database. One and the same handling robot can guide the garment or fabric layers to the joining unit and then to the eversion device. Furthermore, the handling robot can be controlled by the control unit in such a way that the handling robot handles and positions the fabric layers during the sewing (joining) and also during the eversion process. It has been shown to be efficient if the handling robot performs more than one task based on position knowledge. For this reason, it is advantageous if more than just the eversion is performed by the same robot (for example, prior sewing or subsequent folding).On the one hand, different tasks can be completed without major interruptions due to retrieving the fabric layers, and on the other hand, creasing can be reduced because there is no need to change hands. According to a further exemplary embodiment, the system has a sensor unit for determining the turning progress on the turning device, wherein the sensor unit detects sensor data indicative of the turning progress or of creasing of the garment. The sensor unit has, in particular, an optical sensor for optically recording the garment, a 3D sensor, a distance sensor (in the Z direction, e.g., the distance between the effector and the first or second fabric layer) and / or a scanning sensor for scanning a contour of the garment. The progress of an turning process can be detected by analyzing the sensor data, in particular by means of a control unit.This ensures that the garment is completely turned inside out, particularly using a sensor, preferably using artificial intelligence mechanisms. The quality of past turning processes can be used to draw conclusions about the quality of a current turning process. This increases the reliability of the process, as automatic sorting can occur in the event of an error.

[0034] Key figures for the quality or progress of an everting process can be derived from the analysis of measured crease formation, the position of certain areas of the garment (sleeves, button plackets, etc.), measurement of a location-dependent weight (e.g., a collar section weighs more than a sleeve section of a garment; from this, the position of the sections can be determined and, accordingly, the progress of the everting process), analysis of the shape deviation from a target shape of the garment after everting (e.g., using the optical sensor). Furthermore, an AI unit (AI = artificial intelligence), which can be integrated into the control unit, for example, can be coupled in particular to the optical sensor, so that the AI ​​unit evaluates the images recorded by the optical sensor based on image recognition or image analysis methods.Based on target data or based on empirical data from previous inversion analyses, which have been evaluated and are therefore available to the AI ​​unit, the AI ​​unit can evaluate the progress of the inversion process or whether the inversion process was successful.

[0035] According to another exemplary embodiment, the sensor unit is configured to determine a marker element on the garment, which marker element is indicative of the inversion progress. The sensor unit comprises, for example, an optical sensor for determining a color pattern as a marker element on the garment. The marker element is, for example, attached to a predetermined location in the garment so that conclusions can be drawn about the quality and progress of the inversion based on the position and / or shape of the marker element.

[0036] Furthermore, the sensor unit can be configured to detect an optical marking, in particular ultraviolet ink, as a marker element on the garment in the non-visible range of light. The optical marking can, for example, be arranged on the garment in a washable manner. The position and pattern of the optical marking can be determined, thus determining a position before and / or after turning inside out.

[0037] Furthermore, the sensor unit can have a magnetic sensor for determining a magnetic element, so that a magnetically detectable marker element in the garment can be detected and, accordingly, a position detection can be carried out with the magnetic sensor.

[0038] Furthermore, the sensor unit may comprise a force sensor for determining a

[0039] The stiffness range of the garment serves as a marker element. For example, a stack of fabric layers of the garment consisting of two layers of fabric resting on a work table is softer and / or lighter at the same pressure than if only one layer of fabric rests on the work table.

[0040] According to another exemplary embodiment, the system comprises a further sensor unit for determining a material of the garment, wherein the further sensor unit is coupled to the handling mechanism in such a way that the handling mechanism can be controlled based on the material of the garment. The further sensor unit can, for example, be an optical sensor that records optical image data, so that the material or textile material of the garment can be determined based on image analysis.

[0041] The detection of errors or malfunctions is improved when sensors monitor the grip of the handling mechanism. For example, a two-part metallic gripper of the handling mechanism can be electrically insulated between the clamping gripping elements. Slipping of the material from the gripper or an unsuccessful gripping operation can be detected based on the change in resistance between the two insulated components, and appropriate action can be taken.

[0042] According to a further exemplary embodiment, the system comprises the control unit which is configured to obtain from a sensor unit (e.g. the sensor units described above) or from a database unit garment data relating in particular to fabric layer material and / or fabric layer geometry, left / right position, local positioning, folds and / or manufacturing quality of the garment.

[0043] The control unit is further configured to collect and / or evaluate garment data regarding manipulation, positioning, placement, fixing and / or sewing by the handling robot, wherein the control unit is configured to control the handling robot, the turning device and / or the sewing machine based on the garment data.

[0044] The handling robot thus transfers information details about the garment being processed to a subsequent handling system or joining system for the next work step and / or retrieves information details from a previous work step. This eliminates the complex task of re-recording position details, material details, and / or the left / right placement of the fabric piece. It has been shown that details regarding material properties, left / right orientation, location, folds, and / or manufacturing quality are particularly advantageous.

