Station for the singularization of loose or bagged items, particularly garments

Abstract

The station (1) for the singularization of loose or bagged items, particularly garments, comprising: - a base frame (2); - a first collecting area (3) of a plurality of loose or bagged items (A) to be singularized; - a second receiving area (5) of the singularized items (A); - gripping and transferring means (6) configured to grasp the items (A) and transfer them from the first area (3) to the second area (5), comprising a robotic arm (7) provided with a resting base (8) and with a gripping end (9); wherein: - the gripping end (9) comprises a plurality of gripping elements (9a) movable between a gripping configuration and a release configuration; - the gripping elements (9a) are movable from said the configuration to the gripping configuration along a spiral trajectory (T).

Description

[0001] STATION FOR THE SINGULARIZATION OF LOOSE OR BAGGED

[0002] ITEMS, PARTICULARLY GARMENTS

[0003] Technical Field

[0004] The present invention relates to a station for the singularization of loose or bagged items, particularly garments.

[0005] Background Art

[0006] With particular reference to the apparel industry, there is nowadays an increasing need to organize and deliver small and very small batches, e.g., following an online order from one or more customers.

[0007] In this regard, it is good to keep in mind that items are produced within dedicated factories and sent to processing plants for packaging and sorting.

[0008] Items are typically sent to processing plants by means single-product pallets, and therefore, it is first necessary to sort and organize the items before boxing and shipping them to end customers.

[0009] For this purpose, the processing plants provide, e.g., single-product and / or multiproduct intermediate storage warehouses, conveyor lines for the sorted items and stations for setting up the package to be prepared according to the specific order. In this regard, the use within processing plants of singularization stations designed to singularize items, that is, to separate them individually from one another for the purpose of being able to process them individually through automated handling and management systems, is well known.

[0010] In the present case, the singularization stations comprise a first area, wherein non- singularized items, e.g. those contained in boxes, carts or bins, are sent, and a second area, wherein the already singularized items are delivered to the parcel preparing station.

[0011] Specifically, known singularization stations are composed of gripping and transferring means that grip items and transfer them from the first area to the second area where there is a line of away movement essentially consisting of one or more conveyor belts.

[0012] In this regard, a first known type of singularization stations is provided with a sequence of conveyor belts connected in series and moving at different speeds from each other, particularly increasing when moving away from the first area.

[0013] This allows items to be singularized to be divided and spaced out as a result of the change in speed between one conveyor belt and the next.

[0014] In this way, it is possible, e.g., to move away from each other items that have overlapped on the line of away movement.

[0015] The aforementioned technical solution is not however without its drawbacks.

[0016] It is, in fact, easy to appreciate that, for reasons related to the space available within the processing plants, it is not possible to increase the encumbrances of the lines of away movement and, therefore, of the singularization stations, beyond a certain value.

[0017] Another known type of singularization stations comprises singularization systems of the type of brushes and / or vertical barriers associated with the line of away movement and arranged to define a transit section which can be traversed by only one item at a time.

[0018] Nevertheless, the singularization stations provided with brushes and / or vertical barriers also suffer from drawbacks particularly related to their reduced efficiency and reliability.

[0019] Separation of items, in fact, often fails and some of them get stuck at the transit section, eventually occluding it.

[0020] This leads to a reduction in the flow of items on the line of away movement and, if action is not taken in a timely manner, to a complete stop of the singularization station due to total occlusion of the transit section.

[0021] It is clear, therefore, that the unreliability of this type of singularization station turns over time into substantial economic damage to the company.

[0022] To solve the aforementioned problems, singularization stations of bagged items constructed according to the teachings of patent document WO2023073514 are known.

[0023] Within that document, a singularization station is, in particular, described wherein the second area comprises a plurality of inclined planes, each intended to receive and support the bagged items to be singularized which have been released from the gripping and transferring means. In detail, each of the inclined planes comprises respective suction means that can be activated to retain the bagged items to be singularized and deactivated to release the bagged items and allow them to fall onto the line of away movement by sliding.

[0024] In this regard, it should be explained that although the gripping and transferring means of WO2023073514 are configured to grasp only one item at a time and, therefore, already carry out a preliminary first singularization of these items, the flexibility of the bags does not always ensure the effective grasping of only one item at a time, sometimes the simultaneous grasping of two items and their transfer to the second area may occur.

[0025] If, therefore, the gripping and transferring means transfer two bagged items to an inclined plane at the same time, one bagged item ends up resting on the inclined plane and is held by the suction means, while the other bagged item ends up resting on the first bagged item and is not retained by the suction means, falling directly onto the line of away movement and being, thus, separated from the other.

