Glass sheet transfer robot for sheet material transport

Abstract

The utility model discloses a glass sheet conveying robot for sheet material transportation, which comprises a robot arm, the robot arm is provided with an arm end tool attached to the robot arm, the arm end tool comprises a pair of slender clamping components, and each slender clamping component is provided with a plurality of suction devices. The arm end tool may also include at least one clamping mechanism provided with: a swing arm having a hub coupled to an actuator configured to rotate the swing arm from a first position in which the swing arm is not in contact with the glass sheet to a second position in which the swing arm contacts the glass sheet; and a clamping member coupled to a distal end of the swing arm, the clamping member including a contact pad configured with an elastic material that contacts the glass sheet in the second position.

Description

Technical Field

[0001] The present disclosure relates to a robot arranged to transfer sheet material, and in particular to a robot for engaging a glass sheet supported from a top edge of the glass sheet. Background Art

[0002] Glass manufacturing processes may utilize robots to handle glass sheets. For example, in a glass manufacturing operation for manufacturing glass sheets for optical display applications, a robot may be used to transfer glass sheets from a drawing area where a glass ribbon is formed and glass sheets are separated from the drawing area to a downstream process. More than one robot may be employed. In some environments, glass sheets may be suspended from the top portion of the sheet and unsupported elsewhere. Therefore, the glass sheets may be susceptible to movement caused by air currents in the manufacturing facility. In addition, the glass sheets may exhibit a bow (arc). Therefore, it may be difficult to engage the glass sheets with the holding tool of the robot. These automated processes rely on the successful completion of various tasks performed by the robot. If the robot fails to complete a particular action, it may be necessary to sacrifice a glass sheet (e.g., drop the glass sheet) so that the robot can be ready to accept a subsequent glass sheet. This may result in waste and increase costs. Utility Model Content

[0003] A supplemental clamping mechanism is disclosed herein that is coupled to a glass sheet holding tool at the end of a robotic arm. The clamping mechanism includes a rotatable swing arm that can be rotated to capture a portion of a glass sheet hanging from a top portion of the glass sheet, but the bottom portion of the glass sheet is free to move in response to atmospheric air currents, pressure differentials, etc., or simply exhibits a certain degree of bending, thereby making it easier for other attachment devices on the holding tool (such as a suction cup) to fully engage the glass sheet.

[0004] Therefore, in a first aspect, the present invention describes a glass sheet conveying robot for sheet material transportation, comprising: a robot arm, the robot arm including an arm end tool attached thereto, the arm end tool including a pair of slender clamping members, each slender clamping member including a plurality of suction devices. The arm end tool may also include at least one clamping mechanism, the at least one clamping mechanism including: a swing arm, the swing arm including a hub coupled to an actuator, the actuator being configured to rotate the swing arm from a first position in which the swing arm is not in contact with the glass sheet to a second position in which the swing arm contacts the glass sheet. The clamping mechanism may also include: a clamping member coupled to a distal end of the swing arm, the clamping member including a contact pad, the contact pad including an elastic material that contacts the glass sheet in the second position.

[0005] In a second aspect, the actuator according to the first aspect is coupled to the hub of the swing arm via a shaft and is configured to rotate the shaft and thereby rotate the swing arm.

[0006] In a third aspect, the swing arm according to the first aspect or the second aspect may be configured to rotate in a plane orthogonal to the longitudinal axis of the corresponding clamping member.

[0007] In a fourth aspect, the actuator according to any one of the first to third aspects may be a pneumatic actuator.

[0008] In a fifth aspect, the swing arm according to any one of the first to fourth aspects may be configured to rotate through an angle ranging from 0 degrees to about 220 degrees.

[0009] In a sixth aspect, the clamping member according to any one of the first to fifth aspects may include a pair of contact pads arranged at opposite ends of the clamping member.

[0010] In a seventh aspect, the positioning of each clamping member according to any one of the first to sixth aspects relative to the corresponding swing arm is adjustable.

[0011] In an eighth aspect, the clamping mechanism according to any one of the first to seventh aspects comprises a first stop member arranged to stop the rotation of the swing arm at a first predetermined angular position.

[0012] In a ninth aspect, the first stopping member according to the eighth aspect may include a first adjusting member configured to be able to change the first predetermined angular position.

[0013] In a tenth aspect, the clamping mechanism according to any one of the first to ninth aspects comprises a second stop member arranged to stop the rotation of the swing arm at a second predetermined angular position.

[0014] In an eleventh aspect, the second stopping member according to the tenth aspect may include a second adjusting member configured to be able to change the second predetermined angular position.

[0015] In a twelfth aspect, the positioning of the contact pad according to any one of the first to eleventh aspects may be adjustable in a direction parallel to the longitudinal axis of the clamping member.

[0016] In a thirteenth aspect, the plurality of suction devices according to any one of the first to twelfth aspects may be pneumatically operated.

[0017] In the fourteenth aspect, the multiple suction devices according to any one of the first to thirteenth aspects may include a first plurality of suction devices connected to a first clamping member of the pair of clamping members, and a second plurality of suction devices connected to a second clamping member of the pair of clamping members.

