EP4192660A1 - Système de préhension à couplage magnétique pour manipulation robotique - Google Patents

Système de préhension à couplage magnétique pour manipulation robotique

Info

Publication number
EP4192660A1
EP4192660A1 EP21765711.3A EP21765711A EP4192660A1 EP 4192660 A1 EP4192660 A1 EP 4192660A1 EP 21765711 A EP21765711 A EP 21765711A EP 4192660 A1 EP4192660 A1 EP 4192660A1
Authority
EP
European Patent Office
Prior art keywords
ferromagnetic
end effector
grasping
flexible article
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21765711.3A
Other languages
German (de)
English (en)
Inventor
Domenico PRATTICHIZZO
Sara MARULLO
Gionata SALVETTI
Muhammad Zubair IQBAL
Simone BARTOCCINI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universita degli Studi di Siena
Original Assignee
Universita degli Studi di Siena
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universita degli Studi di Siena filed Critical Universita degli Studi di Siena
Publication of EP4192660A1 publication Critical patent/EP4192660A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F67/00—Details of ironing machines provided for in groups D06F61/00, D06F63/00, or D06F65/00
    • D06F67/04—Arrangements for feeding or spreading the linen
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F89/00—Apparatus for folding textile articles with or without stapling
    • D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts

Definitions

  • the present invention relates to a method of manipulation of textile flexible articles such as a textile intermediate product, an item of household linen, an item of clothing and the like, to perform manipulations involved, for instance in folding/unfolding, sewing, ironing operations, or the like.
  • the present invention relates also to a system of manipulator and textile flexible article for carrying out such method.
  • EP3495099B1 discloses a robotic hand that can carry out a grasping determination method, suitable for a target object that deforms when being grasped.
  • picking up such deformable articles in order to carry out precise operations for example folding a shirt, grasping and handling a flexible bag which contain loose objects, etc, can be critical.
  • the initial gripping points by the manipulator become relevant, since relatively small changes in the position of the initial gripping points can produce a significant change in the final configuration assumed by the manipulated garment.
  • gripping textile flexible articles like clothes can determine wrinkles that prevent or make more difficult to carry out folding operations.
  • CN109208307A discloses a conveyor for clothes in which the clothes are transported, dragged, separated and then laid for subsequent automatic folding.
  • the clothes are handled on hangers to which ferromagnetic inserts are added in such a way that an electromagnetic handler can drag the clothes by dragging their hangers along a desired path when the electromagnetic manipulator is energized, and an electromagnetic force for dragging the clothes hanger is generated.
  • the electromagnetic device for dragging clothes is powered off, the electromagnetic force on the clothes hangers disappears and the dragging stops.
  • US10335956B2 discloses a robotic system that includes a primary end effector and a secondary retention system that surrounds it.
  • the primary end effector can be drawn up within the secondary retention system.
  • the primary end effector can select an object from a plurality of objects, and the secondary retention system can secure the object for rapid transport to an output destination.
  • Both the primary gripper and secondary retention system can comprise a vacuum gripper, an electrostatic gripper, or a magnetic gripper and the secondary retention system can comprise a pinch gripper.
  • the primary gripper provides vacuum for grasping it.
  • textile flexible articles encompasses any articles that deform substantially when handled, like, for example articles of clothing, flexible bags, leather, fabrics, and flexible components thereof, etc.
  • Advantageous modifications of the method and exemplary embodiments of the system are defined by respective dependent claims.
  • a method to manipulate a textile flexible article comprises the steps of: prearranging a manipulator having a manipulator head with a magnetic end effector and a mechanical end effector, wherein the magnetic end effector and mechanical end effector are arranged to carry out respective independent movements with respect to each other; defining a predetermined grasping point on the textile flexible article and fixing at the grasping point at least one ferromagnetic element configured to provide a ferromagnetic grasping point for the textile flexible article by the magnetic end effector; prearranging the textile flexible article in a starting configuration; moving the manipulator head towards the textile flexible article until the magnetic end effector approaches the ferromagnetic grasping point and magnetically grasping the ferromagnetic grasping point by the magnetic end effector; moving the mechanical end effector in the manipulator head until the mechanical end effector grasps mechanically the textile flexible article around the ferromagnetic grasping point; causing the textile flexible article to carry out manipulation movements by the manipulator head.
