WO2007116080A1

WO2007116080A1 - Thin-glass gripper

Info

Publication number: WO2007116080A1
Application number: PCT/EP2007/053517
Authority: WO
Inventors: Stefan Kreuzberger; Günther Pflanzner
Original assignee: Schott Ag
Priority date: 2006-04-12
Filing date: 2007-04-11
Publication date: 2007-10-18
Also published as: TW200815263A; TWI405703B; DE102006017763B4; KR20090009837A; DE102006017763A1

Abstract

A thin-glass gripper is described for holding and turning a flat workpiece (1), comprising a plurality of gripper arms (2a-h) having at least one suction lifter (3a-n) arranged in each case on them, wherein the gripper arms (2a-h) can be connected via a common connecting flange (4) to a handling and transferring device (19) and the suction lifters (3a-n) can be connected to a vacuum line (5). The gripper arms (2a-h) of the thin-glass gripper are oriented radially with regard to the connecting flange (4) and are telescopic in their axial direction.

Description

Thin glass gripper

The invention relates to a thin glass gripper for holding and moving a sheet-like workpiece, comprising a plurality of gripper arms with at least one suction lifters disposed thereon, wherein the gripper arms can be connected via a common flange to a handling and transfer device and the siphon to a vacuum line.

An essential component of the transport chain in the production of thin-walled glass panes are, in addition to conveyor belts, especially thin-glass grippers, which are also referred to as vacuum suction lifters. These work with a negative pressure of 0.3 bar to 1.0 bar and are attached to the handling and transfer devices, in particular industrial robots, which are able to perform movements in the room can.

In the manufacture of thin glass, a need has increased over time for larger glass formats to be transported. In addition, the thickness of the thin glass has been further reduced for certain applications, so that when using the known thin glass gripper increasingly the load limit of the thin glass was exceeded and it came during transport to significant losses. Another disadvantage is that only a limited flexibility with respect to the transport of other glass formats can be realized in an established transport chain with the previously known thin glass grippers.

Accordingly, the invention has for its object to provide a thin glass gripper, which allows gentle handling of various glass formats. The object is achieved according to the invention with a thin glass gripper in which the gripper arms are radially aligned with respect to the connecting flange and telescopic in its axial direction.

The connecting flange is used to attach the thin glass gripper to the handling and transfer device. Furthermore, the thin glass gripper is connected to a vacuum line, which is connected via branching lines with all siphons.

Due to the radial orientation of the gripper arms, it is possible to distribute the siphon as evenly as possible with respect to the surface of the thin glass. The axial adjustability ensures a flexible adaptation of the thin glass gripper to different glass formats, while maintaining the even distribution of the siphon. In this case, only the distance of the siphon grows to each other to the same extent, so that even with large areas of the thin glass remains an approximately constant load. The adjustability should be stepless.

For a telescopic adjustment of the gripper arms, these preferably each have an outer tube and an inner tube displaceable therein. According to a first advantageous embodiment, the inner tube is manually adjustable relative to the outer tube. This can be done for example by loosening a fastening screw and then pulling out the inner tube. In one end position, the fastening screw is then tightened by hand again.

Alternatively, the inner tube relative to the outer tube by means of a servomotor can be moved, each gripper arm should be equipped with its own servo motor and controlled. With the help of an adjustment via a servomotor can be particularly The position of the siphon can be moved flexibly and thereby adjusted to different glass formats.

It has proved to be advantageous if the gripper arms form an equal angle to each other in the circumferential direction. This arrangement allows for the same extended state of the inner tubes a relatively uniform distribution of the siphon and thus a uniformly distributed force into the transportable thin glass pane.

In a particular embodiment, at least one siphon is arranged in each case at the outer ends of the gripper arms, wherein these siphon to each other span a rectangular base, that is, all inner tubes are in a same extended state. This is particularly useful when rectangular glass formats are to be raised with the thin glass gripper.

