Glass sheet transfer robot for sheet material transport

Abstract

A glass sheet transfer robot for sheet material transport is disclosed including a robot arm having an end of arm tool attached thereto, the end of arm tool including a pair of elongate gripping members, each elongate gripping member having a plurality of suction devices. The end of arm tool may further include at least one clamping mechanism, the at least one clamping mechanism fitted with a swing arm having a hub coupled to an actuator configured to rotate the swing arm from a first position where the swing arm is not in contact with the glass sheet and a second position where the swing arm contacts the glass sheet, and a clamping member coupled to a distal end of the swing arm, the clamping member including a contact pad configured with a resilient material that contacts the glass sheet in the second position.

Description

GLASS SHEET TRANSFER ROBOT FOR SHEET MATERIAL TRANSPORTCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority under 35 U.S.C. § 119 of Chinese Patent Application Serial No. 202420775328.X filed on April 15, 2024, the content of which is relied upon and incorporated herein by reference in its entirety.FIELD

[0002] The disclosure relates to a robot arranged to transfer sheet material, and in particular for engaging with glass sheets supported from a top edge of the glass sheet.BACKGROUND

[0003] Glass making processes may utilize robots to handle glass sheets. For example, in glass manufacturing operations for the manufacture of glass sheets for optical display applications, Robots may be used to transfer glass sheets from a draw area, where a glass ribbon is formed and a glass sheet is separated therefrom, to a downstream process. More than one robot may be employed. In some environments, the glass sheet may be suspended from a top portion of the sheets and be unsupported elsewhere. Accordingly, the glass sheet may be susceptible to motion caused by air currents in the manufacturing facility. Additionally, the glass sheet may exhibit bow (curvature). Thus, engagement of the glass sheet by the holding tool of a robot may be difficult. These automated processes rely on successful completion of the various tasks performed by the robots. Should a robot fail to complete a particular action, it may be necessary to sacrifice a glass sheet (e.g., drop the sheet) so the robot can be ready to accept a subsequent glass sheet. This can lead to waste and increased expense.SUMMARY

[0004] Disclosed herein is a supplemental clamping mechanism coupled to the glass sheet holding tool at the end of a robot arm. The clamping mechanism includes a rotatable swing arm that can be rotated to capture a portion of a glass sheet suspended from a top portion of the glass sheet, but which bottom portion of the glass sheet may be free to move in response to atmospheric drafts, pressure differences, etc., or simply exhibit a degree of bow, thus making it easier for other attachment devices on the holding tool, such as suction cups, to fully engage with the glass sheet.

[0005] Accordingly, in a first aspect, a glass sheet transfer robot for sheet material transport is described, comprising a robot arm comprising an end of arm tool attached thereto, the end of arm tool comprising a pair of elongate gripping members, each elongate gripping member comprising a plurality of suction devices. The end of arm tool may further include at least one clamping mechanism, the at least one clamping mechanism comprising a swing arm comprising a hub coupled to an actuator configured to rotate the swing arm from a first position where the swing arm is not in contact with the glass sheet and a second position where the swing arm contacts the glass sheet. The clamping mechanism may still further comprise a clamping member coupled to a distal end of the swing arm, the clamping member comprising a contact pad comprising a resilient material that contacts the glass sheet in the second position.

[0006] In a second aspect, the actuator of the first aspect is coupled to a hub of the swing arm by a shaft and is configured to rotate the shaft and thereby rotate the swing arm.

[0007] In a third aspect, the swing arm of the first aspect or the second aspect may be configured to rotate in a plane orthogonal to a longitudinal axis of the respective gripping member.

[0008] In a fourth aspect, the actuator of any one of the first aspect to the third aspect may be a pneumatic actuator.

[0009] In a fifth aspect, the swing arm of any one of the first aspect to the fourth aspect may be configured to rotate through an angle in a range from 0 degrees to about 220 degrees.

[0010] In a sixth aspect, the clamping member of any one of the first aspect to the fifth aspect may comprise a pair of contact pads, the pair of contact pads arranged at opposite ends of the clamping member.

[0011] In a seventh aspect, a position of each clamping member of any one of the first aspect to the sixth aspect, relative to the respective swing arm, is adjustable.

[0012] In an eighth aspect, the clamping mechanism of any one of the first aspect to the seventh aspect comprises a first stop member arranged to arrest rotation of the swing arm at a first predetermined angular position.

[0013] In a ninth aspect, the first stop member of the eighth aspect may comprise a first adjustment member configurable to vary the first predetermined angular position.

[0014] In a tenth aspect, the clamping mechanism of any one of the first aspect to the ninth aspect comprises a second stop member arranged to arrest the rotation of the swing arm at a second predetermined angular position.

[0015] In an eleventh aspect, the second stop member of the tenth aspect may comprise a second adjustment member configurable to vary the second predetermined angular position.

[0016] In a twelfth aspect, a position of the contact pad of any one of the first aspect to the eleventh aspect may be adjustable in a direction parallel with a longitudinal axis of the clamping member.

