Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
  • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, 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
  • 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
  • B25J11/00—Manipulators not otherwise provided for
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
  • B65H9/04—Fixed or adjustable stops or gauges
• • E—FIXED CONSTRUCTIONS
  • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
  • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
  • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
  • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
  • E06B3/67—Units comprising two or more parallel glass or like panes permanently secured together characterised by additional arrangements or devices for heat or sound insulation or for controlled passage of light
  • E06B3/6715—Units comprising two or more parallel glass or like panes permanently secured together characterised by additional arrangements or devices for heat or sound insulation or for controlled passage of light specially adapted for increased thermal insulation or for controlled passage of light
• • E—FIXED CONSTRUCTIONS
  • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
  • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
  • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
  • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
  • E06B3/673—Assembling the units
  • E06B3/67365—Transporting or handling panes, spacer frames or units during assembly
  • E06B3/67386—Presses; Clamping means holding the panes during assembly
• • 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
  • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass

Definitions

• the present invention relates generally to the operation of automated or robotic assembly equipment, especially for the manufacturing of windows, and in particular to any such equipment adapted for pickup of sheets, panels, films, webs or laminates of various sizes at a first location and the placement or attachment of such material at a desired second location, such as to frames of multi-pane insulating glass units (IGUs).
• IGUs multi-pane insulating glass units
• climate control In architectural structures, generally the most energy demanding activity is climate control. Whether cooling or heating, the desire to maintain the interior temperature of a structure at a temperature comfortable for the average human in standard attire can be very energy intensive. While, in some climates, the outside temperature is commonly within a desirable range and climate control is inexpensive and not heavily used, in most
• the temperature differential between the inside of a structure and the outside environment can be large with differences in temperature of 20 Q C or more.
• One of the best ways to both control the energy expended to alter the temperature and to maintain a temperature in a structure is to properly insulate the structure. While not an active technology in most cases, insulation allows for the temperature differential inside and outside the structure to be maintained without as much infusion of energy. Good insulation is a barrier to heat transfer. Thus, less energy is required to maintain the temperature, and the temperature is more easily maintained in a particular range.
• U.S. Patent 4,335,166 to Lizardo et al describes a thermally insulating multi-pane glazing structure, known in the industry as an insulating glass unit or IGU, in which the interior pane is an interior glazing sheet such as a polyethylene terephthalate (PET) film.
• PET polyethylene terephthalate
• This film is suspended between outer, generally glass, panes and separated therefrom by spacers, and one embodiment describes the use of a heat-shrinkable film.
• PET polyethylene terephthalate
• the sheet being mounted could be a flexible film polymer sheet, e.g. of polyethylene
• a position and orientation of the specified sheet on a table is first identified and then a robotic sheet pickup apparatus is moved to a position corresponding to that of the identified sheet, such that the specified sheet can be lifted edge-first off of the table.
• the robotic sheet pickup apparatus could be a robotic platen or gantry having a substantially planar surface with vacuum pickup channels. Lifting the edge of the specified sheet may thus be performed primarily using vacuum suction.
• the position and orientation may be identified by an (x, y)-coordinate of at least one corner of the sheet, along with an identification of the longwise direction of the sheet. Physical liftoff of one corner, e.g. by means of a suction cup, may draw the sheet into proximity of the primary vacuum suction. The vacuum then draws the sheet to the platen starting at one edge and following the channels to the opposite edge.
• the specified sheet that has been picked up or lifted off the table is next subject to an active alignment process.
• the platen In the case of a platen-type pickup apparatus, the platen is inverted so that the vacuum pickup surface becomes a top surface, with the sheet laying on that top surface.
• the platen may then be tilted in a first direction to move the sheet widthwise until it abuts against a first edge stop of the platen, and then the platen is tilted in a second direction to move the sheet in a longwise direction until the short edge of the sheet abuts against a second edge stop of the platen. Moving of the sheets during the tilting operations may be assisted by an air cushion formed by blowing air from the platen under the sheet.
• the sheet may be dropped onto a tilt table distinct from the table from which it was originally picked up, and aligned in a manner similar to the tilting of the platen.
