Tray for textile items autoloader

Abstract

A tray for holding a stack of garments or other textile items for a garment autoloader, has a first end, and a base end opposite the first end, on which a lower side of a garment is placed. The tray comprises a longitudinal concavity extending along the base end, the longitudinal concavity being placed to accommodate excess garment thickness due to garment hems. The concavity has a mechanism to control the stack flatness to allow smooth loading of the garments regardless of the stack size or the garment type. The tray further has an upper surface extending between the first end and the base end for receiving the stack, the upper surface being friction-enhanced.

Description

[0001] TRAY FOR TEXTILE ITEMS AUTOLOADER

[0002] RELATED APPLICATION / S

[0003] This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 692,218 filed on September 9, 2024, the contents of which are incorporated herein by reference in their entirety.

[0004] FIELD AND BACKGROUND OF THE INVENTION

[0005] The present invention, in some embodiments thereof, relates to a tray for an autoloader and, more particularly, but not exclusively, to a tray for autoloading of garments or cut textile pieces onto a textile processor such as a textile printer, including a digital printer, or a garment heat press system.

[0006] Autoloaders for garment printers are devices that automatically load garments or cut pieces onto the printer or onto a system related to the printer. They are designed to increase efficiency, accuracy, and productivity in the printing process, especially for direct-to-garment (DTG) printing, direct to film (DTF), etc.

[0007] In this disclosure, the main emphasis is on DTG printing, however, the same auto loading process is relevant for other related processes in the printing system such as heat press, screen printing carousals, storage facilities, and many more.

[0008] DTG printing is a process that sprays water-based inks onto textile designs using modified inkjet technology. It is less labor-intensive than traditional methods like screen printing, or film printing, and it requires very little setup time.

[0009] The use of autoloaders and other automated equipment can greatly enhance the efficiency of the printing process. As the printers for textile, and specifically direct to garment printers, get faster, also fast and automated loading of garments or cut pieces onto a textile printer is crucial to maximize efficiency in the production process. It minimizes downtime, as delays in loading can disrupt the printing workflow and reduce overall output. Additionally, automated loading enhances consistency by reducing the risk of errors associated with manual handling. The speed and precision of automated loading contribute to a streamlined production line, allowing textile printers to operate at their optimal capacity, meet demand, and ensure a more cost-effective and competitive manufacturing process.

[0010] However, handling textile media, such as cut pieces, shirts or other garments, introduces many problems and issues that normally does not allow the use of full automation for storing, moving, loading, or unloading the media as a part of a complete system, such as a printing system. A few examples for these limitations may include:

[0011] Material Variability: Different fabrics and textures require precise handling, making it challenging to create a one-size-fits-all automation solution.

[0012] Complex Garment Designs: Shirts often have intricate designs, patterns, and features like collars and cuffs, making it difficult for automation systems to consistently replicate the craftsmanship of skilled human workers.

[0013] Size Variations: Accommodating various sizes and body shapes adds complexity to automation, as it requires adaptable and flexible systems to handle the diversity of garments.

[0014] Seam Alignment: Achieving accurate seam alignment, especially in garments with multiple panels, is a technical challenge for automation, as it demands high precision and coordination.

[0015] Uneven Surface due to Seams: Automation faces challenges in achieving a consistently smooth and even surface, as seams may introduce variations in thickness or texture that are not easily replicated by machines, affecting the overall finish and feel of the shirt.

[0016] Button and Fastener Handling: Automation struggles with the dexterity needed to handle small and varied components like buttons, zippers, and other fasteners commonly found in shirts.

[0017] Quality Control: Ensuring consistent quality throughout the production process is challenging, as automated systems may struggle to detect subtle defects or irregularities in fabric and stitching.

[0018] Fabric Sensitivity: Delicate fabrics require gentle handling to prevent damage, posing a challenge for automation systems that must balance speed with careful material treatment.

[0019] Customization Demands: The growing trend of personalized or customized shirts requires automation to be adaptable to frequent design changes and individual preferences.

[0020] Cost of Implementation: High initial setup costs for advanced automation technology may be a barrier for some manufacturers, especially smaller ones, impacting the widespread adoption of automated processes.

[0021] Human Touch and Creativity: The nuanced aspects of garment production, such as artistic detailing and the "human touch" in craftsmanship, are difficult to replicate with automation, impacting the overall aesthetic appeal of shirts.

