WO2009056102A1 - Vorrichtung und verfahren zum umsetzen stossempfindlicher glasplatten in reinsträumen - Google Patents
Vorrichtung und verfahren zum umsetzen stossempfindlicher glasplatten in reinsträumen Download PDFInfo
- Publication number
- WO2009056102A1 WO2009056102A1 PCT/DE2008/001737 DE2008001737W WO2009056102A1 WO 2009056102 A1 WO2009056102 A1 WO 2009056102A1 DE 2008001737 W DE2008001737 W DE 2008001737W WO 2009056102 A1 WO2009056102 A1 WO 2009056102A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- glass plate
- suction
- vertical position
- transfer
- glass
- Prior art date
Links
Classifications
-
- 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
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
- B65G49/065—Transporting devices for sheet glass in a horizontal position supported partially or completely on fluid cushions, e.g. a gas cushion
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67718—Changing orientation of the substrate, e.g. from a horizontal position to a vertical position
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67721—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations the substrates to be conveyed not being semiconductor wafers or large planar substrates, e.g. chips, lead frames
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67784—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations using air tracks
-
- 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
- B65G2249/02—Controlled or contamination-free environments or clean space conditions
-
- 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
-
- 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
- B65G2249/045—Details of suction cups suction cups
Definitions
- Modern glass facades are an obvious sign of modem architecture. However, these are often not only a functional element of a building but increasingly serve also for solar power generation. Tailor-made solar modules enable tailor-made integration in building grids and profiles. Semitransparent solar cells, but also opaque solar cells with transparent areas, make photovoltaic glazing seem flooded with light. The solar cells often take on the desired effect of sun and glare protection.
- the production and further processing shock-sensitive plates is also in the
- LCD Liquid Cristal Display
- Liquid crystal display stands for the use of liquid crystals in the individual pixels of the screen and TFT stands for "thin film
- the TFT, s are the smallest transistor elements that control the alignment of the liquid crystals and thus their transparency.
- a flat screen display consists of numerous pixels.
- Pixel in turn consists of 3 LCD cells (sub - pixels), corresponding to the
- a 15 - inch screen (measured diagonally) contains approximately 800,000 pixels or approximately 2.4 million LCD cells.
- LCD cell liquid crystal cell
- An LCD cell works on the same principle. It consists of two 90 ° twisted polaroid glasses, through which, as explained above, no light can pass. Between these two polaroid glasses is a layer of liquid crystals, which has the natural property of rotating the plane of oscillation of light. This liquid crystal layer is just so thick that the light which passes through the first polaroid glass can be turned back by 90 °, and thus also pass through the second polaroid glass, thus becoming visible to the viewer.
- liquid crystal molecules are now turned away from their natural position by the application of an electrical voltage, less light passes through the cell and the corresponding pixel darkens.
- the corresponding voltage is generated by a TFT element which belongs to each LCD cell.
- the light for the LCD display is created in the back of the screen housing by small fluorescent tubes, as they are used on a larger scale for room lighting.
- each pixel has 3 color filters for the colors red, green and blue, the control of the transmittance of these filters allows each pixel to assume a desired color mixture or a desired color.
- flat screens have excellent sharpness and sufficient color quality.
- TFT 1 S have a lot to offer: less space, a power consumption of only one third of a CRT monitor and a significantly lower radiation emission.
- so-called clean rooms are required for the production of TFT screens. This is necessary because, given the small size of the conductive structures during the manufacturing process, even small size particles can cause line breaks. in the If a TFT screen is manufactured, such a line interruption would result in the failure of one pixel.
- a clean room, or a clean dream, is a room in which the concentration of airborne particles is regulated. It is designed and used in such a way that the number of particles introduced into the room or created and deposited in the room is as small as possible and other parameters such as temperature, humidity or air pressure are regulated as required.
- Multi-axis industrial robots can be used for this purpose primarily.
- Such industrial robots are usually used in large halls for transporting unwieldy and heavy loads, but can also be used in the production of smaller ones
- Machine parts are used profitably. In all cases, it depends on the reproducible accuracy of the movements of the individual
- Dust movements or a more or less large outlet of lubricant is connected. Also, an inevitable abrasion of moving and friction causing machine parts is usually irrelevant.
- EP 1 541 296 A1 discloses a handling device, such as an industrial robot for use in a contaminated environment, having a number of flushing spaces which can be acted upon by a flushing medium, in the region of drive units of the handling device.
- the problem to be solved is to further develop the device in such a way that a reliable substitutability of the handling device in a contaminated environment in a structurally simple and thus in particular cost-effective manner is possible.
