Method of removing sheet of material from stack

Abstract

A method of removing sheets of material from a stack having alternating layers of glass sheets and interlaced sheets of material, the method comprising: engaging a first sheet of material from the stack with a robot comprising a vacuum tool; moving the vacuum tool in a direction away from the stack using the robot such that the first sheet of material moves away from an adjacent underlying sheet of material; and wherein the relative movement between the first sheet of material and any portion in contact with the adjacent underlying sheet of material in a direction parallel to the plane of the stack is equal to or less than 5 mm. The first sheet of material may be a glass sheet, or the first sheet of material may be an interwoven sheet of material.

Description

Technical Field

[0001] This disclosure describes a method for removing a material sheet from a stack, and specifically, removing a material sheet, such as an interwoven material sheet or a glass sheet, from a stack comprising alternating layers of interwoven material sheets and glass sheets. Background Technology

[0002] Glass sheets, such as precision glass sheets used in the manufacture of visual display devices (such as televisions, computer monitors, tablet computers, telephones, etc.), can be stored and / or transported in stacks comprising multiple glass sheets alternating with interlaced material sheets. The interlaced material sheets provide cushioning between pairs of glass sheets to mitigate damage that could occur due to direct contact between adjacent glass sheets in the absence of interlaced material. However, removing the interlaced material from adjacent glass sheets in an alternating stack, or conversely, removing the top glass sheet from the stack (where the interlaced material sheet is directly beneath the top glass sheet), can also damage the glass. For example, foreign matter particles may be on or embedded in the interlaced material sheets, in which case the relative movement between the interlaced material and adjacent glass sheets may damage (e.g., scratch) the glass sheets. Such relative movement can occur when removing the interlaced material sheets or glass sheets during destacking operations. Therefore, a method for removing material sheets from a stack is disclosed. Summary of the Invention

[0003] In a first aspect, a method for removing a material sheet from a stack comprising alternating layers of glass sheets and interwoven material sheets is described, the method comprising: engaging a first material sheet from the stack with a robot comprising a vacuum tool; using the robot to move the vacuum tool in a direction away from the stack such that the first material sheet moves away from an adjacent lower material sheet; and wherein, in a direction parallel to the plane of the stack, the relative movement between any portion of the first material sheet in contact with an adjacent lower material sheet is equal to or less than 5 mm.

[0004] In the second aspect, the first material sheet of the first aspect is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, the vacuum tool is engaged with the top of the first interwoven material sheet, and the direction away from the stack includes an angle ranging from 0 degrees to 90 degrees relative to the plane of the stack.

[0005] In a third aspect, the direction away from the stack includes a direction orthogonal to the plane of the stack.

[0006] In the fourth aspect, the direction away from the stack includes the downward direction;

[0007] In the fifth aspect, the vacuum tool moves along an arc-shaped path.

[0008] In the sixth aspect, the speed of the vacuum tool in the fifth aspect can be reduced during movement.

[0009] In the seventh aspect, the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, and during movement, the angle change of the first glass sheet relative to the plane of the stack is no more than 10 degrees.

[0010] In the eighth aspect, the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, and a vacuum tool joins the first interwoven material sheet within 5 cm of the top edge of the first interwoven material sheet.

[0011] In the ninth aspect, the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, and the vacuum tool rotates at an angle ranging from 15 degrees to 45 degrees during movement.

[0012] In the tenth aspect, the first material sheet is a first glass sheet, the lower material sheet is a first interwoven material sheet, and the movement creates a gap in the range of 1 mm to 10 mm between the first glass sheet and the first interwoven material sheet.

[0013] In the eleventh aspect, the movement is in a direction orthogonal to the plane of the stack.

[0014] Additional features and advantages will be set forth in the detailed description below, and some of these features and advantages will become apparent to those skilled in the art from the description or will be recognized by practice of the embodiments described herein, including the detailed description below, the claims, and the drawings.