  • a system of a manipulator and a textile flexible article comprises: a manipulator comprising a manipulator head equipped with a magnetic end effector and a mechanical end effector, wherein the magnetic end effector and the mechanical end effector are arranged to carry out respective independent movements with respect to each other; a textile flexible article in which a predetermined grasping point, at which at least one ferromagnetic element is fixed, the at least one ferromagnetic element configured to provide a ferromagnetic grasping point by the magnetic end effector; wherein the manipulator head is configured to be moved and operated until the magnetic end effector approaches the ferromagnetic grasping point and magnetically grasps the ferromagnetic grasping point; wherein the manipulator head is configured to be operated until the mechanical end effector grasps mechanically the textile flexible article around the ferromagnetic grasping point after that the magnetic end effector has approached the ferromagnetic grasping point and grasped magnetically the ferromagnetic grasping point,
  • textile flexible article including a textile material selected among a textile intermediate product, an item of household linen and an item of clothing, wherein the textile flexible article includes: a continuous textile portion made of the textile material; at least one spot-like ferromagnetic portion arranged in the continuous textile portion and defining at least one ferromagnetic grasping point at a predetermined position on the textile flexible article, the spot-like ferromagnetic portion including a ferromagnetic material, the at least one grasping point configured to be attracted by a magnetic end effector of a manipulator head of a manipulator, the manipulator head configured to be moved and operated until the magnetic end effector approaches and magnetically grasps the ferromagnetic grasping point, in order to carry out manipulation movements of the textile flexible article by the manipulator head.
  • the manipulation movements comprise an operation selected among folding, unfolding said textile flexible article, or assisting operations of sewing or ironing said flexible article.
  • a textile flexible article like a textile intermediate product, an item of household linen and an item of clothing can be easily manipulated, for example during folding, unfolding, ironing, sewing, etc., by grasping such article selectively at said or each ferromagnetic grasping point, avoiding to grasp the remainder of the textile flexible article which does not comprise the or each ferromagnetic grasping point.
  • This is very advantageous for the textile industry, which in general requires a large amount of manual working for such operations, for correctly folding, unfolding, ironing, sewing.
  • textile flexible articles do not have specific reference point for robotic manipulation.
  • the textile flexible article can be picked up by the manipulation head selectively at a well-defined point.
  • the portion of the textile flexible article involved in the grasp is smaller than the corresponding portion of the prior art, in which no magnetic interaction is present between the manipulator head and the flexible object. This prevents the end effectors from sliding on the article and therefore wrinkling the textile flexible article, as well as increasing the grasp precision and repeatability.
  • the step of magnetically grasping the textile flexible article provides a translation step of the magnetic end effector with respect to the mechanical end effector, in such a way that the step of mechanically grasping the textile flexible article around the ferromagnetic grasping point is carried out by grasping the textile flexible article directly behind the ferromagnetic element.
  • the magnetic grasping point is a useful reference point not only for the magnetic grasp, but also to permit a stable grip by the mechanical end effector, avoiding wrinkles and undesired sliding between the textile flexible article and the mechanical end effector.
  • the translation step of the magnetic end effector with respect to the mechanical end effector is carried out as an opposing movement by means of an opposing linkage.
  • Such opposing movement permits to raise a portion of the textile flexible article within the mechanical end effector, improving the grip of the textile flexible article by the latter.
  • the ferromagnetic grasping point is a plate element with a surface comprised between 1 and 10 cm 2 , preferably between 2 and 6 cm 2 .
  • Such small size of the ferromagnetic grasping point is advantageous and sufficient even for heavier textile flexible articles, since the magnetic actuation is useful to bring a portion of the textile flexible article to be raised within the mechanical end effector.
  • the ferromagnetic grasping point can be selected from the group consisting of: a grasping point embedded in a label element of the article; an embroidery made of ferromagnetic threads; a patch made of polymeric matrices embedding magnetic nanoparticles; a magnetic mesh embedded in the deformable article or containing the article; a magnetic sticker applied to the textile flexible article.
  • the ferromagnetic grasping point is removable from the continuous textile portion.
  • Removable ferromagnetic grasping points such as a sticker, can be useful, for instance, if they are intended for use only during manufacture of the article, which will be sold and worn without aby magnetic element.
  • a magnetic code can be provided in a magnetic grasping point in order to discriminate the grasping points from one another. This has the advantage that the manipulator(s) can be programmed according to a specific sequence of manipulations of said grasping points.
