KR20190004465A - Methods and apparatus for loading a glass sheet - Google Patents

Abstract

Disclosed is a method for loading a glass sheet into a container or other maintainer. A detection apparatus including a sensor and a controller monitors a movement of the glass sheet in a process of being loaded close to a previous loaded sheet and discloses an alarm in case distance data based on a plurality of predetermined standard suggests a contact possibility between neighboring glass sheets. In addition, an apparatus for loading a glass sheet is disclosed.

Description

[0001] METHODS AND APPARATUS FOR LOADING A GLASS SHEET [0002]

The present disclosure relates to a method and apparatus for loading a glass sheet into a container.

Storing and / or transporting the glass sheet often involves loading multiple glass sheets into the container using an automated system, such as a robot. Glass sheets used in the manufacture of many glass sheets, especially visual display panels for electronic equipment such as television monitors, tablets, cell phones and the like, are extremely thin and tend to move within the sheet when the sheet is handled by the robot and placed in a container (Temporary twisting or fluctuation). When the movement of the glass sheet causes contact between the glass sheet positioned in the container and the adjacent glass sheet previously positioned in the container, contact between the surfaces of one or both of the glass sheets can occur, And causes one or both of the glass sheets to become unavailable for their intended purpose. Such unexpected contacts may not be immediately recognizable. Thus, a method for monitoring the position of a glass sheet positioned within a container, determining the likelihood of contact occurring, and alerting manufacturing personnel, reduces costs associated with damaged and unusable products and eliminates the potential for shipping products .

A method for loading a glass sheet, comprising: (a) positioning a first glass sheet in a container; (b) measuring the distance x _s (i-1) of the first glass sheet from the sensor Detecting movement after step (a), and (c) positioning the second glass sheet in a container with the robot adjacent to the first glass sheet. (D) detecting movement of the second glass sheet in step (c) as a distance x _t (i) of the second glass sheet from the sensor, (e) separating the robot from the second glass sheet And (f) detecting movement after step (e) of the second glass sheet as the distance _xs (i) of the second glass sheet from the sensor. The method comprises the steps of: (g) initiating an alert, wherein if any one of the following conditions is met: 1) the difference between MAX (x _t (i)) and MIN (x _t (i) 2) the difference between MIN (x _s (i-1)) and MAX (x _t (i)) is less than the second preset value, or 3) MIN (x _s ) and the difference between the MAX (x _s (i)) a third than the preset smaller than the value _{or, 4) MAX (x s (} i) the difference between) and MIN (x _s (i)), the fourth preset value If it is large, it further includes the step of starting an alarm.

In some embodiments, the sensor may be an ultrasonic sensor.

In some embodiments, step (d) may include a gripping device coupled to the robot, wherein the gripping device includes a frame including a base member and a pair of opposed arm members extending therefrom, Wherein the member comprises a lower arm portion coupled to the upper arm portion and the upper arm portion and wherein the lower arm portion is rotatable relative to the pivot point, And rotating the lower arm portion about the pivot point to extend between the arm members.

Each lower arm portion may further include a gripping device coupled thereto, the method further comprising separating the gripping device from the second glass sheet prior to rotating the lower arm portion.

Step (d) further comprises at least one upper grasping device coupled to the base member and associated with the second glass sheet.

In another embodiment, there is provided a method for loading a glass sheet comprising the steps of: (a) positioning a first glass sheet in a container with a robot, (b) separating the robot from the first glass sheet, and (c) (B) of the first glass sheet to the sensor as the distance _xs (i-1) of the first glass sheet from the first glass sheet. (D) placing a second glass sheet in a container with the robot adjacent to the first glass sheet, (e) removing the second glass sheet from the sensor as a distance x _t (i) (F) separating the robot from the second glass sheet, and (g) measuring the distance of the second glass sheet from the sensor, x _s (i), of the second glass sheet and f) detecting a motion after the step. (H) initiating an alert, wherein any one of the following conditions is met: 1) the difference between MAX (x _t (i)) and MIN (x _t (i) 2) the difference between MIN ( _xs (i-1)) and MAX ( _xt (i)) is less than the second preset value, or 3) MIN ( _xs )) and the difference between the MAX (x _s (i)), the third pre-set is smaller than the value _{or, 4) MAX (x s (} i)) and MIN (x _s (i)), the difference is the fourth preset value between And if so, initiating an alarm.