[0045] The control unit analyzes the sensor data to determine whether the respective manipulation, positioning, placement, securing, and / or sewing of the garment was successful. This allows any change in reliability to be detected and communicated to a higher-level system or the control unit. This can, for example, initiate preventive maintenance or adjust handling parameters. The control unit can also receive information, for example, from the sewing machine.

[0046] Coordinates for the step of opening and / or turning inside out are thus obtained from a previous production step, preferably coordinates for a gripping position for turning inside out and / or opening the inner volume. If the method or system according to the invention is directly attached to automated production, a set of coordinates can be adopted from the automated production which contains suitable gripping points for reaching through before pulling, thus eliminating the time-consuming search for the suitable point for pulling through for turning inside out. With the present invention, the sensor unit determines the position of the garment or of the fabric layers before contact with the handling mechanism, e.g. before gripping, in order to prevent incorrect manipulation and thus initiate a countermeasure, e.g. a new corrected gripping process.The detection of errors or malfunctions is also improved if sensors (before access) ensure that the fabric is available at the desired location and / or is not covered by other fabric (e.g., due to tangling). This can be achieved, for example, using optical sensors, particularly cameras, as the sensor unit and a downstream image processing unit (e.g., in the control unit). Depending on the situation, the eversion process can be aborted or a countermeasure can be initiated, such as repositioning a gripper of the handling mechanism.

[0047] According to a further exemplary embodiment, the everting device is configured such that the garment can be aligned such that the pass-through section can be calibrated through the opening by means of gravitational force, so that an everting of the garment can be carried out. The everting device has, for example, a fixing device with a pass-through opening, such as a work table with a hole or a vertically positioned tube, wherein the everting device has fixing elements, such as grippers, which fasten the outer section of the garment to the edge of the pass-through opening, in particular such that the opening of the garment and the pass-through opening form a common passage. The handling mechanism can position the pass-through section such that it is located above the pass-through opening in the direction of gravity.The handling mechanism then completely or partially releases the pass-through section, so that the released section of the pass-through section falls through the opening of the garment and through the pass-through opening in the direction of gravity relative to the outer section, thus turning the garment inside out. After the turning process is complete, the outer section can be released from the turning device, and the garment can be transported further using the handling device.

[0048] According to a further exemplary embodiment, the everting device has a suction device, wherein the everting device is configured such that the pass-through section can be sucked through the opening by means of suction force, and / or wherein the everting device is configured such that the pass-through section can be fixed and the outer section can be guided over the pass-through section by means of suction force. The suction device can accordingly suck the movable area, i.e. the pass-through section or the outer section, in such a way that the pass-through section is movable relative to the opening such that it is sucked through the opening (for example by means of a corresponding movement of the pass-through section or a movement of the outer section) in order to implement an everting.

[0049] According to a further exemplary embodiment, the inversion device comprises a compressed air device, wherein the inversion device is configured such that the pass-through section can be blown through the opening by means of compressed air. The inversion device is configured such that the pass-through section can be fixed and the outer section can be guided over the pass-through section by means of compressed air. The compressed air device can accordingly move the movable region, i.e. the pass-through section or the outer section, by means of compressed air such that the pass-through section is movable relative to the opening such that it is blown through the opening (for example by means of a corresponding movement of the pass-through section or a movement of the outer section) in order to implement inversion.

[0050] According to a further exemplary embodiment, the turning device comprises a gripping device, wherein the gripping device is configured to grip the pass-through section through the opening and to guide it through the opening relative to the outer section. In a further exemplary embodiment, the turning device is configured such that the pass-through section of the garment is fixable, and the gripping device is configured to grip the outer section and guide the outer section over the pass-through section, wherein the gripping device is arranged in particular on the effector.

[0051] According to a further exemplary embodiment, the turning device has an turning aid which can be inserted between the first fabric layer and the second fabric layer in order to stabilize the inner volume or to hold the garment in the open, stretched state. The handling robot is configured to fasten the garment to the turning aid, in particular by pulling the garment over. The turning aid in particular has a beam-shaped element or a hollow body, in particular a tube. Furthermore, the turning aid can have a fit which corresponds to the shape of a body part intended for the garment. The handling mechanism thus forms the inner volume in a first step, which is accessible through the opening. Subsequently, the handling mechanism or the effector can be controlled in such a way that the turning aid is inserted through the opening into the inner volume orcan be positioned. The turning aid thus gives the garment stability so that it can remain in the open state. In a subsequent step, the turning device can, for example, reach through the opening into the inner volume and carry out turning by gripping the pass-through section. The turning aid can be an inflatable bellows or a tube. Furthermore, the turning aid can represent a negative mold of the garment, wherein the negative mold in particular forms a shape of a body part for which the garment is intended (for example a foot mold for a sock, the shape of an upper body for a shirt or a leg for trousers as a garment). These mechanisms can also be combined as desired.

