Dual-Arm Robotic Glass Stacking with Rotating Suction Frames
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Solution Overview
Problem
Existing automated glass stacking systems are limited by throughput, inability to rotate sheets, and simultaneous stacking of multiple sheets, which restricts their efficiency and versatility in handling various sheet sizes and shapes.
Innovation Solution
A robotic sheet stacking system with independently operable robot arms on both sides of a conveyor line, equipped with suction frames that can rotate sheets about multiple axes, allowing for efficient and continuous stacking of multiple sheets on a rack, even those of varying sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If existing automated glass stacking systems are used, then stacking operation is automated, but throughput is limited and sheets cannot be rotated
Solution Approach 1:
The system divides the stacking operation into two independent robot arms (first and second robot arms) operating in parallel on opposite sides of the conveyor line. Each robot arm independently picks and stacks sheets, allowing simultaneous operation that doubles the throughput compared to single-arm systems while maintaining full automation.
2Extent of automation
If existing automated glass stacking systems are used, then stacking operation is automated, but sheets cannot be turned/rotated during stacking
Solution Approach 1:
The robot arms are equipped with multiple degrees of freedom including rotational joints that enable dynamic movement and rotation of sheets during the picking and stacking process. This allows the system to adapt sheet orientation as needed, providing versatility for different stacking patterns and sheet configurations while maintaining automation.
3Extent of automation
If existing automated glass stacking systems are used, then stacking operation is automated, but ability to simultaneously stack multiple sheets is limited
Solution Approach 1:
The system uses two independent robot arms that can simultaneously pick and stack sheets in parallel operations. This segmentation of the stacking function across multiple independent actuators enables simultaneous handling of multiple sheets, effectively doubling the stacking capacity compared to single-arm systems.
Solution Approach 2:
The first and second robot arms operate in a continuous alternating sequence, with one arm picking sheets while the other deposits them. This continuous operation eliminates idle time between picking and stacking actions, maintaining constant productivity and enabling simultaneous processing of multiple sheets through coordinated parallel operations.
4Device complexity
If manual stacking is used, then system complexity is low, but productivity and throughput are limited
Solution Approach 1:
The robot arms are equipped with suction frames that automatically grip and hold sheets during transfer operations. The sheets are self-contained on the suction frames during movement, eliminating the need for additional support structures or complex handling mechanisms, thus maintaining relative system simplicity while achieving high automation and productivity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances throughput and versatility by enabling efficient, continuous, and reliable stacking of multiple sheets, including those that require rotation, thereby overcoming the limitations of existing systems.
Implementation Method 1
The first robot arm has attached thereto a first suction frame. The second robot arm has attached thereto a second suction frame.
Data Source
AI summary
The invention provides systems and methods for robotically stacking sheets. The systems and methods involve a robot arm and a conveyor line. The robot arm has attached thereto a suction frame. In some embodiments, the systems and methods involve first and second robot arms. In such embodiments, the system and method facilitate and involve a sequentially alternating unloading operation such that the system has a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded.