EP2909117A2

EP2909117A2 - Apparatus and method for quickly transferring panels

Info

Publication number: EP2909117A2
Application number: EP13836239.7A
Authority: EP
Inventors: Franz Krommer
Original assignee: Grenzebach Maschinenbau GmbH
Current assignee: Grenzebach Maschinenbau GmbH
Priority date: 2012-10-22
Filing date: 2013-10-01
Publication date: 2015-08-26
Also published as: CN104822612A; US20150274420A1; CN104822612B; DE102012020679A1; DE102012020679B4; IL238210B; EA029686B1; WO2014063669A2; IL238210A0; EA201590541A1; WO2014063669A3

Abstract

Disclosed are a method and an apparatus for quickly transferring plates, in particular glass plates, of different sizes, thicknesses and quality levels so as to place the plates one behind another on different stacking frames, said method and apparatus having the following features: a) the plate (5) that is to be transferred on conveyor rolls of a transport device (7) is gripped by a gripping device (4) and the rotatable gripping fingers (13) thereof that are provided with holding means (14), the gripping device (4) being suspended on support cables (2); b) the gripping device (4), together with the plate (5), is then conveyed to a selected stacking frame (6) by shortening and/or lengthening appropriate support cables (2) and is deposited on the stacking frame by releasing the holding means (14); c) the gripping device (4) is conveyed to the next operating position thereof by shortening and/or lengthening specific support cables (2).

Description

Method and device for moving plates quickly

The invention relates to the rapid displacement of plates, in particular glass plates.

The production of large-area glass plates takes place in the form of float glass by the continuous pouring of a molten glass on a heated in an elongated tub tin bath and the resulting glass ribbon. This glass band has a side on which lay on the tin bath, the so-called bath side. The other side of the glass ribbon which has been cooled in the air is referred to as the so-called air side. The bath side and the air side have different properties. For example, as the air side has less bumps, it is better for coatings. The subsequent assembly of the float glass is done by slitting and cross-cutting the expiring from the float glass production at a certain feed rate glass ribbon. The longitudinal cutting cause in this case in a corresponding position on the glass belt stationarily installed longitudinal cutting wheels and the transverse cutting takes place with the aid of cutting bridges and transversely across the glass ribbon moving transverse cutting wheels. In this way, glass plates of considerable size can be produced. As so-called tape measure or large format here is a size of 6 meters by 3.21 meters called. As a so-called split tape measure or medium format is called a plate size of 3.21 meters by 2 meters (to 2.5 meters).

To transport glass plates of such size fracture-free from one place to another, this holding mechanisms, usually in the form of a stable frame, moved up to the glass plate in question, connected to this via suction cups, and then the holding mechanism with the suctioned thereto Glass plate further transported.

From the prior art is known from DE 197 12 368 A1 a method for

Moving objects from a first location to a second location using a holding mechanism that binds the object during relocation, in which the object is to be achieved, this

To develop a method such that in a simple way, an under all circumstances safe displacement of objects can be performed. As objects to be displaced while glass panes are called.

The solution to this problem is, as indicated in the plate of the

Claim 1, solved in that the approach of the lifting mechanism to the object to be displaced to the first or the second place below

Taking into account the actual position and / or orientation of the same, wherein the holding mechanism is aligned as needed by utilizing a free rotation and / or pivoting thereof about one or more axes.

In further claimed device claim 7 it is explained in more detail that the object to be displaced is a glass pane, that the first place is an inner loader frame, and that the second place is a conveyor belt and the holding mechanism is a suction frame.

In DE 101 48 038 A1 a device for plate transfer from a plate conveyor to a stacking rack or the like is described, with a

Robot with a robot arm carrying at its free end a suction frame or the like for receiving a plate from the plate conveyor, and having a sufficient for its movement function number of degrees of freedom

Is provided.

The development of such a device is the object of a

Device for plate transfer from a plate conveyor on a stacking frame in such a way that, in the case of a glass plate, if possible, there is no impairment of the air side of the glass.