[0052] The turning aid can also be attached to the effector, for example. For example, to turn trousers inside out, a double tube-like turning aid consisting of parallel tubes can be inserted into the opening of the trousers as a piece of clothing. These two tubes are then only partially inserted into the leg tubes of the trousers (or vice versa: the effector, which opens the waistband as a free space, turns this [including the trousers inside out] over the two stationary tubes). Afterwards, the rest of the trouser legs, i.e. the pass-through section of the garment, is sucked into the interior of the tubes using negative pressure, and a relative movement is again carried out between the free space and the beginning of the tubes (e.g. the tubes are pulled out of the waistband while maintaining the negative pressure), so that the trousers are turned inside out as a piece of clothing.

[0053] According to another exemplary embodiment, a proximity sensor and / or a contact sensor is configured on the inversion aid (e.g., on the surface of the garment) such that the position of the garment on the inversion aid can be determined. This allows the fit of the garment on the inversion device to be checked before and after inversion.

[0054] According to another exemplary embodiment, the eversion aid has a surface coated, in particular Teflon, to reduce frictional resistance with the garment. The effector, the handling mechanism, and the eversion device, and in particular their eversion aid, can be protected from the garment becoming caught or snagged by additional measures in the form of surface coatings. The surface coatings have low frictional resistance. The surface coating can, for example, have a polished surface and / or a surface with a lubricious Teflon coating. A reduction in the risk of official liability can be achieved by providing these components with a substantially flat surface and / or deflector surfaces.

[0055] According to a further exemplary embodiment, the system comprises a fixing device configured to fix the second fabric layer, while the first fabric layer can be spaced apart from the second fabric layer by means of the handling mechanism, wherein the fixing device can be coupled to a work table or to another effector of the handling robot. The work table forms a support surface for the second fabric layer. For example, the support surface can have suction openings to secure the second fabric layer by means of negative pressure. Furthermore, a clamping device attached to the work table can be provided, for example, to press on areas, for example edge areas, of the second fabric layer in order to clamp it firmly to the work table. This can facilitate the opening process because slipping of the second fabric layer is prevented when the first fabric layer is lifted by means of the handling mechanism.Furthermore, this also offers advantages during the.

[0056] Inversion process, as this does not generate any displacement of the second layer of material and therefore no unwanted changes in the internal volume during the inversion.

[0057] According to a further exemplary embodiment, the

[0058] Handling robots have two, in particular three, four or more, effectors, each of the effectors having a handling mechanism that is configured to space the first fabric layer from the second fabric layer. Each effector can be moved independently of one another. Thus, even complex garments, such as a long-sleeved shirt, can be positioned so that an inner volume can be formed in the upper body area and on the sleeves. In other words, the inner volumes of the individual clothing areas can be opened using the multiple handling mechanisms of the effectors. Furthermore, the turning-over device can be formed on one or more effectors. For example, the turning-over device can form circular devices on the effectors. Accordingly, the gripping device can grip the pass-through sections of the respective effectors, for example, in two sleeves or two trouser legs (at the furthest point) (or, for example,to suck in) and at the same time pull back, so that a uniformity of the movement, for example, reduces the formation of balls. In a further exemplary embodiment, for example 4 effectors are provided which can grip the item of clothing, for example a T-shirt. A first effector with a handling mechanism can grip and open a lower hem. A gripping device of the turning-over device is formed on the second effector, so that a passage to the left sleeve and a corresponding fixing of the pass-through section there takes place. A further gripping device of the turning-over device is formed on the third effector, so that a passage to the right sleeve and a corresponding fixing of the pass-through section there takes place.A further gripping device of the turning-over device is formed on the fourth effector, allowing access to the collar and corresponding fixation of the pass-through section there. The gripped pass-through sections can be pulled through the opening in the hem in a common movement, allowing a homogeneous turning-over to be carried out. According to a further exemplary embodiment, the system comprises a further processing device, wherein the handling robot is designed to transport the turned-over garment from the turning-over device to the further processing device. The further processing device is configured for cutting, sanding, embroidering, printing, flocking, rubberizing, lasering, painting, and / or gluing the garment. The garment is post-processed before or after turning-over.Since it is often fixed at the outermost points during the turning process, this is a particularly suitable starting point for additional processing in the finishing device. For example, jeans can be (fashionably) cut open in a cutting device as a finishing device (for shabby chic lock), sanded in a grinding device as a finishing device, embroidered, flocked or glued (e.g. with rhinestones) in an embroidery device or gluing device as a finishing device, lasered in a laser device as a finishing device, dyed in a spraying device as a finishing device, printed in a printing device as a finishing device, or gummed. The advantage of this direct finishing is that the garment no longer needs to be re-gripped, which increases reliability and improves production output.

[0059] According to a further exemplary embodiment of the method, in the spacing step, the first fabric layer is gripped by the handling mechanism and spaced from the second fabric layer, which is in particular fixable to a work table, in order to form the inner volume. In particular, in one exemplary embodiment, the opening to the inner volume is formed at the point on the garment where the largest opening diameter is present in the garment. This creates a suitable inner volume for the subsequent eversion. In automated production, it can be particularly advantageous to already know that the garment is 'inside out' and to no longer have to laboriously detect this using image systems. Furthermore, it is helpful if the largest cross-section of the opening of the garment is selected for the eversion step to form the inner volume.This allows the garment to pass through more easily. The risk of layers of fabric getting caught or creases being created when passing through the garment is reduced.