[0026] Thus, the aforementioned expedient allows efficient singularization of the bagged items even in the case of simultaneous grasping of two of the latter, while simultaneously reducing the total encumbrances compared to known singularization stations and without the need to resort to brushes and / or vertical barriers.

[0027] While capable of achieving such important results, the singularization station disclosed by WO2023073514 is nevertheless susceptible to improvements aimed at further increasing the versatility of use thereof.

[0028] In this regard, it should, in fact, be considered that the singularization methodology described above only works effectively with items contained in bags and, more specifically, in perfectly intact bags.

[0029] The reason for this is that, in this case, the low porosity of the materials constituting the bags allows the suction means to create and maintain a stable vacuum, reducing air leaks and leading to effective retention of the bagged items on the inclined planes. Otherwise, i.e., in the case of partly damaged or completely missing bags (loose items), the suction means would suck in air through the fabric that makes up the items themselves which, being a highly porous material, would create numerous escape routes for air, compromising the suction effect.

[0030] The need is, therefore, particularly felt to improve the station described in WO2023073514 and make it adapted to singularize not only the items contained in perfectly intact bags, but also loose items or items contained in partly damaged bags.

[0031] Description of the Invention

[0032] The main aim of the present invention is to devise a station for the singularization of loose or bagged items, particularly garments, which enables effective singularization of items regardless of whether the items are contained within perfectly intact, partly damaged bags or are loose.

[0033] Another object of the present invention is to devise a station for the singularization of loose or bagged items, particularly garments, which can overcome the aforementioned drawbacks of the prior art within the framework of a simple, rational, easy and effective to use as well as cost-effective solution.

[0034] The aforementioned objects are achieved by this station for the singularization of loose or bagged items, particularly garments having the characteristics of claim 1.

[0035] Brief Description of the Drawings

[0036] Other characteristics and advantages of the present invention will become more apparent from the description of a preferred, but not exclusive, embodiment of a station for the singularization of loose or bagged items, particularly garments, illustrated by way of an indicative, yet non-limiting example in the attached tables of drawings in which:

[0037] Figure 1 is an axonometric, overall view of the station according to the invention; Figures 2 through 7 show, in a sequence of detailed views, the operation of the robotic arm according to the invention.

[0038] Embodiments of the Invention

[0039] With particular reference to these figures, reference numeral 1 globally denotes a station for the singularization of loose or bagged items, particularly garments.

[0040] It is specified that, in the remainder of this disclosure, the term “singularization” is intended to mean the separation and moving away of each item from the others for the purpose of being able to process the latter individually through automated handling and management systems.

[0041] It is also specified that the term “items” preferably relates to loose garments or contained within intact or partly damaged flexible bags.

[0042] As an example, the bag can be made of polyethylene (PE), polypropylene (PP), polyvinyl chloride (PVC) or other plastic materials still known to the industry expert.

[0043] That said, the station 1 for the singularization of loose or bagged items, particularly garments, comprises, first of all, at least one base frame 2 for resting on the ground and at least a first collecting area 3 of a plurality of loose or bagged items A to be singularized.

[0044] Conveniently, the first area 3 is configured to receive incoming storage container(s) C containing the items A to be singularized.

[0045] For example, storage containers C may be of the type of boxes, carts, bins or other bodies still suitable for collecting and transporting the items A to be singularized. The first area 3 comprises at least one receiving structure 4 of the storage containers C arranged resting on the ground.

[0046] In this regard, the receiving structure 4 defines within it at least one compartment 4a in which the storage containers C are arranged once they arrive in the first area 3.

[0047] For example, in the case where the storage container C is of the type of a cart, it is possible to transport the latter to the first area 3, place it within the compartment 4a of the receiving structure 4 and pick up, at that point, the items A to be singularized contained within it.

[0048] As visible in Figure 1, the first area 3 preferably comprises two receiving structures 4, each defining a respective compartment 4a.

[0049] Providing two receiving structures 4 allows for increased flexibility and overall production output of the station 1 ; however, it is easy to appreciate how the first area 3 may comprise even more receiving structures 4 (and, therefore, compartments 4a), e.g., three or more.

[0050] The station 1 then comprises at least a second receiving area 5 of the singularized items A comprising at least one line of away movement 5a of the items A along a direction of away movement D from the first area 3.

[0051] In detail, the line of away movement 5a is associated with the base frame 2.

[0052] Preferably, the line of away movement 5a is of the type of a conveyor belt or a motorized roller conveyor.