Preferably, the gripper arms are shaped as a polygonal profile, particularly preferably approximated to a DIN 32712 - P4C profile with rounded edges. In essence, this profile consists of a circle with four cycloid flattened sides. This profile cross section allows easy and quick adjustment of the inner tube relative to the stationary outer tube even under load. In addition, such a profile allows the transmission of high torque with compact dimensions, so that the siphon are mounted extremely secure against rotation of the gripper arms. Due to the polygonal profile, there is no notch effect between the inner tube and the outer tube and only minimal play, thereby avoiding deflection of the inner tube. The polygonal profile has a large hollow interior, which provides space for example for a linear drive or lines for supplying compressed air, vacuum or electricity. - A -

Conveniently, the gripper arms are made of carbon. This allows a massive reduction in the dead weight of the gripper arm by approximately 50% compared to an aluminum construction. This in turn allows entire production processes to be carried out more quickly, since the thin-glass grippers can work with significantly greater pivoting speeds. The carbon construction is particularly suitable for producing the polygonal profiles described above. Here, a polished polygon shaft is first produced, which can be made relatively well up to a length of 1000 mm. The outer tube is created by wrapping the ground polygon shaft, the inner tube is created by the deflection of the outer tube. Thus, this shaft-hub connection can be made with a single tool very accurately and over 1000 mm in length. Apart from the one-time purchase of the ground polygon shaft, this guide is also quite inexpensive to manufacture.

Advantageously, eight gripper arms are arranged on the connecting flange, which alternately each have an angle of 41 ° on one side and 50 ° on the other side of an arm. This results in a close spacing of the siphon with a correspondingly low load of the thin glass, which is particularly necessary for the transport of thin-walled glass formats such as touch screens.

It has also proven to be advantageous if in each case a suction lifter on the outer tube and a siphon on the inner tube is arranged at four diametrically arranged to the connecting flange gripper arms. At two diametrically arranged to the connection flange gripper arms, the inner tube end each have a transversely oriented to the inner tube headband with two suction lifters. In addition, two further diametrically arranged gripper arms may be provided, on each of which a siphon is arranged at the end. The two last-mentioned gripper arms can be alternately positioned between the first-mentioned gripper arms.

Preferably, a plurality of suction lifters are combined in suction zones and these can be acted upon individually with a negative pressure. This is particularly advantageous when depositing the thin glass panes, as a fanning of the individual panes in the stack at the lower edge is largely avoided. Otherwise, the discs will slip on the edge during transport and will be destroyed as a result.

In a preferred embodiment, at least one distance sensor, particularly preferably two distance sensors, is arranged on the thin glass gripper. These serve to detect the distance to the thin glass pane and support the position detection and position control, whereby a particularly accurate contact is achieved at the intended position of the thin glass pane. This also supports the gentle handling.

To increase the stability, the gripper arms can be attached to a centrally arranged bearing plate. As a result, an orientation of the support arms in a plane to each other also takes place.

For a better understanding of the invention will be explained in more detail with reference to five figures. It show the Fig. 1: a perspective top view of a

Thin glass gripper;

FIG. 2 is a bottom view of a thin glass gripper; FIG.

3 shows a side view of a

Thin glass gripper;

Fig. 4a: a perspective top view of a

Gripper arm with siphon arranged thereon;

4b: a longitudinal section through a gripper arm with servomotor and

Fig. 5: a perspective top view of a

Gripper arm with arranged thereon headband and two siphons.

FIG. 1 shows in a perspective side view a thin-glass gripper with a centrally arranged connecting flange 4, which serves for fastening the thin-glass gripper to a robot arm 19 (see FIG. 3).

From the connection flange 4, a total of eight gripper arms 2a-h extend radially outward, wherein the connection flange 4 forms a common center. On the underside, the gripper arms 2a-h each have at least one plate-shaped suction lifter 3a-n arranged on the end side thereof. To increase the stability, the gripper arms 2a-h are fastened with their upper side to a common bearing plate 11. The structural design of the individual gripper arms 2a-h can be seen particularly well in FIG. FIG. 2 shows a bottom view of the thin-glass gripper pivoted about the rotation axis 20 (see FIG. 1) in the direction of the pipe. The gripper arms 2a-h are constructed in two parts and comprise a stationary outer tube 6 extending toward the connecting flange 4 and a smaller diameter tube 7 guided displaceably therein. The outer tubes 6 protrude beyond the bearing plate 11. In the illustration of Figures 1 and 2, the inner tubes 7 are in an extended position, thereby enabling the transport or handling of large thin glass panes.