[0060] According to another exemplary embodiment of the method, the garment is shaken after turning inside out, in particular by means of a shaking motion of the effector. This allows any remaining sections to be released to finalize an incomplete turning inside out process.

[0061] According to a further exemplary embodiment of the method, before the step of spacing the garment, data of the garment for handling, in particular for gripping the pass-through section, or data relating to turning the garment inside out are obtained by means of a control unit.

[0062] According to a further exemplary embodiment of the method, the garment is ironed by means of an ironing device before the step of spacing the garment. The ironed garment is conveyed from the ironing device to the turning device by means of the handling robot. In a further preferred embodiment, the garment is ironed before turning (i.e., still inside out). This avoids subsequent ironing, since the method according to the invention carries out the turning process in a particularly gentle manner with regard to the formation of creases. Furthermore, performing the turning process with an ironed garment reduces the risk of fabric parts, for example, creases, becoming caught during the turning process.

[0063] According to another exemplary embodiment, a computer program for robot-assisted turning inside out of a garment is operated, which, when executed by a processor, is configured to perform the method described above. The method described above can be correspondingly implemented as a computer and integrated into the method.

[0064] 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.

[0065] Short description of the drawings

[0066] For further explanation and better understanding of the present invention, exemplary embodiments are described in more detail below with reference to the accompanying drawings. In the drawings: Figure 1 shows a schematic representation of a system, wherein the handling mechanism generates an internal volume of the garment, according to an exemplary embodiment of the present invention;

[0067] Fig. 2 shows a schematic representation of a system illustrating an inversion process with an inversion device according to an exemplary embodiment of the present invention.

[0068] Fig. 3 shows a schematic representation of a system, wherein a garment is shown after the everting process of Fig. 2, according to an exemplary embodiment of the present invention.

[0069] Fig. 4 shows a schematic representation of a system illustrating an inversion process with an inversion device having a gripping device, according to an exemplary embodiment of the present invention.

[0070] Fig. 5 shows a schematic representation of a system illustrating an inversion process with an inversion device having a gripping device, wherein the handling mechanism holds the outer portion during inversion, according to an exemplary embodiment of the present invention.

[0071] Fig. 6 shows a schematic representation of a system illustrating an inversion process based on gravitational force, according to an exemplary embodiment of the present invention.

[0072] Fig. 7 shows a schematic representation of a system with two effectors whose handling mechanisms form the internal volume of a garment, according to an exemplary embodiment of the present invention.

[0073] Fig. 8 shows a schematic representation of a handling mechanism with a gripper according to an exemplary embodiment of the present invention.

[0074] Fig. 9 shows a schematic representation of a handling mechanism with a holding needle device according to an exemplary embodiment of the present invention.

[0075] Fig. 10 shows a schematic representation of a handling mechanism with a suction plate according to an exemplary embodiment of the present invention.

[0076] Fig. 11 shows a schematic representation of a handling mechanism with a suction cup according to an exemplary embodiment of the present invention.

[0077] Detailed description of exemplary embodiments

[0078] Identical or similar components in different figures are provided with the same reference numerals. The representations in the figures are schematic.

[0079] Fig. 1 shows a schematic representation of a system, wherein a handling mechanism 102 generates an internal volume Vi of a garment 102. Fig. 2 shows a schematic representation of a system, wherein an everting process is illustrated with an everting device 200. The system thus provides a robot-assisted everting of a garment 120, which consists of superimposed first and second fabric layers 121, 122. The system comprises a handling robot 100 with an effector 101, which has a handling mechanism 102 configured to space the first fabric layer 121 from the second fabric layer 122 in order to provide an internal volume between the first fabric layer 121 and the second fabric layer 122, which is accessible through an opening 124 between the fabric layers.Furthermore, the system comprises an everting device 200 which is configured such that a pass-through portion 201 of the garment 120 can be passed through the inner volume and through the opening 124 relative to an outer portion 202 of the garment 120, so that an everting of the garment 120 can be carried out.

[0080] The handling robot 100 has the effector 101, to which the corresponding handling mechanism 102 is attached, in particular in an interchangeable manner. The handling robot 100 is fastened to the floor or to a work table 103 by a stationary robot base in order to introduce corresponding forces into the corresponding system. The handling robot 100 can also be configured such that the robot base is designed to be movable along the floor. A robot arm can be arranged between the effector 101 and the robot base, which arm has, for example, one or more joints in order to control the effector 101 into a desired position. The handling robot 100 is thus designed to handle or manipulate the fabric layers 121, 121 and to move and position them accordingly.In other words, 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 layers 121, 121. The garment 120 according to the invention accordingly comprises the superimposed fabric layers 121, 121, which are fastened, for example, along two joining regions, e.g., seams 123. Furthermore, the two fabric layers 121, 121 can be formed integrally from a folded fabric layer, wherein the two fabric layers 121, 121 are joined together with a common seam 123 (e.g., round socks).