• the platen or tilt table may transport and attach the sheet to a spacer frame of an insulating glass unit.
• Described herein is a method of mounting a sheet onto a spacer frame of an insulating glass unit, the method comprising: identifying a position and orientation upon a cutting table of a specified sheet to be mounted, wherein the sheet is of any arbitrary size; moving a sheet pickup apparatus to a position corresponding to the identified position and orientation of the specified sheet; lifting a corner of a specified sheet off of the cutting table; lifting an edge of that sheet off the cutting table; lifting the remaining portion of the sheet off the cutting table so it lies adjacent to a lifting surface; inverting the sheet pickup apparatus so that the sheet lays on the lifting surface;
• the sheet is a flexible film polymer sheet.
• the sheet is a glass sheet.
• the position of the specified sheet is identified by the location of at least one corner of the specified sheet.
• the orientation of the specified sheet is identified by a longwise direction from the at least one corner.
• lifting the corner of the specified sheet uses mechanical suction.
• the edge of the specified sheet is proximate to a corner of the sheet.
• the sheet pickup apparatus comprises a platen that includes a set of channels in the pickup surface, the channels coupled at one end to a vacuum manifold.
• moving the sheet to abut the fence on the lifting surface is performed by tilting a platen with the sheet thereon in one or more orientations.
• the sheet pickup apparatus comprises a gantry having a substantially planar platen with plurality of channels coupled to a vacuum source.
• positioning the sheet so that it lays upon the pickup surface comprises tilting the pickup surface.
• moving the sheet to abut the fence is performed by tilting the pickup surface in one or more orientations.
• moving the sheet to abut the fence is assisted by suspending the sheet on a cushion comprising a flow of compressed air.
• the method further comprises an active alignment mechanism determining a position and orientation of the sheet on the pickup surface.
• a sheet pickup apparatus comprising: an arm; and a vacuum platen attached on an end of the arm, the vacuum platen including: a mechanical suction cup; a substantially planar vacuum pickup surface; and a fence element; wherein the mechanical suction cup lifts a corner of a sheet off of a cutting table; wherein a vacuum at the substantially planar vacuum pickup surface lifts a remaining portion of the sheet off the cutting table; wherein the vacuum platen inverts the vacuum is released, the sheet remaining on the substantially planar pickup surface due to the force of gravity; and wherein the vacuum platen tilts to move the sheet to abut the fence.
• the substantially planar vacuum pickup surface comprises a plurality of vacuum channels.
• the plurality of vacuum channels are covered by a vacuum-permeable diffuser pad.
• the vacuum channels in the plurality of vacuum channels are independently addressable.
• the sheet is a flexible film polymer sheet.
• a method of picking up a thin sheet of material comprising: providing a sheet pickup apparatus comprising: an arm; and a vacuum platen attached on an end of the arm, the vacuum platen including: a mechanical suction cup; a substantially planar vacuum pickup surface; and a fence element; the mechanical suction cup lifting a corner of a sheet off of a cutting table; a vacuum at the substantially planar vacuum pickup surface lifting a remaining portion of the sheet off the cutting table; inverting the vacuum platen; releasing the vacuum; and tilting the vacuum platen to move the sheet to abut the fence.
• FIG. 1 is a perspective view of an embodiment of a cutting table and robotic platen-type pickup device.
• FIG. 2 is side view showing the vacuum pickup of an edge of a specified film sheet by the pick-up device in FIG. 1 .
• FIG. 3 is a top plan view of a platen vacuum pickup surface for the platen-type pickup device in FIG. 1 .
• FIGS. 4 and 5 are side views of platen with picked-up sheet, having been inverted and being tilted for sheet alignment.
• FIG. 6 is a front perspective view of an embodiment of a IGU frame holder with frame to receive a sheet.
• FIG. 7 is a side view of the platen applying an aligned sheet to the frame on the frame holder of FIG. 6.
• the systems and methods discussed herein are designed, in an embodiment, to pick up a sheet of flexible film or other thin generally planar material, where the sheet is of a size that can vary with each pickup, match that sheet to a frame of matching size, orient the sheet to the frame, and position it on an adhesive which is towards the periphery of the frame in a generally planar arrangement.