- This object is achieved in that a plurality of groups of drive units is assigned in each case a separate Spülraum (claim 1).
- the environment in which such an industrial robot is to be used is more sensitive to contamination than a normal environment and therefore also places greater demands on the structural design, such special requirements can not be compared with the conditions prescribed in clean rooms.
- the device according to the invention or the method according to the invention is therefore based on the object of ensuring extreme positioning accuracy in the implementation of large thin glass plates under clean-room conditions. This object is achieved with a device according to claim 1, or a method according to claim 10.
- FIG. 1 the spatial representation of the conversion conditions
- FIG. 2 the spatial representation of the conversion device
- FIG. 3 the spatial representation of a converted glass plate
- FIG. 4 the sectional drawing of a suction head
- the transfer device is anchored to the mounting plate (1) on the ground.
- the cross member (6) of the transfer fork is on the fastening element (2), and the upper deflection gear (4) and thus, via a, a certain distance and connected via a cross-beam, lower deflection gear (3) on the mounting plate (1) stored.
- the upper deflection gear (4) is in this case driven by the upper servo drive (9) and the lower deflection gear (3) by the lower servo drive (10).
- On the cross member (6) of the transfer fork four Saugkopfany - Holms (7), each with five suction heads (8) are exemplified.
- the suction heads (8) suck against the process of transfer to the relevant glass plate (11) and connect them to the transfer device.
- the flexible duct (5) is encapsulated without emissions and also has its own extraction system.
- Storage device (12) has been pivoted.
- Glass plate (11) are made in both the horizontal and in the vertical direction.
- the device according to the invention can be used to transport the glass plates (11) after the coating in the vertical position again via a device for converting from the storage device (12) in a horizontal position and incorporate on a roller conveyor to the further production process.
- the metal depositing device (12) is exposed to considerable temperature increases, which results in warping of this device and thus a positional displacement of the glass plate (11).
- the laws according to which such a shift takes place are physically known and thus mathematically detectable. Therefore, a measurement of the temperature of the storage device (12) can remedy this situation insofar as the resulting change in the positioning of the glass plate (11) can be taken into account as a known quantity in the process of implementation and subsequent processing.
- FIG. 4 shows a sectional drawing of a suction head (8).
- the spacer sleeve (13) carries at its lower end a
- Suction head (8) is a flow sensor (14) to recognize the by the
- Suction element (15) detects the flow of air and determined by him
- the suction element (15) consists of a special high-performance material which is known by the abbreviation PEEK.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/739,940 US8328255B2 (en) | 2007-10-31 | 2008-10-24 | Apparatus and method for transferring shock-sensitive glass plates in ultra clean rooms |
CN2008801139673A CN101842300B (zh) | 2007-10-31 | 2008-10-24 | 用于在超净室中传送对冲击敏感的玻璃板的装置和方法 |
DE112008002898T DE112008002898A5 (de) | 2007-10-31 | 2008-10-24 | Vorrichtung und Verfahren zum Umsetzen stossempfindlicher Glasplatten in Reinsträumen |
JP2010531410A JP5069795B2 (ja) | 2007-10-31 | 2008-10-24 | 超クリーンルーム内における弱衝撃性ガラス板の運搬装置及びその方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007052182A DE102007052182B4 (de) | 2007-10-31 | 2007-10-31 | Vorrichtung und Verfahren zum Umsetzen stoßempfindlicher Glasplatten in Reinsträumen |