  • a linear actuator is provided to move the magnetic end effector.
  • the magnetic end effector includes an electromagnet configured to be activated or deactivated responsive to a position of the linear actuator.
  • the magnetic end effector includes a permanent magnet and, after the step of mechanically grasping the textile flexible article around the ferromagnetic grasping point a step is provided of magnetically ungrasping the ferromagnetic grasping point by the magnetic end effector.
  • a step is provided of magnetically pulling the ferromagnetic grasping point by the magnetic end effector in opposition with respect to the mechanical end effector, in order to detach the magnetic end effector from the ferromagnetic grasping point of the article.
  • Such embodiment has the effect that the ferromagnetic grasping point can be sized substantially independent from the weight of the textile flexible article. Moreover, heating of the magnetic end effector and of the textile flexible article can be prevented as well as a relevant saving of energy can be achieved.
  • the manipulator head is a first manipulator head and a second manipulator head is provided also equipped with a magnetic end effector and with a mechanical end effector and the grasping point on the textile flexible article is a first grasping point, wherein a second predetermined grasping point is defined on the textile flexible article at which a second ferromagnetic grasping point is fixed configured to provide a second extended ferromagnetic grasping point for the textile flexible article, and wherein the further steps are provided of moving the first and second manipulator heads until the respective magnetic end effectors approach the first and second extended ferromagnetic grasping points, respectively; moving the mechanical end effectors of the first and second manipulator heads until the mechanical end effectors mechanically grasp the textile flexible article around the first and second extended ferromagnetic grasping points, respectively; causing the textile flexible article to carry out manipulation movements by the first and second manipulator heads.
  • the manipulator before the step of magnetically grasping the or each ferromagnetic grasping point by the or each magnetic end effector the manipulator is arranged to bring the or each manipulator head to carry out a magnetic scanning step for determining the or each ferromagnetic grasping point, or for determining the position thereof.
  • the step of magnetically grasping the or each ferromagnetic grasping point by the or each magnetic end effector is carried out only estimating approximately the position thereof, and exploiting the capability of the or each magnetic end effector of the manipulator to attract the or each ferromagnetic grasping point even from such approximate positioning.
  • the manipulator head is configured to provide a translation of the magnetic end effector with respect to the mechanical end effector, in such a way that the textile flexible article can be grasped by the mechanical end effector around the ferromagnetic grasping point.
  • the textile flexible article can be grasped by the mechanical end effector directly behind the ferromagnetic element.
  • the manipulator head is configured to provide a translation of the magnetic end effector with respect to the mechanical end effector by an opposing movement by means of an opposing linkage.
  • the mechanical end effector can includes at least two opposite collaborating rigid jaws rotatably arranged about a hinge portion of a support of the manipulator head.
  • the mechanical end effector can includes at least two internally articulated jaws including a train of mutually articulated rigid members or links, connected to each other by flexible joints.
  • This allows a larger number of degrees of freedom and of degrees of actuation of the mechanical end effector, in particular, if the articulated members are actuated independently from one another.
  • This increases in turn the compliance to the grasped textile flexible article, and allows manipulation operations more complex than in the case of a rigid jaw.
  • internally articulated jaws make it possible to cope with in-hand manipulation and intermediate configurations of a garment being folded, without requiring complicate movements of the manipulator head itself.
  • rigid and internally articulated jaws can coexist in a same mechanical end effector.
  • the rigid jaw can be used to support the article being manipulated or folded while overturning the article itself.
  • the rigid or articulated jaws can be advantageously actuated by means of respective tendons, or by respective pluralities of tendons driven by respective actuators to increase the number of degrees of actuation.
  • the ferromagnetic grasping point is a plate element with a surface comprised between 1 and 10 cm 2 , preferably between 2 and 6 cm 2 .
  • the role of the metal plate can be played by a magnetic mesh embedded into the deformable article or containing the article.
  • a paramagnetic plate element or mesh can be used, arranged to provide an attraction force with the magnetic end effector.
  • ferromagnetic element encompasses also a paramagnetic element and any material that shows a magnetic behaviour, and permits to create a magnetic grasping point on the textile flexible article.
  • a ferromagnetic or paramagnetic plate or mesh can be used, arranged to provide an attraction force with the magnetic end effector.