[0017] In a thirteenth aspect, the plurality of suction devices of any one of the first aspect to the twelfth aspect may be pneumatically operated.

[0018] In a fourteenth aspect, the plurality of suction devices of any one of the first aspect to the thirteenth aspect may comprise a first plurality of suction devices coupled to a first gripping member of the pair of gripping members, and a second plurality of suction devices coupled to a second gripping member of the pair of gripping members.

[0019] In a fifteenth aspect, the plurality of suction devices of any one of the first aspect to the fourteenth aspect may be individually controllable.

[0020] In a sixteenth aspect, the swing arm of any one of the first aspect to the fifteenth aspect may comprise a shield member.

[0021] Additional features and advantages will be set forth in the detailed description which follows, and in part will be readily apparent to those skilled in the art from that description or recognized by practicing the embodiments as described herein, including the detailed description which follows, the claims, as well as the appended drawings.

[0022] It is to be understood that both the foregoing general description and the following detailed description are merely exemplary and are intended to provide an overview or framework to understanding the nature and character of the claims. The accompanying drawings are included to provide a further understanding and are incorporated in and constitute a part of this specification. The drawings illustrate one or more embodiments, and together with the description explain principles and operation of the various embodiments.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG. 1 is a schematic view of an example glass manufacturing apparatus;

[0024] FIG. 2 is a schematic view of a hot end robot transferring a glass sheet from the draw of the glass making apparatus of FIG. 1 to a weighing apparatus;

[0025] FIG. 3 is a front view of an end-of-arm tool comprising the hot end robot of FIG. 2;

[0026] FIG. 4 is a schematic view of a transfer robot transferring a glass sheet from the weighing apparatus FIG. 2 to a conveyor apparatus;

[0027] FIG. 5 is a front view of an end-of-arm tool comprising the transfer robot of FIG. 2 and illustrating clamping mechanisms arranged thereon;

[0028] FIG. 6 is a top view of a clamping mechanism of FIG. 5 ;

[0029] FIG. 7 is a front view of the clamping mechanism of FIG. 6;

[0030] FIG. 8 is a rear view of the clamping mechanism of FIG. 6;

[0031] FIG. 9 is a top view of an example clamping mechanism with a swing arm in the closed position;

[0032] FIG. 10 is a top view of the clamping mechanism of FIG. 9 with the swing arm in an intermediate position; and

[0033] FIG. 11 is a top view of the clamping mechanism of FIG. 9 with the swing arm in the fully open position.DETAILED DESCRIPTION

[0034] In the following detailed description, for purposes of explanation and not limitation, example embodiments disclosing specific details are set forth to provide a thorough understanding of various principles of the present disclosure. However, it will be apparent to one having ordinary skill in the art, having had the benefit of the present disclosure, that the present disclosure may be practiced in other embodiments that depart from the specific details disclosed herein. Moreover, descriptions of well-known devices, methods and materials may be omitted so as not to obscure the description of various principles of the present disclosure. Finally, wherever applicable, like reference numerals refer to like elements.

[0035] Ranges can be expressed herein as from “about” one particular value, and / or to “about” another particular value. When such a range is expressed, another embodiment includes from the one particular value and / or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent “about,” it will be understood that the particular value forms another embodiment. It will be further understood that the endpoints of each of the ranges are significant both in relation to the other endpoint, and independently of the other endpoint.

[0036] Unless otherwise expressly stated, it is in no way intended that any method set forth herein be construed as requiring that its steps be performed in a specific order. Accordingly, where a method claim does not actually recite an order to be followed by its steps, or it is not otherwise specifically stated in the claims or descriptions that the steps are to be limited to a specific order, it is no way intended that an order be inferred, in any respect. This holds forany possible non-express basis for interpretation, including matters of logic with respect to arrangement of steps or operational flow; plain meaning derived from grammatical organization or punctuation; the number or type of embodiments described in the specification.

[0037] As used herein, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to a “component” includes aspects having two or more such components, unless the context clearly indicates otherwise.

[0038] FIG. 1 is a schematic view of an exemplary glass making apparatus for forming glass substrates, for example glass sheets suitable for the manufacture of electronic display devices, for example display devices used for televisions, computer equipment, advertising displays, and other apparatus and appliances. In particular, FIG. 1 depicts an exemplary down-draw glass manufacturing apparatus (e.g., fusion down-draw process), wherein molten glass is formed in a melting operation and transported to a forming apparatus where the molten glass is formed into a glass ribbon and the glass ribbon separated into individual glass sheets.

[0039] Glass manufacturing apparatus 10 can comprise a glass melting furnace 12 including a melting vessel 14. In addition to melting vessel 14, glass melting furnace 12 can optionally include one or more additional components such as heating elements (e.g., combustion burners and / or electrodes) configured to heat raw material and convert the raw material into a molten material (hereinafter, molten glass). For example, melting vessel 14 may be an electrically boosted melting vessel, wherein energy is added to the raw material through both combustion burners and by direct heating, wherein an electrical current is passed through the raw material, the electrical current thereby adding energy to the raw material via Joule heating.