[0022] In addition to the above, when handling cut pieces, other issues may be addressed as well.

[0023] A cut textile piece is a section of fabric that has been measured and cut from a larger roll or bolt. It may vary in size and shape, depending on the intended use. The edges of the cut piece might be raw or finished, and the fabric itself may range from lightweight cotton to heavy-duty denim, featuring various patterns, colors, and textures. Such a cut piece is often used in sewing projects, such as making garments, home decor items, or crafts.

[0024] Handling cut textile pieces may present several challenges:

[0025] 1. Fraying Edges: The raw edges of cut pieces can fray, leading to loose threads and potential damage to the fabric.

[0026] 2. Size Irregularities: Ensuring precise measurements and cuts can be difficult, resulting in pieces that may not fit together as intended.

[0027] 3. Storage Issues: Storing cut pieces without causing wrinkles or creases can be tricky, especially with delicate fabrics.

[0028] 4. Handling Delicate Fabrics: Some fabrics, like silk or chiffon, are more prone to damage and require careful handling.

[0029] Automating the handling of cut textile pieces comes with its own set of challenges:

[0030] 1. Precision and Consistency: Ensuring that automated systems can consistently cut and handle pieces with the exact precision required for various projects.

[0031] 2. Material Variability: Different fabrics have unique properties, such as stretch, thickness, and texture, which can complicate automated handling.

[0032] 3. Damage Risk: Automated machinery might damage delicate fabrics or fail to handle them as gently as needed.

[0033] 4. Complexity of Shapes: Handling irregularly shaped or small cut pieces can be difficult for automated systems to manage efficiently.

[0034] 5. Adaptability: Automated systems may struggle to adapt to different types of cuts and patterns without significant reprogramming or adjustments.

[0035] The main stages for handling of textile items such as shirts or cut pieces and loading thereof onto a system such as a textile printer include: storing the items for the long term, often in large boxes or plastic bags, moving only the required items towards the printer once they need to be printed, loading a single item on the printer for the current printing job, printing on the shirt, and unloading the item from the printer for the next station, e.g., a textile dryer.

[0036] Some systems rely on stacking the items on temporary trays, or magazines, for moving them from the storage to the printer, where the trays are handled rather than the items themselves.

[0037] For example, each specific stock keeping unit (SKU) - a type of shirt with specific size, design, color, material, etc. - can be arranged in a stack of its own; then the stack can be moved around the factory (say from the main storage to the printing area) by simple moving platforms such as conveyers, and in turn each shirt may be loaded from the tray to the printer.

[0038] An alternative is for the stacks of shirts to be set by specific printing job queue, where the first shirt to be printed is placed first, then the next shirt and so forth. In such a method one tray can feed the printer continuously without the need to replace it, until the stack is empty.

[0039] The process of creating a large and stable stack of shirts that can be stored and transferred safely presents physical difficulties, including the need for precise folding and stacking to ensure uniformity and prevent wrinkles, a task that often requires a level of adaptability and spatial awareness that can be challenging for automated systems; or to ensure the full alignment and straightness of the front end of the items in the stack.

[0040] Similar issues may arise when unloading the items from the stack and loading them onto the printer: a spatial awareness is needed in all directions to allow the robot arm and grippers to grip the items; separating each item from the stack without the risk of multiple feeding of more than one item, moving the item to the printing pallet consistently, etc.

[0041] Generally, the autoloader is presented with a stack of garments or cut pieces on a tray and needs to pull off the items from the top of the stack one by one and place them on the printer. Such a task may require the autoloader to identify individual layers of material and be able to identify separate garments as constituting two layers. At the very least the stack of garments needs to be stable in order to allow the somewhat limited spatial awareness of the robot arm system to be sufficient.

[0042] SUMMARY OF THE INVENTION

[0043] An issue is that beyond a certain size a stack of shirts or other garments even if uniformly folded is unstable. Thus, the lower edge of the garment is typically hemmed and thus has double the thickness of the rest of the garment. This is generally barely noticeable with a stack of five garments but as the number gets larger the variation gets more blatant and limits the maximum size of a stable stack. Furthermore, trays are generally smooth and present the garments with a low friction surface, whereas the garment-to-garment interface is high friction. Thus, the base of the stack is the lowest friction part of the stack, rendering the stack relatively unstable and thus more difficult to handle.

