Method and apparatus for forming glass ribbons - Patents.com

Abstract

A method for shaping a glass ribbon may include moving the glass ribbon along a travel path in a direction of travel at a predetermined ribbon velocity. The method may include engaging an end effector attached to a robot arm with the glass ribbon. The method may include moving the end effector in the direction of travel at a first robot velocity. The method may include detecting a force exerted by the glass ribbon on the end effector. The method may include changing the velocity of the end effector from the first robot velocity to a second robot velocity when the magnitude of the force exceeds a predetermined value.

Description

Related Applications

[0001] This application claims the benefit of priority under 35 U.S.C. § 119 to U.S. Provisional Patent Application No. 62 / 903,356, filed September 20, 2019, the contents of which are incorporated herein by reference in their entirety. [Technical field]

[0002] The present disclosure relates generally to methods for shaping a glass ribbon, and more particularly, to methods for shaping a glass ribbon with a glass manufacturing apparatus having a control assembly. [Background technology]

[0003] It is known to produce a glass ribbon from molten material by a glass manufacturing apparatus. At times, contact with the glass ribbon can cause damage to the glass ribbon. To limit damage, an end effector may engage the glass ribbon. However, it can be difficult to match the speed and travel path of the end effector to the glass ribbon. Summary of the Invention

[0004] The following presents a simplified summary of the disclosure in order to provide a basic understanding of some embodiments described in the detailed description.

[0005] In some embodiments, the glass manufacturing apparatus includes one or more devices that facilitate reducing the relative motion between the glass ribbon and the end effector. For example, the end effector may engage the glass ribbon and move in a forward direction with the glass ribbon. The end effector may be connected to a sensor that can detect any force applied to the end effector by the glass ribbon. A control assembly may be electrically connected to the sensor and to a robotic arm that controls the movement of the end effector. The control assembly may receive force data from the sensor and adjust the speed and / or path of the end effector to more accurately match the speed and / or path of the glass ribbon. Thus, the relative motion between the glass ribbon and the end effector may be reduced, thereby reducing any force applied to the glass ribbon.

[0006] According to some embodiments, a method for shaping a glass ribbon includes moving the glass ribbon along a travel path in a travel direction at a predetermined ribbon velocity. The method includes engaging an end effector attached to a robot arm with the glass ribbon. The method includes moving the end effector in the travel direction at a first robot velocity. The method includes detecting a force exerted by the glass ribbon on the end effector. The method includes changing the velocity of the end effector from the first robot velocity to a second robot velocity when a magnitude of the force exceeds a predetermined value.

[0007] In some embodiments, the method includes separating a first ribbon portion of the glass ribbon from a second ribbon portion of the glass ribbon prior to the varying speed step.

[0008] In some embodiments, the method includes engaging a second ribbon portion of the glass ribbon prior to the step of varying the speed.

[0009] In some embodiments, the method includes maintaining a speed of the end effector at a first robot speed during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from the second ribbon portion.

[0010] In some embodiments, the force is detected at multiple locations.

[0011] According to some embodiments, a method for shaping a glass ribbon includes moving the glass ribbon in a traveling direction along a traveling path. The method includes engaging an end effector attached to a robot arm with a first ribbon portion of the glass ribbon. The method includes moving the end effector in a traveling direction at a first robot speed during a first operating cycle during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from a second ribbon portion of the glass ribbon. The method includes detecting a first force exerted by the first ribbon portion on the end effector during the first operating cycle. The method includes engaging the end effector with a second ribbon portion after the first operating cycle. The method includes changing a speed of the end effector from the first robot speed to a second robot speed based on the first force and moving the end effector in a traveling direction at the second robot speed during a second operating cycle.

[0012] In some embodiments, the method includes separating the first ribbon portion from the second ribbon portion prior to the engaging with the second ribbon portion.

[0013] In some embodiments, the method includes detecting a second force exerted by the second ribbon portion on the end effector during the second motion cycle. The method includes engaging the end effector with a third ribbon portion of the glass ribbon after the second motion cycle. The method includes varying a speed of the end effector from the second robot speed to a third robot speed based on one or more of the first force or the second force during the third motion cycle and moving the end effector in a travel direction at the third robot speed.

[0014] In some embodiments, the method includes maintaining a speed of the end effector at a first robot speed through a first motion cycle during the period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from the second ribbon portion.

[0015] In some embodiments, the method includes separating the second ribbon portion from the third ribbon portion prior to the step of engaging the second ribbon portion with the third ribbon portion.

[0016] In some embodiments, the method includes maintaining a speed of the end effector at a second robot speed through a second motion cycle during the period from engaging the end effector with the second ribbon portion to separating the second ribbon portion from the third ribbon portion.

[0017] In some embodiments, the first force is detected at a plurality of locations.

[0018] In some embodiments, the step of varying the speed occurs when the magnitude of the first force exceeds a predetermined value.

[0019] In some embodiments, the speed of the end effector is changed to a second robot speed before the start of the second motion cycle.

[0020] According to some embodiments, a method for shaping a glass ribbon includes moving the glass ribbon along a travel path in a travel direction at a predetermined ribbon velocity. The method includes engaging an end effector attached to a robot arm with a first ribbon portion of the glass ribbon. The method includes moving the end effector in a travel direction at a predetermined robot velocity. The method includes detecting a force exerted by the first ribbon portion on the end effector. The method includes quantifying the ribbon velocity by correlating the ribbon velocity to the robot velocity when a magnitude of the force is within a predetermined range of values. The method includes adjusting a parameter of the glass ribbon based on the ribbon velocity.

[0021] In some embodiments, quantifying the ribbon velocity includes determining an average ribbon velocity during the period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from the second ribbon portion of the glass ribbon.

[0022] In some embodiments, adjusting the parameters includes maintaining a constant length of the first ribbon portion and the second ribbon portion.

[0023] In some embodiments, quantifying the ribbon velocity includes determining an instantaneous ribbon velocity during a sampling period that is less than about 2 milliseconds.

[0024] Additional features and advantages of the embodiments disclosed herein will be set forth in the following detailed description, and in part will be apparent to those skilled in the art from the description, or may be learned by practicing the embodiments described herein, including the following detailed description, claims, and accompanying drawings. It is to be understood that both the foregoing general description and the following detailed description present embodiments that are intended to provide an overview or framework for understanding the nature and features of the embodiments disclosed herein. The accompanying drawings are included to provide a further understanding, and are incorporated in and constitute a part of this specification. The drawings illustrate various embodiments of the present disclosure and, together with the description, explain the principles and operation thereof. [Brief description of the drawings]

[0025] These and other features, embodiments and advantages will become better understood from the following detailed description when taken in conjunction with the accompanying drawings. [Figure 1] 1 is a schematic diagram of an exemplary embodiment of a glass manufacturing apparatus according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective cross-sectional view of a glass manufacturing apparatus according to an embodiment of the present disclosure taken along line 2-2 of FIG. [Diagram 3] 2 is a partially enlarged view of a glass manufacturing apparatus according to an embodiment of the present disclosure taken in area 3 of FIG. 1. [Figure 4] FIG. 4 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure, including an end effector, taken along line 4-4 of FIG. [Diagram 5] FIG. 5 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure similar to FIG. 4 with an end effector engaged with a glass ribbon. [Figure 6] FIG. 6 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure similar to FIG. 5 with a first ribbon portion separated. [Figure 7] 7 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure similar to FIG. 6, with the first ribbon portion separated from the second ribbon portion. [Figure 8]8 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure similar to FIG. 7 with an end effector engaged with a second ribbon portion. [Figure 9] 9 is a side view of a glass manufacturing apparatus according to an embodiment of the present disclosure similar to FIG. 8, with the end effector separating the second ribbon portion from the third ribbon portion. [Figure 10] FIG. 10 is a side view of the glass manufacturing apparatus similar to FIG. 9 with the end effector engaged with a third ribbon portion of the glass ribbon after a second operating cycle. [Figure 11] FIG. 2 is a control diagram of a glass manufacturing apparatus according to an embodiment of the present disclosure. [Figure 12] FIG. 13 illustrates a plot of time versus force applied to an end effector by a glass ribbon in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Several exemplary embodiments are described more fully below with reference to the accompanying drawings, in which the embodiments are shown. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

[0027] The present disclosure relates to a glass manufacturing apparatus and a method for forming a glass ribbon. For the purposes of this application, a "glass ribbon" is considered to be one or more of a glass ribbon in a viscous state, a glass ribbon in an elastic state (e.g., at room temperature), and / or a glass ribbon in a viscoelastic state between a viscous state and an elastic state. In the following, a method and an apparatus for forming a glass ribbon are described by an exemplary embodiment for producing a glass ribbon. As shown generally in FIG. 1, in some embodiments, an exemplary glass manufacturing apparatus 100 may include a glass melting and delivery apparatus 102 and a forming apparatus 101 including a forming vessel 140 designed to produce a glass ribbon, e.g., a glass ribbon 103, from a quantity of molten material 121. In some embodiments, the glass ribbon 103 may include a central portion 152 positioned between opposing edge portions (e.g., edge beads) formed along a first outer edge 153 and a second outer edge 155 of the glass ribbon 103. In this case, the thickness of the edge portion may be greater than the thickness of the central portion. Additionally, in some embodiments, the separated glass ribbon 104 may be separated from the glass ribbon 103 along a separation path 151 by a glass separator 149 (e.g., a scribe, scoring wheel, diamond tip, laser, etc.).