[0018] In a fifteenth aspect, the plurality of suction devices according to any one of the first to fourteenth aspects may be individually controllable.

[0019] In a sixteenth aspect, the swing arm according to any one of the first to fifteenth aspects may include a shield member.

[0020] Additional features and advantages will be set forth in the detailed description that follows and, in part, will be apparent to those skilled in the art from the description or by practice of the embodiments described herein, including the following detailed description, claims, and accompanying drawings.

[0021] It should be understood that the above summary and the following detailed description are only exemplary and are intended to provide an overview or framework for understanding the nature and characteristics of the claims. The accompanying drawings are included to provide a further understanding and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate one or more embodiments and together with the description explain the principles and operation of the various embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of an exemplary glass manufacturing apparatus;

[0023] Figure 2 The hot end robot moves the glass sheet from Figure 1 Schematic diagram of a glass manufacturing equipment where a drawing machine is transferred to a weighing device;

[0024] Figure 3 Yes Figure 2 A front view of the end-of-arm tool of the hot end robot;

[0025] Figure 4 It is the conveyor robot that moves the glass sheets from Figure 2 Schematic diagram of the weighing equipment being transmitted to the conveyor equipment;

[0026] Figure 5 Yes Figure 2 A front view of an end-of-arm tool of a transfer robot and a clamping mechanism arranged thereon;

[0027] Figure 6 yes Figure 5 Top view of the clamping mechanism;

[0028] Figure 7 yes Figure 6 A front view of the clamping mechanism;

[0029] Figure 8 yes Figure 6 A rear view of the clamping mechanism;

[0030] Fig. 9 is a top view of an exemplary clamping mechanism with the swing arm in a closed position;

[0031] Fig.10 yes Fig. 9 A top view of the clamping mechanism with the swing arm in a neutral position;

[0032] Fig.11 yes Fig. 9 Top view of the clamping mechanism with the swing arm in the fully open position. DETAILED DESCRIPTION

[0033] In the following detailed description, for the purpose of explanation rather than limitation, exemplary embodiments disclosing specific details are set forth to provide a thorough understanding of the various principles of the present disclosure. However, it will be apparent to those of ordinary skill in the art who have benefited from the present disclosure that the present disclosure can be practiced in other embodiments that depart from the specific details disclosed herein. In addition, the detailed description of well-known devices, methods, and materials may be omitted so as not to obscure the various principles of the present disclosure. Finally, where applicable, the same reference numerals refer to the same elements.

[0034] Ranges may be expressed herein as from "about" one particular value and / or to "about" another particular value. When such ranges are expressed, another embodiment includes from the one particular value and / or to the other particular value. Similarly, when values ​​are expressed as approximations by using the antecedent "about," it is understood that the particular value forms another embodiment. It is also understood that each of the end values ​​in a range is meaningful relative to the other end value and independently of the other end value.

[0035] Unless otherwise expressly stated, it is not intended that any method described herein be construed as requiring that its steps be performed in a particular order. Therefore, in the absence of a method claim actually reciting an order in which its steps are to be followed or otherwise specifically stating in the claim or description that the steps are to be limited to a particular order, no order is intended to be inferred in any respect. This applies to any possible non-express basis for interpretation, including: logical matters regarding the arrangement of steps or operational flow; clear meaning derived from grammatical organization or punctuation; the number or type of embodiments described in this specification.

[0036] As used herein, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" includes aspects having two or more such components unless the context clearly dictates otherwise.

[0037] Figure 1 is a schematic diagram of an exemplary glass manufacturing apparatus for forming a glass substrate, such as a glass sheet suitable for manufacturing an electronic display device, such as a display device for a television, computer equipment, advertising display, and other devices and appliances. Specifically, Figure 1 An exemplary down-draw glass manufacturing apparatus (eg, fusion down-draw process) is depicted wherein molten glass is formed in a melting operation and transported to a forming apparatus where the molten glass is formed into a glass ribbon and the glass ribbon is separated into individual glass sheets.

[0038] The glass manufacturing apparatus 10 may include a glass melting furnace 12, which includes a melting vessel 14. In addition to the melting vessel 14, the glass melting furnace 12 may also optionally include one or more additional components, such as heating elements (e.g., combustion torches and / or electrodes) configured to heat raw materials and convert the raw materials into molten material (hereinafter, molten glass). For example, the melting vessel 14 may be an electrically assisted melting vessel, in which energy is added to the raw materials both by combustion torches and by direct heating, in which an electric current is passed through the raw materials, the electric current thus adding energy to the raw materials by Joule heating.

[0039] In other embodiments, the glass melting furnace 12 may include other thermal management devices (e.g., insulation components) that reduce heat loss from the melting vessel. The glass melting furnace 12 may also include electronic devices and / or electromechanical devices that facilitate melting the raw materials into a glass melt. The glass melting furnace 12 may include support structures (e.g., support chassis, support members, etc.) or other components.