  • the manipulator head is a first manipulator head and a second manipulator head is provided also equipped with a magnetic end effector and a mechanical end effector, wherein the grasping point on the textile flexible article is a first grasping point and a second predetermined grasping point is defined on the textile flexible article at which a second ferromagnetic grasping point is fixed configured to provide a second extended ferromagnetic grasping point for the textile flexible article; and wherein the further steps are provided of: moving the first and second manipulator heads until the respective magnetic end effectors approach the first and second extended ferromagnetic grasping points, respectively; moving the mechanical end effectors of the first and second manipulator heads until the mechanical end effectors mechanically grasp the textile flexible article around the first and second extended ferromagnetic grasping points, respectively; causing the textile flexible article to carry out manipulation movements by the first and second manipulator heads.
  • the manipulator is arranged to bring the manipulator head to carry out a magnetic scanning step
  • a method to manipulate a textile flexible article comprises the steps of: prearranging a manipulator having a manipulator head with a magnetic end effector and a mechanical end effector, wherein the mechanical end effector includes a plurality of jaws and the magnetic end effector includes at least one magnetic element fixed at a tip end portion of at least one of the jaws; defining a predetermined grasping point on the textile flexible article and fixing at the grasping point at least one ferromagnetic element configured to provide a ferromagnetic grasping point for the textile flexible article by the magnetic end effector; prearranging the textile flexible article in a starting configuration; moving the manipulator head towards the textile flexible article until the magnetic end effector approaches the ferromagnetic grasping point and magnetically grasping the ferromagnetic grasping point by the magnetic end effector; moving the mechanical end effector in the manipulator head until the mechanical end effector grasps mechanically the textile flexible article; causing the textile flexible article to carry out manipulation movements by the manipulator head
  • a system of a manipulator and a textile flexible article comprises: a manipulator comprising a manipulator head equipped with a magnetic end effector and a mechanical end effector, wherein the mechanical end effector includes a plurality of jaws and the magnetic end effector includes at least one magnetic element fixed at a tip end portion of at least one of the jaws; a textile flexible article in which a predetermined grasping point, at which at least one ferromagnetic element is fixed, the at least one ferromagnetic element configured to provide a ferromagnetic grasping point by the magnetic end effector; wherein the manipulator head is configured to be moved and operated until the magnetic end effector approaches the ferromagnetic grasping point and magnetically grasps the ferromagnetic grasping point; wherein the manipulator head is configured to be operated until the mechanical end effector grasps mechanically the textile flexible article after that the magnetic end effector has approached the ferromagnetic grasping point and grasped magnetically the fer
  • the mechanical end effector includes at least two opposite collaborating jaws selected from the group comprised of rigid jaws rotatably arranged about a hinge portion of a support (21 ’) of the manipulator head; internally articulated jaws including a train of mutually articulated rigid members, connected to each other by flexible joints; a combination (40,50) thereof.
  • each of the internally articulated jaws is actuated by means of at least one tendon.
  • Figure 1 shows a block diagram of a system and of an initial step of a method to manipulate a textile flexible article according to the invention
  • Figure 2-4 show three possible steps of a method to manipulate a textile flexible article according to the invention
  • Figure 5-7 show three possible positions of a manipulator according to the invention.
  • Figure 8 shows a perspective view of a manipulation head according to the invention
  • Figure 9 shows a partial elevation view of a manipulation head according to the invention
  • Figure 10 schematically shows a manipulator head according to a further embodiment the invention, in which a magnetic end effector is provided as unique end effector;
  • Figure 11 and 12 schematically shows a manipulator head according to a further embodiment of the invention, in which the magnetic end effector includes magnetic elements provided at the tips of respective tendon- driven jaws;
  • Figures 13 and 14 schematically shows a manipulator head according to a further embodiment the invention, in which the mechanical end effector includes a tendon-actuated element and an internally articulated tendon- driven element opposite to each other, and in which the magnetic end effector is provided as a magnet at the tip of the rigid element.
  • Figure 15 shows an embodiment of the method, according to the invention, to fold a textile flexible article from a random configuration to an tidy, unfolded configuration by means of a single manipulator head;
  • Figures 16 to 17 show a different embodiment of the method, according to the invention, to fold a textile flexible article from a flat configuration to a target folded configuration by means of a couple of manipulator heads;
  • Figure 19 shows a further embodiment of the method, according to the invention, to manipulate a textile flexible article during a sewing operation or similar tasks such as embroidery;
  • Figures 20 and 21 shows a further embodiment of the method, according to the invention, to manipulate a continuous flexible web in a convey and cut assembly including a couple of manipulator heads.
