WO2007116080A1 - Dispositif de prehension de verre mince - Google Patents

Dispositif de prehension de verre mince Download PDF

Info

Publication number
WO2007116080A1
WO2007116080A1 PCT/EP2007/053517 EP2007053517W WO2007116080A1 WO 2007116080 A1 WO2007116080 A1 WO 2007116080A1 EP 2007053517 W EP2007053517 W EP 2007053517W WO 2007116080 A1 WO2007116080 A1 WO 2007116080A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
gripper arms
arms
siphon
inner tube
Prior art date
Application number
PCT/EP2007/053517
Other languages
German (de)
English (en)
Inventor
Stefan Kreuzberger
Günther Pflanzner
Original Assignee
Schott Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schott Ag filed Critical Schott Ag
Publication of WO2007116080A1 publication Critical patent/WO2007116080A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256—Operating and control devices
    • B66C1/0262—Operating and control devices for rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0212—Circular shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0237—Multiple lifting units; More than one suction area
    • B66C1/0243—Separate cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups

Definitions

  • 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.
  • 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.
  • 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.
  • these preferably each have an outer tube and an inner tube displaceable therein.
  • 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.
  • each gripper arm should be equipped with its own servo motor and controlled.
  • an adjustment via a servomotor can be particularly
  • the position of the siphon can be moved flexibly and thereby adjusted to different glass formats.
  • 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.
  • 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.
  • the gripper arms are shaped as a polygonal profile, particularly preferably approximated to a DIN 32712 - P4C profile with rounded edges.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the inner tube end each have a transversely oriented to the inner tube headband with two suction lifters.
  • 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.
  • 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.
  • At least one distance sensor 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.
  • 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.
  • FIG. 1 a perspective top view of a
  • FIG. 2 is a bottom view of a thin glass gripper
  • FIG. 3 shows a side view of a
  • Fig. 4a a perspective top view of a
  • 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).
  • connection flange 4 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.
  • the gripper arms 2a-h each have at least one plate-shaped suction lifter 3a-n arranged on the end side thereof.
  • the gripper arms 2a-h are fastened with their upper side to a common bearing plate 11.
  • 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.
  • 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.
  • 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 ,
  • the siphon 3a, 3e, 3i, 31 stretch a rectangle in the flight of the other outer siphon 3c, 3f, 3g, 3j, 3m, 3n lie.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 siphon 3a-n are attached by means of a top flange 14 to the respective inner tube 7.
  • 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.
  • the method of the inner tube 7 is not done by hand, but by means of a servomotor 8.
  • 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.
  • a retaining bracket 9a, 9b is fastened transversely to the axial extent of the inner tube 7 by means of the upper belt 14.
  • two connecting pieces 18 shown 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)

Abstract

L'invention concerne un dispositif de préhension de verre mince pour fixer et retourner une pièce plane (1), comprenant plusieurs bras de préhension (2a-h) avec au moins un dispositif de levage aspirant (3a-n) disposé respectivement sur ceux-ci, les bras de préhension (2a-h) pouvant être raccordés par le biais d'une bride de raccordement commune (4) à un dispositif de manipulation et de transfert (19) et les dispositifs de levage aspirants (3a-n) pouvant être raccordés à une conduite de vide (5). Les bras de préhension (2a-h) du dispositif de préhension de verre mince sont orientés radialement par rapport à la bride de raccordement (4) et peuvent être télescopés dans leur direction axiale.
PCT/EP2007/053517 2006-04-12 2007-04-11 Dispositif de prehension de verre mince WO2007116080A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006017763.0 2006-04-12
DE102006017763A DE102006017763B4 (de) 2006-04-12 2006-04-12 Dünnglasgreifer

Publications (1)

Publication Number Publication Date
WO2007116080A1 true WO2007116080A1 (fr) 2007-10-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/053517 WO2007116080A1 (fr) 2006-04-12 2007-04-11 Dispositif de prehension de verre mince

Country Status (4)

Country Link
KR (1) KR20090009837A (fr)
DE (1) DE102006017763B4 (fr)
TW (1) TWI405703B (fr)
WO (1) WO2007116080A1 (fr)