[0040] The melting vessel 14 may be formed from a refractory material, such as a refractory ceramic material, for example, a refractory ceramic material comprising alumina or zirconia, although the refractory ceramic material may include other refractory materials that may be used alternatively or in any combination, such as yttrium (e.g., yttria, yttria-stabilized zirconia, yttrium phosphate), zircon (ZrSiO 4 ) or alumina-zirconia-silica or even chromia. In some examples, the melting vessel 14 may be constructed of refractory ceramic bricks.

[0041] In various embodiments, the glass melting furnace 12 can be incorporated as a component of a glass manufacturing apparatus configured to manufacture glass products (e.g., glass ribbons), although the glass manufacturing apparatus can be configured to form other glass products without limitation, such as glass rods, glass tubes, glass envelopes (e.g., glass envelopes for lighting devices (e.g., light bulbs)), and glass lenses. Many other glass products are contemplated. In some examples, the furnace can be included in a glass manufacturing apparatus that includes a float bath apparatus, a down-draw apparatus (e.g., a fusion down-draw apparatus or a slot pull apparatus), an up-draw apparatus, a pressing apparatus, a rolling apparatus, a tube drawing apparatus, or any other glass manufacturing apparatus that would benefit from the present disclosure. As an example, Figure 1 A glass melting furnace 12 is schematically shown as part of a fusion down-draw glass manufacturing apparatus 10 for fusion drawing a glass ribbon for subsequent processing into individual glass sheets or rolling the glass ribbon onto reels.

[0042] The glassmaking facility 10 may optionally include upstream glassmaking equipment 16 positioned upstream of the melting vessel 14. In some examples, a portion or the entirety of the upstream glassmaking equipment 16 may be incorporated as part of the glass melting furnace 12.

[0043] like Figure 1 , the upstream glass manufacturing equipment 16 may include a raw material storage bin 18, a raw material delivery device 20 (e.g., a screw feeder), and a motor 22 connected to the raw material delivery device 20. The raw material storage bin 18 may be configured to store a certain amount of raw material 24, which can be fed into the melting vessel 14 of the glass melting furnace 12 through one or more feed ports, as indicated by arrows 26. The raw material 24 generally contains one or more glass-forming metal oxides and one or more modifiers. In some examples, the raw material delivery device 20 may be powered by the motor 22 to deliver a predetermined amount of raw material 24 from the raw material storage bin 18 to the melting vessel 14. In other examples, the motor 22 may power the raw material delivery device 20 to introduce the raw material 24 at a controlled rate based on the liquid level of the molten glass sensed from the downstream of the melting vessel 14 relative to the flow direction of the molten glass. The raw material 24 in the melting vessel 14 may then be heated to form a molten glass 28. Typically, in the initial melting step, the raw materials are added to the melting vessel as particles (e.g., as various "sands" and / or powders). The raw material 24 may also include waste glass (e.g., cullet) from previous melting and / or forming operations. A flamethrower is typically used to initiate the melting process. In an electrically assisted melting process, once the resistance of the raw material is sufficiently reduced, electrical assist may be initiated by creating an electrical potential between electrodes positioned in contact with the raw material, thereby establishing an electrical current through the raw material, which is typically entering or in a molten state.

[0044] The glassmaking apparatus 10 may also include a downstream glassmaking apparatus 30 positioned downstream of the glass melting furnace 12 relative to the flow direction of the molten glass 28. In some examples, a portion of the downstream glassmaking apparatus 30 may be incorporated as a portion of the glass melting furnace 12. For example, in some cases, the first connecting conduit 32 discussed below or other portions of the downstream glassmaking apparatus 30 may be incorporated as a portion of the glass melting furnace 12.

[0045] The downstream glass manufacturing equipment 30 may include a first adjustment (i.e., processing) chamber, such as a clarification vessel 34, which is located downstream of the melting vessel 14 and is connected to the melting vessel 14 through the above-mentioned first connecting conduit 32. The molten glass 28 can be gravity-fed from the melting vessel 14 to the clarification vessel 34 through the internal path of the first connecting conduit 32. Therefore, the first connecting conduit 32 provides a flow path for the molten glass 28 from the melting vessel 14 to the clarification vessel 34. However, other adjustment chambers may be positioned downstream of the melting vessel 14, such as between the melting vessel 14 and the clarification vessel 34. In some embodiments, an adjustment chamber may be used between the melting vessel and the clarification chamber. For example, although not shown, the molten glass from the melting vessel 14 may be further heated in a secondary melting (adjustment) vessel positioned between the melting vessel 14 and the clarification vessel 34, or cooled in the secondary melting vessel to a second temperature lower than the first temperature of the molten glass in the melting vessel 14 before entering the clarification vessel 34.

[0046] Bubbles can be removed from the molten glass 28 by various techniques. For example, the raw material 24 may include a multivalent compound (i.e., a fining agent), such as tin oxide that undergoes a chemical reduction reaction and releases oxygen when heated. Other suitable fining agents may include, but are not limited to, arsenic, antimony, iron, cerium, and various sulfates, although the use of arsenic and antimony may be discouraged in some applications for environmental reasons. The fining vessel 34 may be heated to a temperature greater than, for example, the temperature of the melting vessel, thereby further heating the fining agent. By further heating, oxygen generated by the temperature-induced chemical reduction of one or more fining agents contained in the molten glass diffuses into the bubbles generated during the melting process. The enlarged bubbles with increased buoyancy may then rise to the free surface of the molten glass in the fining vessel, and thereafter be discharged from the fining vessel.