[0044] When handling cut textile pieces other issues may be tackled. For example, an uneven or unclear front end of the stack due to fraying edges. Raw edges of the cut pieces may fray, leading to loose threads and potential damage to the fabric. Also, the cut pieces may have irregular sizes, which may result in pieces not fitting together as intended. Accordingly, embodiments of the present invention provide a tray for holding a stack of textile items such as garments or cut pieces, which tray is provided with a longitudinal concavity to accommodate the front end of the items being stacked, the front end typically being the hem region of the garment, or a frayed and irregular edge of a cut piece, and with a surface having friction which is at least as high as that of an item surface and higher if required. The longitudinal concavity may include one or more adaptation mechanisms to adapt the amount of accommodation to accord with the number of items in the stack, the frayed edges, or the hem thicknesses involved.

[0045] According to an aspect of some embodiments of the present invention there is provided a tray for holding a stack of textile items for a textile loader, the tray having a first end, and a base end opposite said first end, on which a lower side of an item is placed; the tray comprising a longitudinal concavity extending along said base end, the longitudinal concavity being placed to accommodate excess garment thickness due to garment hems, and / or to accommodate frayed and irregular edges of cut pieces.

[0046] Embodiments may include an upper surface extending between said first end and said base end for receiving said stack, said upper surface being friction-enhanced. Embodiments may include an adaptation mechanism for adjusting a size of said longitudinal concavity to accommodate differing amounts and / or types of said excess items thickness and / or shapes to ensure a straightened out upper surface of said stack for effective gripping by a robot arm.

[0047] In embodiments, said adaptation mechanism comprises at least one tensioning element.

[0048] In embodiments, said adaptation mechanism comprises a raisable floor to said longitudinal concavity and a spring under said floor.

[0049] In embodiments, a weight of said stack serves to press said spring, thereby to adjust a depth of said longitudinal concavity.

[0050] In embodiments, said adaptation mechanism comprises a tensioned pusher along said base end for pushing a top of said stack down into said longitudinal concavity.

[0051] In embodiments, said adaptation mechanism comprises a raisable floor to said longitudinal concavity and an active actuator to adjust a level of said floor.

[0052] In embodiments, said adaptation mechanism comprises a sensor to determine said stack height and a controller to adjust said raisable floor to straighten the upper side of the stack.

[0053] In embodiments, said tensioned pusher comprises an angled surface extending along a length of said base end.

[0054] Embodiments may include width marker pairs at either side of said tray to indicate widths at which to symmetrically place edges of said stack for different sized garments. According to a second aspect of the present invention there is provided a method of stacking textile items such as garments or cut pieces for an autoloader system comprising: placing a first item on a friction-enhanced surface; accommodating a hem area or a frayed edge of a base of said garment or cut piece in a longitudinal concavity, the hem or edge being aligned with said longitudinal concavity; placing further items on top of said first item to form a stack to accommodate excess garment thickness due to respective hems, and / or uneven cut piece edges due to respective frayed edges, thereby to keep an upper surface of said garment flattened and stable for said autoloader.

[0055] The method may include adjusting a size of said longitudinal concavity to accommodate excess garment thickness due to respective hems and / or uneven cut piece edges due to respective frayed edges,

[0056] The method may include measuring a height and / or weight of said stack and adjusting the flatness of said upper item of said stack.

[0057] The method may include using a database with stack attributes of garments and a controller to control stack flatness in accordance with said items attributes.

[0058] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

[0059] BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0060] Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.

[0061] It is noted that for the sake of simplicity, the examples show mainly garments or shirts to represent all options of textile items that the tray can support. Other items such as cut textile pieces are nevertheless contemplated.

[0062] In the drawings: Figure 1 is a simplified diagram showing an autoloader system using a tray and a stack of shirts according to embodiments of the present invention;

[0063] Figure 2 is a simplified diagram showing a tray according to embodiments of the present invention with a garment placed thereon;

[0064] Figures 3, 4, 5 and 6 are side views of the tray of Fig. 2;

[0065] Figure 7 is a perspective view from above of various trays according to embodiments of the present invention;

[0066] Figure 8 is a is a side view with inset of a tray according to embodiments of the present invention;

[0067] Figures 9, 10, 1 la and 1 lb are side views of trays according to embodiments of the present invention;

[0068] Figure 12a is a simplified flow diagram of a process of stacking garments on a tray according to embodiments of the present invention; and

[0069] Figure 12b is a simplified diagram showing a process of loading garments from the stack onto the printer and adjusting the tray to keep the top of the stack flat during the process, according to embodiments of the present invention.