[0015] It should be understood that the foregoing general description and the following detailed description are merely exemplary and intended to provide an overview or framework for understanding the nature and characteristics of the claims. The accompanying drawings are included to provide further understanding and are incorporated into and constitute a part of this specification. The drawings illustrate one or more embodiments and, together with the description, explain the principles and operation of various embodiments. Attached Figure Description

[0016] Figure 1 It is a side view of an exemplary stack comprising alternating layers of glass sheets and interwoven material sheets supported by a support device, and shows a robot configured to remove interwoven paper sheets from the stack;

[0017] Figure 2 yes Figure 1 Another view of the stack shows the robot removing the top interwoven pieces of paper from the stack;

[0018] Figure 3 It is a schematic diagram showing a portion of the stack and a vacuum tool that engages with the interwoven material sheets of the stack, as well as the path the vacuum tool travels;

[0019] Figure 4 yes Figure 1 A side view of a portion of the stack, showing the maximum gap between the bottom of the interwoven material sheet and the bottom support of the support device when the interwoven material is removed from the stack;

[0020] Figure 5 yes Figure 1 The other side view of the stack, where the interwoven material sheet is removed from the stack and a portion of the interwoven material droops;

[0021] Figure 6 yes Figure 1 A side view of the stack, showing a second robot configured to remove glass sheets from the stack; and

[0022] Figure 7 yes Figure 6 Another view of the stack shows the removal of the glass sheet from the stack. Detailed Implementation

[0023] In the following detailed description, exemplary embodiments with specific details disclosed are set forth for purposes of explanation and not limitation, in order to provide a thorough understanding of the various principles of this disclosure. However, it will be apparent to those skilled in the art to which this disclosure pertains that this disclosure may be practiced in other embodiments that depart from the specific details disclosed herein. Furthermore, descriptions of well-known apparatuses, methods, and materials may be omitted so as not to obscure the description of the various principles of this disclosure. Finally, wherever applicable, the same reference numerals refer to the same elements.

[0024] As used herein, the singular forms “a” and “the” include plural referents unless the context clearly indicates otherwise. Thus, for example, a reference to “a component” includes aspects having two or more such components unless otherwise clearly indicated above or below.

[0025] The terms “substantially” and “about” are used herein to indicate an inherent uncertainty attributable to any quantitative comparison, numerical value, measurement, or other representation. These terms are also used herein to indicate the extent to which a quantitative representation may differ from the stated reference value without altering the fundamental function of the issuer’s subject matter. Thus, for example, “substantially MgO-free glass matrix” means that MgO is not actively added or batch-added to the glass matrix, but may be present in very small amounts as a contaminant. Therefore, quantities, sizes, formulations, parameters, and other quantities and characteristics are not and do not need to be precise, but may be approximate and / or larger or smaller, reflecting tolerances, conversion factors, rounding, measurement errors, and other factors known to those skilled in the art. In particular, the terms “substantially,” “substantially,” and their variations, as used herein, indicate that the described feature is equal to or approximately equal to a value or description. For example, a “substantially flat” surface is intended to indicate a flat or approximately flat surface. Furthermore, “substantially” is intended to indicate that two values ​​are equal or approximately equal. In some implementations, "generally" can mean values ​​that differ from each other by about 10%, such as those that differ from each other by about 5%, about 2%, or about 1%.

[0026] A range may be expressed herein as from “about” a particular value, and / or to “about” another particular value. When such a range is expressed, another embodiment includes a range from one particular value to another. Similarly, when a value is expressed as an approximation using the antecedent “about,” it will be understood that the particular value forms another embodiment. It should also be further understood that the endpoints of each range are significant both relative to and independent of the other endpoint.