[0047] Downstream glass manufacturing equipment 30 may also include another adjustment container, such as mixing device 36, such as a stirring container, for mixing the molten glass flowing downstream from the clarification container 34. The mixing device 36 can be used to provide a uniform glass melt composition, thereby reducing the chemical or thermal inhomogeneity that may originally exist in the molten glass leaving the clarification chamber. As shown, the clarification container 34 can be connected to the mixing device 36 by a second connecting conduit 38. In some embodiments, the molten glass 28 can be fed to the mixing device 36 by gravity from the clarification container 34 through the internal path of the second connecting conduit 38. The molten glass in the mixing device 36 may include a free surface, wherein the free volume extends between the free surface and the top of the mixing device. As used herein, the free volume is a gas volume, usually free of liquid material. Similarly, the free surface refers to the surface of the molten glass in a container or conduit, and represents the interface between a liquid (e.g., molten glass) and the gas atmosphere above the molten glass. Although the mixing device 36 is shown as being located downstream of the clarification container 34 relative to the flow direction of the molten glass, in other embodiments, the mixing device 36 may be positioned upstream of the clarification container 34. In some embodiments, the downstream glass manufacturing equipment 30 may include multiple mixing devices, such as a mixing device upstream of the fining vessel 34 and a mixing device downstream of the fining vessel 34. These mixing devices may have the same design, or they may have designs that are different from each other. For example, one or more vessels and / or conduits may include static mixing blades positioned therein to facilitate mixing and subsequent homogenization of the molten material.

[0048] Downstream glass manufacturing equipment 30 may also include another adjustment chamber, such as a delivery container 40 located downstream of mixing device 36. Delivery container 40 can adjust the molten glass 28 to be fed into the downstream forming device. For example, delivery container 40 can act as an accumulator and / or flow controller to regulate the consistent flow of molten glass 28 and provide it to forming body 42 through outlet conduit 44. In some embodiments, the molten glass in delivery container 40 may include a free surface, wherein the free volume extends upward from the free surface to the top of the delivery container. As shown, mixing device 36 can be connected to delivery container 40 by a third connecting conduit 46. In some examples, molten glass 28 can be fed to delivery container 40 from mixing device 36 gravity through the internal path of the third connecting conduit 46.

[0049] The downstream glass manufacturing apparatus 30 may also include a forming apparatus 48 that includes the above-described forming body 42 having an inlet conduit 50. The outlet conduit 44 may be positioned to deliver the molten glass 28 from the delivery vessel 40 to the inlet conduit 50 of the forming apparatus 48.

[0050] Components of the downstream glass manufacturing equipment 30, including any one or more of the connecting conduits 32, 38, 46, the clarification vessel 34, the mixing device 36, the delivery vessel 40, the outlet conduit 44 or the inlet conduit 50, which may be formed of precious metals. Suitable precious metals include platinum group metals selected from the group consisting of platinum, iridium, rhodium, osmium, ruthenium and palladium or their alloys. For example, the downstream components of the glass manufacturing equipment may be formed of a platinum-rhodium alloy, the platinum-rhodium alloy containing about 70% to about 90% platinum by weight and about 10% to about 30% rhodium by weight. In some embodiments, such components may be formed of greater than about 90% platinum by weight, such as greater than 92% platinum by weight, greater than 94% platinum by weight, greater than 96% platinum by weight, greater than 98% platinum, and even up to 100% platinum by weight. However, other suitable metals for forming downstream components of the glass manufacturing equipment may include molybdenum, rhenium, tantalum, titanium, tungsten and alloys thereof.

[0051] The forming body 42 in the fusion down-draw glass manufacturing apparatus may include a trough 52 positioned in the upper surface of the forming body and a converging forming surface 54 (only one surface is shown), which converges in the drawing direction along the bottom edge (root) 56 of the forming body. The molten glass delivered to the forming body trough 52 by the delivery container 40, the outlet conduit 44 and the inlet conduit 50 overflows the wall of the trough 52 and descends along the converging forming surface 54 as separate streams of molten glass. The separate streams of molten glass converge along the root 56 and below the root to produce a single glass ribbon 58 of molten glass, which is drawn from the root 56 along the drawing plane in the drawing direction 60 by the following operations: applying downward tension to the glass ribbon, such as by gravity and / or a pull roller assembly (not shown), to control the size of the glass ribbon as the molten glass cools and the viscosity of the molten glass increases. Therefore, the glass ribbon 58 undergoes a viscoelastic transition to an elastic state and acquires mechanical properties that give the glass ribbon 58 stable dimensional characteristics. The glass ribbon 58 includes a first outer edge 62a and a second outer edge 62b opposite the first outer edge 62a, the first outer edge and the second outer edge extending longitudinally along the glass ribbon 58. The glass ribbon 58 may also include a first thickened edge portion 64a and a second thickened edge portion 64b (hereinafter, first flange 64a and second flange 64b, respectively), the flanges 64a, 64b extending inwardly from the respective first outer edge 62a and second outer edge 62b. The glass ribbon 58 includes a width W defined between the first outer edge 62a and the second outer edge 62b. The thickness of the first flange 64a and the second flange 64b may be greater than the thickness of the glass ribbon along the longitudinal centerline of the glass ribbon. The glass ribbon extending between the first flange 64a and the second flange 64b may be referred to as a "quality" region 66 of the glass ribbon. The quality region 66 exhibits a substantially uniform thickness and a pristine or substantially pristine surface, and is the most commercially valuable portion of the ribbon because the flanges are typically removed and scrapped or used as cullet. In some embodiments, the glass ribbon 58 can be separated into individual glass sheets 68 by a glass scoring device 70, although in other embodiments, the glass ribbon 58 can be wound onto a reel and stored for further processing. A robot 100 (e.g., hereinafter a "hot end robot") can be used to remove the glass sheets 68 from the drawing area and present the glass sheets for downstream processing.