[0081] The handling mechanism 102 grips the uppermost fabric layer 121, forming a gap and correspondingly the internal volume Vi. As an alternative to gripping, the handling mechanism 102 can comprise other mechanisms, such as a compressed air device that uses compressed air to blow an air cushion between the first and second fabric layers 121, 122. Furthermore, the handling mechanism 102 can secure at least one of the fabric layers 121 and, accordingly, the entire garment 120 in such a way that handling or transporting the entire garment is possible.

[0082] The second fabric layer 122 rests on the work table 103 and is secured to the work table 103 by a securing device 109, while the first fabric layer 121 is spaced apart from the second fabric layer 122 by the handling mechanism 103. The work table forms a support surface for the second fabric layer and can have suction openings for securing the second fabric layer 122 by means of negative pressure. Furthermore, a clamping device attached to the work table 103 can be provided, for example, to press on areas, for example edge areas, of the second fabric layer 122 in order to clamp it firmly to the work table 103.

[0083] The handling mechanism 102 thus forms an accessible inner volume Vi of the garment 120, so that the turning-over device can turn the garment inside out. By means of the turning-over device 200, a pass-through section 201 of the garment 120 is passed through the inner volume Vi and through the opening 124 relative to an outer section 202 of the garment, so that the garment 120 is turned inside out. The pass-through section 201 describes the section of the garment 120 that is passed through the opening 124 for turning inside out. In this case, either the pass-through section 201 of the garment 120 can be fixed and the outer section 202 can be moved relative to the pass-through section 201, or the outer section 202 can be fixed and the pass-through section 201 of the garment 120 is moved relative to the outer section 202.

[0084] The handling robot 100 is coupled to a control unit 107, which knows the operating parameters and position data of the individual functional units, such as a sewing machine or the eversion device 200, or can obtain them from sensor units 104 or from a database unit 108 having a database. One and the same handling robot 100 can accordingly feed the garment 120 or the fabric layers 121, 122 to a joining unit and then to the eversion device 200. Furthermore, the handling robot 100 can be controlled by the control unit 107 such that the handling robot 100 handles and positions the fabric layers 121, 122 during the sewing (joining) and also during the eversion process.

[0085] By means of the sensor unit 104, the progress of the inversion can be determined, wherein the sensor unit 104 detects sensor data indicative of the inversion progress or of the formation of a fold 125 of the garment. The sensor unit 104 has, in particular, an optical sensor for optically recording the garment 120, a 3D sensor, a distance sensor (in the Z direction, e.g., the distance between the effector and the first or second fabric layer), and / or a scanning sensor for scanning a contour of the garment. By analyzing the sensor data, in particular by means of the control unit 104, the progress of an inversion process can be detected. Thus, it can be ensured whether the garment 120 has been completely turned inside out.

[0086] For example, the sensor unit 104 can be configured to determine a marker element 106 on the garment 120, which marker element is indicative of the inversion progress. The sensor unit 104 has, for example, an optical sensor for determining a color pattern as the marker element 106 on the garment 120. The marker element 106 is, for example, attached to a predetermined location in the garment 120, so that conclusions can be drawn about the quality and progress of the inversion based on the position and / or shape of the marker element 106.

[0087] The control unit 107 is configured to obtain garment data from a sensor unit 104 or from the database unit 108, in particular relating to fabric layer material and / or fabric layer geometry, left / right position, local positioning, folds and / or manufacturing quality of the garment. The control unit 104 is further configured to collect and / or evaluate garment data with regard to manipulation, positioning, placement, fixing and / or sewing by the handling robot 100, wherein the control unit 107 is configured to control the handling robot 100, the turning device 200 and / or the sewing machine 105 based on the garment data. Thus, coordinates for the step of opening and / or turning inside out are obtained from a previous production step, preferably coordinates for a gripping position for turning inside out and / or opening the inner volume Vi. If the method according to the invention orIf the system is directly connected to automated production, a set of coordinates can be adopted from the automated production, which contains suitable gripping points for reaching through before pulling. The eversion device 200 has a suction device 204, wherein the eversion device 200 is configured such that the pass-through section 201 can be sucked through the opening 124 by means of suction force. The suction device 204 accordingly sucks the pass-through section 201, so that the pass-through section 201 is movable relative to the opening 124 such that it is sucked through the opening 124 to implement eversion.

[0088] Furthermore, the inversion device 200 can have a compressed air device 205, wherein the inversion device 200 is configured such that the pass-through section 201 can be blown through the opening 124 by means of compressed air. The compressed air device 205 can accordingly move the movable region, ie, the pass-through section 201, by means of compressed air such that the pass-through section 201 is movable relative to the opening 124 such that it is blown through the opening 124 to implement inversion.

[0089] Furthermore, the eversion device 200 has an eversion aid 203, which is inserted between the first fabric layer 121 and the second fabric layer 122 in order to stabilize the internal volume Vi or to hold the garment 120 in the open, stretched state. The handling robot 100 is configured to attach the garment 120 to the eversion aid 203, in particular by pulling the garment over. The eversion aid 203 consists of a tube over which the handling mechanism 102 can pull the garment 120 open. The handling mechanism 102 thus forms the internal volume Vi in a first step, which is accessible through the opening 124.