[0027] For the sake of brevity, the numerical ranges disclosed herein, including ranges of components or properties (performance), or a series of ranges, may be accompanied by the phrase "including all ranges and subranges thereof," which should be interpreted as including integer or decimal subranges, as explicitly stated. Thus, for example, the range between 6 and 8 (units omitted) implicitly includes the subrange between 6.4 and 8, or the subrange between 6 and 7.2, or the subrange between 6 and 7, and so on. Furthermore, a series of ranges, such as "within the range of 6 to 11 or within the range of 6 to 8," implicitly includes the range from 7 to 10, or subranges thereof, such as 7.2 to 10.4, as explicitly stated, provided that the range does not exceed the minimum or maximum endpoint of the explicitly stated range or series of ranges. Thus, for example, "within the range of 6 to 11 or within the range of 6 to 8" has endpoints 6 and 11.

[0028] Unless otherwise expressly stated, no method described herein shall be construed as requiring its steps to be performed in a particular order. Therefore, where a method claim does not actually state the order in which its steps are followed, or where the claims or specification do not otherwise specifically specify that these steps are limited to a particular order, no order is inferred in any way. This applies to any possible non-explicit basis of interpretation, including logical questions concerning the arrangement of steps or the flow of operations; the general meaning derived from grammatical organization or punctuation; and the number or type of embodiments described in the specification.

[0029] The directional terms used in this article, such as up, down, right, left, front, back, top, and bottom, are for reference only and do not imply absolute orientation.

[0030] The terms “illustrative,” “example,” or their various forms are used herein to mean anything used as an example, instance, or illustration. Any aspect or design described herein as “illustrative” or “example” should not be construed as superior to or advantageous to other aspects or designs. Furthermore, examples are provided for clarity and understanding purposes only and are not intended to limit or constrain the disclosed subject matter or any relevant portion of this disclosure in any way.

[0031] As used herein, the terms “comprising” and “including” and their variations shall be interpreted as synonymous and open-ended unless otherwise stated. The list of elements following the transitional phrase “comprising” or “including” is a non-exclusive list, allowing for the presence of other elements besides those specifically listed.

[0032] Figure 1The image shows a side view of a stack 10 comprising alternating layers of glass sheets 12 and interlaced material sheets 14, such that the interlaced material sheets 14 are positioned between adjacent glass sheets 12. The stack 10 is positioned on a support structure 16, which includes a back support 18 and a bottom support 20. The back support 18 and the bottom support 20 may be arranged orthogonally in an "L" shape. In one embodiment, the back support 18 and the bottom support 20 may be arranged at an angle relative to a horizontal plane. The back support 18 supports the main surface of the stack 10, while the bottom support 20 supports the edge surfaces of the stack 10, such as the bottom edge of the glass sheets 12. In another embodiment, the interlaced material sheets 14 may be larger than the glass sheets 12. For example, the interlaced material sheets 14 may be higher than the glass sheets 12, such that each interlaced material sheet 14 extends above the top edge of the glass sheet 12. In an embodiment, the glass sheet 12 has a first main surface and a second main surface, and the thickness therebetween is equal to or less than about 1.2 millimeters (mm), such as equal to or less than about 1.0 mm, equal to or less than about 0.8 mm, equal to or less than about 0.7 mm, equal to or less than about 0.6 mm, equal to or less than about 0.5 mm, equal to or less than about 0.4 mm, equal to or less than about 0.3 mm, equal to or less than about 0.2 mm, or equal to or less than about 0.1 mm.

[0033] Still referencing Figure 1 The first robot 22 is configured to remove interwoven material sheets 14 from the stack 10. For example, the first robot 22 may include a first robotic arm 24, which includes a first vacuum tool 26 attached to the distal end of the robotic arm. The first vacuum tool 26 may include a support member 28 (in... Figure 1 The diagram shows one or more vacuum devices 30 (terminated) attached to a support member 28. The one or more vacuum devices 30 may be in fluid communication with a vacuum source (not shown) that supplies vacuum to the vacuum devices. The one or more vacuum devices 30 may be, for example, a plurality of suction cups, such as a plurality of vacuum suction cups arranged on a linear member. In some embodiments, the vacuum device may include one or more slots in the vacuum member, for example, a hollow vacuum rod.