[0028] In some embodiments, the glass melting and delivery system 102 may include a melting vessel 105 positioned to receive batch material 107 from a storage bin 109. The batch material 107 may be introduced by a batch feeder 111 operated by a motor 113. In some embodiments, an optional controller 115 may be operated to operate the motor 113 to introduce a desired amount of the batch material 107 into the melting vessel 105, as indicated by arrow 117. The melting vessel 105 may heat the batch material 107 to provide the molten material 121. In some embodiments, a melt probe 119 may be used to measure the level of the molten material 121 inside the standpipe 123 and communicate the measured information to the controller 115 via communication line 125.

[0029] Additionally, in some embodiments, the glass melting and delivery apparatus 102 may include a first conditioning station that includes a fining vessel 127 located downstream of and connected to the melting vessel 105 via a first connecting conduit 129. In some embodiments, the molten material 121 may be gravity fed from the melting vessel 105 to the fining vessel 127 via the first connecting conduit 129. For example, in some embodiments, gravity may move the molten material 121 from the melting vessel 105 through the internal passage of the first connecting conduit 129 to the fining vessel 127. Additionally, in some embodiments, air bubbles may be removed from the molten material 121 within the fining vessel 127 by various techniques.

[0030] In some embodiments, the glass melting and delivery apparatus 102 may further include a second conditioning station, which may include a mixing chamber 131 that may be located downstream of the fining vessel 127. The mixing chamber 131 may be used to provide a homogenous composition of the molten material 121, thereby reducing or eliminating inhomogeneities that may otherwise be present within the molten material 121 exiting the fining vessel 127. As shown, the fining vessel 127 may be connected to the mixing chamber 131 via a second connecting conduit 135. In some embodiments, the molten material 121 may be gravity fed from the fining vessel 127 through the second connecting conduit 135 to the mixing chamber 131. For example, in some embodiments, gravity may move the molten material 121 from the fining vessel 127 through the internal passage of the second connecting conduit 135 to the mixing chamber 131.

[0031] Additionally, in some embodiments, the glass melting and delivery apparatus 102 may include a third conditioning station, which may include a feed chamber 133 that may be located downstream of the mixing chamber 131. In some embodiments, the feed chamber 133 may condition the molten material 121 for delivery into the inlet conduit 141. For example, the feed chamber 133 may function as a flow controller to regulate and provide a constant flow of the molten material 121 to the reservoir and / or inlet conduit 141. As shown, the mixing chamber 131 may be connected to the feed chamber 133 via a third connecting conduit 137. In some embodiments, the molten material 121 may be gravity fed from the mixing chamber 131 to the feed chamber 133 via the third connecting conduit 137. For example, in some embodiments, gravity may move the molten material 121 from the mixing chamber 131 through an internal passage of the third connecting conduit 137 to the feed chamber 133. As further shown, in some embodiments, a delivery pipe 139 may be positioned to deliver molten material 121 to the molding apparatus 101 , for example, to an inlet conduit 141 of a forming vessel 140 .

[0032] The forming apparatus 101 may include various embodiments of forming vessels according to features of the present disclosure, such as a forming vessel having wedges for fusion drawing a glass ribbon, a forming vessel having slots for slot drawing a glass ribbon, or a forming vessel having press rolls for rolling the glass ribbon from the forming vessel. In some embodiments, the forming apparatus 101 may include a sheet redraw by the forming apparatus 101, for example, as part of a redraw process. For example, a glass ribbon 104, which may have a predetermined thickness, is heated and redrawn, thereby obtaining a thinner glass ribbon 104 having a smaller thickness. As an example, the forming vessel 140 shown and disclosed below may be provided to fusion draw molten material 121 from a lower edge defined as a root 145 of a forming wedge 209 to produce a glass ribbon 103. For example, in some embodiments, the molten material 121 may be fed to the forming vessel 140 from an inlet conduit 141. The molten material 121 may then be formed into a glass ribbon 103 based in part on the configuration of the forming vessel 140. For example, as shown, the molten material 121 may be pulled away from a lower edge (e.g., root 145) of the forming vessel 140 along a withdrawal path that extends in a direction of travel 154 from the glass manufacturing apparatus 100. In some embodiments, edge guiders 163, 164 may guide the molten material 121 away from the forming vessel 140 to in part define a width "W" of the glass ribbon 103. In some embodiments, the width "W" of the glass ribbon 103 extends between a first outer edge 153 of the glass ribbon 103 and a second outer edge 155 of the glass ribbon 103. In some embodiments, a pulling roll assembly 158 may assist in pulling the glass ribbon 103 away from the root 145 downward along the direction of travel 154. The pulling roll assembly 158 may include one or more pulling rolls that may be driven, for example, by a motor.

[0033] In some embodiments, the width "W" of the glass ribbon 103 extending between the first outer edge 153 of the glass ribbon 103 and the second outer edge 155 of the glass ribbon 103 may be about 20 mm (millimeters) or more, such as about 50 mm or more, such as about 100 mm or more, such as about 500 mm or more, such as about 1000 mm or more, such as about 2000 mm, such as about 3000 mm or more, such as about 4000 mm or more, although in other embodiments other widths smaller or larger than the above-mentioned widths may be provided. For example, in some embodiments, the width "W" of the glass ribbon 103 is in the range of about 20 mm to about 4000 mm, such as in the range of about 50 mm to about 4000 mm, such as in the range of about 100 mm to about 4000 mm, such as in the range of about 500 mm to about 4000 mm, such as in the range of about 1000 mm to about 4000 mm, such as in the range of about 2000 mm to about 4000 mm, such as in the range of about 3000 mm to about 4000 mm. For example, it may be within the range of about 20 mm to about 3000 mm, for example, within the range of about 50 mm to about 3000 mm, for example, within the range of about 100 mm to about 3000 mm, for example, within the range of about 500 mm to about 3000 mm, for example, within the range of about 1000 mm to about 3000 mm, for example, within the range of about 2000 mm to about 3000 mm, for example, within the range of about 2000 mm to about 2500 mm, and all ranges and subranges therebetween.

[0034] 2 illustrates a cross-sectional perspective view of the forming apparatus 101 (e.g., forming vessel 140) taken along line 2-2 of FIG. 1. In some embodiments, the forming vessel 140 may include a trough 201 positioned to receive the molten material 121 from the inlet conduit 141. For illustrative purposes, the mesh shading of the molten material 121 has been removed from FIG. 2 for clarity. The forming vessel 140 may further include a forming wedge 209 having a pair of downwardly inclined tapered surface portions 207, 208 extending between opposing ends 210, 211 (see FIG. 1) of the forming wedge 209. The pair of downwardly inclined tapered surface portions 207, 208 of the forming wedge 209 may taper along the travel direction 154 and meet along the route 145 of the forming vessel 140. A drawing plane 213 of the glass manufacturing apparatus 100 may extend along the travel direction 154 through the root 145. In some embodiments, the glass ribbon 103 may be drawn along the drawing plane 213 in the travel direction 154. As shown, the drawing plane 213 may bisect the forming wedge 209 through the root 145, although in some embodiments, the drawing plane 213 may extend at another orientation relative to the root 145. In some embodiments, the glass ribbon 103 may travel along a travel path 221 that may be coplanar with the drawing plane 213 in the travel direction 154.

[0035] Additionally, in some embodiments, the molten material 121 may flow into and along the trough 201 of the forming vessel 140 in the direction 156. The molten material 121 may then overflow the trough 201 and over the corresponding weirs 203, 204, and simultaneously flow downward across the outer surfaces 205, 206 of the corresponding weirs 203, 204. Each stream of molten material 121 may then flow along the downwardly inclined, tapered surface portions 207, 208 of the forming wedge 209 and be drawn from the root 145 of the forming vessel 140 where the streams meet and fuse into the glass ribbon 103. The glass ribbon 103 may then be drawn from the root 145 along the travel direction 154 at the drawing plane 213. In some embodiments, the glass ribbon 103 may have one or more material states based on the vertical position of the glass ribbon 103. For example, in one location, the glass ribbon 103 may have a viscous molten material 121, and in another location, the glass ribbon 103 may have an amorphous solid in a glassy state (e.g., a glass ribbon).

[0036] The glass ribbon 103 has first and second major surfaces 215 and 216 that face in opposite directions and define a thickness "T" (e.g., an average thickness) of the glass ribbon 103. In some embodiments, the thickness "T" of the glass ribbon 103 can be about 2 mm (millimeters) or less, about 1 mm or less, about 0.5 mm or less, such as about 300 μm (micrometers) or less, about 200 μm or less, or about 100 μm or less, although other thicknesses may be provided in other embodiments. For example, in some embodiments, the thickness "T" of the glass ribbon 103 may be in the range of about 20 μm to about 200 μm, in the range of about 50 μm to about 750 μm, in the range of about 100 μm to about 700 μm, in the range of about 200 μm to about 600 μm, in the range of about 300 μm to about 500 μm, in the range of about 50 μm to about 500 μm, in the range of about 50 μm to about 700 μm, in the range of about 50 μm to about 600 μm, in the range of about 50 μm to about 500 μm, in the range of about 50 μm to about 400 μm, in the range of about 50 μm to about 300 μm, in the range of about 50 μm to about 200 μm, in the range of about 50 μm to about 100 μm, in the range of about 25 μm to about 125 μm, including all thickness ranges and subranges therebetween. Additionally, the glass ribbon 103 may include a variety of compositions, such as borosilicate glass, aluminoborosilicate glass, alkali-containing or alkali-free glass, alkali aluminosilicate glass, alkaline earth aluminosilicate glass, soda-lime glass, and the like.