[0040] In further embodiments, glass melting furnace 12 can include other thermal management devices (e.g., insulation components) that reduce heat loss from the melting vessel. Glass melting furnace 12 may further can include electronic and / or electromechanical devices that facilitate melting of the raw material into a glass melt. Glass melting furnace 12 can include support structures (e.g., support chassis, support member, etc.) or other components.

[0041] Melting vessel 14 can be formed from a refractory material, such as a refractory ceramic material, for example a refractory ceramic material comprising alumina or zirconia, although the refractory ceramic material can comprise other refractory materials, such as yttrium (e.g., yttria, yttria-stabilized zirconia, yttrium phosphate), zircon (ZrSiO-i) or alumina-zirconia-silica or even chrome oxide, used either alternatively or in any combination. In some examples, melting vessel 14 may be constructed from refractory ceramic bricks.

[0042] In embodiments, glass melting furnace 12 can be incorporated as a component of a glass manufacturing apparatus configured to fabricate a glass article, for example a glass ribbon, although the glass manufacturing apparatus can be configured to form other glass articles without limitation, such as glass rods, glass tubes, glass envelopes (for example, glass envelopes for lighting devices, e.g., light bulbs) and glass lenses. Many other glass articles are contemplated. In some examples, the melting furnace may be included in a glass manufacturing apparatus comprising a float bath apparatus, a down-draw apparatus (e.g., a fusion down draw apparatus or a slot draw apparatus), an up-draw apparatus, a pressing apparatus, a rolling apparatus, a tube drawing apparatus, or any other glass manufacturing apparatus that would benefit from the present disclosure. By way of example, FIG. 1 schematically illustrates glass melting furnace 12 as a component of a fusion down-draw style glass manufacturing apparatus 10 for fusion drawing a glass ribbon for subsequent processing into individual glass sheets or rolling the glass ribbon onto a spool.

[0043] Glass manufacturing apparatus 10 can optionally include an upstream glass manufacturing apparatus 16 positioned upstream of melting vessel 14. In some examples, a portion of, or the entire upstream glass manufacturing apparatus 16, can be incorporated as part of the glass melting furnace 12.

[0044] As shown in the embodiment illustrated in FIG. 1, upstream glass manufacturing apparatus 16 can include a raw material storage bin 18, a raw material delivery device 20 and a motor 22 connected to a raw material delivery device 20, for example a screw feeder. Raw material storage bin 18 can be configured to store a quantity of raw material 24 that can be fed into melting vessel 14 of glass melting furnace 12 through one or more feed ports, as indicated by arrow 26. Raw material 24 typically comprises one or more glass forming metal oxides and one or more modifying agents. In some examples, raw material delivery device 20 can be powered by motor 22 to deliver a predetermined amount of raw material 24 from raw material storage bin 18 to melting vessel 14. In further examples, motor 22 can power raw material delivery device 20 to introduce raw material 24 at a controlled rate based on a level of molten glass sensed downstream from melting vessel 14 relative to a flow direction of the molten glass. Raw material 24 within melting vessel 14 can thereafter be heated to form molten glass 28. Typically, in an initial melting step, raw material is added to the melting vessel as particulate, for example as various “sands” and / or powders. Raw material 24 can also include scrap glass (e.g., cullet) from previous melting and / or forming operations. Combustion burners are typically used to begin the melting process. In an electrically boosted melting process, oncethe electrical resistance of the raw material is sufficiently reduced, electric boost can begin by developing an electrical potential between electrodes positioned in contact with the raw material, thereby establishing an electrical current through the raw material, the raw material typically entering, or in, a molten state.

[0045] Glass manufacturing apparatus 10 may also include a downstream glass manufacturing apparatus 30 positioned downstream of glass melting furnace 12 relative to a flow direction of molten glass 28. In some examples, a portion of downstream glass manufacturing apparatus 30 may be incorporated as part of glass melting furnace 12. For example, in some instances, first connecting conduit 32 discussed below, or other portions of the downstream glass manufacturing apparatus 30, can be incorporated as part of the glass melting furnace 12.

[0046] Downstream glass manufacturing apparatus 30 may include a first conditioning (i.e., processing) chamber, such as fining vessel 34, located downstream from melting vessel 14 and coupled to melting vessel 14 by way of the above-referenced first connecting conduit 32. Molten glass 28 may be gravity fed from melting vessel 14 to fining vessel 34 by way of an interior pathway of first connecting conduit 32. Accordingly, first connecting conduit 32 provides a flow path for molten glass 28 from melting vessel 14 to fining vessel 34. However, other conditioning chambers may be positioned downstream of melting vessel 14, for example between melting vessel 14 and fining vessel 34. In some embodiments, a conditioning chamber can be employed between the melting vessel and the fining chamber. For example, while not shown) molten glass from a primary melting vessel can be further heated in a secondary melting (conditioning) vessel positioned between melting vessel 14 and fining vessel 34 or cooled in the secondary melting vessel to a temperature lower than the temperature of the molten glass in the primary melting vessel before entering the fining vessel.

