WO1990002696A1

WO1990002696A1 - Process for assembling two glass sheets to form an insulating glass pane

Info

Publication number: WO1990002696A1
Application number: PCT/EP1989/001047
Authority: WO
Inventors: Karl Lenhardt
Original assignee: Lenhardt Maschinenbau Gmbh
Priority date: 1988-09-10
Filing date: 1989-09-08
Publication date: 1990-03-22
Also published as: EP0433386B1; DE3830866C2; DE58907015D1; EP0433386A1; DE3830866A1

Abstract

In a process for assembling two glass sheets (11, 12) to form an insulating glass pane, the glass sheets (11, 12) are arranged mutually parallel at a predetermined distance apart by means of suction conveyors. While the two sheets of glass (11, 12) are maintained at the predetermined distance apart by suction applied to their non-facing surfaces, without the use of any kind of spacers between them, an endless billet of an initially paste-like material which subsequently sets is injected along the edges and between the two sheets (11, 12), to which it adheres. During this time, the glass sheets are rotated synchronously, without any relative motion occurring between them, about an axis passing through their surfaces. Suction on one glass sheet (11) is then stopped and the insulating glass pane is transported and delivered by means of continued suction on the other glass sheet (12).

Description

Method for assembling two glass sheets into an insulating glass pane

The invention is based on a method with the features specified in the preamble of claim 1. Such a method is known from DE-OS 35 39 879. Two horizontally conveying suction conveyors in the form of suction conveyor belts, which are arranged parallel to one another, are used to carry out the known method. Of the two glass panels joining together to form an insulating glass pane, one adheres to one suction conveyor and the other to the opposite suction conveyor, the glass panels being approximately in the vertical position. The glass sheets are fed to the two suction conveyors by means of another horizontal conveyor, which is equipped with a roller conveyor made of driven rollers on which the glass panels stand, while they are supported on a support device (roller array or air cushion wall) which is parallel to the roller conveyor above extends to him. By means of the two suction conveyors, the two glass sheets are positioned congruently at a predetermined distance and then a strand of a pasty and then solidifying mass, which adheres to the two glass sheets, is injected into the space between the two glass sheets along their edge by means of a nozzle. This can be done with one or more

Nozzles are carried out, the vertical strands being sprayed upwards or downwards when the glass sheet is at rest, the horizontal strands, on the other hand, are sprayed through a nozzle which is at rest, while the two glass sheets are conveyed forward or backward in a straight line by the suction conveyor. If the space between the panes is hermetically sealed in this way by a circumferential strand, the two glass panels, which are now connected to form an insulating glass pane, are conveyed further on a removal conveyor belt. If necessary, they can be compressed beforehand between the two suction conveyors to a predetermined nominal size. The known device and the method carried out with it are well suited for the assembly of flat insulating glass panes with straight edges, but not for the assembly of curved insulating glass panes.

From DE-PS 28 46 758 and from AT-PS 326 295 it is known to use a flat, rectangular insulating glass pane, the individual glass panels of which are already firmly connected to one another by a frame-shaped spacer, for sealing their edge joint in a straight line on a stationary sealing nozzle along and by a pivoting device, which comprises a suction device, to rotate successively through 90 °, while the sealing process is interrupted, in order to bring the four edges of the insulating glass pane into contact with the nozzle one after the other. This procedure is not suitable for assembling curved, yet unconnected glass sheets to form a curved insulating glass pane.

The object of the present invention is to further develop the generic method in such a way that curved insulating glass panes can also be assembled with it. In addition, a device for carrying out the further developed method is to be specified. There is a need in automotive engineering for curved insulating glass panes.

This object is achieved by a method with the features specified in claim 1 and by a device with the features specified in claim 12. Advantageous further developments of the invention are the subject of the dependent claims.