[0037] In some embodiments, a glass separator 149 (see FIG. 1 ) may then separate the glass ribbon 104 from the glass ribbon 103 along a separation path 151 to provide a plurality of separated glass ribbons 104 (i.e., a plurality of glass sheets). According to another embodiment, a longer portion of the glass ribbon 104 may be wound onto a storage roll. The separated glass ribbon may then be processed into a desired application, such as a display application. For example, the separated glass ribbon may be used in a wide range of display applications, including liquid crystal displays (LCDs), electrophoretic displays (EPDs), organic light emitting diode displays (OLEDs), plasma display panels (PDPs), touch sensors, photovoltaics, and other electronic displays.

[0038] Referring to FIG. 3, an example of a glass manufacturing apparatus 100 is shown in region 3 of FIG. 1. In some embodiments, a method for shaping a glass ribbon 103 may include moving the glass ribbon 103 along a travel path 221 in a travel direction 154 at a predetermined ribbon speed. In some embodiments, the travel direction 154 may be substantially parallel to a y-axis. In some embodiments, the travel path 221 and the glass ribbon 103 may be substantially parallel to an x-axis and a y-axis, and the travel path 221 and the glass ribbon 103 may be substantially perpendicular to a z-axis. In some embodiments, the glass manufacturing apparatus 100 may include a robot assembly 301. The robot assembly 301 may include a robot arm 303 and one or more end effectors 305. In some embodiments, the one or more end effectors 305 may be attached to the robot arm 303. The robot assembly 301 may engage the one or more end effectors 305 with the glass ribbon 103. In some embodiments, the robot assembly 301 may move one or more end effectors 305 in the travel direction 154 along a path that is substantially parallel to the travel path 221. The robot assembly 301 may apply a bending force to the glass ribbon 103 in a direction perpendicular to the first major surface 215 and / or the second major surface 216 to generate a bending moment about the x-axis. For example, the bending moment about the x-axis generated by the robot assembly 301 may generate a tensile stress across a score line formed by the glass separator 149 (e.g., shown in FIG. 1 ) across a separation path 151 that extends along the x-axis. The tensile stress may cause a crack to propagate through the thickness of the glass ribbon 103, thereby separating a portion of the glass ribbon 103 from an upstream portion of the glass ribbon.

[0039] In some embodiments, the one or more end effectors 305 may engage the first major surface 215 and / or the second major surface 216 of the glass ribbon 103. For example, the one or more end effectors 305 may comprise a plurality of end effectors (e.g., four end effectors). In some embodiments, the one or more end effectors 305 may comprise a soft vacuum cup. A vacuum line may be connected to the cup and may be attached to a vacuum source capable of generating a negative pressure or vacuum at the cup. The cup may engage the glass ribbon 103 and, in some embodiments, may form a vacuum suction attachment with the glass ribbon 103 such that relative motion between the glass ribbon 103 and the one or more end effectors 305 is limited. In some embodiments, the four end effectors may engage the first major surface 215 of the glass ribbon 103 at four positions, e.g., a first engagement position 307, a second engagement position 309, a third engagement position 311, and a fourth engagement position 313. The first engagement position 307 and the second engagement position 309 may be located adjacent to a first outer edge 153 of the glass ribbon 103. The first engagement position 307 and the second engagement position 309 may be positioned along the traveling direction 154. The third engagement position 311 and the fourth engagement position 313 may be located adjacent to a second outer edge 155 of the glass ribbon 103. The third engagement position 311 and the fourth engagement position 313 may be positioned along the traveling direction 154. In some embodiments, the glass ribbon 103 may apply a force to the one or more end effectors 305 when the one or more end effectors 305 engage the glass ribbon 103. For example, the force applied to the one or more end effectors 305 may include a force in the direction of one or more of the x-axis, y-axis, or z-axis. Additionally or alternatively, the glass ribbon 103 may be rotated in a direction, for example, along the x-axis (e.g., M x ), y-axis (e.g. M y ) and / or z-axis (e.g. M z ) to apply a torque to one or more end effectors 305.

[0040] 4, a side view of the glass manufacturing apparatus 100 is shown along line 4-4 of FIG. 3. In FIG. 4, the glass ribbon 103 moves in a traveling direction 154 along a traveling path 221. In some embodiments, the one or more end effectors 305 of the robot assembly 301 may include a first end effector 401 and a second end effector 403. The first end effector 401 may engage the glass ribbon 103 at a first engagement location 307 (e.g., shown in FIG. 3), while the second end effector 403 may engage the glass ribbon 103 at a second engagement location 309 (e.g., shown in FIG. 3). In some embodiments, the one or more end effectors 305 may include a third end effector and a fourth end effector, where the third end effector is hidden from view by the first end effector 401 and the fourth end effector is hidden from view by the second end effector 403. The first end effector 401, the second end effector 403 and the further end effectors may be substantially identical in structure and function, for example, including suction cups.

[0041] In some embodiments, the robot assembly 301 may include a sensor 405 capable of detecting and / or signaling one or more forces (e.g., linear forces, torques, etc.) at the one or more end effectors 305 and thus information indicative of one or more forces being applied by the one or more end effectors 305 to the glass ribbon 103 when the one or more end effectors 305 engage the glass ribbon 103. In some embodiments, the sensor 405 may include a multi-axis or multi-degree-of-freedom force sensor, for example, a six-axis force and / or torque sensor (or six-degree-of-freedom force sensor) capable of detecting forces in six directions. In some embodiments, the sensor 405 may be configured to detect forces in more than six directions or less than six directions. In some embodiments, the force that may be detected by the sensor 405 may include a force F in the direction of the x-axis, e.g., ... x , force F in the direction of the y-axis y , force F in the direction of the z-axisz , x-axis M x Torque (or moment of force) about the y-axis M y Torque (or moment of force) about and / or z-axis M z The term "force" as used herein may include linear forces (e.g., along the x-axis, y-axis, z-axis, etc.) and / or torque force components. In some embodiments, the sensing component of the sensor 405 may include a transducer capable of detecting forces in six directions. The sensor 405 may further include programming and / or circuitry capable of generating and transmitting electrical signals carrying the detected information. In some embodiments, the sensor 405 may have a sampling rate of 50 Hz (Hertz) or greater, or a sampling rate of, for example, 100 Hz or greater. Some non-limiting examples of the sensor 405 may include a 6 degree of freedom force sensor available, for example, from FANUC America Corp. under the trade names FS-10iA™, FS-30™, and FS-60™, a force / torque sensor available, for example, from ATI Industrial Automation, Inc. under the trade name Omega160™, and the like.

[0042] In some embodiments, the glass manufacturing apparatus 100 may include a control assembly 409 that may receive data from the sensor 405 and operate the robotic arm 303. The control assembly 409 may include a control device (e.g., a computer, a computer-like device, a programmable logic controller, etc.) configured (e.g., programmed, coded, designed, and / or manufactured) to operate the robotic arm 303. For example, the control assembly 409 may be electrically (e.g., wired or wirelessly) connected to the sensor 405 and the robotic arm 303. In some embodiments, the control assembly 409 may receive force data 411 from the sensor 405. The control assembly 409 may send operation commands 413 to the robotic arm 303. In some embodiments, the control assembly 409 may include one or more controllers, such as a first controller 415 and a second controller 417. In some embodiments, the first controller 415 may control the movement of the robot arm 303, while the second controller 417 may process and / or analyze the force data 411 (e.g., force-related feedback information) from the sensor 405 to cause response adjustments to the robot arm 303. For example, the movement instructions 413 may be transmitted from the first controller 415 to the robot arm 303 and / or to a separate controller provided on the robot arm 303 that controls the movement of a segment of the robot arm 303. The robot arm 303 may move in response to the movement instructions 413. For example, the movement instructions 413 may specify one or more of a path the robot arm 303 may travel, a speed of the robot arm 303, a distance traveled by the robot arm 303, etc. Thus, the robot arm 303 may move according to the movement instructions 413.

[0043] The first controller 415 may receive the force data 411 from the sensor 405, which may then transmit the force data 411 to the second controller 417. In some embodiments, the force data 411 from the sensor 405 may be transmitted directly to the second controller 417 by bypassing the first controller 415. The glass ribbon 103 may apply a force to one or more end effectors 305, which is formed to be detected by the sensor 405 and communicated to the control assembly 409 as part of the force data 411. For example, the force data 411 may include forces that can be detected along one or more of an x-axis, a y-axis, a z-axis, a torque about an x-axis, a torque about a y-axis, or a torque about a z-axis. The second controller 417 may determine possible adjustments to the operation of the robot arm 303, such as a change or adjustment in one or more of a position, a path, or a velocity of the one or more end effectors 305. The adjustments determined by the second controller 417 may be based in part on the force data 411 received by the second controller 417. In some embodiments, the second controller 417 may send these adjustments as adjustment data 419 to the first controller 415. The first controller 415 may receive the adjustment data 419 from the second controller 417 and incorporate the adjustment data 419 into the movement instructions 413 for the robot arm 303. In some embodiments, a user may input user input data 421 to the first controller 415. For example, in some embodiments, the user input data 421 may represent movement instructions 413 for the robot arm 303 during a first movement cycle of the robot arm 303. In this case, the user input data 421 may include one or more of an initial position, an initial path, or an initial velocity of one or more end effectors 305. In some embodiments, the movement instructions 413 may then be modified based on the force data 411 such that the user input data 421 is no longer implemented.