[0070] DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

[0071] The present invention, as discussed above, in some embodiments thereof, relates to a tray for an autoloader.

[0072] The present embodiments may enable automatic handling of textile items such as shirts or cut pieces from a stack on the tray, and specifically loading of the textile items to a textile printer. Note that to simplify the detailed description of the embodiments, all textile items are exemplified by shirts. However, other textile items such as cut pieces may be used in the embodiments in the same way.

[0073] Multiple trays may be used, side by side or one after the other, each capable of taking a stack of dozens of shirts, stacked and accurately positioned, and stored or moved individually by automated systems,

[0074] The idea is to provide easy transfer of the shirts between locations by moving the trays on robots, conveyers, etc.; and in turn to enable loading of the shirts onto a printing system by an automated loader.

[0075] A tray is provided for holding a stack of garments for a garment autoloader, and has a first end, and a base end opposite said first end, on which a lower side of a garment is placed. The tray comprises a longitudinal concavity extending along the base end, the longitudinal concavity being placed to accommodate excess garment thickness due to garment hems. The tray further has an upper surface extending between the first end and the base end for receiving the stack, the upper surface being friction-enhanced. The tray thus provides a flat surface at the top of the stack where the grippers grip the shirts from the base ends of the shirts. The geometry also gives the grippers a clear approach to the shirt at the top of the stack. Finally, the friction at the tray surface may ensure that the stack as a whole does not move just because the top shirts is pulled from the stack.

[0076] Embodiments may provide a high friction, or enhanced friction, tray surface to prevent dragging of the lower shirts in the stack while moving the top shirt for loading on the printer and thus destroying the integrity of the stack. There may additionally be provided size markers to help centralize the shirts on the tray regardless of their size, a longitudinal concavity serves as a release tunnel at the front end of the tray for accommodating the hem region or bottom shirt excess in general thereby to keeping the upper level of the stack flat for the loader grippers. Embodiments may include a passive and / or adaptive mechanism to keep the upper most shirt flat and ready for loading regardless of the other shirts size, design and relative position in the stack.

[0077] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

[0078] Referring now to the drawings, Figure 1 illustrates the general situation in which a tray 10 holds a stack of garments 12, such as shirts. An autoloader 14 has a robot arm 16 with grippers 18 at the ends for grabbing the ends of a garment from the stack. The garment grabbed is then fitted on a printing platen 20 on which the garment takes a course through a printer 22 to receive preprinting treatment, printing and post printing treatments processes as appropriate.

[0079] Reference is now made to Fig. 2, which is a simplified diagram showing in greater detail the tray 10 of Fig. 1. The tray 10 has a first end 30 on which the upper end of the garment to be stacked is placed, typically a collar or neck part 31 in the case of tee-shirts, shirts and blouses. A base end 32 lies opposite the upper end, on which a lower side 34 of a garment is placed. The lower side of the garment typically includes a hem. The gripping mechanism of the robot arm may work in different ways but typically either includes something grabbing the edges of the top garment on the pile or includes inserting something under the top garment on the pile. To accommodate the gripper, a flat area is needed around gripping area 36 which extends across the base of the garment. A longitudinal concavity 38 extends along the base end 36 of the tray. The extent of the concavity coincides with the hem region of the garments in the stack 40. The longitudinal concavity thus accommodates excess garment thickness due to the garment hems aligning over the height of the stack, or in other words serves as a release tunnel for accommodating the excess thickness.

[0080] The tray may include an enhanced friction surface 42 on the upper surface of the tray. The enhanced friction is at least at the level of friction experienced by two garments on top of each other so that the tray friction is at least equal to the friction over the rest of the stack. The enhanced friction surface may prevent drag acting on the lower part of the stack caused by operation of the autoloader at the top of the stack.