[0090] For example, the suction device 204 can be arranged at one end of the tube of the inversion aid 203 to draw air through the tube. On the other side of the tube, this is open, and the pass-through section 201 can be located there. Thus, the suction device 204 sucks the pass-through section 201 into the tube during inversion. The outer section 202 slides along the outer surface of the tube up to the opening 124, which is located at the open end of the tube.

[0091] Fig. 3 shows the garment 120 after the everting process from Fig. 2. The garment 120 is located inside the tube after everting and can be gripped therefrom with the handling mechanism 102 and transported further.

[0092] A proximity sensor and / or a contact sensor can be configured on the eversion aid 203 (for example, on the surface of the garment 120) such that a position of the garment 120 on the eversion aid 203 can be determined. This allows the fit of the garment 120 on the eversion device 203 to be checked before, during, and after eversion. After eversion, the garment 120 can be shaken, in particular by means of a shaking movement of the effector 101.

[0093] Fig. 4 shows a schematic representation of a system, illustrating an everting process with an everting device 200 having a gripping device 401. The garment 120 is pulled over a tube as an everting aid 203. The gripping device 401 is configured to grip the pass-through section 201 through the opening 124 and to guide it through the opening 124 relative to the outer section 202. The gripping device 401 is arranged in particular on the effector 101. The gripping device has, for example, a gripper which is arranged on a length-adjustable holding rod. The holding rod can, for example, be telescopically extendable and retractable. Fig. 5 shows a schematic representation of a system, wherein an inversion process is represented with an inversion device 200 with a gripping device 401, wherein the handling mechanism 102 holds the outer section 202 during the inversion and releases it in sections during the inversion.For spacing, the first fabric layer 121 is first gripped by the handling mechanism 102 and spaced apart from the second fabric layer 122, which can be fixed, in particular, to a work table 103, in order to form the internal volume Vi. In particular, the opening 124 to the internal volume Vi is formed at the location of the garment 120 where the largest opening diameter is present in the garment 120.

[0094] The gripping device 401 then grips the pass-through section 201 in the inner volume Vi and pulls it through the opening 124, while the handling mechanism 102 gradually releases the outer section 202 until the inversion process is completed.

[0095] Fig. 6 shows a schematic representation of a system illustrating an inversion process based on gravitational force G.

[0096] The eversion device 200 comprises, for example, a fixing device or a tube as an eversion aid 203 with a through-opening, wherein the tube is positioned vertically. The eversion device 200 comprises fixing elements, such as grippers, that secure the outer portion 202 of the garment 120 to the edge of the through-opening, in particular such that the opening 124 of the garment 120 and the through-opening form a common passage. The handling mechanism 102 can position the pass-through portion 201 such that it is located above the through-opening in the direction of gravity G.The handling mechanism 102 now completely or partially releases the pass-through section 201, so that the released section of the pass-through section falls through the opening 124 of the garment 120 and through the pass-through opening in the direction of gravity (direction of gravity) G relative to the outer section 202, thereby causing the garment 120 to be turned inside out. After the turning process has been completed, the outer section 202 can be released from the turning device 200, and the garment 120 can be transported further by means of the handling device.

[0097] Fig. 7 shows a schematic representation of a system with two effectors 101, 701, whose handling mechanisms 102 form the internal volume of a garment 120. Each handling mechanism 102 grips a fabric layer 121, 122. The effector 101 and the effector 701 are controlled such that they move the fabric layers 121, 122 apart to form the internal volume Vi. Another effector could have the eversion device 200 to then grip the pass-through section 201 and pull it through the internal volume Vi for eversion.

[0098] Fig. 8 shows a schematic representation of a handling mechanism 102 with a gripper 801. The gripper 801 is designed such that it grips a fabric layer 121, 122 of the garment 120, so that the inner volume Vi can be formed by moving the effector 101.

[0099] Fig. 9 shows a schematic representation of a handling mechanism 102 with a holding needle device 901. The holding needle device 901 is configured such that a piercing depth and / or a piercing angle of at least one holding needle, e.g. of the first fabric layer 121, can be controlled, in particular in real time and / or based on sensor feedback. An additional form of differentiated gripping with the handling mechanism 102 can represent the depth of a holding needle and / or the angle of a holding needle in the fabric layer 121, 122. Fig. 10 shows a schematic representation of a handling mechanism 102 with a suction plate 1000 according to an exemplary embodiment of the present invention. The suction surface 1601 has a plurality of suction openings so that a fabric layer 121, 122 can be sucked in by means of negative pressure for attachment to the effector 101.

[0100] Fig. 11 shows a schematic representation of a handling mechanism 102 with a suction device 1100. By means of the suction device 1100, air can be sucked out of the first material layer 121 in such a way that the uppermost first material layer 121 is attached to the effector 101 and can be spaced from the second material layer 122 in order to form the inner volume Vi.

[0101] 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.