[0044] In some embodiments, a method for shaping the glass ribbon 103 may include engaging the glass ribbon 103 with an end effector (e.g., one or more end effectors 305) attached to a robot arm 303. For example, the robot arm 303 may move the one or more end effectors 305 between a disengaged position 427 and an engaged position 429. In the disengaged position 427, the one or more end effectors 305 may not contact or engage the glass ribbon 103 and may be spaced a predetermined distance from a major surface (e.g., the first major surface 215) of the glass ribbon 103. To engage the glass ribbon 103, the robot arm 303 may move the one or more end effectors 305 in an engagement direction 425 toward the glass ribbon 103. The one or more end effectors 305 are moved in the engagement direction 425 at least thereafter, the one or more end effectors 305 engage the first major surface 215, thereby forming a suction attachment with the first major surface 215. When the one or more end effectors 305 engage the glass ribbon 103, relative motion between the glass ribbon 103 and the one or more end effectors 305 can be substantially limited such that the glass ribbon 103 and the one or more end effectors 305 can move together with one another.

[0045] 5 illustrates one or more end effectors 305 engaged with the first major surface 215 of the glass ribbon 103 (e.g., at an engagement location 429). For example, the one or more end effectors 305 may engage a first ribbon portion 501 of the glass ribbon 103. The first ribbon portion 501 may be located downstream of a second ribbon portion 503 of the glass ribbon 103 with respect to the travel direction 154. For example, as the glass ribbon 103 moves along the travel direction 154, the first ribbon portion 501 may pass a predetermined location and then the second ribbon portion 503 may pass the same location. In some embodiments, a first operating cycle may continue from an engagement of the one or more end effectors 305 with the first ribbon portion 501 (e.g., as shown in FIG. 4 ) to a separation of the first ribbon portion 501 from the second ribbon portion 503 (e.g., as shown in FIG. 7 ).

[0046] In some embodiments, a method for shaping the glass ribbon 103 may include moving one or more end effectors 305 in the travel direction 154 at a predetermined robot velocity, e.g., a first robot velocity 505. For example, the glass ribbon 103 may move in the travel direction 154 along the travel path 221 at a predetermined ribbon velocity 507. In some embodiments, a method for shaping the glass ribbon 103 may include detecting a force, e.g., a first force, applied to the one or more end effectors 305 by a first ribbon portion 501 of the glass ribbon 103 during a first motion cycle. For example, in some embodiments, the ribbon velocity and ribbon path of the first ribbon portion 501 may or may not match a preprogrammed robot velocity and robot path of the one or more end effectors 305.

[0047] In some embodiments, the first robot velocity 505 and the ribbon velocity 507 may be substantially the same as each other, for example, by having the same magnitude and the same direction as each other (e.g., along the travel direction 154). If the first robot velocity 505 and the ribbon velocity 507 are substantially the same as each other and the paths traveled by the first ribbon portion 501 and the one or more end effectors 305 are substantially parallel to each other, the first ribbon portion 501 and the one or more end effectors 305 may be traveling at the same speed as each other along the parallel paths. In this way, the first force that can be detected may be zero or near zero. For example, because the first robot velocity 505 and the ribbon velocity 507 are substantially the same as each other, there is negligible relative motion between the first ribbon portion 501 and the one or more end effectors 305 along the y-axis, which may result in the first force being zero or near zero. In some embodiments, the first force may be detected at multiple positions (e.g., along multiple axes, e.g., along an x-axis, a y-axis, a z-axis, a torque about an x-axis, a torque about a y-axis, and / or a torque about a z-axis).

[0048] As used herein, the term "velocity" (e.g., as used by first robot velocity 505, ribbon velocity 507, other velocities herein, etc.) is not limited to a single velocity (e.g., a single magnitude of velocity in a single direction). Rather, in some embodiments, as used herein, "velocity" may have a series of varying velocities. For example, during a motion cycle, in some embodiments, one or more of the velocities, e.g., first robot velocity 505, ribbon velocity 507, etc., may have a constant velocity (e.g., a constant velocity in a single direction). However, in some embodiments, "velocity" is not limited to a constant velocity, but rather is a series of velocities that vary during a motion cycle. For example, in some embodiments, the velocities (e.g., first robot velocity 505, ribbon velocity 507, etc.) may change during a motion cycle, e.g., about every 10 ms to about every 50 ms. The varying velocity may include, for example, a varying magnitude of velocity and / or a changing direction. Thus, a "velocity" during a motion cycle may have multiple speeds that may vary in speed and / or direction.

[0049] In some embodiments, the method for shaping the glass ribbon 103 may include changing a speed of one or more end effectors 305 from a first robot speed 505 to a second robot speed 509 when the magnitude of the force exceeds a predetermined value. The magnitude of the force may include an absolute value of the force. For example, the sensor 405 may detect a force applied by the first ribbon portion 501 to the one or more end effectors 305. The sensor 405 may transmit the force to the first controller 415 as force data 411, which may then be transmitted to the second controller 417. In some embodiments, the second controller 417 may compare the magnitude of the force data 411 to a predetermined value, which may be set by a user. In some embodiments, the force data 411 may include a force magnitude that may be within a predetermined range of values, for example, when the first robot velocity 505 and the ribbon velocity 507 are substantially the same as one another and the relative motion between the first ribbon portion 501 and the one or more end effectors 305 is zero. Thus, the force data 411 may indicate a force that may be within a predetermined range of values, that is a value at or near zero. In some embodiments, when the force magnitude detected by the sensor 405 is within the predetermined range of values, the speed of the one or more end effectors 305 should not be changed, and instead the speed of the one or more end effectors 305 may be maintained constant. Thus, the first controller 415 does not change the movement commands 413 sent to the robot arm 303.

[0050] In some embodiments, for example, when the first robot velocity 505 and the ribbon velocity 507 are not the same as one another and there is relative motion between the first ribbon portion 501 and the one or more end effectors 305, the magnitude of the force data 411 exceeds a predetermined value. Thus, the force data 411 may indicate a force that is not close to zero, but is greater than or less than zero, and thus exceeds a predetermined value. In some embodiments, when the magnitude of the force detected by the sensor 405 exceeds a predetermined value, the speed of the one or more end effectors 305 may be changed. For example, the first controller 415 may change the motion instructions 413 sent to the robot arm 303 to provide motion instructions 413 to change the speed of the robot arm 303 from the first robot velocity 505 to a second robot velocity 509. 5, the lines representing the first robot velocity 505 and the second robot velocity 509 are of different lengths, which can represent a change in the speed of one or more end effectors 305 from the first robot velocity 505 to the second robot velocity 509. In some embodiments, the second robot velocity 509 can be closer to the ribbon velocity 507 than the first robot velocity 505, e.g., a first difference between the second robot velocity 509 and the ribbon velocity 507 is less than a second difference between the first robot velocity 505 and the ribbon velocity 507. In some embodiments, the force detected by the sensor 405 cannot exceed a predetermined value when the second robot velocity 509 is substantially the same as the ribbon velocity 507, such that the force detected by the sensor 405 can be zero or close to zero. However, in some embodiments, the second robot velocity 509 is different from the ribbon velocity 507 such that the magnitude of the force detected by the sensor 405 cannot exceed a predetermined value while the force detected by the sensor 405 can be zero or close to zero. Thus, a change in speed can occur if the magnitude of the first force exceeds a predetermined value, but the speed should not be changed if the magnitude of the first force is within the predetermined value.

[0051] In some embodiments, the first ribbon portion 501 may apply a force to one or more end effectors 305 along a first force direction 511, which may be in the same direction as the direction of travel 154. When the first ribbon portion 501 applies a force along the first force direction 511, the ribbon velocity 507 may be greater than the first robot velocity 505, such that the first ribbon portion 501 may be traveling faster than the one or more end effectors 305. To compensate for this difference between the ribbon velocity 507 and the first robot velocity 505, the second robot velocity 509 may be greater (e.g., faster) than the second robot velocity 509, such that the second robot velocity 509 can more closely match the ribbon velocity 507. In some embodiments, the first ribbon portion 501 may apply a force to one or more end effectors 305 along a second force direction 513, which may be opposite the first force direction 511 and the direction of travel 154. When the first ribbon portion 501 applies a force along the second force direction 513, the ribbon velocity 507 may be less than the first robot velocity 505, such that the first ribbon portion 501 may be moving slower than the one or more end effectors 305. To compensate for this difference between the ribbon velocity 507 and the first robot velocity 505, the second robot velocity 509 may be less (e.g., slower) than the second robot velocity 509, such that the second robot velocity 509 can more closely match the ribbon velocity 507.