A total of four gripper arms 2a, 2c, 2e, 2g are equally equipped with suction cups 3a, 3b, 3d, 3e, 3i, 3h, 3k, 3I, wherein in each case a siphon 3b, 3d, 3h, 3k with respect to the connection flange 4 fixed to the Outer tube 6 and a respective siphon 3a, 3e, 3i, 3I is fixedly arranged at the outer end of the inner tube 7. Two of the four gripper arms 2a, 2c, 2e, 2g are diametrically opposite relative to the connection flange.

The opposite gripper arms 2b, 2f each have at their outer end of the inner tube 7 a single siphon 3c, 3j. At the respective outer tubes 6 of the gripper arms 2b, 2f no further siphon are provided.

Between the gripper arms 2a, 2g and 2c, 2e are located opposite other gripper arms 2d, 2h, the adjustable inner tubes 7 end each carry a transversely to the axial extent of the inner tube 7 aligned headband 9a, 9b. The siphon 3f, 3g attack on the Haftebügel 9a and the siphon 3m, 3n on the headband 9b each end, whereby the free distance between the suction lifters 3a, 31 and 3e, 3i is significantly reduced and the thin glass to be transported undergoes additional support , As can be seen in the bottom view of Figure 2, the siphon 3a, 3e, 3i, 31 stretch a rectangle in the flight of the other outer siphon 3c, 3f, 3g, 3j, 3m, 3n lie.

In a bore of the bearing plate 11, a distance sensor 10 is used, with which the distance of the thin glass gripper to a workpiece 1 (see Figure 3) is detected and thereby the thin glass gripper can be moved particularly precisely to the workpiece.

FIG. 3 shows a side view of the thin-glass gripper, which is mounted with its centrally arranged connecting flange 4 on the robot arm 19. In this view, only the gripper arms 2c, 2d, 2e are visible with their siphons 3e, 3f, 3g, 3i. The siphon 3e, 3f, 3g, 3i are on their underside in contact with a workpiece 1 in the form of a thin glass pane. The vacuum required for holding the workpiece 1 is transmitted via a vacuum line 5 to the thin glass gripper. In the region of the connecting flange 4, the bundled vacuum line 5 branches with their individual lines on the gripper arms 2a-h and is connected by this with the respective siphon 3a-n, as can be seen by way of example with reference to the dashed line in the gripper arm 2e. Due to the independent connection of the siphon 3a-n, the siphon 3a-n can be acted upon or blown off individually or in groups in groups with an adjustable negative pressure.

In the side view of Figure 3 can also be seen that the outer tube 6 and the inner tube 7 is formed as a substantially square cross section with curved side surfaces and rounded corners. FIG. 4a shows a perspective view of a gripper arm 2b, 2f. It can be fastened to the bearing plate 11 (see FIGS. 1 to 3) by means of an inner lower flange 12 and an outer lower flange 13. At the outer end of the outer tube 6, a fastening screw 15 is arranged, the lower end extends through the outer tube 6 through to the inner tube 7. The fastening screw 15 engages with its thread in a complementary cut thread of a base 21, which is an integral part of a collar upper part 16. The cuff top

16 in turn engages with a flange-like attachment portion 22 to a bottom of the sleeve 6 applied to the bottom of the sleeve

17 and is connected via the at least one fastening portion 22 with this to a closed component. By loosening the fastening screw 15, this is no longer in operative engagement with the inner tube 7, so that it can be moved in the axial direction relative to the outer tube 6. For attachment of the inner tube 7 relative to the outer tube 6, the fastening screw 15 is tightened again.

The siphon 3a-n are attached by means of a top flange 14 to the respective inner tube 7. By way of example, this can be recognized by means of the siphon 3c, 3j. On the top of the siphon 3a-n is a connection piece 18, to which a single line of the vacuum line 5 can be connected.

