GARMENTS

DESCRIPTION

1. Field of the invention. [0001] The present invention is within the sector of industrial machinery and automation of production processes.

2. General Background of the invention.

[0002] The manipulation of garments, whether garments panels or sewn garments (such as t-shirts, long sleeve shirts, hoodies and sweatshirts among others), is nowadays done manually. The present invention aims, by means of numerical control mechanisms and several mechanisms, to carry out tasks within the textile production industry, and to automate processes that are normally carried out manually by operators, such as unloading an automatic textile screen printing press.

[0003] The primary background of machinery for handling and transporting textile materials from point A to point B is the Passport® automatic unloader developed by M&R Printing Equipment, Inc., to assist the unloading of textile shirts from an automatic textile screen printing press. Such technology is described in US Patent Nos. 6,105,494, 6,276,274, and 6,484,629. A video of such machine can be seen at https://www.youtube.com/watch?v=mRHLwCZ7aQ. The aforementioned machine collects shirts supplied on a surface A and transports them in a straight line to a point B where they continue on another manufacturing process. One of the main disadvantages of this system is the little flexibility it presents. The clothing is supplied on surfaces with characteristics determined by the brand to be able to operate. The machine can optionally be adjusted to a limited range of heights to pick up and peel off the garments form the printing pallets of the press. Another drawback of the Passport® machine is its reduced degrees of freedom and small workspace and may damage already printed garments due to its limited ability to peel off the glued garments. Indeed, for the screen-printing process the garments must adhere to a smooth surface and the way in which the M&R Passport® machine peels off the shirts implies a serious risk of damaging the fabric and the screen print. Likewise, it is not capable of handling textile garment panels (that is, a textile canvas that has not been sewn to other parts to form a t-shirt or such), as it is often required in the textile industry. [0004] Because clothing does not have a defined rigid shape, it presents major difficulties to be manipulated by robotic actuators. The lack of precision, and the appearance of unexpected folds and wrinkles are among the main existing problems for the widespread implementation of robots for large-scale industry. There are experimental tests where clothes are chemically conditioned to be able to be manipulated more easily, for example, with substances similar to starch. However, for reasons of cost of operation, quality control, and process time, these methods are not profitable to apply in industrial contexts.

[0005] Finally, another advance on the textile handling process is found in research carried out at the University of Berkley, California, where training algorithms are carried out so that anthropomorphic robots can carry out the task of taking, identifying, folding and stacking towels. It is a precedent in the automation process; however, it is still a slow task to be applied in industrial contexts.

SUMMARY OF THE INVENTION

[0006] A first object of the invention is to provide an effector that, with the help of a mechanical or robotic system, allows adequate and flexible handling of textile garments to be transported in a controlled manner from point A to point B.

[0007] Another object of the invention is to provide an apparatus that makes it possible to emulate the behavior, or arm strokes, performed by human operators to hold garments from a surface, peel them off, transport to another place, and finally, deposit the garment in said place in a controlled and orderly manner.

[0008] Another object of the invention is to provide an apparatus that can be mounted on a modular actuator that allows additional functions that require motions to be performed. [0009] Still another object of the invention is to provide an apparatus that allows to firmly and securely hold garments, previously spread on a regular and smooth surface, along an entire transverse line of the fabric.

[0010] Another object of the invention consists of an object that allows to firmly and securely hold garments deposited on a regular and smooth surface at a determined number of points along a transverse line of such garment.

[0011] Another object of the invention consists of an object that allows controlling the adhesive applied to the surface from which the garments are collected. Adhering garments to hold them in place is a common practice in some fabric cutting and printing processes.

[0012] The above objects are achieved by means of providing an apparatus for unloading and transporting garments printed by a screen printing process over an adhesive pallet, characterized in that it comprises: (a) a coulisse effector module 200 coupled to a robot, the coulisse effector module 200 comprising (i) a motor 208, coupled to a gearbox 202 that transmits torque to an shaft, (ii) a drive link 207, coupled to said shaft of gearbox 202 (iii) a coulisse arm 205, coupled from pivotably to drive link 207 and pivot 210; and (b) a garment gripping module 300, attached to the coulisse effector module 200, comprising a first fixed 305 clamp part and a second movable 306 clamp part, actuated by pneumatic pistons 301 . BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figures 1 A, 1 B, 1C, 1 D and 1 E show the clamping and detachment of the garment or garment panel from the screen-printing pallet upon placement on a conveyor belt.