[0053] In this case, the line of away movement 5 a is movable along the direction of away movement D.

[0054] This means that the singularized items A are dragged by the movement of the line of away movement 5a along the direction of away movement D.

[0055] In other words, the singularized items A move locked together with the line of away movement 5a along the direction of away movement D and, in this way, are moved away from the first area 3.

[0056] The case cannot however be ruled out wherein the line of away movement 5a is of the type of a chute or similar devices.

[0057] In other words, the possibility cannot be ruled out that the line of away movement 5a may be fixed in movement with respect to the direction of away movement D. In this sense, therefore, the singularized items A are moved away from the first area 3 along the direction of away movement D as a result of their sliding down the chute.

[0058] Again, the station 1 comprises gripping and transferring means 6 configured to grasp the items A to be singularized and transfer them from the first area 3 to the second area 5.

[0059] Specifically, the gripping and transferring means 6 are positioned between the two receiving structures 4.

[0060] Specifically, the gripping and transferring means 6 comprise at least one robotic arm 7 provided with at least one resting base 8 and with at least one gripping end 9 which is movable with respect to the resting base 8.

[0061] In detail, the resting base 8 is arranged resting on the base frame 2. Precisely, the robotic arm 7 is of the type of an anthropomorphic manipulator.

[0062] More specifically, the robotic arm 7 is of the type of an anthropomorphic manipulator with six degrees of freedom.

[0063] Robotic arms 7 of different types such as, e.g., Cartesian-type manipulators that can be moved on three orthogonal axes, SCARA manipulators, Delta manipulators or other manipulators still known to the expert in the field cannot however be ruled out.

[0064] According to the invention, the gripping end 9 comprises a plurality of gripping elements 9a movable between a gripping configuration, wherein they are mutually moved close to allow the retention of only one of the items A to be singularized at a time, and a release configuration, wherein they are mutually moved away to allow the release of each of the retained items A.

[0065] As visible in Figures 4 and 5, the gripping elements 9a have an elongated conformation.

[0066] Preferably, the gripping end 9 comprises three gripping elements 9a.

[0067] That being said, it cannot be ruled that the gripping end 9 may be provided with a different number of gripping elements 9a, e.g. four, five, and so on.

[0068] Specifically, as clearly visible in Figure 6, the gripping elements 9a are movable from the release configuration to the gripping configuration along a spiral trajectory T.

[0069] More precisely, the gripping elements 9a are movable between the gripping configuration and the release configuration along the spiral trajectory T, i.e., they move from one to the other configuration along the aforementioned spiral trajectory T.

[0070] In the present case, the spiral trajectory T defines a central winding axis Y around which the gripping elements 9a move in the switch from the gripping configuration to the release configuration and with respect to which they are substantially equidistant (compare, in this regard, Figure 4 and Figure 5).

[0071] In this sense, the gripping elements 9a move away from each other in the switch from the gripping configuration to the release configuration, arranging substantially equidistant and at the maximum distance from the central axis Y. In actual facts, in the release configuration, each gripping element 9a is at the same radial distance from the central axis Y and at an angular distance substantially equal to 120° from the other gripping elements 9a.

[0072] It is important to emphasize at this point how the particular expedient of providing movable gripping elements 9a along the spiral trajectory T proves to be a particularly advantageous technical expedient and allows, in particular, to remedy the drawbacks of the prior art complained of before.

[0073] In fact, thanks to their special rotation, the gripping elements 9a are able to reliably and systematically grasp one and only one item A to be singularized at a time regardless of whether the latter is contained within an intact bag, is contained within a damaged bag or is loose.

[0074] This fact evidently makes it possible to dramatically increase the versatility of use and adaptability of the station 1 compared with stations known to date and, therefore, to singularize a wide range of different items A with considerable effectiveness.

[0075] Advantageously, the gripping and transferring means 6 comprise measuring means 10 for measuring a pressure / force associated with the gripping end 9.

[0076] In this sense, the station 1 is configured to move the gripping end 9 between: a first working position, wherein it is placed substantially where a respective item A to be singularized is located (Figure 2); and a second working position, wherein it is lowered to a lower height than that occupied in the first working position and wherein the pressure / force measured by the measuring means 10 is substantially coincident with a predetermined reference pressure / force (Figure 3);

[0077] The measuring means 10 comprise at least one pressure / force sensor.

[0078] Preferably, the measuring means 10 comprise a plurality of pressure / force sensors operationally connected to the gripping end 9.

[0079] According to a first possible embodiment, the pressure / force sensors are built into the robotic arm 7.