[0052] Separating the glass ribbon 58 into individual glass sheets 68 and transferring the separated glass sheets to downstream processes involves carefully designed interactions between industrial robots, including the hot end robot 100 and the conveyor transfer robot.

[0053] Reference now Figure 2As the glass ribbon 58 descends from the forming apparatus 48, the glass ribbon is gripped by a hot end robot (HER) 100 and scored across its width by a scoring apparatus 70 to form a score line. The HER 100 bends the glass ribbon 58 across the score line to create a tensile stress across the score line, whereupon a crack extends across the width of the glass ribbon 58, which separates a glass sheet 68 from the glass ribbon 58. The now separated glass sheet 68 is supported by the HER 100. The HER 100 then hands the glass sheet to a weighing apparatus 200 (shown in dashed lines) which can determine the weight of the glass sheet.

[0054] Therefore, if Figure 2 and Figure 3 As shown, the HER 100 includes a robotic arm 102 and an end-of-arm tool (EOT) 104 configured to grip a glass sheet 68. The robotic arm 102 can be an articulated arm including a plurality of joint segments (e.g., joined by revolute joints) that provide movement in several dimensions (directions). The robotic arm 102 is mounted on a robotic mounting assembly 106 that supports, powers, and / or controls the robotic arm 102, although in other embodiments, control of the robotic arm 102 may be provided by a controller that is not included in the robotic mounting assembly. The EOT 104 is attached to a distal end 108 of the robotic arm 102, and with reference to FIG. Figure 3, includes: a central portion 110, the central portion including an attachment point (e.g., an attachment joint) 112 for attaching the EOT 104 to the distal end 108 of the robotic arm 102; and a plurality of suction cups 114, the plurality of suction cups attached to a clamping member 116 for clamping the glass piece 68. More specifically, in an exemplary embodiment, the EOT 104 includes opposing elongated clamping members 116, such as two clamping members 116, arranged in an "H" pattern relative to the central portion 110. That is, the central portion 110 includes an "H"-shaped cross member 120, and the opposing elongated clamping members 116 form the uprights of the "H" shape and are generally orthogonal to the cross member 120. A plurality of suction cups 114 are arranged along the length of each clamping member 116. The clamping members 116 can be extendable to accommodate different glass piece sizes (e.g., widths). For example, in various embodiments, the cross member 120 may include a first cross section 122 that is extendable relative to a second cross section 124. In some embodiments, the first cross section 122 may be slidably engaged with the second cross section 124 so that the length of the cross section can be varied. That is, the distance 127 separating the opposing clamping members 116 may be variable, either manually variable by extending the first cross section 122 relative to the second cross section 124, or variable by one or more actuators (not shown) configured to move one or both of the opposing clamping members 116 through the extendable cross section 122. The one or more actuators may be, for example, pneumatically operated. A module for fixing the first cross section 122 and the second cross section 124 may be provided. For example, the inner diameter of the second cross section 124 may be greater than the outer diameter of the first cross section 122, so that the first cross section 122 is slidably engaged within the second cross section 124. The larger of the cross sections may include a split collar with a reduced diameter, thereby locking the first cross section relative to the second cross section. Other means of securing (locking) the first lateral portion 122 relative to the second lateral portion 124 known in the art may be used, and the embodiments disclosed herein are not limited thereto. In some embodiments, there may be multiple lateral members 120. For example, Figure 3 A HER 100 is shown comprising two cross-members 120 .

[0055] The plurality of suction cups 112 may include a first plurality of suction cups 114a arranged along the length of the first clamping member 116a and a second plurality of suction cups 114b arranged along the length of the second clamping member 116b. The plurality of suction cups (e.g., the first plurality of suction cups 114a and / or the second plurality of suction cups 114b) may be pneumatically operated. The plurality of suction cups may be individually actuated. For example, in some embodiments, an individual suction cup may be operated independently of other suction cups in the plurality of suction cups, such that the time at which suction is applied (or removed) at any one or more suction cups may be different from the time at which suction is applied (or removed) at another one or more suction cups in the plurality of suction cups.