While previously unconnected glass panels were kept at a distance in parallel only at rest and / or during a horizontal conveying movement by injecting a pasty and then solidifying mass with a plastic spacer frame have been provided, it is proposed according to the invention for the first time to rotate the glass plates together synchronously and thereby to guide them along one, possibly also several or in sections along one of several nozzles. This can be achieved in that the suction devices with which the two glass sheets are held and moved are rotatably attached to the end of a three-dimensionally movable robot arm by two robots. The precision with which robot drives can be controlled by microcomputers is sufficient to turn the two glass panels - although they are not connected - almost synchronously like a rigid unit. The glass panels are preferably rotated so that the edge of one of the two glass panels moves along at a fixed point in space. At this point, a nozzle can then be arranged essentially stationary, along which the curved glass sheets are moved with their edges. A correspondingly precise movement control of the glass panels is possible with robots, especially when producing insulating glass panes for automobiles, only a few pane formats have to be produced in large numbers, so that the movement coordinates correspond to a read-only memory of the glass panels controlling microcomputer can be entered. To program the microcomputers, one can proceed by first programming the microcomputer of one of the two robots with the movement coordinates, then the microcomputer of the other

The robot is programmed with the mathematically mirrored movement coordinates, then any possible synchronization errors are observed in a test run, and the movement coordinates are then corrected to minimize the synchronization errors. Preferably, two robots of the same design are used because this makes it easier to achieve synchronism. In order to produce a closed strand leading around the glass sheets, one can pass an edge section past the nozzle while it is at rest, and one can move the nozzle past another edge section while the glass sheets are at rest, and basically a simultaneous movement is also both the glass panels and the nozzle possible. However, the outlay in terms of apparatus for carrying out the method is the least if the nozzle is arranged essentially stationary and the edge of the glass plates is moved along it, because then only the movement of the two suction devices has to be controlled, but it does not have to be coordinated on a movement of the nozzle. For the nozzle, on the other hand, it is sufficient if it is movably, in particular adjustable and preferably resiliently mounted at the intended location at the intended location, so that it presses the edge of one or the other glass sheet, possibly also the edge of both, with massive pressure during the spraying process Glass panels are applied. However, the latter will only be possible in exceptional cases, since insulating glass panes for use as side windows in automobiles are preferably composed of glass panels of different sizes (DE-OS 35 17 581). In this case, the nozzle will expediently be brought into contact with the edge of the smaller glass sheet.

If - as preferred - the edge of the glass sheets is guided along a stationary nozzle, then at least one edge point of the glass sheet moves on a closed path curve in the course of a full rotation of the glass sheet, and one can pass through Comparison of the coordinates of the start and end point of the positions of the two suction devices at the end of each assembly process make a statement as to whether the prescribed movement path has been observed.

The development according to claim 4 has the advantage that the device for carrying out the method is simplified, in particular if the axis of rotation passes through the center of gravity of the insulating glass pane, as a result of which the force required for turning and the translatory portion of the rotary movement become particularly small.

The development according to claim 7 has the advantage that the movements of the robots in the direction of the axis of rotation are minimal.

The development according to claim 8 has the advantage that the strand injected between the two glass sheets is influenced in almost the same way by gravity at all points on the edge of the pane. If, on the other hand, an axis of rotation parallel to the surface of the earth should be more favorable in terms of equipment, then it is advisable to carry out the rotation in such a way that the edge of the glass sheet is moved down along the nozzle (claim 9), so that the extruded strand section is the freshest and therefore can still support the easiest flowing strand section. The development according to claims 10 and 11 has the advantage that any tolerances in the thickness of the glass sheets, which result in corresponding fluctuations in the spacing of the glass sheets, and also any metering inaccuracies when the mass is injected between the two glass sheets, and fluctuations in synchronism when rotating of the two glass panels can be compensated later. To do this, it is of course necessary that the glass sheets are kept at a distance during the injection process that is somewhat larger than the desired distance of the glass sheets, preferably 1 to 2 mm larger. The glass sheets are then approximated to one another by this measure, and the strand is thereby compressed from the fit and progressively solidifying mass, so that it connects seamlessly to the glass sheets at all points on the edge thereof.