FIG. 4b shows a longitudinal section through a gripper arm 2b, 2f, in which the inner tube 7 is in a retracted position relative to the outer tube 6. However, the method of the inner tube 7 is not done by hand, but by means of a servomotor 8. For the fastening screw 15 has been removed and instead a servomotor 8, preferably a positioning cylinder, on the gripper arm 2b, 2f arranged. The servomotor 8 engages with a first end on the outer tube 6 and a second end on the inner tube 7, wherein the first end may be mounted on the base 21, for example. Due to the identical design of outer and inner tube 6, 7 of all gripper arms 2a-h of the thin glass gripper, it is particularly easy to implement to equip all gripper arms 2a-h with a servomotor 8.

FIG. 5 illustrates an embodiment of the gripper arms 2d, 2h, at the end of which a retaining bracket 9a, 9b is fastened transversely to the axial extent of the inner tube 7 by means of the upper belt 14. On the mounting bracket 9a, 9b are in extension of the inner tube 7, two connecting pieces 18 shown, of which the first to connect a connecting line, not shown, to the siphon 3f, 3n and the second to connect another connecting line also not shown to the siphon 3g, 3m is provided.

LIST OF REFERENCE NUMBERS

Workpiece a-h Gripper arms a-n Suction lifter

flange

vacuum line

outer tube

inner tube

Actuator a, b Retaining bracket 0 Distance sensor 1 Bearing plate 2 Lower flange inner 3 Lower flange outer 4 Upper flange 5 Fixing screw 6 Cuff upper part 7 Cuff lower part 8 Connecting piece 9 Handling and transfer device, robot arm 0 Rotary axis 1 Base 2 Flange-type attachment section

Claims

claims

1. A thin-glass gripper for holding and transferring a sheet-like workpiece (1), comprising a plurality of gripper arms (2a-h) with at least one respective suction lifter (3a-n), wherein the gripper arms (2a-h) via a common connecting flange (4) to a handling and transfer device (19) and the siphon (3a-n) to a vacuum line (5) can be connected, characterized in that the gripper arms (2a-h) with respect to the connecting flange (4) radially aligned and in its axial direction are telescopic.

2. Gripper according to claim 1, characterized in that the gripper arms (2a-h) each have an outer tube (6) and an inner tube (7) displaceable therein.

3. Gripper according to claim 2, characterized in that the inner tube (7) relative to the outer tube (6) is manually adjustable.

4. Gripper according to claim 2, characterized in that the inner tube (7) relative to the outer tube (6) by means of a servomotor (8) is adjustable.

5. Gripper according to one of claims 1 to 4, characterized in that the gripper arms (2a-h) form an equal angle to each other in the circumferential direction.

6. Gripper according to one of claims 1 to 5, characterized in that at least one

Suction cups (3a, c, e, f, g, i, j, l ₁ m, n) are respectively arranged at the outer ends of the gripper arms (2a-h), said siphon (3a, c, e, f, g , i, j, I ₁ m, n) span each other a rectangular base.

7. Gripper according to one of claims 1 to 6, characterized in that the gripper arms (2a-h) are formed as a polygonal profile.

8. Gripper according to one of claims 1 to 7, characterized in that the gripper arms (2a-h) are made of carbon.

9. Gripper according to one of claims 1 to 8, characterized in that on the connecting flange (4) eight gripper arms (2a-h) are arranged, which alternately to one another in each case an angle of 41 ° on one side and 50 ^D on the other Side of an arm.

10. Gripper according to claim 9, characterized in that at four diametrically arranged gripper arms (2a, 2c, 2e, 2g) in each case a siphon (3b, 3d, 3h, 3k) on the outer tube (6) and in each case a siphon (3a, 3e , 3i, 3I) on the inner tube (7) is arranged.

11. Gripper according to claim 9 or 10, characterized in that on two diametrically arranged gripper arms (2d, 2h), the inner tube (7) each end a transversely oriented headband (9a, b) with two suction cups (3f, 3g, 3m, 3n ) having.

12. Gripper according to one of claims 1 to 11, characterized in that a plurality of suction lifters (3a-n) combined in suction zones and these individually with a negative pressure can be acted upon.

13. Gripper according to one of claims 1 to 12, characterized in that on the thin glass gripper at least one distance sensor (10) is arranged.

14. Gripper according to one of claims 1 to 13, characterized in that the gripper arms (2a-h) are attached to a centrally arranged bearing plate (11).