This object is achieved in that the plate conveyor is provided with a recess in which the robot arm can dip, and with, a dipping of the suction frame or the like enabling recesses. Further, the suction frame or the like should be pivotally mounted at the free end of the robot arm in an upwardly facing position to from the in the

Recesses of the plate conveyor dipping position to take a plate on its plate conveyor side facing. The stacking rack used here is immovably fixed to the ground, so it can only be equipped by the, the robotic arm facing page. In addition, the stacking frame must each be moved away when loading with another glass plate by the small distance of the thickness of a glass plate from the robot arm, since the distance of the robot arm is a fixed size. For this purpose, so-called clock slides are necessary in practice in the current state of the art, which move the stacking frame each time before loading with a new glass plate by the distance of a glass plate - thickness of the robot arm to make room for another glass plate. Furthermore, a turntable is necessary for loading the stacking rack from the other side. For loading the stacking rack with large and heavy glass plates are the required clock slide and the

required hub of the load occurring according to elaborately constructed and very expensive to manufacture.

With the devices of the prior art, however, it is not possible on a plant glass plates of different formats, different thickness or different quality levels on various in this respect

Distribute stacking racks in the same operation. Especially so-called A - frames that offer a stacking possibility from both sides, can not be loaded by robots in this context.

The device according to the invention or the corresponding method is therefore based on the task of detecting glass plates of very different formats, thicknesses or quality levels on the production line in the shortest possible time,

vibration free and safely stacked on different stacking racks, also called double - sided loadable A racks. At the same time, the corresponding device should be inexpensive. Since a glass plate also sometimes has to be coated and such a coating is usually applied to the smoother side, namely the air side, it is necessary to be able to detect such a glass plate from the opposite side, namely the bath side.

This object is achieved with a special arrangement of cable mechanisms having the features of claim 1 or a corresponding method according to claim 5. In the following the invention will be described in more detail with reference to figures. They show in detail:

1 shows a perspective view of the overall device

2 shows a sectional drawing through the entire device

3 shows a sectional drawing through the entire device in motion

4 shows a sectional drawing of the functional sequence (underside)

5 shows a section of the subsequent step of FIG .. 4

6: the subsequent step of the movement process of FIG. 5

Fig. 7: a plan view of the gripping device

8 shows a plan view of an alignment unit for a plate 5

9 shows a representation of an electrostatic gripper element

10 shows a section through a power sucker

Fig. 11: a section through a precision sucker

Fig. 1 shows a perspective view of the overall device. The essential difference to conventional devices for moving or transporting plates, in particular glass plates, is that the

Gripping device for detecting the plates is not moved by means of robot-based structures, but by means of a special rope mechanism.

This rope mechanism consists essentially of four crane masts 1 which surrounds the area required for the displacement of the plates far - reaching. These crane masts can be inclined in the direction of the required space area to ensure unhindered operation for the process of implementation. FIG. 1 shows a characteristic position of a gripping device 4 with a plate 5 gripped by it. Here, the gripping device 4 is held by four support cables 2 which are synchronously changed in each case by means of a cable drive 8 at the top of the crane masts 1 in length. To stabilize the crane masts 1 and the movement process of the gripping device 4, the four crane masts 1 are mechanically connected by a diagonal support cross 3. At the same time, the diagonal support cross 3 serves to support the stabilizer 10, as can be seen more clearly in FIG. 2. Next, two stacking racks 6 are designated in FIG. 1 on the right side, which an unmarked stacking rack on the other side of a Transport device 7 is opposite. On the transport device 7, which is sketched here as a ribbon-like structure, two overlapping plates can be seen. The incoming on the transport device 7 plates 5 may be different in format, its thickness or quality level.