[0080] According to a second possible embodiment, the pressure / force sensors are installed directly on the gripping end 9. In addition, the station 1 is further configured to arrange the gripping elements 9a in the gripping configuration as a result of the movement of the gripping end 9 to the second working position.

[0081] Therefore, once placed in the first working position, the gripping end 9 is moved downwards along a substantially vertical direction until it contacts the items A to be singularized arranged in the first area 3, pressing them against each other and thereby increasing the pressure / force exerted by the latter on the gripping end itself.

[0082] The aforementioned pressure / force increases as the gripping end 9 is lowered until it reaches the predetermined reference pressure / force value; at that point, the station 1 stops the downward movement of the gripping end 9 and actuates the gripping elements 9a so that the latter can grasp one of the items A to be singularized.

[0083] The working mode just described proves particularly effective in ensuring that the robotic arm 7 actually succeeds in grasping an item A during the switch of the gripping elements 9a to the gripping configuration.

[0084] In this regard, in fact, it should be kept in mind that the flexibility, softness and lightness that characterize the items A of the garment type can cause the items A to be missed by the gripping end 9 under certain circumstances, thus undermining the proper operation of the robotic arm 7.

[0085] In this sense, the compaction carried out on the items A contained in the storage container C has the effect of increasing the cohesion between them, thus facilitating, gripping by the gripping end 9.

[0086] According to one possible embodiment, the station 1 comprises at least one contact sensor and / or one distance sensor positioned on the gripping end and configured to detect the contact with an item A and / or the presence or absence of an item A grasped by means of the gripping end itself during movement. In order to enable the positioning of the gripping end 9 in the first working position, the station 1 advantageously comprises image capturing means 11 adapted to identify the location of the items A to be singularized in the first area 3.

[0087] Specifically, the station 1 comprises at least one supporting post 12 associated with the base frame 2 and on which the capturing means 11 are mounted.

[0088] In the present case, the capturing means 11 comprise at least one capturing device 1 la of the type of a camera or functionally similar instrument.

[0089] Conveniently, the capturing devices I la face downwards so that the images of the first area 3 and of the items A located therein can be profitably acquired.

[0090] Conveniently, the supporting post 12 and the relevant capturing device I la are arranged at the receiving structure 4.

[0091] As visible in Figure 1 , the capturing means 11 comprises two capturing devices I la and the station 1 comprises two supporting posts 12 on each of which a respective capturing device 1 la is mounted.

[0092] Specifically, each supporting post 12 and the relevant capturing device I la are arranged at a respective receiving structure 4.

[0093] Conveniently, the station 1 comprises control means 13 configured to detect the exit of the items A from a respective storage container C as a result of their gripping by the gripping elements 9a.

[0094] In this sense, the control means 13 operate synergistically in conjunction with the pressure / force measuring means 10 in ensuring consistently accurate and precise operation by the robotic arm 7 and, in particular, in ensuring that the gripping elements 9a of the latter actually grip an item A to be singularized whenever they are arranged in the gripping configuration.

[0095] According to the particular embodiment shown in the figures, the control means 13 comprise at least one control device 13a associated with the base frame 2 and configured to emit a beam of laser and / or LED light.

[0096] This means that the control device 13a determines whether or not the various items A exit depending on whether they are crossed by the beam of laser and / or LED light.

[0097] Advantageously, the station 1 comprises detection means 14 exemplified in Figure 1 and Figure 7.

[0098] Specifically, the detection means 14 are operationally linked to the gripping and transferring means 6 and are adapted to: generate a release signal when the items A retained by the gripping end 9 are entirely positioned above the line of away movement 5a; and to send the release signal to the robotic arm 7; the reception of the release signal causing the switch of the gripping elements 9a from the gripping configuration to the release configuration.

[0099] Specifically, the detection means 14 comprise at least one detection device 14a arranged in the second area 5 and configured to emit an upward beam of laser and / or LED light.

[0100] This means that the detection means 14 generate the release signal when the item A retained by the gripping elements 9a is entirely arranged within the beam of laser and / or LED light.

[0101] This technical expedient proves particularly useful in ensuring that the singularized items A are entirely placed on the line of away movement 5a once they have been released from the robotic arm 7 (see, in this regard, Figure 7).

[0102] In this regard, it is easy to appreciate that different items A can have even very different sizes and conformations (think, in this regard, of the difference that runs between a pair of trousers, a T-shirt and a pair of underpants) that require the gripping end 9 to position itself appropriately above the line of away movement 5a before releasing on the latter the retained items A.