[0034] In one implementation, the method may include using a first robot 22 to move a first robotic arm 24 to engage the top of the first interwoven material sheet 14 with a first vacuum tool 26 by bringing the top of the first interwoven material sheet 14 into contact with one or more vacuum devices 30. A vacuum may be applied to one or more vacuum devices 30, which attach the interwoven material sheet to the vacuum device. [Go to...] Figure 2After the interwoven material sheet is attached to one or more vacuum devices, the first vacuum tool 26 can be moved in a direction 32 away from the stack 10, i.e., away from the plane 34 of the stack 10. The plane 34 can be defined as the main surface of the glass sheet 12 beneath the interwoven material sheet. The direction 32 away from the stack 10 can be orthogonal to the plane 34, for example, along the normal 35 of the plane 34 (see...). Figure 3 In an embodiment, direction 32 may include an angle δ relative to plane 34 in the range of greater than 0 degrees to 90 degrees. Direction 32 does not include a direction parallel to plane 34 that would produce a relative movement of more than 5 mm between the interwoven material sheet 14 and the adjacent glass sheet 12 below, while at least a portion of the interwoven material sheet 14 is in contact with the glass sheet 12 below, for example, the interwoven material sheet 14 does not move more than 5 mm in an upward direction parallel to the glass sheet 12 below. For example, as Figure 4 As shown, during the period when at least a portion of the interwoven material sheet is in contact with the underlying glass sheet 12, the travel distance D between the upper surface of the bottom support 20 and the bottom edge of the interwoven material sheet 14 should be less than 5 mm.

[0035] In one embodiment, the support member 28 of the first robotic arm 24 can rotate at an angle α ranging from about 15 degrees to about 45 degrees. The first vacuum tool 26 moving in a direction 32 away from the stack or rotating at an angle δ, or both, can allow air to permeate behind the interwoven material sheet 14 being removed and the underlying glass sheet 12 to prevent the formation of a vacuum between the interwoven material sheets 14 that would pull the underlying glass sheet away from the stack 10, or to induce relative movement between at least a portion of the interwoven material sheet 14 and the underlying glass sheet when at least a portion of the glass sheet contacts the underlying glass sheet.

[0036] In one implementation, the direction 32 away from the stack can vary during the movement of the first robotic arm 24 and the first vacuum tool 26. For example, the first vacuum tool 26 can move along an arcuate path 27, wherein the vacuum tool traces a downward angle that decreases (becomes shallower) as the vacuum tool moves away from the stack 10. For example, Figure 3The diagram illustrates a first vacuum tool 26 rotating and following an arcuate path 27 from a first position 1 to a second position 2, wherein an angle δ advances from a first value (e.g., 90 degrees relative to plane 34, along the normal 33 of plane 34) to a second value at position 2, where the second value of angle δ is less than the first value. The speed of the robotic tool can vary along path 27. For example, in some embodiments, the speed of the first vacuum tool 26 decreases as it moves along path 27. In embodiments, the movement of the first vacuum tool 26 along path 27 is smooth and continuous, and does not include a stop or abrupt change of direction until the interwoven material is removed from the stack 10 and / or no longer in contact with the underlying glass sheet 12.

[0037] In one embodiment, the weight of the middle portion 36 of the interwoven material 14 between the first vacuum tool 26 and the lower glass sheet 12 may cause the middle portion of the interwoven material sheet to collapse (e.g., fall below the vertical level of the vacuum tool), and further pull the remaining portion of the interwoven material sheet 14 in contact with the lower glass sheet 12 away from the lower glass sheet, without significant movement in a direction parallel to the plane 34, such as... Figure 5 As shown. That is, as the length of the remaining portion of the interwoven material sheet 14 in contact with the underlying glass sheet 12 decreases, the length of the middle portion 36 of the interwoven material sheet 14 increases, while the relative movement between the interwoven material sheet and the underlying glass sheet is minimized (e.g., maintained at less than about 5 mm).