FIG. 2 shows a sectional drawing through the entire device. Here are on the left and on the right side in each case a vertical

Crane mast 1 shown, both of which are connected via the visible in section and not specially designated diagonal - carrying cross. In the middle of the diagonal support cross is a stabilizer suspension 9 and already in FIG. 1

mentioned stabilizer 10 for the gripping device 4 shown. The stabilizer 10 is on the one hand in the stabilizer - suspension 9 hinged all around and

on the other hand telescopically shortened and extendable. The stabilizer 10 is also mounted all around articulated in the central region of the gripping device and serves to stabilize the suspended between the support cables 2

Gripping device 4. Of the four supporting cables 2 only two opposite supporting cables 2 can be seen in this illustration. In the lower part of the transport device 7 is drawn with an overlying plate 5 to be offset in the middle of Fig. 2 in section. Their rollers can be driven individually and are adjustable in height. The gripping device shown in FIG. 2 has in the edge region on both sides by means of hinges hinged hinged gripper finger 13. The gripper fingers 13 are alternately struck left and right. The process of folding over the gripper fingers 13 is effected by drives 11. The gripper fingers 13 have holding means 14, which are arranged on both sides, since, as will be shown later, they can detect the plates to be offset from the top or bottom.

The gripper fingers 13 are arranged in the gripping device 4 so that they can reach between the distances of the rollers of the transport device. The supply of the gripping device (4) required electrical energy and the control of the gripping device (4) required control signals via the support cables (2). The transmission of electrical energy and a variety of required control signals is divided by means of a different

Transmission frequencies ensured. The electrical energy thus supplied serves the operation of the drive 11, a non-designated vacuum pump for Operation of the holding means 14 and the operation of sensors for detecting the position of the gripping device.

Fig. 3 shows a sectional view through the entire device in motion. As described in the description of Fig. 2, it can be seen here that the left-hinged part of the gripper fingers 13 with its holding means 14 has detected a plate 5 and is about to set down this plate on the left-positioned stacking frame 6, on the already another plate 5 is located. Here it can be clearly seen that the gripper fingers 13 carry holding means 14 on both longitudinal sides. In the case of a glass plate 5, this would be a transfer operation that would be caused by access to the air side. The stabilizer 10 is shortened in this illustration according to the changed length of the support cables 2. The location of the crane masts 1, the

Diagonal - support cross 3 and the transport device 7 are compared to the ratios in FIG. 2 unchanged.

On the left side of Fig. 3, a corresponding stacking frame 6 is shown.

It can be seen that it is possible with the device shown to position a plate 5 also on the other side of the illustrated stacking frame 6

In the event that the plate to be offset on a right-positioned

Stacking rack 6 would be discontinued, the right hinged gripper fingers 13 and the cable drives 8 would enter into action in a corresponding manner and the

deposit appropriate plate 5 on a right-positioned stacking rack.

Fig. 4 shows a sectional view of the functional sequence in the displacement of a plate with an access from the bottom, ie from the side with which the corresponding plate rests on the transport device 7. In the case of a glass plate 5, this would be a transfer operation caused by access to the bath side. The position of the crane masts 1, the diagonal support cross 3 and the

Transport device 7 with a resting plate 5 are opposite to the

Conditions in Fig. 2 unchanged. The cable drives 8 are shown separately here. The length of the support cables 2 and the position of the stabilizer 10 and its suspension 9 fix the gripping device 4 in this view at a height which allows unfolding the left and right hinged gripper fingers 13 in their pivots 12 and the extension of the gripper fingers 13 in a vertical position. It can also be seen clearly in this view that the gripper fingers 13 Wear holding means 14 on both longitudinal sides. The drives 11 for unfolding the gripper fingers 13 are corresponding to the position shown in a middle

Ausfahrstufe. On the left side of the picture is the stackable rack 6 to be loaded.

In a special stage it is planned that the length of the

Gripper fingers 13 can be shortened telescopically for reasons of space, taking into account that the holding means 14 are also telescoped closer together in this area. A shortening by about one third of the total length to almost the entire length of a gripper finger 13 is realized here.