[0047] Bubbles may be removed from molten glass 28 by various techniques. For example, raw material 24 may include multivalent compounds (i.e., fining agents) such as tin oxide that, when heated, undergo a chemical reduction reaction and release oxygen. Other suitable fining agents may include without limitation arsenic, antimony, iron, cerium, and various sulfates, although the use of arsenic and antimony may be discouraged for environmental reasons in some applications. Fining vessel 34 may be heated, for example to a temperature greater than the melting vessel temperature, thereby further heating the fining agent. Oxygen produced by the temperature -induced chemical reduction of one or more fining agents included in the molten glass via the further heating diffuse into bubbles produced during the melting process.The enlarged gas bubbles with increased buoyancy can then rise to a free surface of the molten glass within the fining vessel and thereafter be vented from the fining vessel.

[0048] The downstream glass manufacturing apparatus 30 may further include another conditioning vessel, such as mixing apparatus 36, for example a stirring vessel, for mixing the molten glass that flows downstream from fining vessel 34. Mixing apparatus 36 can be used to provide a homogenous glass melt composition, thereby reducing chemical or thermal inhomogeneities that may otherwise exist within the molten glass exiting the fining chamber. As shown, fining vessel 34 may be coupled to mixing apparatus 36 by way of a second connecting conduit 38. In some embodiments, molten glass 28 can be gravity fed from fining vessel 34 to mixing apparatus 36 by way of an interior pathway of second connecting conduit 38. Molten glass within mixing apparatus 36 may include a free surface, with a free volume extending between the free surface and a top of the mixing apparatus. As used herein, a free volume is a gaseous volume, generally free of liquid material. Similarly, a free surface refers to the surface of the molten glass within a vessel or conduit and represents an interface between the liquid (e.g., molten glass) and the gaseous atmosphere above the molten glass. While mixing apparatus 36 is shown downstream of fining vessel 34 relative to a flow direction of the molten glass, mixing apparatus 36 may be positioned upstream from fining vessel 34 in other embodiments. In some embodiments, downstream glass manufacturing apparatus 30 may include multiple mixing apparatus, for example a mixing apparatus upstream from fining vessel 34 and a mixing apparatus downstream from fining vessel 34. These mixing apparatus may be of the same design, or they may be of a different design from one another. For example, one or more of the vessels and / or conduits may include static mixing vanes positioned therein to promote mixing and subsequent homogenization of the molten material.

[0049] Downstream glass manufacturing apparatus 30 may further include another conditioning chamber such as delivery vessel 40 located downstream from mixing apparatus 36. Delivery vessel 40 can condition molten glass 28 to be fed into a downstream forming device. For instance, delivery vessel 40 can act as an accumulator and / or flow controller to adjust and provide a consistent flow of molten glass 28 to forming body 42 by way of exit conduit 44. The molten glass within delivery vessel 40 can, in some embodiments, include a free surface, wherein a free volume extends upward from the free surface to a top of the delivery vessel. As shown, mixing apparatus 36 may be coupled to delivery vessel 40 by way of third connecting conduit 46. In some examples, molten glass 28 may be gravity fed from mixingapparatus 36 to delivery vessel 40 by way of an interior pathway of third connecting conduit 46.

[0050] Downstream glass manufacturing apparatus 30 may further include forming apparatus 48 comprising the above-referenced forming body 42, including inlet conduit 50. Exit conduit 44 can be positioned to deliver molten glass 28 from delivery vessel 40 to inlet conduit 50 of forming apparatus 48.

[0051] Components of downstream glass manufacturing apparatus 30, including any one or more of connecting conduits 32, 38, 46, fining vessel 34, mixing apparatus 36, delivery vessel 40, exit conduit 44, or inlet conduit 50 may be formed from a precious metal. Suitable precious metals include platinum group metals selected from the group consisting of platinum, iridium, rhodium, osmium, ruthenium and palladium, or alloys thereof. For example, downstream components of the glass manufacturing apparatus may be formed from a platinum-rhodium alloy including from about 70% to about 90% by weight platinum and about 10% to about 30% by weight rhodium. In some embodiments, such components may be formed from greater than about 90% platinum by weight, such as greater than 92% platinum by weight, greater than 94% platinum by weight, greater than 96% platinum by weight, greater than 98% platinum by weight, and even up to 100% platinum by weight. However, other suitable metals for forming downstream components of the glass manufacturing apparatus can include molybdenum, rhenium, tantalum, titanium, tungsten, and alloys thereof.