  • a method to manipulate a textile flexible article, 10 such as a textile intermediate or finished product, provides prearranging a manipulator 20 in which a manipulator head 21 includes a magnetic end effector 22 and a mechanical end effector 23, wherein magnetic end effector 22 and mechanical end effector 23 are arranged to carry out respective independent movements with respect to each other.
  • a manipulator head 21 includes a magnetic end effector 22 and a mechanical end effector 23, wherein magnetic end effector 22 and mechanical end effector 23 are arranged to carry out respective independent movements with respect to each other.
  • magnetic end effector 22 and mechanical end effector 23 are shown separate from each other, for example they can be parallel to each other and actuated independently. However, as shown in some of the following examples, they can be integrated in a single head structure 21 and actuated either by different actuators or by a common actuator.
  • magnetic end effector 22 can comprise an electromagnetic head 26 and mechanical end effector 23 can comprise a couple of jaws 27.
  • manipulator 20 can be mounted on a cart 60 including a cart body 61 and wheels 62.
  • Cart body 61 can contain a power source like a battery to actuate manipulator head 21.
  • manipulator 20 comprises a mechanism 70 that connects manipulator head 21 to cart 60 and that is configured in such a way that manipulator head 21 can move along three axes x, y, z orthogonal to one another.
  • a predetermined grasping point 1 1 is selected, at which at least one ferromagnetic element 12 is fixed, configured to provide a ferromagnetic grasping point 1 1 for textile flexible article 10 by magnetic end effector 22.
  • a T-shirt is shown as a generic textile flexible article. As clarified above, any textile flexible article can be manipulated by the method described here and claimed below.
  • Textile flexible article 10 can be prearranged in a starting configuration, which can be any starting configuration. For example, in a random arrangement for being picked up (Fig. 15a), or in flat configuration (Figs. 16, 18a) for being folded or treated, or in a folded configuration for being unfolded or packaged.
  • Ferromagnetic element 12 can be a plate element with a surface comprised between 1 cm 2 and 10 cm 2 , preferably between 2 cm 2 and 6 cm 2 .
  • the role of the metal plate can be played by a magnetic mesh, not shown, embedded into textile flexible article 10 or containing textile flexible article 10.
  • a paramagnetic plate element or mesh can be used, arranged to provide an attraction force with the magnetic end effector.
  • ferromagnetic element 12 of grasping point 1 1 can be embedded in a label element, not shown, of article 10.
  • element 12 of ferromagnetic grasping point 1 1 can be embedded in a sticker applied to textile flexible article 10.
  • the method can be carried out by an exemplary manipulator head 21 , described more in detail hereinafter, with reference to Figs. 8 and 9.
  • any different manipulator head having a magnetic end effector and possibly also a mechanical end effector can be used, as shown for instance in Figs. 19-21 , and described hereinafter.
  • manipulator head 21 can be initially moved towards textile flexible article 10 until magnetic end effector 22 approaches ferromagnetic grasping point 1 1 and magnetically grasps ferromagnetic grasping point 1 1 .
  • Manipulator head 21 by manipulator 20, for example an exemplary manipulator as shown in Fig. 1 , can move according to a direct path 24 o by a scanning path 24’, as shown in Fig. 2.
  • Scanning path 24’ can be followed by a sensor mounted on manipulator head 21 , not shown but easily implemented by a skilled person, that senses the magnetic attraction between magnetic end effector 22 and ferromagnetic element 1 1 .
  • the sensor can be a force sensor, as explained more in detail hereinafter.
  • mechanical end effector 23 grasps mechanically textile flexible article 10 around ferromagnetic grasping point 1 1 , as shown in Fig. 3.
  • textile flexible article 10 is caused to carry out any manipulation movements by manipulator head 21 , for example it can be folded (Fig. 18), unfolded (Fig.15), picked up and transported (Fig. 20) or otherwise treated, etc.
  • the step of magnetically ungrasping ferromagnetic grasping point 11 by magnetic end effector 22 can be made earlier with respect to the step of releasing mechanical end effector 23. This has the effect that ferromagnetic grasping point 11 can be sized substantially independent from the weight of the textile flexible article 10. Moreover, heating of magnetic end effector 22 and of textile flexible article 10 can be prevented, and a relevant saving of energy can be achieved as well. At the same time, grasp maintenance is granted by mechanical end effector 23
  • the step of magnetically grasping textile flexible article 10 can provide a translation step of magnetic end effector 22 with respect to mechanical end effector 23, in such a way that the step of mechanically grasping textile flexible article 10 around ferromagnetic grasping point 11 is carried out by grasping textile flexible article 10 directly behind ferromagnetic element 12.