At the same time it is noted at this point that the height of the transport device 7 is adjustable to adapt to different plate formats to change.

FIG. 5 shows a section of the subsequent step of FIG. 4. The relationships

correspond substantially to those shown in FIG. 4. The difference is that in this illustration, the gripper fingers 13 are in their

Swivel joints further angled and are about to take the plate 5 from the bottom. The stabilizer 10 is further extended according to the shown changed positioning of the gripper fingers 13 in its length. Since, as can be seen from the representation of the later Fig. 6, a settling of the plate 5 is intended on the left stacking frame 6, only the

Holding means 14 of the right hinged gripper finger 13 is activated, so that the plate 5 can be stored with the resting on the transport device 7 side up on the left stacking rack. It is here again pointed out that for ease of movement in the pivot joints 12 the

Gripper fingers (13) can be shortened telescopically in the last third of their total length.

To monitor the entire transfer process are examples in the top left of the relevant crane masts and the diagonal turnstile

Light field sensors 17 shown. The number of these sensors depends on the size of the device according to the invention. The light field sensors 17 can be used to supplement common laser sensors.

With regard to these light field sensors 17, reference is made to the new development of the so-called mini-lenses, which collect optical information in the form of hundreds of mini lenses according to the light field principle and then later to images with a desired resolution and / or a desired viewing angle can be compiled data technically. Such miniature lenses are 3 - D able to produce cheaply and follow the principle of an insect eye. They are capable of overarching data coordination of the involved

To contribute localization agents and retention agents.

FIG. 6 shows the following step of the movement process of FIG. 5. The support cables on the left side of the transfer device according to the invention are so shortened and the stabilizer 10 is pivoted so far to the left that the

Gripper fingers 13 of the gripping device with the plate 5 reach into the region of the left stacking frame. A coordinated further shortening of the left suspension cables in conjunction with a corresponding extension of the right suspension cables and any necessary slight correction of the position of the gripper fingers 13 by means of their drive 11 complete the conversion process. As a result, the holding means 14 are then released from the plate 5 and moves the gripping device in a further working position. By means of the device according to the invention it is also possible to operate so-called A - frames, which provide a loading option on two opposite sides, since with appropriate dimensioning of the crane masts 1, the vertical working area is easy to expand. In FIG. 6, therefore, two A-frames are drawn on the left and on the right-hand side. This possibility has already been pointed out in the description of FIG.

FIG. 7 shows a plan view of the gripping device. From above, the rectangular gripping device with the attached at its four corners supporting cables 2 can be seen here. In the middle of the gripping device, the holder 15 of the entire, held by the four support cables 2 frame for the stabilizer 10 is arranged. On the right and the left side, the pivot joints 12 for the right, or left posted gripper fingers 13 with their, shown only in the lower looper finger, respective holding means 14 can be seen. For the right-bitten gripper fingers 13 of the associated drive 11 is designated. At least one sensor 16, which is shown here by way of example in the middle region of the gripping device, serves to detect the position and the control of the gripping device. Here too, laser sensors and / or light field sensors 17 can additionally be used, in each case according to the size of the overall system. FIG. 8 is a plan view of an alignment unit for a plate 5 in FIG

Connection with electrostatic gripper elements 20 shown. This type of gripper elements require a special embodiment of the gripping device in the region of the gripper fingers 13. On the left side of this figure, the transport device 7 is shown by way of example as a roller bearing with an incoming plate 5. After leaving the transport device 7 enters a plate 5 in this case in an area of, hanging on the four support cables 2 and on the

Frame holder 15 connected to the stabilizer, gripper frame 18 of the float on air nozzles 26 and thus allows an exact alignment of their position on the air cushion thus generated. This purpose is served in the lower

Image area recognizable alignment strip 27 which can be moved horizontally on the left and right in each case by a mounted on a holding device 29 synchronous drive 28 substantially.

In this area is the location of an electrostatic gripper element 20th

indicated.