[0014] Figure 2 shows a screen-printing pallet with adhesive applied. [0015] Figures 3A and 3B show an adhesive application control module 400 on the screen-printing pallet. [0016] Figures 4A and 4B show robotic displacement module 100 of the machine of the present invention.

[0017] Figure 5 shows the coulisse effector module 200 of the present invention.

[0018] Figures 6A and 6B show the positions of the arm of the coulisse effector module 200 in positions of minimum and maximum point of the arc.

[0019] Figure 7 represents the positions assumed by the main link depending on the angular displacement of the driving link of the coulisse effector module 200.

[0020] Figures 8A, 8B and 8C respectively illustrate position, rotation and velocity versus time diagrams of the coulisse effector. [0021] Figures 9A and 9B show the garment gripping module 300 of the machine of the present invention and a detail thereof, respectively.

[0022] Figure 10A shows the garment gripping module 300 in garment clamping operation.

[0023] Figure 10B shows a detail of the holding of a garment by the clips of the garment gripping module 300.

DETAILED DESCRIPTION OF THE INVENTION

[0024] The proposed invention is a system that collects, peels off, unloads, handles, transports and deposits textile garments. Textile materials can be simple cuts of fabric of varying shapes (garment panels), or they can be sewn garments (garments). In both cases, it will refer to textile garments (both garment panels and garments) as garments.

[0025] To carry out the operation process, the effector of the present invention carries out three sub-processes: (a) garment collection and peel off, shown in Figures 10A, 10B, 1A and 1 B, (b) garment transport, shown in Figures 1C, 1 D and (c) released of the garment, shown in Figure 1 E. [0026] The first sub-process consists of having a garment spread over a flat and smooth surface (commonly adhered after a screen printing process) so that the machine of the present invention can hold one end of said garment. For this purpose, a pallet or adhesive plate 003 is provided which has at least a portion covered with adhesive 003A, but not the entire surface, as shown in Figure 2. This partial application of the adhesive is achieved with the adhesive application control module 400 adhesive applicator. Advantageously, the present invention achieves a peeling off of the garment from the adhesive plate 003 from one edge thereof, so that the garment is lifted progressively from the adhesive plate 003. The garment It is not pulled in the vertical direction relative to the position of the pallet, as in the previous art (shown by M&R’s Passport), but rather it is lifted with a suitable angle to avoid deformation of the garment or cracking of the print. Such improved peeling off is the result of:

[0027] (A) the controlled application of adhesive, which leaves the area 003B free of glue on which, in turn, the garment gripping module 300 holds the garment. This adhesion, as mentioned, is essential to keep the garments in position, to effectively carry out the textile screen printing process.

[0028] (b) the holding and releasing of the garment, by a garment gripping module

300, which consists of a rubber-lined gripper 305 and 306 that rests on the fabric and pinches it when closing. This process takes place on the glue-free area 003B.

[0029] In the second sub-process, the coulisse effector module 200 emulates the human arm lifting motion, so that the garment adhered to the adhesive plate 003 can be removed in a similar way as human operators, as shown in Figures 1 A and 1 B. In addition, thanks to the radial lifting movement of the coulisse effector module 200, it is possible to take advantage of the aerodynamics of the garment and move it without forming folds or wrinkles.

[0030] The third sub-process takes advantage of the auxiliary use of a mechanical or robotic displacement module 100 to move the garments from a place A (where the garment was collected) to a place B (where the garment will be deposited usually a conveyor dryer to cure the prints). Using the radial lifting movement of the coulisse effector 200 and the movement of the mechanical or robotic displacement module 100, the garment is shaken in a controlled way to avoid folds and / or wrinkles.

[0031] The fourth sub-process consists of a routine programmed to release the garment on a certain surface. Again, the coulisse effector module 200 is used to spread the garment and eliminate wrinkles that may be generated due to movement. The garments are placed in an orderly and extended manner on said surface, which is commonly a conveyor belt.

[0032] The machine of the present invention comprises. [0033] (A) An adhesive application control module 400. It is the set of elements that sprays the adhesive and limits the area where it is applied over the adhesive plate 003. The adhesive application control module 400 is shown in Figures 2, 3A and 3B. Said module comprises a frame 401 , which supports the equipment, a limiting plate 402 that limits the spraying of adhesive on the plate 003, a hopper 403 for the control of the adhesive and a spray valve 404 that spreads the adhesive.

