An adaptive fabric folding end-effector system

Abstract

An adaptive fabric folding system and methods for folding a subject fabric article are provided. The system includes a turnover device; a fold line adjuster configured to adjust a fold line of the subject fabric article; a pleat generator; and a fold line fixing device. The pleat generator includes an adjustor adjusting a width of a pleat of the subject fabric article and a fabric feeding device. The turnover device is configured to flip a margin of the subject fabric article delimited by a preset fold line. The fold line adjuster is configured such that a lateral movement of the guiding portion changes a width of margin of the subject fabric article that engages with a curved surface of the turnover device to alter the fold line. The pleat generator is configured to create and regulate widths of pleats while moving the subject fabric article.

1 . An adaptive fabric folding system for folding a subject fabric article, comprising:
 a turnover device;   a fold line adjuster configured to adjust a fold line of the subject fabric article;   a pleat generator; and   a fold line fixing device.   
     
     
         2 . The adaptive fabric folding system of  claim 1 , wherein the pleat generator comprises an adjustor adjusting a width of a pleat of the subject fabric article and a fabric feeding device. 
     
     
         3 . The adaptive fabric folding system of  claim 1 , wherein the turnover device is configured to flip a margin of the subject fabric article delimited by a fold line, the fold line being a visible fold line or a virtual fold line. 
     
     
         4 . The adaptive fabric folding system of  claim 1 , wherein the fold line adjuster comprises a guiding portion having at least one side aligned with the fold line. 
     
     
         5 . The adaptive fabric folding system of  claim 4 , wherein the fold line adjuster is configured such that a lateral movement of the guiding portion changes a width of margin of the subject fabric article that engages with a surface of the turnover device to alter the fold line, the surface having a curvature. 
     
     
         6 . The adaptive fabric folding system of  claim 1 , wherein the pleat generator is configured to create and regulate widths of pleats while moving the subject fabric article. 
     
     
         7 . The adaptive fabric folding system of  claim 1 , wherein the fold line fixing device comprises a roller configured to flatten the subject fabric article under pressure and/or heat. 
     
     
         8 . The adaptive fabric folding system of  claim 7 , wherein a heater is provided to heat the roller to a predetermined temperature. 
     
     
         9 . The adaptive fabric folding system of  claim 8 , wherein the roller is rotatably supported by a hollow shaft, inside of which the heater is mounted. 
     
     
         10 . The adaptive fabric folding system of  claim 7 , wherein a rotary/hinge mechanism is provided to adjust an angle of the rotation axis of the roller with respect to the feeding direction of the fabric. 
     
     
         11 . The adaptive fabric folding system of  claim 1 , further comprising a suspension module. 
     
     
         12 . The adaptive fabric folding system of  claim 11 , wherein the suspension module comprises platens, columns, and coil springs. 
     
     
         13 . The adaptive fabric folding system of  claim 12 , wherein the suspension module is configured to absorb vibrations of the adaptive fabric folding system and assist with leveling of the adaptive fabric folding system when the subject fabric article moves on a working surface. 
     
     
         14 . A method for adaptively folding a subject fabric article on a working surface, the method comprising:
 flipping, by a turnover device, a margin of the subject fabric article delimited by a preset fold line;   adjusting, by a fold line adjuster, a fold line of the subject fabric article;   creating and regulating widths of pleats of the subject fabric article, by a pleat generator, while moving the subject fabric article on the working surface; and   flattening, by a fold line fixing device, the subject fabric article under pressure or simultaneously under pressure and heat.   
     
     
         15 . The method of  claim 14 , wherein the flipping a margin of the subject fabric article comprises guiding a portion of the subject fabric article and rotating by a surface having a surface of a curvature in such a way that the subject fabric article becomes curled, when the subject fabric article engages the surface of a curvature of the turnover device. 
     
     
         16 . The method of  claim 14 , wherein the adjusting fold line comprises changing a width of the margin of the subject fabric article that engages with a surface of the turnover device, the surface having a curvature. 
     
     
         17 . The method of  claim 15 , wherein when the curled part of the subject fabric article is brought under a feeding roller, the curled part under the roller is flattened,
 wherein the creating and regulating widths of pleats comprises creating wave-like protrusions that are in turn depressed by a flap, when the flipped fabric is brought under the feeding roller, and wherein the widths of pleats are regulatable by a height and/or a level of the flap, and/or a rotational speed of the feeding roller.   
     
     
         18 . (canceled) 
     
     
         19 . The method of  claim 14 , wherein the flattening the subject fabric article under pressure or simultaneously under pressure and heat comprises bringing protruded fabric under a roller of the fold line fixing device. 
     
     
         20 . (canceled) 
     
     
         21 . (canceled) 
     
     
         22 . A robotic fabric folding system, comprising:
 the adaptive fabric folding system of  claim 1 ;   a robot manipulator; and   a force sensing device coupling the adaptive fabric folding system to the robot manipulator.   
     
     
         23 . The robotic fabric folding system of  claim 22 , further comprising an image capturing device for capturing real-time images or videos of motions of the robot manipulator for visualization and/or motion control of the robot manipulator or the adaptive fabric folding system.