A major advantage of the invention is that the curved insulating glass panes can be assembled with relatively little outlay on equipment. In particular, the two robots that are used to carry out the rotary movement of the glass panels can fetch and position the glass panels themselves. In a further development of the invention, it is therefore provided that feed conveyors for the two glass sheets are arranged within the reach of the robot. Since the glass sheets must be washed before assembly, the feeders for the two glass sheets are preferably each passed through a washing machine. They then come freshly washed out of the washing machine into the range of the respective robot and can be gripped, positioned and shortly afterwards by the insulating glass pane can be assembled without any risk of contamination due to longer waiting times, through temporary storage or through special transfer devices. So that the robots position the two glass sheets exactly in a repeatable relative position, they should be able to place their suction device repeatedly on the glass sheet in a predetermined position and orientation. This could be done by providing the suction device with sensors that scan the glass panel and control the robot in such a way that the suction device assumes the desired position. Preferably, however, fixed stops are provided on the respective feed conveyor, with the aid of which the glass sheet is repetitively positioned in a predetermined position, so that it is sufficient to program the robots in a manner which is conventional in such a way that they repeatedly move to the predetermined position and get her glass plate. After the assembly process has been completed, the insulating glass pane can either be deposited by one or the other robot, for example placed in a magazine, with which the insulating glass panes are brought into a warehouse or are used for further use. The fact that the deposit can be done either by one or the other robot means that work can be carried out without interruption: if a magazine within the reach of one robot is full, a second magazine can be filled next within reach of the other robot and in the In the meantime, the filled magazine can be replaced by an empty magazine within the reach of the first robot.

The design of the suction device according to claim 18 has the Advantages that the glass sheet can lie against the suction device over the entire surface and that despite the elastically yielding surface, sufficient pressure can be exerted with sufficient dimensional accuracy to finally press the insulating glass pane together.

The development according to claim 19 has the advantage that the plate can be precisely adapted to its contour by heating in contact with a selected glass sheet.

Claim 20 describes an alternative embodiment of the suction device. Your development according to claim 21 has the advantage that the stops between the suction plates facilitate exact positioning for the glass sheet; at the same time, they can be used to press the insulating glass pane together with exact dimensions. For this purpose, they are preferably adjustable.

The development according to claim 23 has the advantage that the exact position of the glass sheets on the suction devices can be checked.

The development according to claim 24 has the advantage that the position of the glass sheets, in particular their mutual distance, can be checked above all where compliance with dimensional tolerances is particularly important, namely at the edge of the insulating glass pane. The embodiment according to claim 25 has to be that any flutter of the robot, which synchronously the suction ^• devices are to rotate, offset the advantage, because the suction devices for the duration of the turning process rotationally may be connected together so that keiner¬ lei relative rotation between them can occur. A particularly simple embodiment of the devices with which the two suction devices can be connected to one another in a rotationally fixed manner is the subject of claim 26. In principle, the pins can be advanced and retracted in any manner by motor; pneumatically actuated piston-cylinder units are preferably used, in which the piston rods are the said pins. The receptacles for the pins can be, for example, eyelets on the opposite suction device or holes in a frame part of the opposite suction device. The development according to claim 28 has the advantage that the pins and the cylinders which operate them can be brought into a position which is approximately parallel to the suction device in question, as a result of which they interfere particularly little when passing the nozzle.

At least three such devices are preferably provided distributed around the circumference of the suction devices. Three such devices are sufficient for the assembly of smaller insulating glass panes. For larger insulating glass panes, more than three such devices can also be provided. These devices should be able to be operated independently of one another. This has the advantage that when the nozzle approaches such a device, this device can be opened (if it is a pen, the pen can be withdrawn) so that the nozzle can pass through this device unhindered. In this case, there is still a twist-proof connection of the two suction devices, since the other devices the two suction devices still connecting directions. After the passage of the nozzle on the respective device, the latter is operated again and brought into engagement with the opposite suction device Ge- ^".

The invention is explained below on the basis of schematic drawings.

FIG. 1 shows a top view of a device for assembling two glass sheets for an insulating glass pane,

FIG. 2 shows a section of the device shown in FIG. 1 on an enlarged scale in a top view, namely two glass panels kept apart by robot arms during the injection of the compound,

FIG. 3 shows * a longitudinal section through the front part of the nozzle with which the mass is injected,

FIG. 4 shows a top view of a detail from a device as shown in FIGS. 1 and 2, but with different suction devices,

FIG. 5 shows suction devices in a representation as in FIG. 2, but additionally equipped with devices for their twist-proof connection,

FIG. 6 shows in section a detail of one of those devices on one of the suction devices,

FIG. 7 shows a section of the arrangement shown in FIG. 5 from a different viewing direction, and FIG. 8 shows the spatial arrangement of three devices for the rotationally fixed connection of the two suction devices to one of the suction devices.