In yet another embodiment, an apparatus is disclosed for loading a glass sheet into a container, the robot including a robot arm and a robot including a gripping device coupled to an end of the robotic arm. The gripping device includes a base member and first and second arm members. Each arm member of the first and second arm members includes a first arm portion connected to the base member and a second arm portion coupled to the first arm portion and rotatable relative to the pivot point. The second arm portion of the first arm member is configured to rotate in a direction opposite to the second arm portion of the second arm member.

In some embodiments, the base member comprises at least one gripping device.

In some embodiments, each second arm portion of the first and second arm members includes at least one gripping device.

An actuator operatively coupled between the first and second arm portions and operable to rotate the second arm portion relative to the pivot point; a distance from the sensor to the seat of the glass when the sheet of glass is positioned in the container by the robot; For example, an ultrasonic sensor, and a controller operably coupled between the sensor and the robot. The controller may control movement of the robot arm, movement of the arm member, rotation of the second arm portion, and / or operation of one or more of the base member and the second arm partial grip device.

Additional features and advantages of the embodiments disclosed herein will be set forth in part in the description that follows, and in part will be obvious from the description, or may be learned by practice of the invention, which will be readily apparent to those of ordinary skill in the art, Will be recognized by practicing the invention as described herein, including the drawings.

It is to be understood that both the foregoing general description and the following detailed description provide embodiments which are intended to provide an overview or framework for understanding the nature and features of the embodiments disclosed herein. The accompanying drawings are included to provide further understanding and are incorporated into and constitute a part of this specification. The drawings illustrate various embodiments of the present disclosure and serve to explain its principles and operation in conjunction with the detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a side cross-sectional view of a glass sheet loaded in a container by a robot, including a detection device for determining the distance between the sensor and the glass sheet.
Figure 2 is a plan view of the container of Figure 1;
3 is a front view of an exemplary gripping device for use in a robot.
Figs. 4A to 4E are diagrams showing a sequence of movement of the gripping device of Fig. 3 when being carried by a robot. Fig.
Figure 5 is a schematic diagram showing the distance " x " of the glass sheet positioned in the container of Figure 1 as a function of time " t ".

Embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, will now be described in detail. Wherever possible, the same reference numerals will be used to refer to the same or like parts throughout the drawings. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Ranges may be expressed herein as from " about " one particular value, and / or " about " to another particular value. When such a range is expressed, another embodiment includes from one particular value and / or to another specific value. Likewise, it will be understood that when a numerical value is expressed as an approximation, by use of the " approximately " It will be further understood that the respective endpoints of the ranges are important in relation to the other endpoints, and also independent of the other endpoints.

Directional terms - e.g., up, down, right, left, front, rear, top, bottom - when used herein are defined with reference to the drawing when they are made and are not intended to mean absolute orientation.

Unless specifically stated to the contrary, any method described herein is not intended to be interpreted as requiring that its steps be performed in any particular order, or that a particular orientation be required in connection with any device . Accordingly, it is to be understood that the method claim does not actually enumerate the order in which it will be followed by its steps, or that any device claim does not list the order or orientation for the individual components, The sequence or orientation is not intended to be inferred from any point of view unless specifically stated in the detailed description, or when a particular order or orientation for a component of the apparatus is not listed. This is a matter of logic of the arrangement of the steps, the operational flow, the order of the components, or the orientation of the components; A clear meaning derived from grammatical structures or punctuation; And any possible non-expressive criteria for interpretation, including the number or type of embodiments described in the specification.

As used herein, the singular forms " a, " an, " and " the " include plural forms unless the context clearly dictates otherwise. Thus, for example, an element of the type beginning with " a " includes an embodiment having two or more such elements, unless the context clearly dictates otherwise.

As used herein, the operator MAX (variable) and MIN (variable) denote the maximum and minimum of the variables contained in the parentheses, respectively. The variable may be a continuous variable (e.g., a continuous function), or the variable may comprise a plurality of individual values, e.g., a collection of distances.

As used herein, a robot is a machine, particularly a machine programmable by a controller, computer or other processing device, capable of automatically performing a complex series of actions.

As used herein, the term " articulated " is interpreted to mean that it comprises two or more sections connected by a flexible joint.