  • Manipulator head 21 basically includes a support structure 21 ’, a mechanical end effector 23, a magnetic end effector 22, a linear actuator 31 for displacing magnetic end effector 22, and a linkage 30 to drive mechanical end effector 23.
  • Support structure 21 ’ includes a pair of upper and lower fixed discs 36,37 spaced apart by a plurality of spacers 38 to form a housing therebetween, in which linear actuator
  • a slidable actuation extension of linear actuator 31 includes in this case a cylindric element
  • Structure 21 ’, jaws 27, actuation extension 32-32’ and support structure 33 of magnetic end effector 22 can be 3D-printed in ABS, in order to obtain a robust structure.
  • Grip end portions 29’ are provided at free ends of respective jaws 27, preferably having a surface conceived or modified for instance by grooves to enhance the friction during the contact with grasped textile flexible article 10, thus reducing undesired slippage.
  • jaws 27 include respective removable end inserts 29 providing grip end portions 29’.
  • removable end inserts 29 are hollow and made for instance in a relatively soft material such as thermoplastic polyurethane, in order to ensure a more compliant interaction with textile flexible article 10.
  • jaws 27 of mechanical end effector 23 are arranged to be driven by the same linear actuator driving magnetic end effector 22.
  • jaws 27 also include respective intermediate connection portions 27”, and respective links 34 are provided connecting intermediate connection portions 27” of jaws 27 to respective hinge portions 35 at diametrically opposite positions of movable disc 32’.
  • the translation step of magnetic end effector 22 with respect to mechanical end effector 23 can be carried out as an opposing movement by means of a linkage 30.
  • actuation extension 32-32’ of linear actuator 31 , hinge portions 39,35, of movable and fixed discs 32’, 37, links 34 and connection portions 27’, 27” of jaws 27 of mechanical end effector 23 form an opposing linkage by which jaws 27 moves from an open configuration to a closed/open configuration as magnetic end effector 22 is re- tracted/caused to advance, i.e. is moved towards/away from support structure 2T by linear actuator 31.
  • exemplary manipulator head 21 has one degree of actuation, which allows manipulator head 21 to be lightweight and of limited encumbrance.
  • magnetic end actuator 22 includes, as anticipated, an electro- magnet 26 that can be selectively activated or deactivated to establish/remove a magnetic field.
  • electromagnet 26 allows to grip textile flexible article 10 in the desired point, while jaws 27 allow a secure grasp maintenance during textile flexible article 10 manipulation. In other words, the uncertainty brought by the soft grip end portions of jaws 27 is tamed by the action of electromagnet 26.
  • Manipulator head 21 is preferably controlled via position control, i.e. by exploiting linear actuator 31 feedback position and the polarity inversion through the motor-drive.
  • manipulator head 21 In the modification of the manipulator head 21 according to the present embodiment including electromagnet 26, the latter is activated or deactivated through a logic input (high/low), which is a function of linear actuator 31 position and sensor measurements.
  • a logic input high/low
  • manipulator head 21 can receive commands through a wireless connection such as a Bluetooth connection.
  • magnetic end effector 22 can include a permanent magnet, and a step can be provided of magnetically pulling ferromagnetic grasping point 11 by magnetic end effector 22 in opposition with respect to mechanical end effector 23, in order to detach ferromagnetic grasping point 11 from the article. This operation can be made, for example, when ferromagnetic grasping point 11 has to be removed from the article at the end of previous working steps.
  • FIG. 10 schematically shows a manipulator head 21 according to an embodiment of the invention, in which magnetic end effector 22 is provided as unique end effector.
  • each internally articulated jaw 40 includes a train of mutually articulated rigid members i.e. links 41 ,42,43, comprising a proximal articulated member 41 integral to the fixed portion of manipulator head 21 , one or more intermediate articulated member 42 and a distal articulated member 43.
  • mutually articulated rigid members 41 ,42,43 are connected to each other by flexible joints, in particular flexible joints.