[0052] In some embodiments, the method for shaping the glass ribbon 103 may include quantifying the ribbon velocity 507 by correlating the ribbon velocity 507 to a robot velocity (e.g., the first robot velocity 505 or the second robot velocity 509) when the magnitude of the force is within a predetermined range of values. For example, in some embodiments, when the robot velocity (e.g., the first robot velocity 505 or the second robot velocity 509) of the one or more end effectors 305 substantially matches the ribbon velocity 507 of the first ribbon portion 501, there is negligible relative motion between the first ribbon portion 501 and the one or more end effectors 305, which may result in the first force being zero or near zero. In some embodiments, when the first force is zero or near zero, the magnitude of the first force may be within a predetermined range of values. Thus, a magnitude of the first force within a predetermined range of values ​​can cause the robot velocity (e.g., first robot velocity 505 or second robot velocity 509) to be deemed to substantially match the ribbon velocity 507. Because the first controller 415 sends motion instructions 413 to the robot arm 303, the robot velocity, e.g., the magnitude of the robot velocity, can be a known quantity. Thus, the ribbon velocity 507 can be quantified by correlating the ribbon velocity 507 to the robot velocity (e.g., first robot velocity 505 or second robot velocity 509), e.g., assigning a known robot velocity to the ribbon velocity 507.

[0053] In some embodiments, when the magnitude of the first force exceeds a predetermined value, there is relative motion between the first ribbon portion 501 and the one or more end effectors 305, which may cause the first force to become non-negligible. In some embodiments, the relative motion may cause the magnitude of the first force to exceed a predetermined value. When the magnitude of the first force exceeds a predetermined value, the robot velocity may be considered to be different from the ribbon velocity 507. In this manner, the robot velocity may be changed to substantially match the ribbon velocity 507, which may cause the ribbon velocity 507 to be unable to be quantified until the magnitude of the first force is within a predetermined value.

[0054] In some embodiments, quantifying the ribbon velocity 507 may include determining one or more of an average ribbon velocity or an instantaneous ribbon velocity. For example, in some embodiments, quantifying the ribbon velocity 507 may include determining an average ribbon velocity during a period from engagement of the one or more end effectors 305 with the first ribbon portion 501 (e.g., as shown in FIG. 4 ) to separation of the first ribbon portion 501 from the second ribbon portion 503 of the glass ribbon 501 (e.g., as shown in FIG. 7 ). For example, this average ribbon velocity may be determined according to Equation (1):

[0055]

number

[0056] It can be expressed as:

[0057] In formula (1), P(t start ) may represent the position of the first ribbon portion 501 when the one or more end effectors 305 first engage the first ribbon portion 501. end ) can represent the position of the first ribbon portion 501 when the first ribbon portion 501 is separated from the second ribbon portion 503 (e.g., as shown in FIG. 7). This allows the numerator of formula (1), e.g., P(t end )-P(tstart )) can represent the distance traveled by the first ribbon portion 501 from when the one or more end effectors 305 first engage the first ribbon portion 501 to when the first ribbon portion 501 separates from the second ribbon portion 503. In some embodiments, t start may represent the time when the one or more end effectors 305 first engage the first ribbon portion 501, while t end can represent the time when the first ribbon portion 501 is separated from the second ribbon portion 503. This allows the denominator of equation (1) (e.g., t end -t start ) may represent the time elapsed between when the one or more end effectors 305 first engage the first ribbon portion 501 and when the first ribbon portion 501 is separated from the second ribbon portion 503. In this manner, the average ribbon velocity of the first ribbon portion 501 may be determined, for example, during a first motion cycle from when the one or more end effectors 305 first engage the first ribbon portion 501 to when the first ribbon portion 501 is separated from the second ribbon portion 503.

[0058] Additionally or alternatively, in some embodiments, quantifying the ribbon velocity may include determining an instantaneous ribbon velocity during a sampling period, which may be less than about 2 milliseconds (ms), less than about 1 millisecond, etc. For example, the instantaneous ribbon velocity may include a real-time ribbon velocity of the glass ribbon 103 within the sampling period. In some embodiments, the instantaneous ribbon velocity is determined according to Equation (2):

[0059]

number

[0060] It can be expressed as:

[0061] In equation (2), Δt may represent a sampling period that may be less than about 2 milliseconds. k ) at time t kwhereas P(t k +Δt) is the time t k +Δt, in other words, the position of the first ribbon portion 501 after the sampling period has elapsed. For example, the numerator of equation (2), e.g., P(t k +Δt)-P(t k ) can represent the distance traveled by the first ribbon portion 501 during a sampling period Δt, which can be less than about 2 milliseconds, less than about 1 millisecond, etc. In some embodiments, the sampling period can be in the range of about 1 millisecond to about 2 milliseconds. The denominator Δt in equation (2) can represent, for example, the time elapsed over the sampling period. In this manner, the instantaneous ribbon velocity of the first ribbon portion 501 can be determined during the sampling period.

[0062] In some embodiments, the method for shaping the glass ribbon 103 may include adjusting parameters of the glass ribbon 103 based on the ribbon velocity 507. For example, in some embodiments, once the ribbon velocity 507 is known (e.g., average ribbon velocity and / or instantaneous ribbon velocity), parameters of the glass ribbon 103 may be adjusted to compensate for the ribbon velocity 507. For example, if the ribbon velocity 507 is less than a target ribbon velocity, adjusting the parameters may include maintaining a constant length of the first ribbon portion 501 and the second ribbon portion 503 of the glass ribbon 103. Because the ribbon velocity 507 is less than the target ribbon velocity, separation of the first ribbon portion 501 from the second ribbon portion 503 is delayed to compensate for the slower ribbon velocity 507, thereby allowing the length of the first ribbon portion 501 to increase before separation. If the ribbon speed 507 is faster than the target ribbon speed, the separation of the first ribbon portion 501 from the second ribbon portion 503 occurs earlier, which allows the length of the first ribbon portion 501 to be shorter before separation. In some embodiments, additional parameters that may be adjusted may include, for example, localized heating of the glass ribbon 103, changing the chemistry of the glass ribbon 103, etc. In some embodiments, the second ribbon portion 503 may be separated from an upstream portion of the glass ribbon 103 such that the length of the second ribbon portion 503 matches the length of the first ribbon portion 501. Thus, in some embodiments, a constant length of the first ribbon portion 501 and the second ribbon portion 503 may be maintained. In some embodiments, the length of the first ribbon portion 501 and / or the second ribbon portion 503 may be adjusted across the width of the first ribbon portion 501 and / or the second ribbon portion 503. For example, in some embodiments, the length of the first ribbon portion 501 and / or the second ribbon portion 503 (e.g., and another ribbon portion of the glass ribbon 103) may be adjusted along the first outer edge 153, along the second outer edge 155, and / or at a location between the first outer edge 153 and the second outer edge 155.In some embodiments, changing and / or maintaining the length of the ribbon portions (e.g., first ribbon portion 501, second ribbon portion 503, etc.) may be based on changing process parameters, such as changing the diameter of the pulling roll assembly 158, the speed of the glass separator 149, etc.

[0063] 6 , in some embodiments, a score line 601 may be formed in the glass ribbon 103 as part of the separation process. For example, to separate the first ribbon portion 501 from the second ribbon portion 503, the glass separator 149 may form the score line 601 on the second major surface 216, although additionally or alternatively, the score line 601 may be formed on the first major surface 215. In some embodiments, the score line 601 may define a boundary between the first ribbon portion 501 and the second ribbon portion 503. For example, the first ribbon portion 501 may be located on one side of the score line 601, while the second ribbon portion 503 may be located on the opposite side of the score line 601.

[0064] 6-7, in some embodiments, the method for shaping the glass ribbon 103 may include separating a first ribbon portion 501 of the glass ribbon 103 from a second ribbon portion 503 of the glass ribbon 103 before changing the speed. For example, as shown in FIG. 7, a first motion cycle may include manipulating the robot arm 303 to move one or more end effectors 305 to bend the first ribbon portion 501 relative to a remainder of the glass ribbon 103, such as the second ribbon portion 503. In some embodiments, the one or more end effectors 305 may pivot the first ribbon portion 501 about the x-axis at the score line 601, such as counterclockwise about the x-axis. Pivoting the first ribbon portion 501 relative to the second ribbon portion 503 at the score line 601 may separate the first ribbon portion 501 from the second ribbon portion 503. In some embodiments, the first ribbon portion 501 may be moved in a separation direction 701 away from the second ribbon portion 503 and away from the travel path 221 along which the second ribbon portion 503 travels. In some embodiments, the robotic arm 303 may move the first ribbon portion 501 to another area to release the first ribbon portion 501 from the one or more end effectors 305, thereby disengaging the one or more end effectors 305 from the first ribbon portion 501.

[0065] In some embodiments, the robot arm 303 may move at a first robot velocity 505 during a first motion cycle, e.g., a period beginning with engagement of the one or more end effectors 305 with the first ribbon portion 501 and ending with separation of the first ribbon portion 501 from the second ribbon portion 503. By moving at a first robot velocity 505 during a first motion cycle, a method for shaping the glass ribbon 103 may include maintaining a speed of the one or more end effectors 305 at the first robot velocity 505 throughout the first motion cycle, e.g., during a period from engagement of the one or more end effectors 305 with the first ribbon portion 501 to separation of the first ribbon portion 501 from the second ribbon portion 503. By maintaining the speed of the one or more end effectors 305 and separating the first ribbon portion 501 before changing the speed, the one or more end effectors 305 can be kept at the first robot speed 505 during the first operating cycle without changing to the second robot speed 509 (e.g., as shown in FIG. 5 ).