Glass for use in the manufacture of display applications, such as display panels, cover glasses, etc., is extremely thin, for example, the thickness may be less than or equal to 1 millimeter (mm), such as less than or equal to about 0.7 mm, About 0.3 mm or less. Such a glass sheet may in some cases be at least 880 mm x 680 mm, at least 1250 mm x 1100 mm, at least 1800 mm x 1500 mm, at least 2200 mm x 1870 mm, at least 3600 mm x 3100 mm, Can have a length dimension. Automated industrial processes typically employ a robot to grip a glass sheet and deliver the glass sheet to a suitable container, e.g., a storage or transport container (if necessary), and to place the glass sheet in the container. For a container that supports the glass sheets adjacent to each other and separates the glass sheets adjacent to the gap at this time, each subsequent glass sheet is positioned close to the previous glass sheet, except for the first glass sheet. As used herein, " adjacent " refers to the closest glass sheet that is previously or subsequently placed in a container, and is not limited to any particular distance between glass sheets. The glass sheet having the above dimensions is quite flexible, and the flexibility of the glass sheet can cause problems during the glass loading process. Typically, such loading occurs after the final inspection of the glass sheet. Although it is usually very flat, if the glass sheet loaded on the container changes, it may contact the adjacent glass sheet and cause post-test damage to itself, the previously loaded adjacent glass sheet, or both. As a result, the damaged product may be unexpectedly shipped to the customer. As used herein, the variation refers to the out-of-plane movement of the glass sheet. That is, if the glass sheet is expressed as a plane, out-of-plane movement refers to waviness, buckling, undulation, or any other movement in which the glass sheet experiences twisting or departing from the plane.

Variations in the glass sheet in the loading process can occur for many reasons, such as air turbulence in the loading area, mechanical problems associated with robots, mismatches associated with container size, momentum, and so on, it's difficult.

A system for detecting post-test damage by further testing can cause additional delays and create bottlenecks in the manufacturing process leading to increased costs. If such systems are used, they are typically introduced in a sampling fashion, since it is also impractical to re-inspect each glass sheet.

Thus, a real-time glass position monitoring system is described. The monitoring system uses sensors to measure the distance from the sensor to the glass sheet loaded in the container and compares these distances to the position of the previously loaded glass sheet. The distance data is sent from the sensor to the controller, for example a programmable logic controller (PLC). It should be noted that the controller can then be used to activate alarms if adjacent glass sheets are likely to contact each other, although other, more automated command functions may be used. For example, in some embodiments, feedback from a controller based on distance data may be used to control the robot or initiate other factory processes.

Figures 1 and 2 show a side cross-sectional view and a top view, respectively, of a container 10 comprising at least one glass sheet 12 positioned therein. The container 10 includes a front wall 14, a rear wall 16 opposite the front wall 14, and a pair of opposed side walls 18, 18 connected to the front wall 14 and the rear wall 16. [ 20). The container 10 further comprises a bottom wall 21 connected to the lateral, front and rear walls. As shown in Figure 1, a robot 22 comprising a gripping device 24 holds a second glass sheet 26 and a second glass sheet 26 into an initial at least one glass sheet 12, In the container 10. 3 shows a robot arm 30 (typically an articulated robot arm) including a frame including a base member 32 and arm members 34a and 34b extending therefrom, and a plurality of gripping devices attached to the frame, An exemplary gripping device 24 is shown. In the embodiment of Figure 3 the gripping device arm members 34a and 34b each include a first and a second upper arm portion 36a and 36b and a second arm portion 38a and 38b, And the lower arm portions 38a and 38b are coupled to and rotatable relative to the upper arm portion by pivot points 40a and 40b, respectively, as indicated by arrows 42a and 42b. The lower arm portions 38a and 38b may each include an actuating device 44a and 44b, for example, a pneumatic or hydraulic cylinder, or an electric or hydraulic cylinder that, when actuated, rotates the lower arm portion relative to their respective pivot point May be further coupled to the upper arm portions 36a, 36b by an electromagnetic actuator (e.g., solenoid, etc.).

The gripping device 24 includes at least one gripping device 46 coupled to the base member 32, a gripping device 48a coupled to the lower arm portion 38a and a gripping device 48b ). Each of the gripping devices 46, 48a, 48b can be opened and closed remotely via an actuator (not shown) so that the gripping device is engaged and disengaged relative to the glass sheet. The side edges 50a and 50b of the glass sheet 26, for example, the glass sheet 26, when held by the gripping devices 48a and 48b, as best seen with the help of Figure 3, ) From the arm portions 34a, 34b. The gaps 52a and 52b are sized to receive and receive the side walls 18 and 20 of the container 10, as will be described in more detail below.