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ITMI20081677A1 (it) * 2008-09-22 2010-03-23 Giacomo Mantriota Organo prensile
CN102963722A (zh) * 2012-12-04 2013-03-13 中国科学院光电技术研究所 一种可调式真空吸盘装置
CN103112682A (zh) * 2013-03-07 2013-05-22 中国科学院光电技术研究所 一种可调节的真空吸盘装置
WO2014056469A1 (fr) * 2012-10-09 2014-04-17 Grenzebach Maschinenbau Gmbh Procédé et dispositif pour le transport de plaques de grande surface dans des dimensions extrêmement grandes
WO2014063669A3 (fr) * 2012-10-22 2014-08-07 Grenzebach Maschinenbau Gmbh Procédé et dispositif destiné à la pose rapide de panneaux
TWI448369B (zh) * 2012-06-14 2014-08-11 Au Optronics Corp 吸附裝置
CN104016218A (zh) * 2014-06-24 2014-09-03 山东温声玻璃有限公司 一种吊装玻璃的吸盘架
CN104526347A (zh) * 2014-12-19 2015-04-22 广东长虹电子有限公司 一种应用模组屏幕的o/c自动上线设备
CN105347167A (zh) * 2015-12-14 2016-02-24 周韵贤 一种永磁吸附金属吊装机
CN105347166A (zh) * 2015-12-14 2016-02-24 周韵贤 一种吊装装置
CN106915633A (zh) * 2015-12-24 2017-07-04 申圭植 易于更换的玻璃垫结合装置
CN107161841A (zh) * 2017-07-27 2017-09-15 中航沈飞民用飞机有限责任公司 用于方向舵吊运翻转的起吊设备
CN107571273A (zh) * 2017-10-17 2018-01-12 清华大学 一种大口径光学元件精密洁净装配的自动化抓取装置与方法
CN108529248A (zh) * 2018-04-23 2018-09-14 河南浩德科技有限公司 一种机械爪
CN109384045A (zh) * 2018-12-06 2019-02-26 上海华太信息技术有限公司 背板上料机械手夹具装置
CN109592408A (zh) * 2018-12-21 2019-04-09 天津晶东化学复合材料有限公司 一种硬质胶膜转运设备
CN110182604A (zh) * 2019-06-17 2019-08-30 李传聪 一种手动薄板取料装置
CN110817684A (zh) * 2019-10-18 2020-02-21 王以忠 一种建筑玻璃幕墙智能吊装设备
CN111703895A (zh) * 2020-06-17 2020-09-25 湖南省骏北科技有限公司 一种智能机械臂
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CN112320343A (zh) * 2020-11-03 2021-02-05 惠科股份有限公司 一种吸取机构及基板移载机
CN113479648A (zh) * 2021-07-08 2021-10-08 彩虹（合肥）液晶玻璃有限公司 一种玻璃基板搬运装置
CN114056932A (zh) * 2021-12-06 2022-02-18 张忠女 一种工业自动化生产用机械臂
CN114083485A (zh) * 2021-12-20 2022-02-25 孔祥亮 一种建筑室内移动式吸盘玻璃幕墙辅助安装装置

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KR101317954B1 (ko) * 2010-11-02 2013-10-11 한재형 소재 이송용 그립퍼
DE102011115951B4 (de) * 2011-10-13 2016-03-31 BIBA - Bremer Institut für Produktion und Logistik GmbH Greifwerkzeug zur Förderung von unregelmäßig angeordneten Gütern, Greifersystem mit demselben sowie Verfahren zum Abfördern
CN103183468B (zh) * 2011-12-28 2016-08-24 鸿富锦精密工业（深圳）有限公司 玻璃切割装置
DE102013105383B3 (de) * 2013-05-24 2014-07-24 Schindler Handhabetechnik Gmbh Vorrichtung zum pneumatischen Halten und Heben von Glasplatten
CN103600954B (zh) * 2013-10-11 2015-10-07 京东方科技集团股份有限公司 一种掩模板搬运治具
KR101493790B1 (ko) * 2013-10-22 2015-02-16 (주) 피엔피 소형 글라스 연마시스템에 사용되는 트레이 이송장치
KR101456617B1 (ko) * 2013-10-22 2014-11-03 (주) 피엔피 소형 글라스 연마시스템
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WO2016022426A1 (fr) 2014-08-05 2016-02-11 Corning Incorporated Outil d'extrémité de bras
CN105742224A (zh) * 2014-12-11 2016-07-06 南京瀚宇彩欣科技有限责任公司 衬底吸附装置
CN104555432B (zh) * 2015-01-15 2016-09-07 中机锻压江苏股份有限公司 减缓翻转速度的固定装置
CA3056476C (fr) * 2017-03-22 2021-05-04 Saint-Gobain Glass France Dispositif et procede destines a recevoir, a deformer et a deposer une plaque de verre mince
CN107512584A (zh) * 2017-08-14 2017-12-26 吴丹 一种工件搬运装置
CN107826761B (zh) * 2017-11-08 2024-03-22 昆山精讯电子技术有限公司 一种吸盘自动调整装置
US10695916B2 (en) * 2018-07-05 2020-06-30 The Boeing Company End effectors having reconfigurable vacuum heads
CN108946168A (zh) * 2018-09-06 2018-12-07 深圳孔雀科技开发有限公司 一种玻璃转运用吸盘安装结构及其吸盘机
CN109571187A (zh) * 2019-01-22 2019-04-05 丹阳广丰光学器材有限公司 一种光学镜片研磨用固定夹具
CN109795881B (zh) * 2019-03-29 2020-07-24 李传聪 一种板材输送装置
CN109823959A (zh) * 2019-04-04 2019-05-31 秦皇岛信能能源设备有限公司 一种可夹持多面体的吊装夹具
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TW200815263A (en) 2008-04-01

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