FIG. 1 shows two mirror-image robots 1 and 2, which are the same as each other, each consisting of a fixed base 3 or 4, on which a fuselage 5 or 6 is arranged rotatably about a vertical axis 17 or 18. Attached to the fuselage is a robot arm 7 or 8 which can be pivoted about a horizontal axis 19 or 20 and which consists of a plurality of sections 7a, 7b, 7c and 7d or 8a, 8b, 8c and 8d which are movable relative to one another. The sections 7a and 7b can be pivoted about the horizontal axis 19 and 20, respectively. Sections 7b and 8b are displaceable relative to sections 7a and 8a in the direction of their longitudinal axis 25 and 26, respectively. Sections 7c and 8c can be pivoted relative to sections 7b and 8b about a horizontal axis 21 and 22, respectively. The foremost sections 7d and 8d are opposite sections 7c and 8c about an axis lying lower and therefore not shown, parallel to axis 21 or 22, and also about an axis, also not shown, which is at right angles to axis 21 and axis parallel to it or to axis 22 and the axis lying parallel to it is pivotable. Finally, the suction device 9 is about the longitudinal axis 25 of the front robot arm section 7d and

Suction device 10 can be rotated about the longitudinal axis 26 of the front robot arm section 8d. This provides sufficient freedom of movement to bring the individual glass panels 11 and 12 from the feed conveyors 13 and 14, respectively, to position them opposite one another at a predetermined distance, so that the axes 25 and 26 are aligned with one another, the two glass panels 11 and 12 then with its edge on the nozzle 15 to move and then place the completely assembled insulating glass pane in one magazine 16 with one of the robot arms (in the example shown it is the robot arm 8).

The suction devices 9 and 10 each have a frame 27 or 28, on which a plurality of suction plates 29 and stops 30 are attached in a position adapted to the surface shape of the glass panels 11 and 12, respectively. The suction plates 29 have, in a manner known per se, an elastically yielding front side which projects beyond the front side of the stops 30 as long as the suction plates have not sucked in a glass sheet.

The feed conveyors 13 and 14 are horizontal conveyors which have a horizontal roller conveyor, the rollers 31 of which are driven synchronously and rotatable about almost horizontal axes 32. Above the rollers and set back somewhat from the rollers, an endless support belt 33 is provided, which is guided around deflection rollers 34, the axis of rotation 35 of which runs at right angles to the axes of rotation 32 of the rollers 31, approximately perpendicularly, so that the common tangential plane the roller 31 extends at right angles to the front of the support belt 33. The glass panels 11 and 12 are placed on the rollers 31 and leaned against the support belt 33 with their upper edge. So that the glass sheets from the feed conveyor 13, 14 do not tip down, the axes 32 of the rollers 31 are tilted backward a few degrees from the horizontal and accordingly the axes 35 of the deflection rollers 34 are also the same Dimension tipped backwards from the vertical position. So that the glass sheets 11, 12 are conveyed on the feed conveyors 13, 14 in a constant, reproducible orientation, the rollers 31 are provided with a circumferential annular groove 36, which is wedge-shaped in cross section and exactly guides the lower edge of the glass sheets. At the end of the feed conveyor 13, 14 there is an end stop, not shown, which stops the glass sheets 11, 12 in a predetermined position. The glass panels can therefore be removed by the robots 1 and 2 in a constant position from the feed conveyors 13 and 14 and thus positioned in a slightly constant manner so that they lie opposite one another in parallel at the predetermined distance and the axes of rotation 25 and 26 are aligned with one another (see also Fig. 2).

The nozzle 15 is located on a nozzle head 40 which is rotatably mounted in a holder 41; it can be pushed back and forth together with the holder 41 by means of a pressure medium cylinder (preferably a pneumatic pressure medium cylinder) and can thus be brought resiliently into contact with the edge of one or the other glass plate 11 or 12.