  • this structure increases the number of degrees of freedom and actuation of mechanical end effector 23, in particular, if mutually articulated intermediate and terminal members 42,43 are arranged to be actuated independently from one another. This structure allows more complex interactions with the article and increases compliance to grasped textile flexible article 10.
  • magnetic end effector 22 includes two magnetic elements 22’, 22” that are fixed to the distal end portions of respective jaws 40, in this case, to distal articulated members 43, and that are arranged, to face each other, i.e. they are oriented towards a central space between jaws 40.
  • magnetic end effector 22 includes two magnetic elements 22’, 22” that are arranged at the tips of respective rigid jaws 27 of mechanical end effector 23 and that face each other, or in which an actuation system is used other than a tendon-based one, e.g. a pneumatic actuation system.
  • manipulator head 21 is possible, not show, in which more than two rigid or internally articulated jaws 26,40 are provided, or more than one pair of opposite rigid or internally articulated jaws 26,40, regardless magnetic elements 22’, 22” are arranged at the tips thereof or an independently-driven magnetic end effector 22 is provided like in Fig. 8.
  • mechanical end effector 23 of manipulator head 21 can include one internally articulated grasping element 40 that is similar to internally articulated jaws 40 of Figs. 1 1 ,12 and that is therefore not described any further.
  • This internally articulated jaws 40 coexist in a same manipulator head 21 with a rigid grasping element 50, opposite to internally articulated grasping element 40.
  • rigid grasping element 50 bears a magnetic element 22 mounted at a tip portion thereof, and arranged to face articulated grasping element 40.
  • a textile flexible article 10 for example a clothing such as a shirt
  • a single manipulator head 21 can be unfolded by the method from a casual configuration a) to an ordered, unfolded configuration f) by a single manipulator head 21.
  • first and second grasping points 11 ’,11 ” of the type described above are provided in textile flexible article 10 at predetermined positions.
  • Ma- nipulator head 21 is firstly moved towards shirt 10 in such a way that (Fig. 15b) magnetic end effector 22 magnetically grasps first grasping point 11 and that mechanical end effector 23, if any, can grasp shirt 10 about first grasping point 1 1 ’.
  • a manipulation movement is then carried out (Fig. 15c) by manipulator head 21 to partially unfold shirt 10 (Fig.
  • manipulator head 21 is a first manipulator head 21
  • a second manipulator head 21 is provided also equipped with a magnetic end effector 22 and with a mechanical end effector 23.
  • grasping point 1 1 on textile flexible article 10 is a first grasping point 1 1
  • a second predetermined grasping point 1 1 is defined on textile flexible article 10, at which a second ferromagnetic grasping point 1 1 is fixed, configured to provide a second extended ferromagnetic grasping point 1 1 for textile flexible article 10.
  • a textile flexible article 10 like a garment, for example a T-shirt can be folded by the method from a tidy, unfolded configuration (Fig. 18a) to a folded, desired configuration (Figs. 17 and 18c) by first and second manipulator heads 21.
  • first and second grasping points 11 ’,11 as described above are provided in textile flexible article 10 at predetermined positions, and further steps are provided (Fig. 18a) of moving first and second manipulator heads 21 until respective magnetic end effectors 22 approach first and second extended ferromagnetic grasping points 1 1 ’,11 ”, respectively.
  • the two grasping points 1 1 ’,1 1 ” are engaged at the same time by respective manipulator heads 21.
  • a step may follow of moving mechanical end effectors 23, if any, of first and second manipulator heads 21 until they mechanically grasp textile flexible article 10 around first and second extended ferromagnetic grasping points 1 1 ’,11 ”, respectively. Thereafter, a step follows of causing textile flexible article 10 to carry out manipulation movements by means of first and second manipulator heads 21 (Fig. 18b).
  • manipulator 20 can be arranged to cause the manipulator head 21 or each manipulator head 21 to carry out a magnetic scanning step for finding the position of the or each ferromagnetic grasping point 11 ,1 1 ’,11 ”, before the step of magnetically grasping the or each ferromagnetic grasping point 1 1 by the or each magnetic end effector 22, [00100] With reference to Fig. 19, a further modification of the method and a corresponding exemplary embodiment of the system according to the invention is described.
  • textile flexible article 10 typically a fabric element 10 includes a plurality of ferromagnetic grasping points 1 1 as described above, arranged according to a predetermined pattern, i.e. at predetermined relative positions with respect to one another.