On the opposite side of the gripper frame 18 eight alignment devices 22 are provided with alignment plates 23 along the longitudinal side of this frame. These alignment devices can be actuated and actuated individually and, in conjunction with the alignment strip 27, permit exact positioning of the respective plate 5.

In the illustration shown, the gripper finger carrier 19 can also be seen with the drive 11 for the corresponding gripper fingers. Further details can be found in FIG.

FIG. 9 shows a representation of an electrostatic gripper element. In the upper part of the picture is a large area enlargement in the area of a

Gripper finger - carrier 19 of the gripper frame 18 shown with a resting plate 5, in which a section line A - A has been marked. By way of example, surfaces 21 have been marked whose different stress levels cause an electrostatically induced adhesion of the plate 5 to the air cushion generated by means of the air nozzles 26.

A side view in the region of the section line A - A shows in the lower image area next to the gripper frame 18 and the pivot 12 of the relevant

Gripper finger 13, the alignment bar 27 with the synchronous drive 28 on the one Side and the alignment - device 22 with an alignment plate 23 on the other side. In the lower part of the picture, the compressed air supply 24 with the corresponding coupling device 25 can be seen.

Such electrostatic grippers are state of the art and can transfer forces of up to 20 N / cm ² transversely to the workpiece surface (Ref.Nr .: 1981 RWTH Aachen).

From the patent literature, US 2012/0120544 A1 should be mentioned by way of example.

FIG. 10 shows a section through a so-called power vacuum cleaner, which can likewise be used as holding means 14.

This type of nipple consists essentially of a teat stock 35 which is inserted in a guide and support tube 34 and a suction cup 31 attached thereto. A compensating spring 36, which is located between the guide and the tube

Supporting tube 34 and the vacuum pad 31 is mounted, on the one hand ensures a gentle placement of the suction cup 31 on the plate 5 and on the other hand, it supports the flexible suction cup holder 30 in an inclined position

Saugtellerhalterung 30 is made of a soft, but good shock-absorbing material and provides a harmonious connection between the Saugerschaft 35 and the vacuum pad 31. The circular Saugermanschette 32 with its particularly adhesive edge lip makes the actual connection to the plate 5 ago. The vacuum pad 31 has a circular filter element 33 in its center. This serves the purpose of keeping fine glass particles from the vacuum pump required for operation, not specified here. It can either be cleaned by hand or replaced at regular intervals. By a sensor not shown separately, the forward resistance of the filter element 33 of each sucker can be detected in a particular stage and displayed on a monitor.

Furthermore, it can be provided that individual suckers individually for themselves

can be switched off and / or with adjustable negative pressure - air can be applied.

FIG. 11 shows a so-called precision vacuum cleaner as it can also be used as holding means 14. This illustration shows the special effect of this nipple. Since it is important in the case of glass panes to be picked up that they are transported and applied absolutely in a flat position, the area at which the respective pane is touched by the respective suction head must also be absolutely even with each suction head. This is achieved in that in the illustration shown, a sealing ring 37 is guided in a suction head 38 made of solid material. The cleaner head 38 slides in this case together with a rubber bellows 39 in a holding plate 40. A

Wavy bending of the recorded disc at the points of

Points of attack of the respective suckers, as to fear in other embodiments in the prior art with flexible sealing lip is excluded. The suction head 38 may in this case also be approximately square or have any other desired surface shape, for example, which induces as little mechanical stress as possible in the respectively recorded disk. For example, in this context, an elliptical shaped surface may contribute to reducing stresses during picking and transport in the respective disc.

Furthermore, ultrasonic suckers can also be used which belong to the state of the art.

It should be emphasized that, of course, two or more devices according to the invention on a transport device 7 can simultaneously work on the selection of different types of plates 5.

The control of the complex motion processes and the signal processing of the sensors used require a special control program.