[0102] List of reference symbols:

[0103] 100 Handling robot 401 Gripping device

[0104] 101 Effector

[0105] 102 Handling mechanism 701 additional effector

[0106] 103 Work table

[0107] 104 Sensor unit 801 Gripper

[0108] 105 sewing machine

[0109] 106 Marker element 901 Holding needle device

[0110] 107 Control unit

[0111] 108 Database unit 1000 suction plate

[0112] 109 Fixation device

[0113] 1100 vacuum cleaners

[0114] 120 garment G gravitational force

[0115] 121 first layer of fabric Vi inner volume

[0116] 122 second layer of fabric

[0117] 123 seam

[0118] 124 Opening

[0119] 125 folds

[0120] 200 Inversion device

[0121] 201 pass-through section

[0122] 202 outer section

[0123] 203 Inversion aid

[0124] 204 Suction device

[0125] 205 Compressed air device

Claims

Patent claims 1. System for robot-assisted turning of a garment (120), which consists of superimposed first and second fabric layers (121, 122), wherein the system comprises a handling robot (100) with an effector (101), which has a handling mechanism (102) which is configured to move the first fabric layer (121) from the second fabric layer (122) to provide an inner volume between the first fabric layer (121) and the second fabric layer (122), which inner volume is accessible through an opening (124) between the fabric layers, an everting device (200), wherein the everting device (200) is configured such that a pass-through portion (201) of the garment (120) can be passed through the inner volume and through the opening (124) relative to an outer portion (202) of the garment (120), so that an everting of the garment (120) can be carried out.

2. System according to claim 1, wherein the handling mechanism (102) is configured to handle at least the first fabric layer (121) and to space it from the second fabric layer (122), wherein the handling mechanism (102) is selected from the group consisting of grippers (801), suction cups (1100), clamps, areas with increased friction and / or electrostatic attraction, rollers, freezing grippers, and / or Bernoulli grippers.

3. System according to claim 1 or 2, wherein the handling mechanism (102) comprises a holding needle device (901) which is configured such that a piercing depth and / or a piercing angle of at least one holding needle (1301) into the first fabric layer (121) and / or the second fabric layer (122) is controllable, in particular in real time and / or based on sensor feedback, wherein the holding needle device (901) is configured to move the holding needles (1301) with a stroke length of less than 6 mm, in particular less than 4.5 mm or less than 3 mm in the direction of the garment (120), wherein the holding needles in particular have a diameter of less than 1300 micrometers, 900 micrometers, in particular less than 550 micrometers, further in particular less than 250 micrometers.

4. System according to one of claims 1 to 3, further comprising a sewing machine (105) which can be coupled to a work table (103), wherein the handling mechanism (102) is configured to feed a fabric layer stack consisting of the first fabric layer (121) and the second fabric layer (122) to the sewing machine (105), wherein joining regions of the fabric layers are freely accessible to the sewing machine (105), wherein the sewing machine (105) is configured to sew the joining regions, wherein the handling mechanism (102) is configured to guide the fabric layer stack relative to the sewing machine (105) during sewing.

5. The system of claim 4, wherein the handling mechanism (102) is configured to convey the sewn fabric stack from the sewing machine (105) to the everting device (200).

6. The system of any one of claims 1 to 5, wherein the handling mechanism (102) is configured to convey the turned-over garment from the turning-over device (200) to a further processing location.

7. System according to one of claims 1 to 6, further comprising a sensor unit (104) for determining an inversion progress on the inversion device (200), wherein the sensor unit (104) detects sensor data which is indicative of the inversion progress or of a crease formation of the garment (120), wherein the sensor unit (104) has in particular an optical sensor for optically recording the garment (120), a 3D sensor, a distance sensor and / or a scanning sensor for scanning a contour of the garment (120), wherein the progress of an inversion process can be detected by analyzing the sensor data, in particular by means of a control unit (107).

8. The system according to claim 7, wherein the sensor unit (104) is configured to determine a marker element (106) on the garment (120), which marker element (106) is indicative of an inversion progress, wherein the sensor unit (104) is selected from the group consisting of an optical sensor for determining a color pattern as a marker element (106) on the garment (120), an optical marking, in particular ultraviolet ink, as a marker element (106) on the garment (120) in the non-visible range of light, a magnetic sensor for determining a magnetic element as a marker element (106) in the garment (120), a force sensor for determining a stiffness range of the garment (120) as a marker element (106).

9. System according to one of claims 1 to 8, further comprising a further sensor unit for determining a material of the garment (120), wherein the further sensor unit is coupled to the handling mechanism (102) such that the handling mechanism (102) can be controlled based on the material of the garment (120).

10. System according to one of claims 1 to 9, further comprising a control unit (107) configured to be Sensor unit (104) or from a database unit (108) to obtain garment data relating in particular to fabric layer material and / or fabric layer geometry, left / right position, local positioning, folds and / or manufacturing quality of the garment (120), wherein the control unit (107) is further configured to collect and / or evaluate garment data relating to manipulation, positioning, placement, fixing and / or sewing by the handling robot (100), wherein the control unit (107) is configured, based on the garment data, to control the handling robot (100), the turning device (200) and / or the sewing machine (105).