[0066] In some embodiments, the speed of the one or more end effectors 305 may be maintained at the first robot speed 505 because the magnitude of the force detected by the sensor 405 is within a predetermined range of values. For example, if the first robot speed 505 is substantially the same as the ribbon speed 507, the force detected by the sensor 405 may be zero or close to zero, and thus the magnitude of the force may be within a predetermined range of values. However, in some embodiments, the speed of the one or more end effectors 305 may be maintained at the first robot speed 505 during the first cycle of motion, regardless of the force detected by the sensor 405. For example, it may be beneficial to maintain the one or more end effectors 305 at the first robot speed 505 during the first cycle of motion, even if the magnitude of the force detected by the sensor 405 exceeds a predetermined value. This may be due in part to reduced demands on data acquisition and computing power. For example, by not changing the first robot velocity 505 to the second robot velocity 509 during the first motion cycle, data transmission (e.g., in the form of updated motion instructions 413) from the first controller 415 to the robot arm 303 can be reduced. Furthermore, computational power can also be reduced due to the reduced demand for generating the motion instructions 413. Thus, in some embodiments, the control assembly 409 may change the robot velocity from the first robot velocity 505 to the second robot velocity 509 in real time during the first motion cycle (e.g., as described with respect to FIG. 5 ) in response to the magnitude of the force detected by the sensor 405 exceeding a predetermined value. However, in other embodiments, the control assembly 409 may maintain the robot velocity at the first robot velocity 505 during the first motion cycle even if the magnitude of the force detected by the sensor 405 exceeds a predetermined value. In some embodiments, regardless of whether the control assembly 409 changes the robot velocity during the first operating cycle, the control assembly 409 may receive force data 411 throughout the first operating cycle and store this force data 411, for example in a memory.The force data 411 that may be stored may include, for example, one or more of the forces detected by the sensors 405, the velocities of one or more end effectors 305 (e.g., first robot velocity 505, second robot velocity 509, etc.), ribbon velocity 507 estimated based on the forces detected by the sensors 405 at the robot velocity, instantaneous ribbon velocity, average ribbon velocity, etc.

[0067] 8, in some embodiments, a method for shaping the glass ribbon 103 may include separating the first ribbon portion 501 (e.g., as shown in FIG. 7) prior to engaging the second ribbon portion 503. For example, once the first ribbon portion 501 is separated from the second ribbon portion 503, the one or more end effectors 305 may be disengaged from the first ribbon portion 501. In some embodiments, a method for shaping the glass ribbon 103 may include engaging the second ribbon portion 503 of the glass ribbon 103 prior to changing the speed of the one or more end effectors 305. For example, in some embodiments, the control assembly 409 may maintain the robot speed at the first robot speed 505 during the first motion cycle even if the magnitude of the force detected by the sensor 405 exceeds a predetermined value. After completion of a first operating cycle in which the first ribbon portion 501 may be separated from the second ribbon portion 503, the one or more end effectors 305 may engage the second ribbon portion 503. For example, the one or more end effectors 305 may engage the second ribbon portion 503 in a manner substantially similar to the one or more end effectors 305 engaging the first ribbon portion 501 (e.g., as shown in FIG. 4 , the robot arm 303 moves the one or more end effectors 305 in the engagement direction 425). In some embodiments, a method for shaping a glass ribbon 103 may include engaging the one or more end effectors 305 with the second ribbon portion 503 after the first operating cycle. The engagement of the one or more end effectors 305 with the second ribbon portion 503 may represent the start of a second operating cycle that may continue until the second ribbon portion 503 is separated from the third ribbon portion 801.

[0068] In some embodiments, the speed of the one or more end effectors 305 may be changed (e.g., from the first robot speed 505) to the second robot speed 509 prior to the start of the second operating cycle. For example, during the first operating cycle, the first controller 415 may receive force data 411 from the sensor 405. The force data 411 is indicative of a first force applied to the one or more end effectors 305 by the first ribbon portion 501 (e.g., shown in FIGS. 4-7). If the magnitude of the first force is within a predetermined range of values ​​over the duration of the first operating cycle, the first robot speed 505 (e.g., shown in FIGS. 5-7) may be substantially the same as the ribbon speed 507. However, if the magnitude of the first force exceeds a predetermined value during the first operating cycle, the first robot speed 505 (e.g., shown in FIGS. 5-7) is different from the ribbon speed 507. In some embodiments, the first force may be indicative of this difference in velocity such that the second controller 417 may process and / or analyze the first force to determine a correction to the first robot velocity 505. For example, the second controller 417 may generate a second robot velocity 509, which may include a correction to the first robot velocity 505 based on the first force, and send the second robot velocity 509 as adjustment data 419 to the first controller 415. In response, the first controller 415 may send movement instructions 413, which may include the second robot velocity 509, to the robot arm 303. In some embodiments, the robot arm 303 may then move one or more end effectors 305 at the second robot velocity 509 for a period of a second motion cycle. Thus, in some embodiments, a method for shaping a glass ribbon 103 may include changing a speed of one or more end effectors 305 from a first robot velocity 505 (e.g., as shown in Figures 5-7) to a second robot velocity 509 based on a first force, and moving the one or more end effectors 305 in a travel direction 154 at the second robot velocity 509 during a second operating cycle.In some embodiments, the difference between the second robot speed 509 and the ribbon speed 507 may be less than the difference between the first robot speed 505 and the ribbon speed 507 .

[0069] In some embodiments, the method for shaping the glass ribbon 103 may include detecting a second force applied by the second ribbon portion 503 to the one or more end effectors 305 during a second motion cycle. For example, detecting the second force may be substantially the same as detecting the first force (e.g., as shown and described with respect to FIG. 5 ). In some embodiments, the second robot velocity 509 and the ribbon velocity 507 may be substantially the same, for example, by having the same magnitude and the same direction as one another (e.g., along the direction of travel 154). When the second robot velocity 509 and the ribbon velocity 507 are substantially the same as one another, the second ribbon portion 503 and the one or more end effectors 305 may be traveling at the same speed along the same path as one another. Thus, the second force that may be detected may be zero or close to zero. In some embodiments, if the magnitude of the second force exceeds a predetermined value, the second robot velocity 509 of one or more end effectors 305 may be changed (e.g., to a third velocity) similar to the change from the first robot velocity 505 to the second robot velocity 509.

[0070] 9, in some embodiments, a method for forming the glass ribbon 103 may include separating the second ribbon portion 503 from the third ribbon portion 801 prior to engagement with the third ribbon portion 801. For example, the second ribbon portion 503 may be removed substantially similar to the removal of the first ribbon portion 501 from the second ribbon portion 503 (e.g., as shown in FIG. 7). For example, the glass separator 149 may form a score line 901 on the glass ribbon 103, e.g., on the second major surface 216 and / or the first major surface 215. In some embodiments, the score line 901 may define a boundary between the second ribbon portion 503 and the third ribbon portion 801. For example, the second ribbon portion 503 may be located on one side of the score line 901, while the third ribbon portion 801 may be located on an opposite side of the score line 901. In some embodiments, during the second operation cycle, the robotic arm 303 may be manipulated to move one or more end effectors 305 to bend the second ribbon portion 503 relative to the remainder of the glass ribbon 103, such as the third ribbon portion 801. In some embodiments, the one or more end effectors 305 may pivot the second ribbon portion 503 about the x-axis at the score line 901, such as counterclockwise about the x-axis. Pivoting the second ribbon portion 503 relative to the third ribbon portion 801 at the score line 901 may separate the second ribbon portion 503 from the third ribbon portion 801.

[0071] In some embodiments, a method for shaping the glass ribbon 103 may include maintaining a speed of the one or more end effectors 305 at a second robot speed 509 through a second motion cycle during a period from engagement of the one or more end effectors 305 with the second ribbon portion 503 to separation of the second ribbon portion 503 from the third ribbon portion 801. For example, maintaining a speed of the one or more end effectors 305 at the second robot speed 509 through the second motion cycle may be substantially the same as maintaining a speed of the one or more end effectors 305 at a first robot speed 505 (e.g., as shown in FIGS. 5-7 ) during a first motion cycle. In some embodiments, the speed of the one or more end effectors 305 may be maintained at the second robot speed 509 because the magnitude of the second force detected by the sensor 405 is within a predetermined range of values. If the second force is within a predetermined range of values, the magnitude of the second robot velocity 509 may be substantially the same as the ribbon velocity 507. However, in some embodiments, the velocity of the one or more end effectors 305 may be maintained at the second robot velocity 509 during the second operating cycle regardless of the force detected by the sensor 405. For example, to reduce data acquisition and computing power demands, the control assembly 409 may not change the robot velocity from the second robot velocity 509 to a third robot velocity in real time during the second operating cycle even if the magnitude of the second force detected by the sensor 405 exceeds a predetermined value. In some embodiments, even if the second robot velocity 509 is maintained throughout the second operating cycle, the control assembly 409 may receive force data 411 throughout the second operating cycle and store the force data 411, for example, in a memory.