[0081] The tray 10 may include a passive or an active adaptation mechanism 44 for adjusting the effective height of the longitudinal concavity to accommodate different amounts of excess garment thickness. The aim of the adaptation mechanism is to ensure that the stack has a flat upper surface around the gripping region 36 for effective gripping by a robot arm and the flatness may be achieved either by pushing from below or by tensioning from above or by a combination of the two.

[0082] As shown in Fig. 2, the adaptation mechanism 44 comprises a tensioned pusher along the base end 32 which pushes down on the top of the stack to push the lower part of the stack down into the longitudinal concavity 38. The tensioned pusher comprises an angled surface that extends along the length of the base end and is tensioned to press downwards. Referring now to Fig. 3, which is a view of the tray from the side, the stack of shirts 40 has excess thickness at the end of the stack due to aligning of the hem regions of the shirts in the stack which is taken up by the longitudinal concavity 38 as the top of the stack is pressed down by the adaptation mechanism 44. Lever 46 provides a release so that the adaptation mechanism can be opened to insert the shirts and in turn to load them to the printer.

[0083] Referring now to Figs. 4 and 5, the same tray 10 is shown, with a stack of twenty shirts and with a single shirt respectively. In the stack of twenty shirts the adaptation mechanism 44 presses down on the top of the stack 40 to force the bottom of the stack into the concavity 38. The gripper travels along path 50, which is kept as a clear zone to flat surface 52 where the garment is gripped. In Fig. 5 only a single shirt remains and the adjustment mechanism simply holds the shirt in position.

[0084] Fig. 6 is the same as Fig. 4 except that the adjustment mechanism 44 is open to allow for insertion of the shirts as well as for loading them to the printer. Lever 46 is depressed to open the mechanism and an external actuator may be provided to operate the lever. Returning now to Fig. 2 and width marker pairs 60 are provided on either side of the tray 10 to provide shirt size cursors which indicate widths to place edges of the shirts for different sized garments in order to ensure their symmetry on the tray, which is crucial for the correct handling and specifically for loading the shirts to the printer in the correct orientation. The tray may further include interfacing features 62 to work with automatic tray handling systems.

[0085] Reference is now made to Fig. 7, which is a simplified diagram showing a second embodiment of the tray 10 of Fig. 1. In the embodiment of Fig. 7, the tray has the relatively high friction surface 42 on which the stack of shirts is placed. The same interface for a tray handling system 62 is present as are the shirt size cursors 60. The adaptive mechanism 44 however consists of springs 70 located in the longitudinal concavity 38. As shown in the cross-sectional view of Fig. 8, an adjustable or raisable floor 72 is located on top of the springs 70, and suitable adjustment of the springs, either via the weight of the shirts or via an actuator, may ensure that the floor is at the correct depth to ensure that the top of the stack is kept flat. The insert in Fig. 8 shows a perspective view of the mechanism 44 in operation with stack of shirts 40.

[0086] Fig. 9 illustrates the mechanism with the floor 72 depressed under the weight of a stack 40 of around twenty shirts. Fig. 10 illustrates the mechanism 44 with the floor 72 fully raised as the last shirt remains on the stack. In both cases a clear zone 50 and a flat top 52 of the stack is presented to the robot gripper.

[0087] Reference is now made to Fig. 11A and 11B, which are simplified diagrams showing another embodiment of the tray 10 of Fig. 1. In an embodiment, the floor 102 is actively moving down or up using an active actuator that changes the tunnel height to any height between lower position (Fig. 12A) and upper position (Fig. 12B). In one option, sensors 100 may be used to sense the actual height of the shirts to adjust the floor 102 accordingly, thus lowering the floor until the upper surface of the shirts 52 is flat. Another option may use preset data associated with the numbers and types, or attributes, of the shirts.