[0034] This adhesive application control module 400 guarantees that an area is covered by adhesive 003A and another area 003B that is not covered by it.

[0035] (B) A mechanical or robotic displacement module 100 is illustrated in

Figures 4A and 4B. It is the set of auxiliary elements that allows the coulisse effector to be positioned in the required position to collect the garments and transport them to the releasing position. These elements can have different morphologies and configurations to be adapted to different processes. For example, a Cartesian robot, a delta robot, or any robot that provides displacement can alternatively be used.

[0036] (C) A coulisse effector module 200. It is the set of elements that allows emulating the arm movement carried out by operators in order to be able to properly peel off, manipulate, and avoid wrinkles on the fabric while moving through the air. The coulisse effector module is shown in Figures 5, 6A-6B, 7 and 8A to 8C. [0037] (D) A garment gripping module 300. It is the set of elements that allow holding the garments to be handled. It allows the gripping of the garments from over the adhesive plate 003, and not from its edges, or from hanging parts of fabric. It works in cooperation with module 400, which limits the adhesive area. The garment gripping module 300 is shown in Figures 9A-9B and 10A-10B.

[0038] MECHANICAL OR ROBOTIC DISPLACEMENT MODULE 100

[0039] The garment gripping module 300 must be placed in a specific position relative to the garment to be handled. For this purpose, an auxiliary mechanical or robotic system is used that allows robustness to the execution of the garment handling and transport cycle. Said auxiliary can have a wide range of configurations and degrees of freedom. In the present case, the functionality is exemplified using a Cartesian robot with four degrees of freedom. By convention it is determined that the movement carried out on the main axis is called the X axis in the horizontal plane, Y the axis perpendicular to X on the same horizontal plane, and Z for the vertical axis orthogonal to X and Y. For robustness purposes, a rotary axis R, which rotates about the Z axis, is considered. However, one skilled in the art will recognize that moving from point A to point B can be achieved in many different ways.

[0040] The X-axis displacement mechanism 110 represents the movement mechanism in the X axis in Fig. 4A, this comprises a mobile 111 that represents the base of the system in general and of the other coordinate axes. A synchronous pulley motor assembly 113 provides the movement required to move the mobile 111. The synchronous pulley serves to convert the angular movement of the motor into linear movement. So, the motor provides synchronous pulley movement, from the pulley to the belt, and the belt allows the mobile 111 - attached to the belt - to move. The belt runs between the synchronous pulley motor assembly 113 and an idler pulley 119. To indicate the reference of the movement, it has the limit switch 114. Finally, to restrict the movement and obtain a uniform displacement, the linear guides 115 are used. Beam 117 is used as a general support so that the robot can perform its functions properly. A safety buffer 118 is provided that allows absorbing the impact of a collision of the robot in the event of an accident when, due to inertia, the mobile 111 runs beyond the position established by the limit switch 114.

[0041] Y-axis displacement mechanism 120 is shown in FIG. 4A. It comprises a crossbeam 121 to connect with the mobile 111 of the X axes, on a joint base 122. The crossbeam 121 also serves as a base for relative movement along the Y axis. The joint base 122 is a support that connects the crossbeam 121 to the linear guides 125. The linear guides 125 are connected to a crossbeam 121 , which serves as a support for the rest of the axes and the main element of the movement of the Y axis. To mark the reference of the Y axis, the sensor is used limit switch 124. Motor 127 provides the required movement and is transmitted from ball screw 126 and a fixed nut so that the angular displacement of the ball screw by the motor is converted into a forward or forward displacement.

[0042] Z-axis displacement mechanism 130 is illustrated in FIG. 4B. The mechanism 130 comprises a motor 137 that provides the movement for the vertical beam 131. Similar to the operation of the Y-axis, a ball screw drive 136 is used to move the vertical beam 131. The movement of the vertical beam 131 is limited and controlled by the linear guides 135. As can be seen in Figures 4A and 4B, the motor 137 is arranged on top of the vertical beam 131.

[0043] The Z-axis displacement mechanism 130, for displacement in the Z axis is firmly attached to the end of the crossbeam 121 of the Y-axis displacement mechanism on the opposite side to where the motor 127. It is placed there by means of the joining base 132 that also houses the fixed gear attached to the ball screw drive 136, so that when the ball screw drive 136 rotates to the right or left by the action of the motor 137, the vertical beam 131 experiences a upwardly or downwardly vertical displacement.