The earlier (most recently) initial glass sheet loaded into the container 10 will be designated as the (i-1) glass sheet and the i-1) The glass sheet (second glass sheet 26) to be positioned adjacent to the glass sheet will be referred to as (i) glass sheet. 1, the (i) glass sheet 26 is in contact with the (i-1) th glass sheet 12 to form (i) a glass sheet, (i- (i) potentially damaging both the glass sheet and the (i-1) glass sheet.

Although Figure 1 also shows a sensing device 54 that includes a sensor 56, e.g., an ultrasonic sensor, and is configured to measure the distance between the sensor 56 and the glass sheet located in the container 10, An alternative sensor, for example a laser sensor, configured to measure the distance to the glass sheet can be used. However, since the laser sensor may be difficult to detect the distance to a transparent substrate (for example, a transparent glass sheet), an ultrasonic sensor is advantageous. Although the model T30UXIA available from Banner Engineering Corporation is an exemplary ultrasonic sensor, other ultrasonic sensors may be employed. If the data output from the sensor is analog, as in the present embodiment, the detection device 54 is configured to receive the analog data signal from the sensor 56 via the data line 60 and convert the analog signal to a digital data signal To-digital (A / D) converter 58. The analog-to-digital (A / D) The digital data signal from the A / D converter 58 is then provided to the controller 62 via the data line 64. Controller 62 may in some embodiments further control the operation of gripping device 24 (e.g., gripping device 46, 48a, 48b and lower arm partial actuating device 44a, 44b) , In a further embodiment, the gripping device 24 may be operated by a separate controller. It should be noted that the communication between data components (controller, database, etc.) may, in some embodiments, be performed wirelessly. However, care must be taken to shield or otherwise eliminate electrical noise common to the industrial environment.

The controller 62 may include, for example, a programmable processor (e.g., a programmable logic controller, a PLC), a computer, or any device, device, and machine that processes data, including multiple processors or computers . Controller 62 may include, in addition to the hardware, code that creates an execution environment for a computer program, such as processor firmware, a protocol stack, a database management system, an operating system, or code that constitutes a combination of one or more of them .

A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, A stand-alone program, or a module, component, subroutine, or other unit suitable for use in a computing environment. The computer program does not have to correspond to the file of the file system. The program may be stored in a single file dedicated to the program under discussion, in a single file dedicated to the program being discussed, or in a plurality of unified files (e.g., one or more modules , A subprogram, or a file that stores a portion of the code). The computer programs may be arranged to be executed in a single computer or in a plurality of computers located in one location or distributed across a plurality of locations and interconnected by a communication network.

The processes described herein may be performed by one or more programmable processors that execute one or more computer programs to operate on input data and perform functions by generating an output. The process and logic flow may also be performed by special purpose logic circuits, such as, for example, an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the device may also be implemented as such.

Suitable processors for the execution of computer programs include, for example, both general purpose and special purpose microprocessors and any one or more processors of any kind of digital computer. Generally, a processor will receive commands and data from either read-only memory or random-access memory, or both. A basic element of a computer is a processor that executes instructions and one or more memory devices that store instructions and data. In general, a computer may also include one or more mass storage devices, such as magnetic, magneto-optical disks, or optical disks, for storing data, or may be operable to receive data therefrom, transmit data thereto, or both . However, a computer may not have such a device. Moreover, the computer may be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), for example.

Computer-readable media suitable for storing computer program instructions and data may be any type of non-volatile memory, medium, and memory device, including, for example, semiconductor memory devices such as EPROM, EEPROM, A data memory; Magnetic disks, such as internal hard disks or removable disks; Magnetic optical disc; And CD ROM and DVD-ROM disks. The processor and memory may be supplemented by or included in a special purpose logic circuit.

To provide for interaction with a user, embodiments described herein may include a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to a user, Such as a mouse or trackball, or a computer with a touch screen. Other types of devices for providing interaction with a user may also be used; For example, an input from a user may be received in any form, including acoustic, voice, or tactile input.