[0088] Reference is now made to Fig. 12A which shows a process for carrying out stacking using the trays according to either of the embodiments described above for use with an autoloader system. A first garment is placed directly on the tray and the friction enhanced surface - 80. The hem area at the base of the garment is aligned with and placed -82- in the longitudinal concavity 38. Further garments, similarly aligned, are placed on top of the first garment to form a stack -84, and then the size of the longitudinal concavity is adjusted, either automatically or manually -86 - to accommodate the excess garment thickness due to the hems. Automatic adjustment may be via actuation or due to the weight of the garments, and the aim is to keep the upper surface of the stack flat and stable for the autoloader and to give the grippers of the autoloader a clear approach. Reference is now made to Fig. 12B which shows a process 90 for carrying out loading of shirts onto a printer using the trays according to either of the embodiments described above for use with an autoloader system. The hem area at the base of the garment is aligned with and placed - 94- in the longitudinal concavity 38. Garments, similarly, aligned, are placed on top of the first garment to form a stack, and then the size of the longitudinal concavity is adjusted, either automatically or manually -96 - to accommodate the excess garment thickness due to the hems. The auto-loader loads the upper shirt to a printer in accordance with the printer working cycle 98. Now the automatic adjustment of the longitudinal concavity 96 is repeated for the now reduced number of shirts, again this may be via actuation or due to the weight of the garments, and the aim is to keep the upper surface of the stack flat and stable for the autoloader and to give the grippers of the autoloader a clear approach.

[0089] The process continues until the lowest garment is placed directly on the tray - 99 - and the friction enhanced surface - 80 prevents it from being pulled out while loading the garments on top of it.

[0090] General

[0091] The terms "comprises", "comprising", "includes", "including", “having” and their conjugates mean "including but not limited to".

[0092] As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise.

[0093] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment and the present description is to be construed as if such embodiments are explicitly set forth herein. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or may be suitable as a modification for any other described embodiment of the invention and the present description is to be construed as if such separate embodiments, subcombinations and modified embodiments are explicitly set forth herein. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

[0094] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims. It is the intent of the applicant(s) that all publications, patents and patent applications referred to in this specification are to be incorporated in their entirety by reference into the specification, as if each individual publication, patent or patent application was specifically and individually noted when referenced that it is to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting. In addition, any priority document(s) of this application is / are hereby incorporated herein by reference in its / their entirety.

Claims

WHAT IS CLAIMED IS:

1. A tray for holding a stack of garments or other items of textile, for a garment loader, the tray having a first end, and a base end opposite said first end, on which a lower side of a garment is placed; the tray comprising a longitudinal concavity extending along said base end, the longitudinal concavity being placed to accommodate excess garment thickness due to garment hems.

2. The tray according to claim 1, further comprising an upper surface extending between said first end and said base end for receiving said stack, said upper surface being friction- enhanced.

3. The tray according to claim 1, further comprising an adaptation mechanism for adjusting a size of said longitudinal concavity to accommodate differing amounts and / or types of said excess garment thickness to ensure a straightened out upper surface of said stack for effective gripping by a robot arm.

4. The tray according to claim 3, wherein said adaptation mechanism comprises at least one tensioning element.

5. The tray according to claim 3, wherein said adaptation mechanism comprises a raisable floor to said longitudinal concavity and a spring under said floor.

6. The tray according to claim 5, wherein a weight of said stack serves to press said spring, thereby to adjust a depth of said longitudinal concavity.

7. The tray according to claim 3 or claim 4, wherein said adaptation mechanism comprises a tensioned pusher along said base end for pushing a top of said stack down into said longitudinal concavity.

8. The tray according to claim 3, wherein said adaptation mechanism comprises a raisable floor to said longitudinal concavity and an active actuator to adjust a level of said floor.

9. The tray according to claim 8, wherein said adaptation mechanism comprises a sensor to determine said stack height and a controller to adjust said raisable floor to straighten the upper side of the stack.

10. The tray according to claim 7, wherein said tensioned pusher comprises an angled surface extending along a length of said base end.

11. The tray according to any one of claim 1-10, comprising width marker pairs at either side of said tray to indicate widths at which to symmetrically place edges of said stack for different sized garments.

12. A method of stacking garments or other textile items, for an autoloader system, the method comprising: placing a first garment on a friction-enhanced surface; accommodating a hem area of a base of said garment in a longitudinal concavity, the hem being aligned with said longitudinal concavity; placing further garments on top of said first garment to form a stack to accommodate excess garment thickness due to respective hems, thereby to keep an upper surface of said garment flattened and stable for said autoloader.

13. The method according to claim 12, further comprising adjusting a size of said longitudinal concavity to accommodate excess garment thickness due to respective hems.

14. The method according to claim 12, further comprises measuring a height and / or weight of said stack and adjusting the flatness of said upper garment of said stack.

15. The method according to claim 12 or claim 14, further comprising using a database with stack attributes of garments and a controller to control stack flatness in accordance with said garment attributes.

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