DE102007052182.2 | 2007-10-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009056102A1 true WO2009056102A1 (de) | 2009-05-07 |
Family
ID=40436255
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2008/001737 WO2009056102A1 (de) | 2007-10-31 | 2008-10-24 | Vorrichtung und verfahren zum umsetzen stossempfindlicher glasplatten in reinsträumen |
Country Status (6)
Country | Link |
---|---|
US (1) | US8328255B2 (de) |
JP (1) | JP5069795B2 (de) |
KR (1) | KR101211841B1 (de) |
CN (1) | CN101842300B (de) |
DE (2) | DE102007052182B4 (de) |
WO (1) | WO2009056102A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102249529A (zh) * | 2010-05-19 | 2011-11-23 | 东旭集团有限公司 | 一种电子平板玻璃生产线中用的转移定位装置及取片方法 |
US9546050B2 (en) | 2013-01-30 | 2017-01-17 | Lisec Austria Gmbh | Method and device for stacking and unstacking panel-shaped objects |
CN106428740A (zh) * | 2016-09-23 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | 一种贴膜设备上的纠偏导向装置 |
CN111844048A (zh) * | 2020-08-04 | 2020-10-30 | 合肥盛恩智能装备科技有限公司 | 一种机器人夹具抓取算法 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009040555B4 (de) | 2009-09-08 | 2013-11-21 | Grenzebach Maschinenbau Gmbh | Verfahren und Vorrichtung zum Archivieren und /oder Zwischenlagern von Glasscheiben in Reinräumen |
DE202009012179U1 (de) | 2009-09-08 | 2009-12-03 | Grenzebach Maschinenbau Gmbh | Vorrichtung zum Archivieren und/oder Zwischenlagern von Glasscheiben in Reinräumen |
AT13112U1 (de) * | 2012-02-27 | 2013-06-15 | Haselsteiner Hubert Ing | Abhebevorrichtung und Verfahren zum Abheben einer Glasplatte von einem Tisch |
JP2013187389A (ja) * | 2012-03-08 | 2013-09-19 | Nippon Electric Glass Co Ltd | ガラス基板の搬送装置及び搬送方法 |
US9038418B2 (en) | 2012-09-25 | 2015-05-26 | Corning Incorporated | Apparatuses for manufacturing glass and methods of managing pulling forces applied to glass ribbon |
US9038414B2 (en) | 2012-09-26 | 2015-05-26 | Corning Incorporated | Methods and apparatuses for steering flexible glass webs |
KR101254730B1 (ko) * | 2012-09-26 | 2013-04-17 | 장대환 | 글라스 이송용 로봇 핸드 및 이를 이용한 글라스 이송방법 |
CN203064744U (zh) * | 2012-12-04 | 2013-07-17 | 富鼎电子科技(嘉善)有限公司 | 翻转装置 |
US20150360737A1 (en) * | 2014-06-12 | 2015-12-17 | Richard E. Brummett | Vehicle glass removal and replacement system and method |
JP6086254B2 (ja) * | 2014-09-19 | 2017-03-01 | 日新イオン機器株式会社 | 基板処理装置 |
CN104528385B (zh) * | 2015-01-16 | 2017-06-09 | 京东方光科技有限公司 | 翻转移载机构 |
CN109132546A (zh) * | 2018-08-23 | 2019-01-04 | 通彩智能科技集团有限公司 | 一种薄板输送装置 |
CN110451264B (zh) * | 2019-08-22 | 2021-07-09 | 苏州精濑光电有限公司 | 一种面板支撑传输机构 |
DE102020127981B3 (de) | 2020-10-23 | 2021-12-16 | Laser Imaging Systems Gmbh | Wendevorrichtung zum Handhaben empfindlicher Substrate bei der Belichtung von zweidimensionalen Strukturen auf beiden Substratoberflächen |
CN113126345B (zh) * | 2021-03-12 | 2022-06-10 | 莆田市嘉业光电电子有限公司 | 液晶显示器大版丝印生产工艺及制备装置 |
CN117260672A (zh) * | 2023-11-23 | 2023-12-22 | 天合光能股份有限公司 | 光伏面板安装机器人及光伏面板安装方法 |
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FR2012911A1 (en) * | 1968-07-12 | 1970-03-27 | Werner Joh | Positioning or lifting glass onto a carriage |
CA955194A (en) * | 1969-02-13 | 1974-09-24 | Rene A. Malburet | Method and apparatus for handling fragile sheets |
FR2545815A1 (fr) * | 1983-05-13 | 1984-11-16 | Acorem Atel Const Reparat Meca | Table de decoupe de plaques de verre |
US4925361A (en) * | 1988-12-15 | 1990-05-15 | Western Insulated Glass Company | Method for handling sheet material |
EP1541296A1 (de) * | 2003-12-10 | 2005-06-15 | KUKA Roboter GmbH | Handhabungsgerät, wie Industrieroboter, mit Spülräumen, und Verfahren zum Beeinflussen einer Umgebungsbedingung in einem solchen |