[0044] Together, the displacement mechanism on the X axis110, on the Y axis 120, and on the Z-axis displacement mechanism 130, move independently to a specific X, Y, Z position and allow the coulisse effector to perform its function of transporting garments from point A to point B in space, as shown in Figures 1A to 1 E.

[0045] COULISSE EFFECTOR MODULE 200

[0046] The machine of the present invention includes yet another rotatory mechanism 140 for the rotation axis R, which consists of a rotating wrist. It allows the coulisse effector module 200 to be rotated, arranged at the lower end of the Z- axis displacement mechanism 130, opposite motor 137. Structure 141 allows to couple the rotatory mechanism in the R axis 140 at the lower end of vertical beam 131 of axis Z. Motor 142 provides the movement required for rotation in axis R. Mechanism 130 includes a gearbox 143 that couples the power supplied by the motor and the required power to a vertical shaft 145, which extends downward. To protect the components of gearbox 143, a frame containing bearings is used to reduce the effects of the effector inertia. Finally, a coupling is arranged on the shaft 145 to join the rotatory mechanism in the R axis 140 with the coulisse effector module 200

[0047] The purpose of the coulisse effector module 200 is to carry out the main movements of the present invention. It places the garment gripping module 300 in place for garment holding; it radially lifts (as shown in Figures 6A and 6B) and peels off the garment from the adhesive plate 003; it transports the garments aided by the robotic displacement module 100; it avoids wrinkles by aerodynamically moving up and down the garments while moving through the air; and later, it deposits the garment in an orderly manner on another surface, as shown in Figures 1A-1 E. Coulisse effector module 200 is shown in Figures 5 and 6A-6B.

[0048] The coulisse effector module 200 is based on a pair of reverse slide mechanisms or, fast reverse mechanism. This mechanism has the characteristic of supplying a high torque at the tip end of the longest link, better known as the coulisse link. Likewise, for elements that require considerable torque, with a high angular velocity, and a relatively simple configuration of the elements that compose it. These mechanisms are placed in a synchronized way to guarantee a regular movement and a wider support on the end of the coulisse, as is the case of the tasks where it is required to detach garments adhered to a surface. In such a case, a uniform force along the transverse axis of the garments is necessary, and at the same time, a controlled and constant movement to avoid damaging the garment fabrics is needed. Figures 6A 6B and 7 show the movement described the coulisse mechanism and the trajectory it performs.

[0049] The coulisse effector module 200 comprises a frame 201 to keep joined the main elements of the coulisse and connects them to the rotatory mechanism 140 in the R axis, in turn joined to the robotic displacement module 100. [0050] The coulisse effector module 200 comprises a gearbox 202 to couple the motion supplied by a motor 208. It also ensures that the movement is transmitted only from the motor to the coulisse and not vice versa, which would happen if the inertia of the coulisse exceeds the force of the motor 208. The gearbox 202 transforms the movement of the motor 208 into radial motion with its shaft exiting form both ends of the gearbox 202.

[0051] The coulisse effector module 200 has a set of elements or links that allow its operation and restrict its movement to obtain the desired trajectory at the end of the coulisse effector module 200. The pivot 210 serves as the pivot point of the coulisse arm 205. Attached to the coulisse arm 205, a linear guide 206 is placed. It works as a prismatic joint to be able to perform the rapid backward movement (described in Figure 7). The movement is transmitted from the gearbox 202 to the coulisse arm 205 by means of the drive link 207. Finally, the said prismatic joint and the drive link 207 perform the necessary movement restriction so that when the link 207 rotates, due to the motion of double ended shaft of the gearbox 202, the coulisse arm 205 performs a specific reciprocation in which its power and speed increases when passing through stages 1 , 2, 3 and 4 as illustrated in figure 7.

[0052] In a preferred embodiment of the invention, the double ended shaft of the gearbox 202 is used to move two symmetric coulisse arms 205. Both, joint together by the connecting bridge 203 provide increased stability to the structure. [0053] Figures 8A, 8B and 8C show respective diagrams of position, rotation and speed. The diagrams illustrate the effect of the coulisse effector module 200, that is, peaks of speed and displacement, which are used to peel off the garment from the adhesive plate 003 with adhesive, to displace the garment from point A to point B while avoiding wrinkles moving through the air, and to spread evenly the garment at a location B.