Embodiments described herein may include a back-end component, e.g., a data server, or may include a middleware component, e.g., an application server, or a front-end component, e.g., a user, A client computer having a graphical user interface or web browser capable of interacting in practice, or may be embodied in a computing system including any combination of one or more such backends, middleware, or front end components. The components of the system may be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (" LAN ") and a wide area network (" WAN "

The computing system may include a client and a server. Clients and servers are typically remotely from each other and typically interact through a communications network. The client and server relationships are generated by a computer program running on each computer and having a client-server relationship with each other.

The controller 62 may be used to initiate an alarm and / or initiate movement of the robot 22 or a robot component according to distance information received from the sensor 56. For example, the controller 62 compares the data received from the sensor 56 (e.g., via the A / D converter 58) for pre-programmed logic conditions and outputs a response in accordance with the programmed command, And may include software configured to initiate an alarm. In a further embodiment, the controller 62 may communicate with the input-output (I / O) device 66 via the data line 68 and the I / And information relating to the positioning of the glass sheet to the container 10, including alarm conditions. The I / O device 66 may further include a device, such as a keyboard, a computer mouse or other input device, to provide communication between the controller 62 and an operator or other factory personnel.

In some embodiments, the controller 62 may further communicate with a database 69 for storing data from the controller and the database may analyze the data provided from the controller 62 and / And may further include one or more software programs for comparing such data with history information. For example, in some embodiments, the database 69 may include hysteresis process data, certain glass properties such as thickness and dimensions, and also glass type, alarm history, and the like. Analysis of historical data can be useful for identifying problematic purposes or process trends for process improvement.

For purposes of illustration and not limitation, the container 10 may include a plurality of slots 70 formed between projections 72 located along the inner surface of the container wall, . For example, as shown in Figure 2, a plurality of slots 70 formed between the plurality of protrusions 72 may be arranged such that the adjacent glass sheets positioned in the slots are substantially parallel to one another and the front and rear walls 14, 16 20 along the inner surface of the container 10 so as to be substantially parallel with the inner surface of the container 10. For example, the container 10 may comprise a foam polymeric material such as an elastomeric material, for example a closed cell foam material, which forms protrusions and slots, which is applied to the inner surface of the container. The bottom wall 21 may also include a plurality of slots similarly formed between the plurality of projections, wherein the bottom slots are generally planar substrates, for example, as long as the glass sheet is substantially parallel to the front and rear walls of the container Aligned with the slots along the sides of the container so as to be held in an upright position in the slots of the set.

In operation, the robot 22 acquires the glass sheet by engaging the edge of the glass sheet with the gripping device 24. [ For example, the top edge 49 of the glass sheet can be gripped by one or more gripping devices 46, and the side edges 50a, 50b can each be gripped by gripping devices 48a, 48b , Thereby providing lateral support for the glass sheet.

Figs. 4A-4E illustrate a sequence of steps illustrating the process of placing a glass sheet 26 (e.g., a (i) glass sheet) in a container 10. 4A, when the glass sheet 26 is coupled by the robot 22, the robot 22 carries the glass sheet 26 to a position on the container 10, and the container 10 Aligned with a pair of opposing slots 70 arranged along the inner surface of the opposed lateral walls 18,20. 4B, the robot 22 starts lowering the glass sheet 26 downward, for example, vertically downward, to the container 10. As shown in Fig. When the glass sheet 26 is lowered to the container 10, the glass sheet enters the range of sensing the beam 82, e.g., an ultrasonic beam, from the sensor 56, Distance information on the distance between the sheets 26 is collected and transmitted to the controller 62 via the A / D converter 58. [ The gripping devices 48a and 48b are separated from the side edges 50a and 50b of the glass sheet and the actuator devices 44a and 44b rotate the lower arm portions 38a and 38b about the pivot points 40a and 40b Thereby providing unobstructed access to the gaps 52a and 52b between the glass sheet side edges 50a and 50b and the side walls 18 and 20 of the container 10. In the sequence step shown in Fig. 4C, when the robot 22 descends the glass sheet to the container 10, the side arm portions 34a, 34b are positioned outside the side walls 18, 20 of the container 10 And the side walls extend into the gap between the glass sheet and the arm members 34a, 34b while the glass sheet 26 is lowered into the side wall slots of the container. 4d, the glass sheet 26 is fully positioned in the container 10 and one or more of the upper gripping devices 46 are separated from the glass sheet. In the sequence step shown in Fig. 4E, the robot 22 retracts the gripping device 24, searches another glass sheet, and moves for placement in the container 10. Fig. A cover (not shown) may be placed on the container upon completion of the loading process.