  • the system includes a manipulator device consisting in a conveyor belt 2 on which also a plurality of magnetic elements 16 is fixed or incorporated according to the same pattern as the ferromagnetic grasping points 1 1 of textile flexible article 10.
  • the number and/or strength of ferromagnetic grasping points 1 1 and of magnetic elements 16 on/inside conveyor belt 2 is selected in such a way to maintain textile flexible article 10 globally motionless with respect to conveyor belt 2 even when the latter moves or suddenly changes its speed during the conveying motion.
  • conveyor belt 2 of the system cooperates with such a device as a sewing machine 3, in order to carry out a sewing oper- ation on textile flexible article 10, or a similar task such as embroidering, as shown.
  • Figs. 20 and 21 show a system including first and second manipulator heads 21 configured to be positioned laterally to an output area 4, preferably at either side thereof, before a device 5 arranged to output textile flexible articles 10 such as fabric portions, for instance, device 5 can be a cutting machine or an ironing machine or the like.
  • a support surface is provided for textile flexible articles 10 in output area 4, for instance, a convey surface of a conveyor belt.
  • Textile flexible articles 10 are provided with ferromagnetic grasping points 11 at opposite lateral ends.
  • First and second manipulator heads 21 are arranged to approach respective ferromagnetic grasping points 11 at respective lateral ends of textile flexible article 10 (Fig. 20), and to manipulate textile flexible article 10 in such a way to turn it from an unfolded flat configuration (Fig. 20) to a folded configuration (Fig. 21 ) or to a configuration suitable for moving textile flexible article 10 from device 5 to further processing.
  • manipulator 20 comprising a manipulator head 21 equipped with a magnetic end effector 22 and a mechanical end effector 23, wherein the magnetic end effector 22 and mechanical end effector 23 are arranged to carry out respective independent movements with respect to each other.
  • Manipulator head 21 is configured to be moved and operated until magnetic end effector 22 approaches ferromagnetic grasping point 11 and magnetically grasps ferromagnetic grasping point 11 .
  • manipulator head 21 is configured to be operated until mechanical end effector 23 grasps mechanically textile flexible article 10 around ferromagnetic grasping point 11 after that magnetic end effector 22 has approached ferromagnetic grasping point 11 and grasped magnetically ferromagnetic grasping point 11. After completion of the grasping, manipulator head 21 is also configured for causing textile flexible article 10 to carry out manipulation movements.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

Un procédé et un système pour manipuler un article textile souple (10) qui consiste : à disposer préalablement un manipulateur (20) ayant une tête de manipulateur avec un organe terminal effecteur magnétique (22) et un organe terminal effecteur mécanique (23), ledit organe terminal effecteur magnétique (22) et ledit organe terminal effecteur mécanique (23) sont disposés pour effectuer des mouvements respectifs indépendants les uns des autres ; à définir un point de préhension prédéterminé (11) sur l'article textile souple (10) et à fixer au niveau dudit point de préhension (11) au moins un élément ferromagnétique (12) configuré pour fournir un point de préhension ferromagnétique (11) pour ledit article textile souple (10) à l'aide dudit organe terminal effecteur magnétique (22) ; à disposer préalablement l'article textile souple (10) dans une configuration de départ ; à déplacer ladite tête de manipulateur (21) vers l'article textile souple (10) jusqu'à ce que ledit organe terminal effecteur magnétique (22) s'approche dudit point de préhension ferromagnétique (11) et à saisir magnétiquement ledit point de préhension ferromagnétique (11) à l'aide dudit organe terminal effecteur magnétique (22) ; à déplacer ledit organe terminal effecteur mécanique (22) dans ladite tête de manipulateur (21) jusqu'à ce que ledit organe terminal effecteur mécanique (22) saisisse mécaniquement ledit article textile souple (10) autour dudit point de préhension ferromagnétique (11) ; à amener ledit article textile souple (10) à effectuer des mouvements de manipulation à l'aide de ladite tête de manipulateur (21).
EP21765711.3A 2020-08-06 2021-08-06 Système de préhension à couplage magnétique pour manipulation robotique Pending EP4192660A1 (fr)

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IT102020000019570A IT202000019570A1 (it) 2020-08-06 2020-08-06 Sistema di presa con accoppiamento magnetico per la manipolazione robotica
PCT/IB2021/057293 WO2022029730A1 (fr) 2020-08-06 2021-08-06 Système de préhension à couplage magnétique pour manipulation robotique

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