[0052] Forming body 42 in a fusion down-draw glass manufacturing apparatus can comprise a trough 52 positioned in an upper surface of the forming body and converging forming surfaces 54 (only one surface shown) that converge in a draw direction along a bottom edge (root) 56 of the forming body. Molten glass delivered to forming body trough 52 via delivery vessel 40, exit conduit 44 and inlet conduit 50 overflows the walls of trough 52 and descends along converging forming surfaces 54 as separate flows of molten glass. The separate flows of molten glass join along and below root 56 to produce a single glass ribbon 58 of molten glass that is drawn along a draw plane in draw direction 60 from root 56 by applying a downward tension to the glass ribbon, such as by gravity and / or pulling roll assemblies (not shown), to control dimensions of the glass ribbon as the molten glass cools and a viscosity of the molten glass increases. Accordingly, glass ribbon 58 goes through a visco-elastic transition to an elastic state and acquires mechanical properties that give glass ribbon 58 stable dimensional characteristics. Glass ribbon 58 comprises first outer edge 62a and second outer edge 62b opposite first outer edge 62a, the first and second outer edges extending lengthwisealong glass ribbon 58. Glass ribbon 58 may further comprise first thickened edge portion 64a and second thickened edge portion 64b (hereinafter first bead 64a and second bead 64b, respectively), beads 64a, 64b extending inward from respective first and second outer edges 62a, 62b. Glass ribbon 58 comprises a width W defined between first and second outer edges 62a and 62b. First and second beads 64a, 64b can comprise a thickness greater than a thickness of the glass ribbon along a longitudinal centerline of the glass ribbon. The glass ribbon extending between first bead 64a and second bead 64b can be referred to as the “quality” region 66 of the glass ribbon. Quality region 66 exhibits a substantially uniform thickness and pristine or substantially pristine surfaces and is the most commercially valuable portion of the ribbon, as the beads are typically removed and scrapped or used as cullet. Glass ribbon 58 may, in some embodiments, be separated into individual glass sheets 68 by a glass scoring apparatus 70, although in further embodiments, glass ribbon 58 may be wound onto spools and stored for further processing. A robot 100 (e.g., hereinafter “hot end robot”) may be used to remove glass sheet 68 from the draw area and present the glass sheet for downstream processing.

[0053] The separation of glass ribbon 58 into separate glass sheets 68, and the transfer of the separated glass sheets to downstream processes involves a choregraphed interaction between industrial robots, including hot end robot 100 and a conveyor transfer robot.

[0054] Referring now to FIG. 2, as glass ribbon 58 descends from forming apparatus 48, the glass ribbon is gripped by hot end robot (HER) 100 and scored across a width thereof by scoring apparatus 70 to form a score line. HER 100 bends glass ribbon 58 across the score to produce a tensile stress across the score, whereupon a crack extends across the width of glass ribbon 58 that separates glass sheet 68 from glass ribbon 58. The now-separated glass sheet 68 is supported by HER 100. HER 100 then hands the glass sheet off to a weighing apparatus 200 (as shown by dashed lines), where a weight of the glass sheet may be determined.

[0055] Accordingly, as shown in FIGS. 2 and 3, HER 100 includes a robot arm 102, and an end-of-arm tool (EOT) 104 configured to grip glass sheet 68. Robot arm 102 may be an articulated arm comprising a plurality of joined segments (e.g., joined by rotary joints) providing for movement in several dimensions (directions). Robot arm 102 is mounted on a robot mounting assembly 106 that supports, powers, and / or controls robot arm 102, although in further embodiments, control of robot arm 102 may be provided by a controller not contained within the robot mounting assembly. EOT 104 is attached to a distal end 108 of robot arm 102 and, referring to FIG. 3, includes a central portion 110 including an attachment point (e.g., attachment joint) 112 for attaching EOT 104 to distal end 108 of robot arm 102, and a pluralityof suction cups 114 attached to gripping members 116 for gripping glass sheet 68. More specifically, in example embodiments, EOT 104 comprises opposing elongate gripping members 116, for example two gripping members 116, arranged in an “H” pattern relative to a central portion 110. That is, central portion 110 comprises a cross member 120 of the “H” and the opposing elongate gripping members 116 form the uprights of the “H” and are generally orthogonal to cross member 120. The plurality of suction cups 114 are arranged along a length of each gripping member 116. Gripping members 116 may be extensible to accommodate different glass sheet sizes (e.g., widths). For example, in embodiments, cross member 120 may comprise a first cross portion 122 that is extensible relative to a second cross portion 124. In some embodiments, first cross portion 122 may slidably engage with second cross portion 124 such that a length of the cross portion may be varied. That is, distance 127 separating opposing gripping members 116 may be variable, either manually by extending first cross portion 122 relative to second cross portion 124, or by one or more actuators (not shown) configured to move one or both of the opposing gripping members 116 via the extensible cross portion 122. The one or more actuators may, for example, be pneumatically operated. Means for securing first and second cross portions 122, 124 may be provided. For example, an inside diameter of second cross portion 124 may be larger than the outside diameter of first cross portion 122 such that first cross portion 122 slidably engages within second cross portion 124. The larger of the cross portions may include a split collar that can be reduced in diameter, thereby locking the first cross portion relative to the second cross portion. Other means of securing (locking) first cross portion 122 relative to the second cross portion 124 may be used as are known in the art, and embodiments disclosed herein are not limited in this regard. In some embodiments, there may be a plurality of cross members 120. For example, FIG. 3 illustrates HER 100 comprising two cross members 120.