According to the present disclosure, the glass sheet positioned in the container 10 by the robot 22 is sensed by the sensor 56, and the distance between the sensor and the glass sheet is obtained. For the purpose of discussion, such a glass sheet can be arbitrarily designated as the (i-1) -th glass sheet. When the (i-1) glass sheet is finally positioned in the container 10 by the robot 22 and released by the gripping device 24, the controller 62 in communication with the sensor 56 is in the i- -1) The final position (distance) of the glass sheet is recorded in the memory component. The robot 22 then searches for another glass sheet, which is designated as (i) the glass sheet. (I) the distance of the glass sheet from the sensor 56 when the robot 22 places (i) the glass sheet is monitored and recorded. The distance may be sampled at any suitable sampling rate depending on the performance of the A / D converter 58. When (i) the glass sheet is finally positioned adjacent to the (i-1) glass sheet, (i) the glass sheet is subjected to a new (i-1) Re-specified as glass sheet. Thus, the previous glass sheet is designated as the (i-1) glass sheet, the subsequent glass sheet as the (i) glass sheet, and each of the (i) (I-1) glass sheet at the time of retrieving the glass sheet. In other words, for each new (i) glass sheet, the previous (i) glass sheet becomes the (i-1) th glass sheet. It will be clear that this iterative process depends on only two glass sheets at any given time, i. E., An already-placed (i-1) glass sheet and a new, placed (i) glass sheet. However, data for any previous glass sheet before the (i-1) glass sheet is unnecessary, but can be captured and stored in the database 69 if required.

It will also be clear that, if desired, the above iterative procedure can be replaced by a numbered sequence, wherein the initial glass sheet is designated as (i) a glass sheet, and each subsequent glass sheet is designated as (i + n) glass sheet, where n is an index number that increases by one each time a new glass sheet is retrieved and added to the container. Indexing the glass sheet in such a manner can add calculation routines to the process as needed or required, and can further facilitate retention of historical data.

Returning to the iterative scenario, and referring to FIG. 5, three exemplary curves are shown with distance "x" from sensor 56 drawn as a function of time "t". Curve 90 represents the distance from the sensor 56 of the previous glass sheet at the location of the container 10 and the second curve 92 represents the new glass sheet in process being loaded into the container, (I) a subsequent glass sheet loaded into the container after the glass sheet to show the repetition of the loading cycle, which will become more apparent with the following description. As before, the previous glass sheet is designated as the (i-1) glass sheet, and the new glass sheet in the process of being loaded into the container is designated as the (i) glass sheet. Subsequent glass sheets will be designated for the purposes of discussion and illustration as (i + 1) glass sheets to avoid excessive confusion.

The sensor 56 is used to measure the temperature of the glass sheet (i) during loading of the glass sheet (glass sheet 26 according to Figures 1 and 2), until such time as (i) the glass sheet enters the range of the sensor at time t = 0 (The distance from the sensor 56) of the (i-1) glass sheet (the glass sheet 12 according to Figs. 1 and 2). As shown by the curve 90, the variation of the shape of the (i-1) -th glass sheet occurs at time t-1. Thus, a change in the distance is sensed by the sensor 56 and transmitted to the controller 62. [ The controller 62 records the position of the (i-1) -th glass sheet during the fluctuation, and determines the minimum (i-1) Position and optionally the maximum position.

5, at time t = 0, the (i) glass sheet joined by the robot 22 enters the range of the sensor 56, and (i) ) Is measured by the sensor when the glass sheet is placed in the container (10). The variation of the (i) glass sheet during positioning is measured by the sensor as the distance x _t (i), and the distance data x _t (i) is transmitted to the controller 62. The monitoring of the (i-1) glass sheet is stopped at the same time as (i) the acquisition of the glass sheet by the sensor 56, ). (i) the glass sheet is separated from the glass sheet at t = + 1, where +1 indicates the time of any unit, depending on the process cycle time. Controller 62, respectively, MAX (x _t (i)) and MIN (x _t (i)), t = 0 and t = + maximum distance between the sensor and the (i) glass sheet in the time between the first to be given as And (i) the minimum distance between the sensor and the glass sheet.