The structure of the nozzle head is shown in detail in FIG. 3. A shaft 47, which is drilled lengthways, is rotatably mounted in the holder 41. The nozzle 15 is screwed to the front end of the shaft 47. Therefore, the shaft 47 is also referred to as a nozzle shaft. In the nozzle shaft, two channels 43 and 44 run parallel to the axis thereof, which continue into the nozzle 15 and meet in the nozzle mouth 45. In channels 43, 44 run longitudinally displaceable needles 48 and 49, which are actuated by pressure medium cylinders, not shown, and serve to close the nozzle 15 as required. The channel 43 has a connection with an annular channel 50 surrounding the nozzle shaft 47 in the holder 41 and the channel 44 has a connection with another ring channel 51 surrounding the nozzle shaft 47 in the holder 41. A metering cylinder 46 is fastened to the holder, which into a Ring channel 50 leading connection channel 52 opens. In addition, a tube 53 is attached to the holder 41, which opens into a connecting channel 54 leading to the ring channel 51. A more detailed description of the device consisting of the nozzle head and its holder can be found in the international patent application PCT / EP89 / 00425; however, a further metering cylinder is provided there instead of the tube 53.

A composite strand is injected through the nozzle between the two glass sheets 11 and 12. The composite strand consists of two partial strands, one of which faces the interior between the two glass panels, while the other partial strand faces the air. The inner partial strand usually consists of a thermoplastic material, in particular of a polyisobutylene, in which a powdery or granular drying agent, for example a molecular sieve, is distributed. The outer part of the strand usually consists of a two-component adhesive, in particular a thiokol. Accordingly, the nozzle 15 has a double orifice consisting of the two sections 55 and 56 (FIG. 3). The polyisobutylene, which is a butyl rubber in terms of its properties, is fed into the metering cylinder 46 from a storage container by a pump (not shown). The structure of such a dosing cylinder is described in detail in the international patent application PCT / EP89 / 00423. The base component (binder) of the thiokol is fed into an intermediate store 60 by a pump (not shown). The hardener component of the thiokol is fed by a pump (not shown) from a storage container into an intermediate store 61. The two intermediate stores 60 and 61 are piston-cylinder units which feed the substances to two rotary metering pumps (gear pumps) 62 and 63 with constant pressure. On the output side, the two rotary metering pumps are through lines 64 and 65 with an articulated pipeline consisting of two sections

66 connected, which opens into the pipe 53 attached to the holder 41 for the nozzle 15. At least one, preferably both, of the two sections of the articulated pipeline 66 is designed as a static mixer in which the base component and the hardener component are mixed in one pass. So that the mixing ratio of base component to hardener component is constant, the two rotary metering pumps 62 and 63 are synchronized with one another. The structure of such a device for conveying and dosing a two-component adhesive or sealant is described in detail in the earlier German patent application P 38 30 293.4.

A complete working cycle of the device according to the invention proceeds as follows: Two curved glass plates 11 and 12 are conveyed up by the feed conveyors 13 and 14 and positioned at the end of the feed conveyor by a fixed stop. In this position, they are detected by robots 1 and 2 by means of suction devices 9 and 10. For this purpose, the movement of the robots is programmed such that the suction devices 9 and 10 capture the glass panels 11 and 12 in a constantly constant position on the glass panels. If you have sucked in the glass panels 11 and 12, they are lifted off the feed conveyors 13 and 14, swiveled (see the dashed line in FIG. 1) and positioned in the middle between the two robots at a predetermined distance from each other, so that the two Axes of rotation 25 and 26 are aligned. For the following movement, the two robots are synchronized with one another and they perform exactly mirror-image movements, so that between the two

Glass panels 11 and 12 no relative movement occurs. By pushing the nozzle 15 forward and aligning the glass plates 11 and 12 accordingly, the nozzle is brought into contact with the edge of the smaller glass plate 12, the nozzle being immersed in the space between the two glass plates and the nozzle opening 55, 56 in points in a direction which is approximately parallel to the edge of the glass sheet 12 (see FIG. 3). Then, by rotating the robot sections 7d and 8d and an adapted movement of the other robot arm sections, the edge of the glass panel pair is guided along the nozzle 15, as a result of which a composite strand is injected all the way into the space between the two glass panels 11 and 12 the two glass panels are connected to one another. The pressure medium cylinder 42 ensures good contact between the nozzle 15 and the edge of the glass plate 12 which of the nozzle 15 presses resiliently. To reduce friction, a plastic part 57 is attached to the nozzle head as a slide, with which the nozzle head rests on the edge of the glass sheet 12.