[0072] 10 , in some embodiments, a method for shaping the glass ribbon 103 may include engaging one or more end effectors 305 with a third ribbon portion of the glass ribbon 103 after the second operating cycle. For example, in some embodiments, after completion of the second operating cycle in which the second ribbon portion 503 may be separated from the third ribbon portion 801, the one or more end effectors 305 may disengage from the second ribbon portion 503 and engage the third ribbon portion 801. The one or more end effectors 305 may engage the third ribbon portion 801 in a manner substantially similar to the one or more end effectors 305 engaging the first ribbon portion 501 and / or the second ribbon portion 503. This engagement of the one or more end effectors 305 with the third ribbon portion 801 may represent the start of a third operating cycle that may continue until the third ribbon portion 801 is separated from another portion (e.g., a fourth ribbon portion) of the glass ribbon 103.

[0073] In some embodiments, a method for shaping the glass ribbon 103 may include changing a speed of the one or more end effectors 305 from a second robot velocity 509 (e.g., as shown in FIGS. 5-9 ) to a third velocity 1001 based on one or more of a first force (e.g., applied to the one or more end effectors 305 during a first operating cycle (e.g., as shown in FIGS. 4-7 ) or a second force (e.g., applied to the one or more end effectors 305 during a second operating cycle (e.g., as shown in FIGS. 7-9 )), and moving the one or more end effectors 305 in the travel direction 154 at the third robot velocity 1001 during the third operating cycle. For example, in some embodiments, the speed of the one or more end effectors 305 from the second robot velocity 509 to the third robot velocity 1001 may be changed based on force data 411 from a most recent operating cycle, e.g., the second operating cycle. In some embodiments, if the magnitude of the second force detected during the second motion cycle exceeds a predetermined value, the second robot velocity 509 differs from the ribbon velocity 507. The second force may indicate this difference in velocity, which may allow the second controller 417 to process and / or analyze the second force to determine a correction to the second robot velocity 509. For example, the second controller 417 may generate a third robot velocity 1001 that may include a correction to the second robot velocity 509. The third robot velocity 1001 may be transmitted as adjustment data 419 to the first controller 415, which in response may transmit movement instructions 413 to the robot arm 303. The robot arm 303 may then move one or more end effectors 305 at the third robot velocity 1001 for the duration of the third motion cycle.

[0074] In some embodiments, changing the velocity of one or more end effectors 305 from the second robot velocity 509 to the third robot velocity 1001 is not limited to being based on force data 411 from a recent motion cycle. Rather, in some embodiments, the velocity may be changed based on a combination of a first force detected during a first motion cycle and a second force detected during a second motion cycle. For example, in some embodiments, the second controller 417 may combine the first force and the second force, e.g., by averaging the first force and the second force, to determine a correction to the second robot velocity 509. The second controller 417 may then generate a third robot velocity 1001 that may be transmitted by the first controller 415 to the robot arm 303 via the motion instructions 413.

[0075] 11 illustrates an exemplary control diagram 1101 or control architecture that may be implemented by the control assembly 409. In some embodiments, a user may first input user input data 421 to a control algorithm 1103, which may compare force data from the sensor 405 to the user input data 421. Based on the difference between the magnitude of the force detected by the sensor 405 and the user input data 421, the control algorithm 1103 may generate motion instructions 1104 to a robot controller 1105, which may control the movement of the robot arm 303. The sensor 405 may detect the force applied by the glass ribbon 103 to one or more end effectors 305 and send the force data 411 to a filter 1107, whereupon signal filtering of the force data 411 may be performed. In some embodiments, the force data 411 may then be transmitted to a memory 1109 for storage. For example, this memory 1109 may store force data for some or all of the motion cycles, e.g., a first motion cycle, a second motion cycle, etc. In some embodiments, the stored force data from the motion cycles may be transmitted to the control algorithm 1103, which may then compare the force data to a predetermined value and update the motion instructions 1104 accordingly.

[0076] In some embodiments, the control algorithm 1103 is based on equation (3):

[0077]

number

[0078] It can be expressed as:

[0079] In equation (3), t can represent the sampled time series within one operating cycle, and Δy k-1 (t) is the ratio between the desired force distribution (e.g., during a motion cycle) and the actual force distribution y detected by the sensor 405. k-1Φ may represent the difference between the desired force distribution and the actual force distribution. Φ may represent an update law that may be causal or acausal. For example, the update law may be Φ=-α, which may evaluate the effectiveness of the algorithm. By using this iterative learning control algorithm, the initial user input data 421 may or may not be accurate. Rather, in some embodiments, the control algorithm 1103 may detect forces on one or more end effectors 305 and compensate for inaccuracies in the user input data 421 by adjusting the one or more end effectors 305. Thus, over time, the control algorithm 1103 will reduce the error between the desired force distribution and the actual force distribution.

[0080] FIG. 12 illustrates the relationship between time and force detected by the sensor 405 over a given motion cycle. The x-axis (e.g., horizontal axis) represents time (e.g., in seconds) while the y-axis (e.g., vertical axis) represents force detected by the sensor 405 (e.g., in Newtons "N"). A first line 1201 represents time and detected force over a first motion cycle. A second line 1203 represents time and detected force over a second motion cycle following the first motion cycle. A third line 1205 represents time and detected force over a third motion cycle following the second motion cycle. A fourth line 1207 represents time and detected force over a fourth motion cycle following the third motion cycle. In some embodiments, the first motion cycle is performed without any adjustments or corrections made during the cycle. After the first motion cycle, adjustments are made to the speed and path of one or more end effectors 305 based on the forces detected during the first motion cycle. A second motion cycle, represented by a second line 1203, follows a path based on the adjustments from the first motion cycle. After the second motion cycle, further adjustments are made to the speed and path of the one or more end effectors 305 based on the forces detected during the second motion cycle. A third motion cycle, represented by a third line 1205, follows a path based on the adjustments from the second motion cycle. After the third motion cycle, further adjustments are made to the speed and path of the one or more end effectors 305 based on the forces detected during the third motion cycle. A fourth motion cycle, represented by a fourth line 1207, follows a path based on the adjustments from the third motion cycle.

[0081] In some embodiments, the first operating cycle represented by the first line 1201 experiences the largest force difference, which increases over time from about -15N at 0 seconds to about -60N at 401 seconds. The second operating cycle represented by the second line 1203 experiences a second largest force difference, which increases over time from about -15N at 0 seconds to about -35N at 401 seconds. The third operating cycle represented by the third line 1205 experiences a third largest force difference, which increases over time from about -15N at 0 seconds to about -20N at 401 seconds. The fourth operating cycle represented by the fourth line 1207 experiences the smallest force difference, which increases over time from about -15N at 0 seconds to about -5N at 401 seconds. Thus, after each motion cycle, corrections can be made to the speed and path of the one or more end effectors 305 based on the forces detected during the most recently completed motion cycle. Each subsequent motion cycle can achieve a smaller force differential, which can indicate that the control algorithm 1103 of FIG. 11 can improve the speed and / or path of the one or more end effectors 305 to more accurately match the speed and / or path of the glass ribbon 103.

[0082] The glass manufacturing apparatus 100 can provide numerous advantages. For example, by adjusting the speed and / or path of one or more end effectors 305 after a given cycle of operation rather than in real time, data acquisition and computing power requirements can be reduced while improving further in reducing the forces between the one or more end effectors 305 and the glass ribbon 103. Additionally, ribbon velocity 507 can be quantified by correlating it to the robot velocities (e.g., first robot velocity 505, second robot velocity 509, etc.) when the magnitude of the force detected by the sensor 405 is within a range of predetermined values. Once the magnitude of ribbon velocity 507 is known, parameters of the glass ribbon 103, such as the length of the glass ribbon 103, can be adjusted to compensate for the ribbon velocity 507, thereby allowing each ribbon portion of the glass ribbon 103 to have the same length. In some embodiments, the ribbon velocity 507 may change over time, for example, due to wear of the pulling roll assembly 158 and a gradual decrease in the diameter of the pulling roll assembly 158. These changes in ribbon velocity 507 may be compensated for by the control assembly 409, which may provide a matched speed and / or path of travel of the one or more end effectors 305 and the glass ribbon 103. Additionally, in some embodiments, the time to reduce the force detected by the sensor 405 from above a predetermined value to a value within a predetermined value may be accelerated, for example, within a few seconds. For example, in less than a few seconds, the sensor 405 may detect that the magnitude of the force is above a predetermined value, which may cause an adjustment to the speed or path of the one or more end effectors 305, which may provide a return of the force to near zero (e.g., within a predetermined value).

[0083] The embodiments and functional operations described herein may be implemented in digital electronic circuitry, including the structures disclosed herein and their structural equivalents, or in computer software, firmware, or hardware, or in a combination of one or more of these. The embodiments described herein may be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a tangible program carrier for execution by or for controlling the operation of a data processing apparatus. The tangible program carrier may be a computer-readable medium. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, or a combination of one or more of these.

[0084] The term "processor" or "controller" may include all apparatus, devices, and machines for processing data, including, by way of example, a programmable processor, a computer, or a multi-processor or multi-computer. In addition to hardware, a processor may include code for creating an execution environment for a given computer program, such as code constituting a processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of these.