(i) the glass sheet is separated from the robot among the time between t = + 1 and t = + 2 (where +2 represents the time of any unit larger than +1, depending on the process cycle time). The sensor 56 monitors (i) any variation of the glass sheet and transmits the distance information to the controller 62 as the distance _xs (i) between the sensor and the (i) glass sheet. Controller 62, respectively, MAX (x _s (i)) and MIN (x _s (i)) up to between the sensor and the (i) glass sheet in the time between, t = + 1 and t = + 2 is specified as Distance and the minimum distance between the sensor and (i) the glass sheet. At t = + 2, a subsequent glass sheet is placed in the container 10, and the above cycle is repeated. The previously-specified (i) glass sheet becomes the (i-1) glass sheet and the subsequent glass sheet (the (i + 1) glass sheet) becomes the new (i) glass sheet. This sequence is repeated until all the glass sheets have been loaded into the container.

Next, the numerical values of A, B, C, and D of curve (92) representing the (i) glass sheet will be described. (I) At the moment when the glass sheet enters the range of the sensor 56, (i) the fluctuation of the glass sheet is monitored and recorded. Value "A" denotes the difference between the (i) the maximum distance value of the of the loading of the glass sheets x _t (i) MAX (x _t (i)) and a minimum distance value MIN (x _t (i)), where x _t (i) is the distance of the (i) glass sheet from the sensor 56 as a function of time. That is, "A" represents a spatial envelope formed by the variation of (i) the glass sheet. If " A " is greater than a predetermined set point or limit, [alpha], the controller 62 may initiate an alert based on programming of the controller. The value of a may depend on a variety of different variables, including flexibility of the glass sheet (depending on glass size, thickness, etc.), container size, container slot spacing, factory ventilation (air flow) , Typically determined experimentally. Mathematically, the alarm condition for " A " can be expressed as (MAX ( _xt (i)) - MIN ( _xt (i))) >

The numerical value " B " is used to determine whether (i) the glass sheet is likely to come into contact with the (i-1) glass sheet during (i) loading of the glass sheet. Represents the difference between the minimum value of x _s (i-1) and the maximum value of x _t (i), where x _t (i-1) ) Is the distance of the glass sheet. (I) the minimum distance MIN ( _xs (i-1)) of the (i-1) glass sheet before the glass sheet is acquired by the sensor 56, sheet represents the difference between the time and a (i) a maximum distance value between in the glass sheet, the time between the time that is released by a robot sensor and a (i) glass sheets mAX (x _t (i)) obtained by the sensor. If " B " is less than a predetermined set point or limit, beta, the controller 62 may initiate an alarm. The value of? may depend on a variety of different variables, including flexibility of the glass sheet (depending on the glass size, thickness, etc.), container size, container slot spacing, factory ventilation (air flow) , Typically determined experimentally. Mathematically, the alarm condition for " B " can be expressed as (MIN ( _xs (i-1)) - MAX ( _xt (i)) <

The numerical value " C " represents a value obtained by (i) acquisition of the (i + 1) glass sheet by the sensor and (i) Position is close enough to the (i-1) -th glass sheet that the (i-1) -th glass sheet can contact the (i-1) th glass sheet. If " C " is less than a predetermined set point or limit, gamma, the controller can initiate an alarm. The value of? may depend on a variety of different variables, including flexibility of the glass sheet (depending on glass size, thickness, etc.), container size, container slot spacing, factory ventilation (air flow) , Typically determined experimentally. Mathematically, the alarm condition for " C " can be expressed as (MIN ( _xs (i-1)) - MAX ( _xs (i))) <

Value "D" represents the difference between x _s (i) the maximum value MAX (x _s (i)) and minimum value MIN (x _s (i)) of a, where x _s (i) the sensor as a function of time ( 56). &Lt; / RTI &gt; More specifically, " D " represents the difference between the maximum and minimum distances of the (i) glass sheet after (i) the glass sheet is placed in the container and ejected by the robot. More specifically, " D " represents the total out-of-plane excursion of the glass sheet after the gripping device 24 has discharged (i) the glass sheet. The value of "D" should be at least less than the pitch between the slots. If " D " is greater than a predetermined set point or limit, delta, the controller can initiate an alarm. The value of delta can depend on a variety of different variables, including flexibility of the glass sheet (depending on the glass size, thickness, etc.), container size, container slot spacing, factory ventilation (air flow) , Typically determined experimentally. Mathematically, the alarm condition for &quot; D &quot; can be expressed as (MAX ( _xs (i)) - MIN ( _xs (i))) &gt;

It should be noted that the alarm may be initiated when any one or more of the above conditions A to D occurs.