EP1698575A1 (de) * | 2005-03-01 | 2006-09-06 | Antonio Piazza | Vorrichtung zum Greifen und Fördern von Scheibenprodukten gelagert in einer Lageranlage |
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US3541597A (en) * | 1968-04-15 | 1970-11-17 | Nippon Sheet Glass Co Ltd | Plate stacking apparatus |
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JP3897133B2 (ja) | 1997-02-26 | 2007-03-22 | 富士フイルム株式会社 | 基板反転方法及び装置 |
JP3175007B2 (ja) | 1997-07-22 | 2001-06-11 | 株式会社シギヤ精機製作所 | 板ガラス入込み装置 |
JP4048592B2 (ja) * | 1998-04-03 | 2008-02-20 | ソニー株式会社 | 露光装置 |
KR100309546B1 (ko) * | 1999-07-09 | 2001-09-26 | 정문술 | 핸들러의 픽커 가변조절장치 |
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JP2006150538A (ja) * | 2004-11-30 | 2006-06-15 | Rorze Corp | 把持型搬送装置並びにこれを用いるロボット、円盤状物加工設備及び円盤状物搬送方法。 |
JP4873895B2 (ja) * | 2005-07-04 | 2012-02-08 | 東芝機械株式会社 | 平板状搬送物の搬送方法及びその装置 |
DE102005045681B4 (de) * | 2005-09-24 | 2007-07-26 | Eckelt Glas Gmbh | Verfahren zum Steuern von Unterdruck-Hebezeugen und Lastsicherungsvorrichtung für Unterdruck-Hebezeuge sowie deren Verwendung |
US7628434B2 (en) * | 2006-07-12 | 2009-12-08 | Honda Motor Co., Ltd. | Vacuum-operated vehicle glass handling system |
DE202007003907U1 (de) * | 2007-03-16 | 2007-05-24 | Grenzebach Maschinenbau Gmbh | Vorrichtung zum automatischen Sortieren von Glasplatten |
-
2007
- 2007-10-31 DE DE102007052182A patent/DE102007052182B4/de not_active Expired - Fee Related
-
2008
- 2008-10-24 WO PCT/DE2008/001737 patent/WO2009056102A1/de active Application Filing
- 2008-10-24 KR KR1020107010698A patent/KR101211841B1/ko active IP Right Grant
- 2008-10-24 US US12/739,940 patent/US8328255B2/en active Active
- 2008-10-24 CN CN2008801139673A patent/CN101842300B/zh active Active
- 2008-10-24 DE DE112008002898T patent/DE112008002898A5/de not_active Withdrawn
- 2008-10-24 JP JP2010531410A patent/JP5069795B2/ja active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2012911A1 (en) * | 1968-07-12 | 1970-03-27 | Werner Joh | Positioning or lifting glass onto a carriage |
CA955194A (en) * | 1969-02-13 | 1974-09-24 | Rene A. Malburet | Method and apparatus for handling fragile sheets |
FR2545815A1 (fr) * | 1983-05-13 | 1984-11-16 | Acorem Atel Const Reparat Meca | Table de decoupe de plaques de verre |
US4925361A (en) * | 1988-12-15 | 1990-05-15 | Western Insulated Glass Company | Method for handling sheet material |
EP1541296A1 (de) * | 2003-12-10 | 2005-06-15 | KUKA Roboter GmbH | Handhabungsgerät, wie Industrieroboter, mit Spülräumen, und Verfahren zum Beeinflussen einer Umgebungsbedingung in einem solchen |
EP1698575A1 (de) * | 2005-03-01 | 2006-09-06 | Antonio Piazza | Vorrichtung zum Greifen und Fördern von Scheibenprodukten gelagert in einer Lageranlage |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102249529A (zh) * | 2010-05-19 | 2011-11-23 | 东旭集团有限公司 | 一种电子平板玻璃生产线中用的转移定位装置及取片方法 |
US9546050B2 (en) | 2013-01-30 | 2017-01-17 | Lisec Austria Gmbh | Method and device for stacking and unstacking panel-shaped objects |
CN106428740A (zh) * | 2016-09-23 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | 一种贴膜设备上的纠偏导向装置 |
CN111844048A (zh) * | 2020-08-04 | 2020-10-30 | 合肥盛恩智能装备科技有限公司 | 一种机器人夹具抓取算法 |
CN111844048B (zh) * | 2020-08-04 | 2021-09-28 | 合肥盛恩智能装备科技有限公司 | 一种机器人夹具抓取算法 |
Also Published As
Publication number | Publication date |
---|---|
CN101842300B (zh) | 2012-10-10 |
DE112008002898A5 (de) | 2010-07-29 |
JP5069795B2 (ja) | 2012-11-07 |
KR101211841B1 (ko) | 2012-12-12 |
JP2011501475A (ja) | 2011-01-06 |
US8328255B2 (en) | 2012-12-11 |
CN101842300A (zh) | 2010-09-22 |
DE102007052182B4 (de) | 2009-07-02 |
US20110171001A1 (en) | 2011-07-14 |
KR20100074278A (ko) | 2010-07-01 |
DE102007052182A1 (de) | 2009-05-07 |
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