[0056] The plurality of suction cups 112 may include a first plurality 114a of suction cups arranged along a length of a first gripping member 116a and a second plurality 114b of suction cups arranged along a length of a second gripping member 116b. The plurality of suction cups (e.g., the first plurality of suction cups 114a and / or the second plurality of suction cups 114b) may be pneumatically operated. The plurality of suction cups may be individually actuated. For example, in some embodiments, individual suction cups may be operated independently from other suction cups of a plurality of suction cups such that the application (or removal) of suction at any one or more suction cups may be timed differently from the application (or removal) of suction at another one or more of the plurality of suction cups.

[0057] In embodiments, HER 100 may be used to separate glass sheet 68 from glass ribbon 58 by engaging glass ribbon 58 below score line 126 formed by scoring apparatus 70. HER 100 may then apply a bending moment to the lower end of glass ribbon 58, thereby applying a tensile stress across the score line that propagates a crack along the score line and separates the glass sheet from the glass ribbon. Once separated, HER 100 conveys the glass sheet to weighing apparatus 200.

[0058] Referring to FIG. 2, weighing apparatus 200 comprises a rail 202 including one or more weighing devices 204 configured to support glass sheet 68 from a top edge portion thereof, such as by clamping to the top edge portion, and then determining a weight of glass sheet 68. Accordingly, each weighing device 204 comprises a supporting portion 206 and a weight determining portion 208, wherein the supporting portion 206, for example a clamp, is coupled to the weight determining portion 208. The supporting portion couples to the top edge portion of glass sheet 68 and supports the glass sheet as the weight of the glass sheet is determined by the weight determining portion. Weight determining portion 208 may be any device capable of determining the weight of an object, for example strain gauges, spring devices, and the like, and embodiments disclosed herein are not limited to a particular weight determining device. As noted previously, because glass sheet 68 is supported by a top edge portion of the glass sheet by the supporting portions 206, typically without other supporting methods applied to other portions of the glass sheet, the glass sheet may move (e.g., swing) while supported by supporting portions 206 due to air currents in the manufacturing facility. Moreover, the glass sheet may exhibit bowing in one or more directions, such as a bow (curl) at the bottom of the glass sheet (where the glass sheet weight pulling down due to gravity is the least). Either or both of these phenomenon may be present

[0059] Once the weight of glass sheet 68 has been determined, a transfer robot (TR) 300 attaches to glass sheet 68 (shown in dashed lines in FIG. 4) and transfers the glass sheet to a downstream process. For example, in embodiments, TR 300 may capture glass sheet 68 (e.g., attach thereto) and transfer glass sheet 68 to a conveyor system 360 that transports glass sheet 68 to further downstream processes, such as grinding and washing processes. Conveyor system 360 includes a rail 362 and one or more supporting devices 364 that engage with and support glass sheet 68 so that glass sheet 68 is supported from rail 362 by supporting devices 364. For example, supporting devices 364 may be clamps that engage with a top edge portion of glass sheet 68, such as clamping thereto, although in further embodiments, other means of engaging and supporting glass sheet 68 may be employed. Supporting devices 364 are movable alongrail 362 so that glass sheet 68 can be traversed along rail 362 from a first location to a second location.

[0060] During the transfer (handoff) operation between weighing apparatus 200 and TR 300, engagement of glass sheet 68 may not always be successful due to motion of the glass sheet or bow present in the glass sheet. That is, TR 300 may not be able to capture glass 68 because the capture operation is interfered with due to motion of the glass sheet or distortion (e.g., bow) in the glass sheet. These factors can interfere with acquisition of glass sheet 68 by TR 300 from weighing apparatus 200. If acquisition of the glass sheet by TR 300 does not occur within a specified time, given that a subsequent glass sheet would be presented to weighing apparatus 200 by the HER 100, the controller for the weighing apparatus may be programmed to deactivate the support devices on the weighing apparatus, thereby causing glass sheet 68 to be released. The now-released glass sheet would fall to the manufacturing facility floor so that the weighing apparatus is prepared to receive a subsequent glass sheet from HER 100.