If the strand between the two glass panels 11 and 12 is closed, the nozzle 15 is withdrawn, the glass panels are brought into a position in which the longitudinal axes of the displaceable robot arm sections 7b and 8b are aligned with one another, and then one of these robot arm sections 7b or 8b or both are advanced by a predetermined amount and thereby the two glass sheets are advanced by 1 to 2 mm, whereby the insulating glass pane is pressed to its desired size. This ends the synchronous movement of the two robots. The suction device 9 is detached from the glass sheet 11. The two glass sheets 11 and 12 connected to form an insulating glass pane thus remain on the suction device 10 and are now transferred to the magazine 16 by pivoting the robot arm 8 and placed there.

A further work cycle can now begin by the next two glass panels being fetched by the feed conveyors 13 and 14.

Instead of forming the suction devices from a plurality of suction plates 29 and stops 30, against which the glass sheets are drawn through the suction plates, the suction devices could also be formed by a plate 70 shaped according to the surface shape of the glass sheets 11 and 12, one over the front of which Number of suction openings are distributed, which are connected to a vacuum source. Such a modified suction device is shown in FIG. 4.

The embodiment of the invention shown in FIGS. 5 to 8 largely corresponds to the embodiment shown in FIG. 2; therefore the same or corresponding parts in the two exemplary embodiments are denoted by identical reference numbers. The embodiment in FIG. 5 differs from that in FIG. 2 in that devices are provided with which the two suction devices 9 and 10 can be connected to one another in a rotationally fixed manner. These devices are pneumatic piston-cylinder units 71, 72 and 73, which can be attached to the edge of one suction device 10 and operated independently of one another. With appropriate actuation, a piston rod 74, 75 and 76 can be advanced and retracted for each piston-cylinder unit 71, 72 and 73. At the edge of the opposite suction device 9, in the alignment of each piston rod 74, 75 and 76, there is a bore 77 and 78, in which a bushing 79 and 80, provided with an insertion chamfer, is inserted, into which the piston rod 74, 75 and 76 can be introduced essentially without play. (The bore and bush belonging to the piston rod 74 are not shown). All three piston-cylinder units 71, 72, 73 are pivotally attached to the base plate of the suction device 10 with their rear end. The pivot axis extends transversely to the longitudinal extent of the piston-cylinder units 71, 72, 73, for the pivoting of which a pressure medium cylinder 81, 82 or 83 is attached to the suction device 10. The piston-cylinder units 71, 72 and 73 and the holes 77 and 78 assigned to them are distributed in a number of at least three pieces around the circumference of the suction devices 9 and 10. The pin-shaped piston rods are inserted into the sleeves 79 and 80 as soon as the two glass plates 11 and 12 are correctly positioned. If the nozzle 15 approaches one of the piston rods 74, 75 or 76 when the glass plates 11 and 12 are rotated, only this one piston rod is withdrawn and pivoted into a position approximately parallel to the glass plates 11 and 12, around the nozzle 15 an unobstructed To allow walking past. Then the piston-cylinder unit is erected again and its piston rod is pushed into the associated bush.

Claims

Claims.

1. Method for assembling two glass sheets to form an insulating glass pane with the following method steps: Generic characteristics:

(a) The glass sheets are arranged parallel to one another by suction conveying at a predetermined distance;

(b) while the two glass sheets are kept in their predetermined distance by sucking in their two surfaces facing away from one another, without any spacers being between them, an endless strand of an initially pasty and then solidifying material becomes along their edge between them , mass adhering to both glass panels injected; c) then the suction of the one glass sheet is ended and the insulating glass pane is removed and released by the continuous suction of the other glass sheet;

new features:

(d) to apply the method to curved glass panels, which are intended in particular for use in vehicles, the glass panels become synchronous during the execution of method step (b) when the mass is injected, without a relative movement occurring between them by a the axis passing through the glass surfaces is rotated.

2. The method according to claim 1, characterized in that the glass sheets are rotated so that the edge of one of the two glass sheets moves along at a fixed point in space.

3. The method according to claim 1 or 2, characterized in that at least one edge point of the glass sheets moves on a closed trajectory during the rotary movement.

4. The method according to one of the preceding claims, characterized in that the axis of rotation is stationary with respect to the glass plates, but is displaced in space during the rotary movement.

5. The method according to claim 4, characterized in that the axis of rotation moves during the rotary movement on a closed trajectory.

6. The method according to any one of the preceding claims, characterized in that the axis of rotation goes approximately through the center of gravity of the insulating glass pane.