[0056] In various embodiments, the HER 100 can be used to separate a glass sheet 68 from a glass ribbon 58 by engaging the glass ribbon 58 below a score line 126 formed by a scoring device 70. The HER 100 can then apply a bending moment to the lower end of the glass ribbon 58, thereby applying a tensile stress across the score line that propagates a crack along the score line and separates the glass sheet from the glass ribbon. Once separated, the HER 100 delivers the glass sheet to a weighing device 200.

[0057] refer to Figure 2 , the weighing apparatus 200 includes a track 202, the track including one or more weighing devices 204, the one or more weighing devices being configured to support the glass sheet 68 from the top edge portion of the glass sheet, such as by clamping the top edge portion, and then determine the weight of the glass 68. Therefore, each weighing device 204 includes a support portion 206 and a weight determination portion 208, wherein the support portion 206 (e.g., a clamp) is coupled to the weight determination portion 208. The support portion is coupled to the top edge portion of the glass sheet 68 and supports the glass sheet while the weight of the glass sheet is determined by the weight determination portion. The weight determination portion 208 can be any device capable of determining the weight of an object, such as a strain gauge, a spring device, etc., and the embodiments disclosed herein are not limited to a specific weight determination device. As previously described, because the glass sheet 68 is supported by the top edge portion of the glass sheet through the support portion 206, other support methods are generally not applied to other portions of the glass sheet, and therefore the glass sheet may move (e.g., swing) due to airflow in the manufacturing facility when supported by the support portion 206. Additionally, the glass sheet may exhibit bow in one or more directions, such as bow (curl) at the bottom of the glass sheet (where the weight of the glass sheet pulling down due to gravity is minimal). Either or both of these phenomena may be present.

[0058] Once the weight of the glass sheet 68 is determined, the transfer robot (TR) 300 is attached to the glass sheet 68 (eg, Figure 4300 can capture the glass sheet 68 (such as, attached thereto) and transfer the glass sheet to a downstream process. For example, in various embodiments, the TR 300 can capture the glass sheet 68 (such as, attached thereto) and transfer the glass sheet 68 to a conveyor system 360, which transports the glass sheet 68 to a further downstream process, such as a grinding and cleaning process. The conveyor system 360 includes a track 362 and one or more support devices 364 that engage with the glass sheet 68 and support the glass sheet such that the glass sheet 68 is supported from the track 362 by the support device 364. For example, the support device 364 can be a clamp that engages with the top edge portion of the glass sheet 68, such as clamped thereto, although in other embodiments, other modules that engage and support the glass sheet 68 can be used. The support device 364 can move along the track 362 so that the glass sheet 68 can traverse along the track 362 from a first position to a second position.

[0059] During the transfer (switching) operation between the weighing device 200 and the TR 300, the engagement of the glass sheet 68 may not always be successful due to the movement of the glass sheet or the bow present in the glass sheet. That is, the TR 300 may not be able to capture the glass 68 because the capture operation is disturbed due to the movement of the glass sheet or the deformation (e.g., bending) in the glass sheet. These factors may interfere with the TR 300 collecting the glass sheet 68 from the weighing device 200. If the collection of the glass sheet by the TR 300 does not occur within the specified time, assuming that the subsequent glass sheet will be presented to the weighing device 200 by the HER 100, the controller for the weighing device can be programmed to deactivate the support device on the weighing device, thereby causing the glass sheet 68 to be released. The now released glass sheet will fall to the manufacturing facility floor, making the weighing device ready to receive the subsequent glass sheet from the HER 100.

[0060] Go to Figure 4 and Figure 5, TR 300 may be the same as or similar to HER 100, and many of the features of HER 100 are also applicable to TR 300. Thus, TR 300 includes a robotic arm 302 and an end-of-arm tool (EOT) 304, the end-of-arm tool being configured to engage with a glass sheet 68, for example, to grip the glass sheet 68. The robotic arm 302 may be an articulated arm including a plurality of engagement segments (e.g., engaged by a revolute joint) that provide movement in several dimensions (directions). The robotic arm 302 is mounted on a robotic mounting assembly 305 that supports, powers, and / or controls the robotic arm 302, although in other embodiments, control of the robotic arm 302 may be provided by a controller that is not included in the robotic mounting assembly. The EOT 304 is attached to the distal end 306 of the robotic arm 302 and includes a central portion 308 including an attachment point (e.g., an attachment joint) 310 for attaching the EOT 304 to the distal end 306 of the robotic arm 302, and a plurality of suction cups 312 attached to the EOT 304 for capturing the glass piece 68. More specifically, in an exemplary embodiment, the EOT 304 includes opposing elongated clamping members 316 arranged in an "H" pattern relative to the central portion 308. Thus, the central portion 308 includes an "H"-shaped cross member 318, and the opposing elongated clamping members 316 form the uprights of the "H" shape and are generally orthogonal to the cross portion 318. A plurality of suction cups 312 are arranged along the length of each clamping member 316. The clamping members 316 can be extendable to accommodate different glass piece sizes (e.g., widths). That is, the distance 320 separating the relative clamping members 316 can be variable, or manually variable, or variable by one or more actuators (not shown) configured to move one or both of the relative clamping members 316. One or more actuators can be, for example, pneumatically operated. In various embodiments, the transverse member 318 can include a first transverse portion 321 that can be extended relative to the second transverse portion 323. In some embodiments, the first transverse portion 321 can be slidably engaged with the second transverse portion 323 so that the length of the transverse portion can be varied. That is, the distance 320 separating the relative clamping members 316 can be variable, or manually variable by extending the first transverse portion 321 relative to the second transverse portion 323, or variable by one or more actuators (not shown) configured to move one or both of the relative clamping members 316 through the extendable transverse portion 321. One or more actuators can be, for example, pneumatically operated. A module for fixing the first transverse portion 321 relative to the second transverse portion 323 can be provided.For example, the inner diameter of the second transverse portion 323 may be greater than the outer diameter of the first transverse portion 321, so that the first transverse portion 321 can be slidably engaged within the second transverse portion 323. The larger of the transverse portions may include a split collar with a reduced diameter to lock the first transverse portion relative to the second transverse portion. Other modules known in the art for fixing (locking) the first transverse portion relative to the second transverse portion may be used, and the embodiments disclosed herein are not limited thereto. In some embodiments, there may be multiple transverse members 318. For example,. Figure 5 TR 300 is shown including two cross members 318 .

[0061] In addition, the plurality of suction cups 312 may include a first plurality of suction cups 312a arranged along the length of the first clamping member 316a and a second plurality of suction cups 312b arranged along the length of the second clamping member 316b. The plurality of suction cups (e.g., the first plurality of suction cups 312a and / or the second plurality of suction cups 312b) may be pneumatically operated. The plurality of suction cups 312 may be individually actuated. For example, in some embodiments, an individual suction cup may be operated independently of other suction cups in the plurality of suction cups 312, such that the time at which suction is applied (or removed) at any one or more suction cups may be different from the time at which suction is applied (or removed) at another one or more suction cups in the plurality of suction cups.

[0062] To increase the ability of the TR to capture glass sheets from the weighing device 200, according to the embodiments described herein, the TR 300 may also include a plurality of clamping mechanisms 400 secured thereto, such as Figures 5 to 11 More specifically, a plurality of clamping mechanisms 400 may be coupled to the clamping members 316 of the EOT 304. For example, at least one clamping mechanism 400 may be coupled to each clamping member 316 (e.g., the first clamping member 316a and the second clamping member 316b) of the EOT 304. In some embodiments, two or more clamping mechanisms 400 may be coupled to each clamping member 316.

[0063] An exemplary clamping mechanism 400 according to embodiments described herein is Figures 6 to 8. The clamping mechanism 400 includes: a body portion 402; an actuator 404, such as a pneumatic actuator, coupled to the body portion 402; a swing arm 406; an actuator shaft 408 extending from the actuator 404 and coupled to a hub 410 of the swing arm 406; a clamping member 412 attached to the distal end of the swing arm 406; and a contact pad 414 coupled to the clamping member 412. The actuator shaft 408 extends from the actuator 404 to the hub 410 of the swing arm 406. Therefore, the swing arm 406 is configured to rotate in a plane orthogonal to the longitudinal axis of the corresponding clamping member when the actuator 404 is actuated. The actuator 404 can be pneumatically operated. The contact pad 414 can be made of an elastic material, such as silicon or other elastic high temperature materials, to prevent damage to the glass sheet 68. In some embodiments, the swing arm 406 may include a shield portion 416 that is arranged to protect the components of the clamping mechanism from heat radiated from the glass piece and glass fragments that may be formed due to accidental breakage of the glass piece. In various embodiments, the clamping mechanism 400 may include one or more stop devices 418 that are arranged to provide a stop for the movement (rotation) of the swing arm 406. The stop device 418 can be adjustable so that the stop positioning of the swing arm 406 can be changed. For example, each stop device 418 can include an adjustment member 420, such as a screw or other suitable mechanism, for adjusting the positioning of a stop member 422 positioned at the end of the adjustment member 420. The adjustment member 420 can be configured to engage with a stop block 424 coupled to the main body portion 402, wherein movement (e.g., rotation) of the adjustment member 420 causes the positioning of the stop member 422 to change relative to the main body portion 402.

[0064] Reference now Figures 7 and 8 , the clamping member 412 can be adjustable so that the positioning of the clamping member 412 can be changed relative to the clamping member 316. For example, in various embodiments, the swing arm 406 can include an attachment bracket 428, and the clamping member 412 can include a slot 430 that engages with a fastener 432, which couples the clamping member 412 to the attachment bracket 428. To adjust the positioning of the clamping member 412, the fastener 432 is loosened, and the clamping member can then be repositioned by moving the clamping member 412 to a desired position and then tightening the fastener. Similarly, the positioning of the contact pad 414 can be changed. For example, the contact pad 414 can be attached to a bracket 434, which is coupled to the clamping member 412. In various embodiments, the bracket 434 can include a slot 436. The fastener 438 extends through the slot and couples the bracket, and therefore the contact pad 414, to the clamping member 412. In the same manner as the clamping member 412 , the bracket 434 and the contact pad 414 may be adjusted by loosening the fastener 438 , adjusting the bracket 434 , and tightening the fastener 438 .