[0054] The main advantage of using a coulisse system is the versatility to handle textiles in a way similar to how an operator's arms would. Figures 1A to 1 E show how a garment collection process is performed. [0055] Although it is possible to carry out this same operation by means of other devices (like an anthropomorphic robot that guarantees a turning radius comparable to that of an operator), for the textile industry a more complex robot that has the characteristics of speed, strength and resistance to carry out this process would not be cost effective. [0056] The coulisse effector module 200 also includes a docking termination that allows a modularity function to adapt various objects, an extension 204 is shown in the images. As an additional embodiment, it is possible to place a mobile module that adds an additional degree of freedom to emulate better the behavior of an operator. This means it can carry out the movement of a shoulder by means of the coulisse mechanism, and the movement of an elbow in the element that extends towards the gripping module 300. The purpose of using this variant is to be able to handle fabric with a smaller turning radius and avoid turbulence generated when turning with a wide arm. In addition, such elbow may adapt the operation of the coulisse to reduced work spaces. [0057] The motion performed by the coulisse effector module 200 also allows to peel off garments that were adhered to a surface, as is the case of screen printing. Its radial lifting is smooth and controlled. This preserves the integrity of the fabrics and the print. The way in which the garments are peeled off (as shown in Figure 1A and 1 B), together with the movement provided by the robotic displacement module 100, emulate the movements naturally made by human operators.

[0058] It is also important to mention the aerodynamic advantages of the coulisse effector module 200 movement aided by its rapid return. As illustrated in Figures 1C and 1 D, transporting garments is supported by controlled circular motions. The preferred movement for transporting garments is along the horizontal plane, holding along one end of the garment and leaving one end free. Said circular movement creates tension along the garment, which counteracts the turbulent air flow under and over the garment, keeping it stretched throughout transport. At the end of the movement, the garment falls under its own weight and maintains its stretched and uniform shape.

[0059] To turn in reference to the Z-axis displacement mechanism 130, it is necessary a set of movements coordinated with the robotic displacement module 100 and the movement of the coulisse effector module 200. When the rotatory mechanism in the R axis 140 rotates, it is necessary to produce a reciprocal upwardly and downwardly movement of the coulisse effector module 200. The aforementioned combination of movements allows performing tasks where the garment remains stretched during transport as in the case of textile screen printing where the movement of the garments requires that the fabric does not suffer folds that can destroy the print. The movement generated allows the turbulent air stream to keep the garment stretched even when making rapid movements. Another variant of this process is given by changing the link 204 of the coulisse effector module 200 by a link with an additional degree of freedom as an elbow, which can be bent to reduce the arc described by the garment gripping module 300 to avoid bends and increase the speed at which the process is carried out.

[0060] Finally, aerodynamics is used to deposit the garments on the target surface B, where the movement made naturally by humans to spread fabric on a surface is emulated (for example, spread a sheet or a towel). To unload a screen-printing press, the movement after peeling off the garment from the adhesive plate 003 must describe a wide arc that allows an air flow that keeps the garment stretched vertically, then a movement is made thanks to the robotic displacement module 100 to move in a direction parallel to the orientation where it is sought to deposit, looking for the end of the garment to touch the surface of release. The garment is then rapidly controlled close to the release surface by means of a circular downward movement of the coulisse effector module 200. This process progressively places the garment on the surface as it would happen by the work carried out by a human operator. This process is shown in Figures 1A-1 E. The garment is subsequently released and module 100, coulisse effector module 200, and gripping module 300 are returned to their working position to perform their next work cycle. [0061] GARMENT GRIPPING MODULE 300

[0062] The present invention comprises a garment gripping module 300, which is intended to collect the garments from the top of flat surfaces, such as the pallets of a screen-printing press. It holds the garments while the coulisse effector module 200, and the robotic displacement module 100 displace the garment to a different surface- . Afterwards, the gripping module 300 releases the garments in the new position.

The garment gripping module is illustrated in Figures 9A-9B, 10A-10B.