[0038] In other embodiments, a robot can be used to remove glass sheets 12 from the stack 10. For example, see reference... Figure 6 The second robot 50 may include a second robotic arm 52 and a second vacuum tool 54, the second vacuum tool 54 being configured to engage, for example, a glass sheet 12 located on top of the stack 10 after the overlying interwoven material sheet has been removed. The second vacuum tool 54 may include multiple vacuum devices 56, such as multiple suction cups formed of flexible materials (such as rubber, silicone, etc.). The multiple vacuum devices 56 may be in fluid communication with a vacuum source individually, or each vacuum device 56 may be connected to a central vacuum booster chamber. In an embodiment, each vacuum device 56 may include a separate vacuum supply line including individually controlled valves to open or close the vacuum supply to the vacuum device.

[0039] like Figure 7As best seen, the second robot 50 can be programmed to engage the glass sheet 12 with the vacuum device 56 and pull it outward from the plane 34 of the stack 10, thereby creating a gap between the glass sheet 12 and the underlying interwoven material sheet 14. The outward movement of the vacuum device can be initiated in a direction orthogonal to the stack plane to create a gap G ranging from about 1 mm to about 10 mm between the glass sheet 12 and the underlying interwoven material sheet 14. However, continuous movement of the vacuum device can include changes in the orientation of the vacuum device to include a downward component of the movement, i.e., a component in the direction of gravity. When the glass sheet 12 contacts the underlying interwoven material sheet 14 and the vacuum tool engages with the glass sheet, movement of the second vacuum tool 54 can result in a relative movement of less than about 5 mm between the portion of the glass sheet in contact with the underlying interwoven material sheet and the underlying interwoven material sheet, for example, between the bottom edge of the glass sheet and the bottom support 20. Once the glass sheet 12 engaged with the second vacuum tool 54 is completely separated from the stack 10, including the underlying interwoven material sheet 14, the glass sheet 12 can be freely moved by the second robot 50.

[0040] Those skilled in the art will appreciate that various modifications and variations can be made to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. Therefore, this disclosure is intended to cover such modifications and variations, provided that such modifications and variations fall within the scope of the appended claims and their equivalents.

Claims

1. A method for removing material sheets from a stack comprising alternating layers of glass sheets and interwoven material sheets, the method comprising: The first material sheet from the stack is joined to a robot containing vacuum tools; Using the robot, the vacuum tool is moved in a direction away from the stack, causing the first material sheet to move away from the adjacent lower material sheet; and In a direction parallel to the plane of the stack, the relative movement between any part of the first material sheet and the adjacent lower material sheet in contact is equal to or less than 5 mm.

2. The method of claim 1, wherein the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, the vacuum tool engages with the top of the first interwoven material sheet, and the direction away from the stack comprises an angle ranging from 0 degrees to 90 degrees relative to the plane of the stack.

3. The method of claim 2, wherein the direction away from the stack includes a direction orthogonal to the plane of the stack.

4. The method of claim 2, wherein the direction away from the stack includes a downward direction.

5. The method of claim 1, wherein during the movement, the vacuum tool travels along an arcuate path.

6. The method of claim 5, wherein the speed of the vacuum tool is reduced during the movement.

7. The method of claim 1, wherein the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, and during the movement, the angle change of the first glass sheet relative to the plane of the stack is no greater than 10 degrees.

8. The method of claim 1, wherein the first material sheet is a first interwoven material sheet, the adjacent lower material sheet is a first glass sheet, and the vacuum tool joins the first interwoven material sheet within 5 cm of the top edge of the first interwoven material sheet.

9. The method of claim 1, wherein the first material sheet is a first interwoven material sheet, the adjacent underlying material sheet is a first glass sheet, and the vacuum tool rotates by an angle ranging from 15 degrees to 45 degrees during the movement.

10. The method of claim 1, wherein the first material sheet is a first glass sheet, the underlying material sheet is a first interwoven material sheet, and the movement creates a gap in the range of 1 mm to 10 mm between the first glass sheet and the first interwoven material sheet.

11. The method of claim 10, wherein the movement is in a direction orthogonal to the plane of the stack.

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