7. The method according to any one of the preceding claims, characterized in that the axis of rotation is approximately perpendicular to the glass sheet surfaces.

8. The method according to claim 7, characterized in that the axis of rotation is oriented approximately perpendicular to the earth's surface.

9. The method according to claim 2, characterized in that the axis of rotation is oriented approximately parallel to the surface of the earth and the edge of a glass sheet moves downward at the point fixed in space.

10. The method according to any one of the preceding claims, characterized ge indicates that the distance between the glass sheets between the

Process steps (b) and (c) is reduced.

11. The method according to claim 10, characterized in that the distance is reduced by 1 to 2 mm. 12. Device for assembling two glass sheets to form an insulating glass pane with two suction conveying devices, which feed the two glass sheets and position them so that they are arranged at a predetermined distance from one another (parallel to one another), with one or more nozzles for injecting a strand from one first paste-like and then solidifying mass adhering to both glass sheets into the interspace between the two glass sheets along their edge, with a controllable feeding device for feeding the nozzle (s) with the pasty paste, with one or more, corresponding to the outline shape of the glass sheets Controllable drive devices, by means of which the spaced glass panels and the nozzle (s) can be moved relative to one another in such a way that the nozzle (s) is or are moved along the edge of a glass panel with the mouth pointing into the interspace of the glass panels , characterized in that the suction conveyor two robots (1, 2) with a motor-rotatable suction device (9, 10) at the end of a three-dimensionally movable robot arm (7, 8),

and that the two robots (1, 2) perform a rotary movement of the two glass panels (11, 12) - without changing the position of the glass panels (11,

12) relative to each other - are synchronized.

13. The apparatus according to claim 12, characterized in that an iw ort arranged nozzle (15) is provided. along which the robots (1, 2) guide the two glass panels (11, 12), which are kept at a distance, along their edges.

14. The apparatus according to claim 13, characterized in that the two robots (1, 2) for performing the rotational movement of the two glass panels (11, 12) are controlled by microcomputers whose read-only memories are the movement coordinates for the Rotation included.

15. The apparatus according to claim 14, characterized in that the two robots (1, 2) are of identical design, in particular mirror image identical.

16. Device according to one of claims 12 to 15, characterized in that a feed conveyor (13, 14) for one or the other glass plate (11) is in range of one and within reach of the other robot (1, 2) , 12) is arranged.

17. The apparatus according to claim 16, characterized in that the feed conveyors (13, 14) are each passed through a washing machine.

18. The device according to claim 12, characterized in that the suction device (9, 10) has a plate (70) with a curved, elastically yielding surface, into which a number of suction channels open, which are connected to a vacuum source.

19. The apparatus according to claim 18, characterized in that the plate (70) consists of thermoplastic material.

20. The apparatus according to claim 12, characterized in that the suction device (9, 10) contains a coherent arrangement of a plurality of suction plates (29), the arrangement being such that they nestle together on a continuously curved surface.

21. The apparatus according to claim 20, characterized in that on the suction device (9, 10) in the vicinity of the suction plate (29), which are designed to be flexible on its front side, stops (30) for the glass sheet (11 , 12) are attached.

22. The device according to claim 21, characterized in that the stops (30) are adjustably attached to the suction device (9, 10).

23. Device according to one of claims 12 to 22, characterized in that a position sensor is provided at least on one of the suction devices (9, 10), which monitors the position of the two suction devices (9, 10) relative to one another, in particular their mutual distance .

24. The device according to claim 23, characterized in that a plurality of position sensors are arranged in the vicinity of the edge of the suction device (9, 10).

25. Device according to one of claims 12 to 24, characterized in that the suction devices

(9, 10) are provided with devices (71 to 78) for the mutual twist-proof connection of the suction devices (9, 10).

26. The device according to claim 25, characterized in that those devices (71 to 78) on the one suction device (10) have attached pins or rods (74, 75, 76), which in receptacles (77, 78) the opposite suction device (9) are designed or attached, can be pushed forward and retracted.

27. The device according to claim 25 or 26, characterized in that at least three such devices

(71 to 78) distributed around the circumference of the suction devices (9, 10) and can be operated independently of one another.

28. The device according to claim 26, characterized in that the pins or rods (74, 75, 76) are additionally pivotable about an axis extending transversely to their longitudinal extension.