Bezuqszahlenliste

crane masts

supporting cable

Diagonal - carrying cross (stabilizer 10)

gripping device

Plate, glass plate

stacking frame

transport device

Cable drive, synchronous drive

Stabilizer suspension

Stabilizer for the gripping device 4

Drive for gripper fingers

Swivel joint for gripper fingers

gripper fingers

Holding means (suckers, electrostatic grippers)

Frame support for the stabilizer 10

sensor

Light field sensor

gripper frame

Gripper finger - carrier

electrostatic gripping element

conductor path

Alignment device

aligning

Compressed air supply

Coupling device for compressed air

air nozzle

Bail

Synchronous drive for alignment strip

Holding device for synchronous drive flexible suction plate holder vacuum pads

sucker cuff

filter element

Guide and support tube Suction tube

balancing spring

seal

suction head

Rubber bellows

Retaining plate

Claims

claims

Claim 1:

Apparatus for the rapid displacement of plates, in particular glass plates, of different formats, different thicknesses or different quality levels one behind the other onto different stacking racks, having the following features: a) a transport device (7) in the form of a roller conveyor,

wherein the conveyor rollers are driven individually and are adjustable in height,

b) a rectangular gripping device (4) with alternately left and right hinged rotatable gripper fingers (13) arranged thereon holding means (14), wherein the gripping device (4) at its four corners by one support cable (2) is controllably supported and the support cables (2) about the tips of

wide-positioned crane masts (1) are guided, and wherein the gripper fingers (13) can be telescopically shortened to almost their entire length.

c) a diagonal support cross (3) for the mechanical connection of the crane masts (1) and for the mechanical support of a

Stabilizer (10) which is telescopically extendable and mechanically connected to the gripping device (4),

d) a transmission unit that the for the gripping device (4)

required electrical energy and to control the

Gripping device (4) provides required control signals via the support cables (2),

e) a plurality of different types of stacking racks (6)

can be positioned indiscriminately in the area of the crane masts (1) Claim 2:

Device according to claim 1,

characterized,

at least one sensor (16) and / or one light field sensor (17) are mounted in the area of the gripper device (4) and at least two light field sensors (17) are mounted in the area of the crane masts (1) and the diagonal support cross (3) .

Device according to one of the preceding claims, characterized

that at the gripper fingers (13) so-called power - suction

or precision vacuum cleaners are used.

Claim 4:

Device according to one of claims 1 to 3,

characterized,

that electrostatic gripping elements (20) and / or ultrasonic grippers are used in the case of glass plates (5) to be coated for the reaction on the air side.

Method for the rapid displacement of plates, in particular glass plates, different formats, different thicknesses or different quality levels one behind the other onto different stacking racks, with the following features: a) the plate (5) to be converted on conveyor rollers of a transport device (7) is connected to supporting cables by means of a (2) hanging

Gripping device (4) and its holding means (14) provided rotatable gripper fingers (13) detected, wherein the gripper fingers (13) can be shortened telescopically until almost their total length,

b) then the gripping device (4) is conveyed together with the plate (5) by shortening and / or extension of relevant supporting cables (2) to a selected stacking frame (6) and deposited there by releasing the holding means (14),

c) the gripping device (4) is by the shortening and / or extension of certain support cables (2) to their next

Working position.

Claim 6:

Method according to claim 5,

characterized,

at least one sensor (16) and in the region of the crane masts (1) and the diagonal support cross (3) at least two light field sensors (17) are mounted for coordinating the movement processes in the region of the gripping device (4),

Claim 7:

Method according to claim 6,

characterized,

Claim 8:

Method according to one of claims 5 to 7,

characterized,

that two or more devices on a transport device 7 for selecting different types of plates (5) work simultaneously.

Claim 9 Computer program with a program code for carrying out the method steps according to one of claims 5 to 8, when the program is executed in a computer.

Claim 10:

A machine-readable medium having the program code of a computer program for carrying out the method according to one of claims 5 to 8, when the program is executed in a computer.