[0061] Turning to FIGS. 4 and 5, TR 300 may be identical to or similar to HER 100, and many of the features of HER 100 apply also to TR 300. Thus, TR 300 includes a robot arm 302, and an end-of-arm tool (EOT) 304 configured to engage with glass sheet 68, for example to grip glass sheet 68. Robot arm 302 may be an articulated arm comprising a plurality of joined segments (e.g., joined by rotary joints) providing for movement in several dimensions (directions). Robot arm 302 is mounted on a robot mounting assembly 305 that supports, powers, and / or controls robot arm 302, although in further embodiments, control of robot arm 302 may be provided by a controller not contained within the robot mounting assembly. EOT 304 is attached to a distal end 306 of robot arm 302 and includes a central portion 308 comprising an attachment point (e.g., attachment joint) 310 for attaching EOT 304 to distal end 306 of robot arm 302, and a plurality of suction cups 312 attached to EOT 304 for capturing glass sheet 68. More specifically, in example embodiments, EOT 304 comprises opposing elongate gripping members 316 arranged in an “H” pattern relative to central portion 308. Thus, central portion 308 comprises a cross member 318 of the “FT and the opposing elongate gripping members 316 form the uprights of the “H” and are generally orthogonal to cross portion 318. The plurality of suction cups 312 are arranged along a length of each gripping member 316. The gripping members 316 may be extensible to accommodate different glass sheet sizes (e.g., widths). That is, distance 320 separating opposing gripping members 316 may be variable, either manually, or by one or more actuators (not shown) configured to move one or both of the opposing gripping members 316. The one or more actuators may, forexample, be pneumatically operated. In embodiments, cross member 318 may comprise a first cross portion 321 that is extensible relative to a second cross portion 323. In some embodiments, first cross portion 321 may slidably engage with second cross portion 323 such that a length of the cross portion may be varied. That is, distance 320 separating opposing gripping members 316 may be variable, either manually by extending first cross portion 321 relative to second cross portion 323, or by one or more actuators (not shown) configured to move one or both of the opposing gripping members 316 via the extensible cross portion 321. The one or more actuators may, for example, be pneumatically operated. Means for securing first cross portion 321 relative to second cross portion 323 may be provided. For example, an inside diameter of second cross portion 323 may be larger than the outside diameter of first cross portion 321 such that first cross portion 321 slidably engages within second cross portion 323. The larger of the cross portions may include a split collar that can be reduced in diameter, thereby locking the first cross portion relative to the second cross portion. Other means of securing (locking) the first cross portion relative to the second cross portion may be used as are known in the art, and embodiments disclosed herein are not limited in this regard. In some embodiments, there may be a plurality of cross members 318. For example, FIG. 5 illustrates TR 300 comprising two cross members 318.

[0062] Additionally, the plurality of suction cups 312 may include a first plurality 312a of suction cups arranged along a length of a first gripping member 316a and a second plurality 312b of suction cups arranged along a length of a second gripping member 316b. The plurality of suction cups (e.g., the first plurality of suction cups 312a and / or the second plurality of suction cups 312b) may be pneumatically operated. The plurality of suction cups 312 may be individually actuated. For example, in come embodiments, individual suction cups may be operated independently from other suction cups of the plurality of suction cups 312 such that the application (or removal) of a suction at any one or more suction cups may be timed differently from the application (or removal) of a suction at another one or more of the plurality of suction cups.

[0063] To increase the ability of the TR to capture a glass sheet from weighing apparatus 200, in accordance with embodiments described herein TR 300 may further comprise a plurality of clamping mechanisms 400 fixed thereto, as shown in FIGS. 5-11. More specifically, the plurality of clamping mechanisms 400 may be coupled to gripping members 316 of EOT 304. For example, at least one clamping mechanism 400 may be coupled to each gripping member316 of EOT 304 (e.g., first and second gripping members 316a, 316b). In some embodiments, two or more clamping mechanisms 400 may be coupled to each gripping member 316.

[0064] An example clamping mechanism 400 according to embodiments described herein is shown in FIGS. 6-8. Clamping mechanism 400 comprises a body portion 402; an actuator 404, for example a pneumatic actuator, coupled to body portion 402; a swing arm 406; an actuator shaft 408 extending from actuator 404 and coupled to hub 410 of swing arm 406; a clamping member 412 attached to a distal end of swing arm 406, and; a contact pad 414 coupled to clamping member 412. Actuator shaft 408 extends from actuator 404 to hub 410 of swing arm 406. Accordingly, swing arm 406 is configured to rotate in a plane orthogonal to a longitudinal axis of the respective gripping member when actuator 404 is actuated. Actuator 404 may be pneumatically operated. Contact pad 414 may be made from a resilient material, for example a silicon or other resilient high temperature material, to prevent damage to glass sheet 68. In some embodiments, swing arm 406 may include a shield portion 416 arranged to protect components of the clamping mechanism from heat radiated from the glass sheet, and glass shards that may be formed from accidental glass sheet breakage. In embodiments, clamping mechanism 400 may include one or more stop devices 418 arranged to provide a stop for movement (rotation) of swing arm 406. Stop device 418 may be adjustable such that a stop position for swing arm 406 can be varied. For example, each stop device 418 may include an adjustment member 420, e.g., a screw, or other suitable mechanism, for adjusting aposition of a stop member 422 positioned at an end of adjustment member 420. Adjustment member 420 may be configured to engage with a stop block 424 coupled to body portion 402, wherein movement of adjustment member 420, e.g., rotation, causes a position of stop member 422 to vary relative to body portion 402.