[0065] Actuation air may be supplied to and exhausted from the actuator 404 through ports 440 , 442 , respectively.

[0066] Fig. 9 An exemplary clamping mechanism 400 is shown with a swing arm 406 in a closed position, e.g., where a contact pad 414 may be in contact with a glass sheet 68. The swing arm 406 may be rotated by an actuator 404, which is connected to a hub 410 of the swing arm 406 via an axle 408. In the closed position, the swing arm may contact a stop member 422 of a first stop 418. The stop 418 prevents the swing arm 406 from rotating beyond a predetermined angular position. Fig.10 Show Fig. 9 A clamping mechanism in which the swing arm 406 is in an intermediate position, such as where the contact pad 414 is not in contact with the glass sheet 68 but is not in a fully open position. Fig.11 Show Fig. 9 and Fig.10 A clamping mechanism in which the swing arm 406 is in a fully open position, wherein the contact pad 414 is not in contact with the glass sheet, and the swing arm is in contact with a second stop 418 that prevents further rotation of the swing arm.

[0067] The operation of the clamping mechanism 400 proceeds as follows. As the TR 300 moves the EOT 304 toward the glass sheet 68 supported by the weighing device 200 from its top edge portion, the swing arm 406 is in a fully open position, such as an angle of 220 degrees, 230 degrees, 240 degrees, 250 degrees, 260 degrees, 270 degrees, or even 275 degrees relative to the fully closed position (e.g., against the stop member 422). As the EOT 304 engages the glass sheet 68, the actuator 404 rotates the swing arm 406 to a closed position (e.g., zero degrees), wherein the contact pad 414 contacts the glass sheet 68 and pulls the glass sheet 68 toward the EOT 304. In some embodiments, as the EOT 304 approaches the glass sheet 68 supported by the weighing device 200, the swing arm 406 can be moved to an intermediate position relative to the fully closed position, such as an angle in the range of about 100 degrees to about 160 degrees, such as 120 degrees.

[0068] It will be apparent to those skilled in the art that various modifications and changes may be made to the various embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. Therefore, it is intended that the present disclosure covers such modifications and changes as long as they fall within the scope of the appended claims and their equivalents.

Claims

1. A glass sheet conveying robot for sheet material transportation, comprising: A robotic arm including an end-of-arm tool attached thereto, wherein the end-of-arm tool includes a pair of elongated clamping members, each elongated clamping member including: multiple suction devices; at least one clamping mechanism comprising: a swing arm including a hub coupled to an actuator, the actuator being configured to rotate the swing arm from a first position in which the swing arm is not in contact with the glass sheet to a second position in which the swing arm is in contact with the glass sheet; and a clamping member coupled to a distal end of the swing arm, the clamping member including a contact pad including a resilient material that contacts the glass sheet in the second position.

2. The glass sheet transfer robot of claim 1, wherein the actuator is coupled to a hub of the swing arm via a shaft and is configured to rotate the shaft and thereby rotate the swing arm.

3. The glass sheet transfer robot of claim 1, wherein the swing arm is configured to rotate in a plane orthogonal to a longitudinal axis of each elongated gripping member.

4. The glass sheet transfer robot of claim 1, wherein the actuator comprises a pneumatic actuator. 5 . The glass sheet transferring robot of claim 1 , wherein the swing arm is configured to rotate through an angle ranging from 0 degrees to 220 degrees. 6 . The glass sheet transferring robot according to claim 1 , wherein the clamping member comprises a pair of contact pads, each of the pair of contact pads being arranged at opposite ends of the clamping member.

7. The glass sheet transfer robot of claim 1, wherein the positioning of each clamping member relative to the corresponding swing arm is adjustable.

8. The glass sheet transferring robot of claim 1, wherein the clamping mechanism comprises a first stop member arranged to stop the rotation of the swing arm at a first predetermined angular position. 9 . The glass sheet transferring robot according to claim 8 , wherein the first stopping member comprises a first adjusting member configured to be able to change the first predetermined angular position.

10. The glass sheet transferring robot of claim 1, wherein the clamping mechanism comprises a second stop member arranged to stop the rotation of the swing arm at a second predetermined angular position. 11 . The glass sheet transferring robot according to claim 10 , wherein the second stopping member comprises a second adjusting member configured to be able to change the second predetermined angular position.

12. The glass sheet transfer robot of claim 1, wherein the positioning of the contact pad is adjustable in a direction parallel to a longitudinal axis of the gripping member.

13. The glass sheet transferring robot of claim 1, wherein the plurality of suction devices are pneumatically operated.

14. The glass sheet transferring robot of claim 1, wherein the plurality of suction devices comprises a first plurality of suction devices coupled to a first clamping member of the pair of elongated clamping members, and a second plurality of suction devices coupled to a second clamping member of the pair of elongated clamping members.

15. The glass sheet transferring robot according to claim 1, wherein the plurality of suction devices can be controlled individually.

16. The glass sheet transferring robot of claim 1, wherein the swing arm comprises a shield member.

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