It will be apparent to those of ordinary skill in the art that various changes and modifications can be made to the embodiments of the present disclosure without departing from the spirit and scope of the disclosure. Accordingly, the present disclosure is intended to include such modifications and changes as fall within the scope of the appended claims and their equivalents.

Claims (11)

A method for loading a glass sheet,
(a) positioning a first glass sheet in a container;
(b) detecting movement of the first glass sheet after step a) with the sensor as distance _xs (i-1) of the first glass sheet from the sensor;
(c) locating the second glass sheet in the container adjacent to the first glass sheet;
(d) detecting movement of the second glass sheet in step (c) as a distance x _t (i) of the second glass sheet from the sensor;
(e) separating the robot from the second glass sheet;
(f) detecting movement after step (e) of the second glass sheet as distance _xs (i) of the second glass sheet from the sensor; And
(g) initiating an alert,
1) If the difference between MAX (x _t (i)) and MIN (x _t (i)) is greater than the first preset value,
2) If the difference between MIN ( _xs (i-1)) and MAX ( _xt (i)) is less than the second preset value,
3) If the difference between MIN ( _xs (i-1)) and MAX ( _xs (i)) is less than the third preset value,
4) If the difference between MAX (x _s (i)) and MIN (x _s (i)) is greater than the fourth preset value,
Starting the alarm
/ RTI &gt; The method of claim 1, wherein the sensor is an ultrasonic sensor. The method of claim 1, wherein step (d) comprises a gripping device coupled to the robot, the gripping device comprising a frame including a base member and a pair of opposed arm members extending therefrom, And a second arm portion rotatably coupled to the first arm portion and the first arm portion, wherein the second arm portion is rotatable relative to the pivot point, the method comprising the steps of: Further comprising rotating the second arm portion relative to the pivot point such that the member extends beyond the side wall of the container. 4. The method of claim 3, wherein each second arm portion includes a gripping device coupled thereto, the method further comprising separating the gripping device from the second glass sheet prior to rotating the second arm portion. Way. 5. The method of claim 4, wherein step (d) further comprises at least one gripping device coupled to the base member and associated with the second glass sheet. A method for positioning a glass sheet,
(a) positioning a first glass sheet in a container with a robot;
(b) separating the robot from the first glass sheet;
(c) detecting movement of the first glass sheet after step b) with the ultrasonic sensor as distance _xs (i-1) of the first glass sheet from the sensor;
(d) placing a second glass sheet in a container with a robot adjacent to the first glass sheet;
(e) detecting movement of the second glass sheet in step (d) as a distance x _t (i) of the second glass sheet from the ultrasonic sensor;
(f) separating the robot from the second glass sheet;
(g) detecting movement after step (f) of the second glass sheet as distance _xs (i) of the second glass sheet from the ultrasonic sensor; And
(h) initiating an alert,
1) If the difference between MAX (x _t (i)) and MIN (x _t (i)) is greater than the first preset value,
2) If the difference between MIN ( _xs (i-1)) and MAX ( _xt (i)) is less than the second preset value,
3) If the difference between MIN ( _xs (i-1)) and MAX ( _xs (i)) is less than the third preset value,
4) If the difference between MAX (x _s (i)) and MIN (x _s (i)) is greater than the fourth preset value,
Starting the alarm
/ RTI &gt; An apparatus for loading a glass sheet into a container,
A robot arm, and a robot including a gripping device coupled to an end of the robot arm,
A sensor configured to sense a distance from the sensor to the sheet of glass when the sheet of glass is positioned within the container by the robot; And
And a controller operably coupled between the sensor and the robot,
The gripping device includes:
The base member, and
And includes first and second arm members
Each of the arm members of the first and second arm members,
A first arm portion coupled to the base member and a second arm portion coupled to the first arm portion and rotatable relative to the pivot point,
An actuator coupled between the first and second arm portions and operable to rotate the second arm portion relative to the pivot point,
. 8. The apparatus of claim 7, wherein the sensor is an ultrasonic sensor. 8. The apparatus of claim 7, wherein the second arm portion of the first arm member rotates in a direction opposite to the second arm portion of the second arm member. 8. The apparatus of claim 7, wherein the base member comprises at least one gripping device. 8. The apparatus of claim 7, wherein each second arm portion of the first and second arm members comprises at least one gripping device.

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