[0085] A computer program (also known as a program, software, software application, script, or code) may be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and may be deployed in any form, including a stand-alone program or a module, component, subroutine, or separate unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program may be stored as part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program, or in multiple cooperating files (e.g., files that store one or more modules, subprograms, or code portions). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communications network.

[0086] The processes described herein may be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows may also be performed by, and apparatus may be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit), to name a few.

[0087] Processors suitable for executing computer programs include, by way of example, both general purpose and special purpose microprocessors, and any one or more processors of any kind of digital computer. In general, a processor receives instructions and data from a read-only memory or a random access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more data memory devices for storing instructions and data. In general, a computer may include one or more mass storage devices, such as magnetic disks, magneto-optical disks, or optical disks, for storing data, or may be operatively connected to receive data from or transfer data to the mass storage device, or both. However, a computer need not have such devices. Furthermore, a computer may be incorporated in another device, such as a mobile phone, a personal digital assistant (PDA), to name just a few examples.

[0088] Computer readable media suitable for storing computer program instructions and data include all forms of data memory including, by way of example, semiconductor memory devices, e.g., EPROM, EEPROM and flash memory devices, magnetic disks, e.g., internal hard disks or removable disks, magneto-optical disks and non-volatile memory including CD ROM and DVD-ROM disks, media and memory devices. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0089] To provide for interaction with a user, the embodiments described herein may be implemented on a computer that includes a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor and the like, for displaying information to a user, and a keyboard and pointing device, such as a mouse or trackball or touch screen, by which a user can provide input to the computer. Other types of devices may also be used to provide interaction with a user, for example, input from a user may be received in any form, including acoustic, speech, or tactile input.

[0090] The embodiments described herein may be implemented in a computing system including a back-end component, e.g., as a data server, or a middleware component, e.g., as an application server, or a front-end component, e.g., as a client computer with a graphical user interface or web browser through which a user can interact with the subject matter described herein, or any combination of one or more such back-end, middleware, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication, e.g., a communications network. Embodiments of a communications network include local area networks ("LANs") and wide area networks ("WANs"), e.g., the Internet.

[0091] A computing system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers, including the client and server interactions.

[0092] Although various embodiments have been described in detail with respect to illustrative and specific examples thereof, it should be understood that the disclosure should not be considered limited to such examples, since numerous variations and combinations of the disclosed features are possible without departing from the scope of the following claims.

[0093] Preferred embodiments of the present invention will be described below in detail.

[0094] EMBODIMENT 1 1. A method for forming a glass ribbon, comprising: moving the glass ribbon along a travel path in a travel direction at a predetermined ribbon speed; engaging the glass ribbon with an end effector attached to a robotic arm; moving the end effector in the direction of travel at a first robot velocity; detecting a force exerted by the glass ribbon on the end effector; changing a velocity of the end effector from the first robot velocity to a second robot velocity when the magnitude of the force exceeds a predetermined value; A method comprising:

[0095] EMBODIMENT 2 2. The method of claim 1, further comprising separating a first ribbon portion of the glass ribbon from a second ribbon portion of the glass ribbon prior to the varying speed step.

[0096] EMBODIMENT 3 3. The method of embodiment 2, further comprising engaging the second ribbon portion of the glass ribbon prior to the varying speed step.

[0097] EMBODIMENT 4 The method of any one of embodiments 2 to 3, further comprising the step of maintaining the speed of the end effector at the first robot speed during the period from the step of engaging the end effector with the first ribbon portion to the step of separating the first ribbon portion from the second ribbon portion.

[0098] EMBODIMENT 5 5. The method of any one of embodiments 1 to 4, wherein the force is detected at multiple locations.

[0099] EMBODIMENT 6 1. A method for forming a glass ribbon, comprising: moving the glass ribbon in a traveling direction along a traveling path; engaging a first ribbon portion of the glass ribbon with an end effector attached to a robotic arm; moving the end effector in the travel direction at a first robot speed during a first motion cycle during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from a second ribbon portion of the glass ribbon; detecting a first force exerted by the first ribbon portion on the end effector during the first motion cycle; after the first actuation cycle, engaging the end effector with the second ribbon portion; during a second motion cycle, varying a velocity of the end effector from the first robot velocity to a second robot velocity based on the first force and moving the end effector in the travel direction at the second robot velocity. A method comprising:

[0100] EMBODIMENT 7 7. The method of embodiment 6, further comprising the step of separating the first ribbon portion from the second ribbon portion prior to the step of engaging the first ribbon portion with the second ribbon portion.

[0101] EMBODIMENT 8 detecting a second force exerted by the second ribbon portion on the end effector during the second motion cycle; after the second operating cycle, engaging the end effector with a third ribbon portion of the glass ribbon; changing the velocity of the end effector from the second robot velocity to a third robot velocity based on one or more of the first force or the second force during a third motion cycle and moving the end effector in the travel direction at the third robot velocity; 8. The method of embodiment 7, further comprising:

[0102] EMBODIMENT 9 9. The method of embodiment 8, further comprising maintaining the speed of the end effector at the first robot speed throughout the first motion cycle during the period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from the second ribbon portion.

[0103] EMBODIMENT 10 10. The method of any one of claims 8 to 9, further comprising the step of separating the second ribbon portion from the third ribbon portion prior to the step of engaging the second ribbon portion with the third ribbon portion.

[0104] EMBODIMENT 11 11. The method of embodiment 10, further comprising maintaining the speed of the end effector at the second robot speed throughout the second motion cycle during the period from engaging the end effector with the second ribbon portion to separating the second ribbon portion from the third ribbon portion.

[0105] EMBODIMENT 12 12. The method of any one of embodiments 6 to 11, wherein the first force is detected at multiple locations.

[0106] EMBODIMENT 13 7. The method of embodiment 6, wherein the step of varying the rate occurs when the magnitude of the first force exceeds a predetermined value.

[0107] EMBODIMENT 14 7. The method of embodiment 6, further comprising changing the speed of the end effector to the second robot speed before the start of the second motion cycle.

[0108] EMBODIMENT 15 1. A method for forming a glass ribbon, comprising: moving the glass ribbon along a travel path in a travel direction at a predetermined ribbon speed; engaging a first ribbon portion of the glass ribbon with an end effector attached to a robotic arm; moving the end effector in the travel direction at a predetermined robot speed; detecting a force applied by the first ribbon portion to the end effector; quantifying the ribbon velocity by correlating the ribbon velocity to the robot velocity when the force magnitude is within a predetermined range of values; adjusting parameters of the glass ribbon based on the ribbon speed. A method comprising:

[0109] EMBODIMENT 16 The method of embodiment 15, wherein quantifying the ribbon velocity includes determining an average ribbon velocity during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from a second ribbon portion of the glass ribbon.

[0110] EMBODIMENT 17 17. The method of embodiment 16, wherein adjusting the parameters comprises maintaining a constant length of the first ribbon portion and the second ribbon portion.

[0111] EMBODIMENT 18 16. The method of embodiment 15, wherein quantifying the ribbon velocity includes determining an instantaneous ribbon velocity during a sampling period that is less than about 2 milliseconds.

Claims

1. 1. A method for forming a glass ribbon, comprising: moving the glass ribbon along a travel path in a travel direction at a predetermined ribbon speed; engaging the glass ribbon with an end effector attached to a robotic arm; moving the end effector in the direction of travel at a first robot velocity; detecting a force exerted by the glass ribbon on the end effector; changing a velocity of the end effector from the first robot velocity to a second robot velocity when the magnitude of the force exceeds a predetermined value; Including, The method further comprising separating a first ribbon portion of the glass ribbon from a second ribbon portion of the glass ribbon prior to the varying speed step.

2. The method of claim 1 , further comprising engaging the end effector with the second ribbon portion of the glass ribbon prior to the step of varying the speed.

3. 3. The method of claim 1 or 2, further comprising the step of maintaining the speed of the end effector at the first robot speed during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from the second ribbon portion.

4. 1. A method for forming a glass ribbon, comprising: moving the glass ribbon in a traveling direction along a traveling path; engaging a first ribbon portion of the glass ribbon with an end effector attached to a robotic arm; moving the end effector in the travel direction at a first robot speed during a first motion cycle during a period from engaging the end effector with the first ribbon portion to separating the first ribbon portion from a second ribbon portion of the glass ribbon; detecting a first force exerted by the first ribbon portion on the end effector during the first motion cycle; after the first actuation cycle, engaging the end effector with the second ribbon portion; during a second motion cycle during a period from engaging the end effector with the second ribbon portion to separating the second ribbon portion from a third ribbon portion, varying a velocity of the end effector from the first robot velocity to a second robot velocity based on the first force and moving the end effector in the travel direction at the second robot velocity; A method comprising:

5. detecting a second force exerted by the second ribbon portion on the end effector during the second motion cycle; after the second operating cycle, engaging the end effector with a third ribbon portion of the glass ribbon; during a third motion cycle during a period from engaging the end effector with the third ribbon portion to separating the third ribbon portion from a fourth ribbon portion, varying the velocity of the end effector from the second robot velocity to a third robot velocity based on one or more of the first force or the second force and moving the end effector in the travel direction at the third robot velocity; The method of claim 4 , further comprising:

6. The method of claim 4 or 5, further comprising the step of varying the speed when the magnitude of the first force exceeds a predetermined value.

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