[0065] Referring now to FIGS. 7-8, clamping member 412 may be adjustable such that a position of clamping member 412 may be varied relative to gripping member 316. For example, in embodiments, swing arm 406 may include an attachment bracket 428, and clamping member 412 may include slots 430 that engage with fasteners 432 that couple clamping member 412 to attachment bracket 428. To adjust a position of clamping member 412, fasteners 432 are loosened, after which clamping member 412 may be repositioned by moving the clamping member to a desired position, then tightening the fasteners. Similarly, a position of contact pads 414 may be varied. For example, contact pad 414 may be attached to a bracket 434 that is coupled to clamping member 412. In embodiments, bracket 434 may include slots 436. Fasteners 438 extend through the slots and couple the bracket, and therebycontact pad 414, to clamping member 412. In the same manner as clamping member 412, bracket 434 and contactpads 414 may be adjusted by loosening fasteners 438, adjusting bracket 434, and tightening fasteners 438.

[0066] Actuating air may be supplied to actuator 404, and exhausted therefrom, via ports 440, 442, respectively.

[0067] FIG. 9 illustrates an example clamping mechanism 400, wherein swing arm 406 is in the closed position, e.g., wherein contact pad 414 may be in contact with a glass sheet 68. Swing arm 406 is rotatable via actuator 404, which is connected to hub 410 of swing arm 406 by shaft 408. In the closed position, swing arm may be in contact with stop member 422 of a first stop device 418. Stop device 418 prevents rotation of swing arm 406 beyond a predetermined angular position. FIG. 10 illustrates the clamping mechanism of FIG. 9, wherein swing arm 406 is in an intermediate position, e.g., wherein contact pad 414 is not in contact with a glass sheet 68 but is not in a fully open position. FIG. 11 illustrates the clamping mechanism of FIGS. 9 and 10, wherein swing arm 406 is in a fully opening position, wherein contact pad 414 is not in contact with a glass sheet, the swing arm is in contact with a second stop device 418 that prevents further rotation of the swing arm.

[0068] Operation of clamping mechanism 400 proceeds as follows. As TR 300 moves EOT 304 toward glass sheet 68 supported from a top edge portion thereof by weighing apparatus 200, swing arm 406 is in the fully open position, for example at an angle of 220 degrees, 230 degrees, 240 degrees, 250 degrees, 260 degrees 270 degrees, or even 275 degrees relative to the fully closed position (e.g., against a stop member 422). As EOT 304 engages with glass sheet 68, actuator 404 rotates swing arm 406 to the closed position (e.g., zero degrees), wherein contact pad 414 contacts glass sheet 68 and pulls glass sheet 68 toward EOT 304. In some embodiments, as EOT 304 approaches glass sheet 68 supported by weighing apparatus 200, swing arm 406 may moves to an intermediate position, for example in a range from about 100 degrees to about 160 degrees, such as an angle of 120 degrees, relative to the fully closed position.

[0069] It will be apparent to those skilled in the art that various modifications and variations can be made to embodiments of the present disclosure without departing from the spirit and scope of the disclosure. Thus, it is intended that the present disclosure cover such modifications and variations provided they come within the scope of the appended claims and their equivalents.

Claims

What is claimed is:1 . A glass sheet transfer robot for sheet material transport, comprising: a robot arm comprising an end of arm tool attached thereto, the end of arm tool comprising a pair of elongate gripping members, each elongate gripping member comprising: a plurality of suction devices; and at least one clamping mechanism, the at least one clamping mechanism comprising a swing arm comprising a hub coupled to an actuator configured to rotate the swing arm from a first position where the swing arm is not in contact with the glass sheet to a second position where the swing arm contacts the glass sheet, and a clamping member coupled to a distal end of the swing arm, the clamping member comprising a contact pad comprising a resilient material that contacts the glass sheet in the second position.

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

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

4. The glass sheet transfer robot of claim 1, wherein the actuator comprises a pneumatic actuator.

5. The glass sheet transfer robot of claim 1 , wherein the swing arm is configured to rotate through an angle in a range from 0 degrees to about 220 degrees.

6. The glass sheet transfer robot of claim 1, wherein the clamping member comprises a pair of contact pads, each of the pair of contact pads arranged at opposite ends of the clamping member.

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

8. The glass sheet transfer robot of claim 1, wherein the at least one clamping mechanism comprises a first stop member arranged to arrest rotation of the swing arm at a first predetermined angular position.

9. The glass sheet transfer robot of claim 8, wherein the first stop member comprises a first adjustment member configurable to vary the first predetermined angular position.

10. The glass sheet transfer robot of claim 1, wherein the at least one clamping mechanism comprises a second stop member arranged to arrest rotation of the swing arm at a second predetermined angular position.

11. The glass sheet transfer robot of claim 10, wherein the second stop member comprises a second adjustment member configurable to vary the second predetermined angular position.

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

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

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

15. The glass sheet transfer robot of claim 1, wherein the plurality of suction devices are individually controllable.

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

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