11. System according to one of claims 1 to 10, wherein the turning device (200) is configured such that the garment (120) can be aligned such that the pass-through section (201) can be calibrated through the opening (124) by means of gravitational force (G), so that the garment (120) can be turned inside out.

12. System according to one of claims 1 to 11, wherein the everting device (200) has a suction device (204), wherein the everting device (200) is configured such that the pass-through section (201) can be sucked through the opening (124) by means of suction force, and / or wherein the everting device (200) is configured such that the pass-through section (201) can be fixed and the outer section (202) can be guided over the pass-through section (201) by means of suction force.

13. System according to one of claims 1 to 12, wherein the inversion device (200) has a compressed air device (205), wherein the inversion device (200) is configured such that the pass-through section (201) can be blown through the opening (124) by means of compressed air, and / or wherein the inversion device (200) is configured such that the pass-through section (201) can be fixed and the outer section (202) can be guided over the pass-through section (201) by means of compressed air.

14. System according to one of claims 1 to 13, wherein the everting device (200) has a gripping device (401), wherein the gripping device (401) is configured to grip the pass-through section (201) through the opening (124) and to guide it through the opening (124) relative to the outer section (202), and / or wherein the everting device (200) is configured such that the pass-through section (201) of the garment (120) is fixable and the gripping device (401) is configured to grip the outer section (202) and to guide the outer section (202) over the pass-through section (201), wherein the gripping device (401) is arranged in particular on the effector (101).

15. System according to one of claims 1 to 14, wherein the everting device (200) has an everting aid (203) which can be introduced between the first fabric layer (121) and the second fabric layer (122) in order to stabilize the internal volume, wherein the handling robot (100) is configured to fasten the garment (120), in particular by pulling the garment (120) over, to the everting aid (203), wherein the everting aid (203) has in particular a bar-shaped element or a hollow body, in particular a tube, wherein the everting aid (203) has a fit which corresponds to the shape of a body part intended for the garment (102).

16. System according to claim 15, wherein a proximity sensor and / or a contact sensor is formed on the turning aid (203) such that a position of the item of clothing (120) on the turning aid (203) can be determined.

17. System according to claim 15 or 16, wherein the turning aid (203) has a surface with a coating, in particular Teflon, for reducing the frictional resistance with the garment (120).

18. System according to one of claims 1 to 17, further comprising a fixing device (109) which is configured to fix the second fabric layer (122), while the first fabric layer (121) can be spaced apart from the second fabric layer (122) by means of the handling mechanism (102), wherein the fixing device (109) can be coupled to a work table (103) or to a further effector (101) of the handling robot (100).

19. System according to one of claims 1 to 18, wherein the handling robot (100) has two, in particular three, four or more, effectors (101, 701), wherein each of the effectors (101, 701) has a handling mechanism (102) configured to space the first fabric layer (121) from the second fabric layer (122).

20. System according to one of claims 1 to 19, further comprising a further processing device, wherein the handling robot (100) is designed to transport the turned-over garment (120) from the turning-over device (200) to the further processing device, wherein the further processing device is configured for cutting, sanding, embroidering, printing, flocking, rubberizing, lasering, painting and / or gluing the garment (120).

21. A method for robot-assisted turning inside out a garment (120) consisting of superimposed first and second fabric layers, the method comprising Spacing the first fabric layer (121) from the second fabric layer (122) by means of a handling mechanism (102) of an effector (101) on a handling robot (100) in order to provide an internal volume between the first fabric layer (121) and the second fabric layer (122), which is accessible through an opening (124) between the fabric layers, Turning the garment (120) inside out by means of an inversion device (200), wherein by means of the inversion device (200) a pass-through section (201) of the garment (120) is passed through the inner volume and through the opening (124) relative to an outer section (202) of the garment (120), so that an inversion of the garment (120) is carried out.

22. Method according to claim 21, wherein in the step of spacing the first fabric layer (121) is gripped by means of the handling mechanism (102) and is spaced from the second fabric layer (122), which is in particular fixable to a work table (103), in order to form the inner volume.

23. The method of claim 21 or 22, wherein the opening (124) to the internal volume is formed at the location of the garment (120) having the largest opening diameter in the garment (120).

24. The method according to any one of claims 21 to 23, further comprising Shaking the garment (120) after turning inside out, in particular by means of a shaking movement of the effector (101).

25. Method according to one of claims 21 to 24, wherein, before the step of spacing the garment (120), data of the garment (120) for handling, in particular for gripping the pass-through section (201), or data relating to turning the garment (120) inside out are obtained by means of a control unit (107).

26. The method according to any one of claims 21 to 25, further comprising ironing the garment (120) by means of an ironing device before the step of spacing the garment (120), wherein the ironed garment (120) is conveyed from the ironing device to the turning device (200) by means of the handling robot (100).

27. A computer program for robot-assisted turning inside out of a garment (120) which, when executed by a processor, is arranged to carry out the method according to any one of claims 21 to 26.

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