[0103] In fact, misplacement of the gripping end 9 and the consequent release of the retained item A could result in its unintentional sliding to the ground and consequently undermine the proper operation of the station 1.

[0104] In this sense, the presence of the detection means 14 averts the occurrence of this eventuality, ensuring from time to time the placement of the gripping end 9 in a position to ensure the proper release of the item A retained on the line of away movement 5a and, therefore, the reliability and overall functionality of the station 1.

[0105] It has in practice been ascertained that the described invention achieves the intended objects.

[0106] In particular, the fact is emphasized that the special expedient of providing movable gripping elements along a spiral trajectory between the release and gripping configurations enables the grasping of the items to be singularized in a precise, effective and systematic manner regardless of whether the items are loose, are contained within an intact bag or are contained within a damaged bag. In addition, the special expedient of providing measuring means for measuring the pressure / force ensures that the gripping end actually grasps an item to be singularized whenever the gripping elements are arranged in the gripping configuration, giving the station according to the invention remarkable reliability of use.

[0107] Finally, the special expedient of providing control means operates synergistically in conjunction with the measuring means in ensuring that the items are actually gripped and their subsequent release from the storage container.

Claims

CLAIMS1) Station (1) for the singularization of loose or bagged items, particularly garments, comprising: at least one base frame (2) for resting on the ground; at least a first collecting area (3) of a plurality of loose or bagged items (A) to be singularized; at least a second receiving area (5) of said singularized items (A) comprising at least one line of away movement (5a) of said items (A) along a direction of away movement (D) from said first area (3); gripping and transferring means (6) configured to grasp said items (A) to be singularized and transfer them from said first area (3) to said second area (5), said gripping and transferring means (6) comprising at least one robotic arm (7) provided with at least one resting base (8) and with at least one gripping end (9) which is movable with respect to said resting base (8); characterized by the fact that: said gripping end (9) comprises a plurality of gripping elements (9a) movable between a gripping configuration, wherein they are mutually moved close to allow the retention of only one of said items (A) to be singularized at a time, and a release configuration, wherein they are mutually moved away to allow the release of each of said retained items (A); and that said gripping elements (9a) are movable from said release configuration to said gripping configuration along a spiral trajectory (T).2) Station (1) according to claim 1, characterized by the fact that said gripping and transferring means (6) comprise measuring means (10) for measuring a pressure / force associated with said gripping end (9) and by the fact that said station (1) is configured to move said gripping end (9) between: a first working position, wherein it is placed substantially where a respective said item (A) to be singularized is located; and a second working position, wherein it is lowered to a lower height than that occupied in said first working position and wherein the pressure / force measured by said measuring means (10) is substantially coincident with apredetermined reference pressure / force; said station (1) being further configured to arrange said gripping elements (9a) in said gripping configuration as a result of the movement of said gripping end (9) to said second working position.3) Station (1) according to one or more of the preceding claims, characterized by the fact that it comprises image capturing means (11) adapted to identify the location of said items (A) to be singularized in said first area (3).4) Station (1) according to one or more of the preceding claims, characterized by the fact that said spiral trajectory (T) defines a central winding axis (Y) around which said gripping elements (9a) move in the switch from said gripping configuration to said release configuration and with respect to which they are substantially equidistant.5) Station (1) according to one or more of the preceding claims, characterized by the fact that said gripping elements (9a) are movable from said gripping configuration to said release configuration along said spiral trajectory (T).6) Station (1) according to one or more of the preceding claims, characterized by the fact that said gripping end (9) comprises three of said gripping elements (9a).7) Station (1) according to one or more of the preceding claims, characterized by the fact that it comprises control means (13) configured to detect the exit of said items (A) from a respective storage container (C) located in said first area (3) as a result of their gripping by said gripping elements (9a).8) Station (1) according to claim 7, characterized by the fact that said control means (13) comprise at least one control device (13a) associated with said base frame (2) and configured to emit a beam of laser and / or LED light.9) Station (1) according to one or more of the preceding claims, characterized by the fact that it comprises detection means (14) operationally connected to said gripping and transferring means (6) and adapted to: generate a release signal when said items (A) retained by said gripping end (9) are entirely positioned above said line of away movement (5a); and to send said release signal to said robotic arm (7);the reception of said release signal causing the switch of said gripping elements (9a) from said gripping configuration to said release configuration.10) Station (1) according to claim 9, characterized by the fact that said detection means (14) comprise at least one detection device (14a) arranged in said second area (5) and configured to emit an upward beam of laser and / or LED light.

Images