[0063] The garment gripping module 300 is mainly composed of a supporting frame 303 which holds the rest of the elements. By means of the angle 308 it is connected to the end of the coulisse effector module 200, the geometry of this element allows to adjust the orientation of the gripping module 300 so that the gripper formed by the parts 305 and 306 are perpendicular to the surface where the garment is collected. The clamp parts 306 and 305 are in turn actuated by respective pneumatic pistons 301 which cause the clamp parts 305 and 306 to approach and close the space between them while dragging the garment under them. As this happens, an edge of the garment is confined and gripped. This process is illustrated by Figures 10A and 10B. In the illustrated embodiment by Figure 9B, one of the parts of the clamp 305 is fixed, and only part 306 moves on the linear guides 309, transversely disposed, by the action of the pneumatic pistons 301 . [0064] The clamp parts 306 and 305 are made by long and smooth bars that hold completely one end of the garment as shown in Figures 10A and 10B. This is in order to have a better control of the garment when peeling off from the adhesive plate 003, distributing the pulling movement evenly along the garment to avoid cracked prints, in the case of screen printing. To improve the grip, the lower end of the parts is covered with a soft, non-slip and compressible material. Likewise, it is possible to adapt a finger-shaped extension to hold specific knitted garments and adapt to situations of small-size garments, or to few spaces available for clamping.

[0065] To ensure optimal operation and maximize the life of the pistons, the clamp portions 306 are positioned on a linear guide 309 due to the force with which the coulisse effector module 200 compresses press the gripping module 300 against the collecting surface.

[0066] The gripping module 300 also has a mobile base 304 that connects the supporting frame 303 with the elements of the clamp parts 305 and 306 by means of screws and springs. The springs guarantee the uniform and constant contact of the clamp parts 305 and 306 with the surface of collection without generating a collision that could damage a component or the surface.

[0067] ADHESIVE APPLICATION MODULE 400

[0068] In addition to the aforementioned modules, the present invention includes an adhesive application control module 400 to be used in certain processes such as screen printing, which needs the garments adhered to an adhesive plate 003. To guarantee the correct fastening of the garments by means of the gripping module 300, a system such as this (shown in figures 3A and 3B) is required. It consists of the following elements: [0069] A general frame 401 is used which allows the hopper 403, the limiting plate

402 and the spray valve 404 to be held in position.

[0070] The application of the adhesive is carried out taking advantage of the circular movement provided by the screen printing presses. Such machines have several pallets, which rotate around its center. By placing the adhesive application control module 400 between two pallets, they can be sprayed when the rotating motion happens. The valves 404 releases a controlled amount of adhesive which is impregnated onto the surface segment 003A, shown in Figure 2. To prevent the adhesive from being impregnated on the surface 003B, plate 402 is used which acts as a barrier preventing the adhesive from bathing the 003B portion of plate 003, under said limiting plate 402. After applying the adhesive, textile garments can be placed to be screen printed. At the end of the printing cycle, the garment is collected by the robotic system presented in this document. [0071] By leaving a free surface of the adhesive, it is possible to make a controlled and uniform crease on the end of the garments when the gripping module 300 lies against the garment and closes its grip on the area 003B, as illustrated in Figures 10A-10B. At this stage, there is a firm and uniform grip of the garment to be peeled off from an adhesive plate 003 and transported. [0072] Yet another important quality of this module is the adhesive control to preserve the integrity of the garments. If too much adhesive is applied you run the risk of damaging the fabric and print during the peeling process. Additionally, if not enough adhesive is applied quality errors can occur with the print.

[0073] LIST OF PARTS 003 Adhesive plate

003A Surface area covered by adhesive 003B Adhesive-free surface area 100 Robotic displacement module 110 X-axis displacement mechanism 111 Mobile

113 Synchronous pulley motor assembly

114 Limit switch

115 Linear guides 117 Beam 118 Safety buffer

119 Idler pulley

120 Y-axis displacement mechanism

121 Crossbeam 122 Joint base

123 Vertical beam joint base

124 Limit switch

125 Linear guides

126 Ball screw drive 127 Motor for the Y axis

130 Z-axis displacement mechanism

131 Vertical beam

132 Joining base 135 Linear guides 136 Ball screw drive

137 Motor for the Z axis

140 Rotatory mechanism in the R axis

141 Structure

142 Motor for the R axis 143 Gear box

144 Frame

145 Vertical shaft

200 Coulisse effector module

201 Frame 202 Gear box

203 Connecting bridge

205 Coulisse arm

206 Linear guides

207 Drive link 208 Motor for the coulisse effector

210 Pivot 300 Garment gripping module

301 Pneumatic pistons

303 Supporting frame

304 Mobile base

305 Fixed part of clamp

306 Movable part of clamp

308 Angle

309 Linear guides

400 Adhesive application control module

401 Frame

402 Limiting plate

403 Flopper for adhesive control

404 Adhesive Spray Valve