• the method generally begins with identifying a position and orientation of a specified sheet (19a) from a roll (15) including multiple sheets (19a) -(19d) on a cutting table (1 1 ) and moving a robotic sheet pickup apparatus (21 ) to a corresponding position to that identified for the sheet (19a).
• the pickup apparatus (21 ) may have a substantially planar platen (23) with a set of channels (33) coupled to a vacuum source.
• the sheet (19a) is laid upon a top surface of a tilt table, which generally is the platen (23) placed in an inverted position.
• the platen (23) is tilted from the inverted position to bring a corner of the sheet (19a) to abut against physical fences (29) and (30).
• a cutting table (1 1 which may be part of an automated film cutting line or conveyor system, has a flexible film substrate (13) lying on its surface and supplied, for example, from a roll (15).
• the substrate (13) is preferably a polymer film material, such as polyethylene terephthalate (PET).
• PET polyethylene terephthalate
• other sheet material including thin glass (with appropriate modifications to the supply technique), could be provided onto the table (1 1 ).
• sheets (19a)-(19d) are cut for subsequent attachment to the frame (41 ) of an insulating glass unit (IGU).
• IGU insulating glass unit
• the sheets (19a)-(19d) for the IGUs can be of various sizes, even within a single production run.
• the sheets (19a)-(19d) may be positioned on the cutting table (1 1 ) in any order and any orientation.
• the sheets (19a)-(19d) may be needed in order of numbering, or in any other order, and the sheets (19c)-(19d) may be arranged laterally while the sheets (19a)-(19b) are arranged longitudinally, for example.
• Efforts are typically made to plan the production of IGUs so that the sheets (19a)-(19d) can be cut with minimal waste of the substrate material (13) and therefore some variability in order that the sheets (19a)-(19d) are needed is necessary.
• Any unusable material may be stored on another roll (17) on the opposite side of the table (1 1 ) from the substrate supply (15).
• the various cut sheets (19a)-(19d) are located at various positions on the table (1 1 ). Specific selected sheets (19a) will generally be picked up individually, while leaving other cut sheets (19b)-(19d) on the table (1 1 ) and ideally in their same relative positions.
• the specific selected sheet (19a) after being picked-up, needs to be properly associated with, and aligned to, an awaiting IGU frame (41 ) for attachment.
• each sheet (19a)-(19d) is associated with a particular frame (41 ) which is also present in an associated manufacturing area or conveyor. Further, the alignment of the sheet (19a) to the frame (41 ) may require that a determination of which dimension is arranged in which direction, so that the sheet (19a) is correctly oriented, be performed.
• an x-y coordinate system may be used to specify locations and orientations on the table (1 1 ) as indicated in FIG. 1 .
• This coordinate system is arbitrarily established by using a corner of the table (1 1 ) as origin, the length of the table (1 1 ) as an x-direction, and the across the table (1 1 ) dimension as a y- direction. This allows for one or more corners of the sheets (19a)-(19d) to be identified via (x, y) points in the coordinate system based on how the film (13) has been laid out. It should be noted that because the coordinate system is associated with the table, a specific sheet (19a) could actually change coordinates as the roll (15) is rolled or unrolled.
• one way to identify a specific sheet's (19a) location and orientation is by an (x, y)-coordinate of one corner together with an identification of the lengthwise direction of the sheet (19a).
• either edge could be identified as its "lengthwise" direction.
• the size of the sheet (19a) may also be known.
• the coordinates of each of the sheet's (19a) corners could be identified to provide its location.
• the coordinate system is necessarily arbitrary and any imposed coordinate position system where a particular point or dimension can be used to refer to a particular location on the table (1 1 ) can alternatively or additionally be used.
• the x-y coordinate system may be replaced, in an alternative embodiment, with a polar system.
• a 2-dimensional system is generally preferred as the table (1 1 ) forms a planar surface for the film (13)
• a 3-dimensional system may be used including, but not limited to, an x-y-z system, a spherical system, or a cylindrical system.
• a sheet pickup apparatus (21 ) is provided in the vicinity of the cutting table (1 1 ). In FIG. 1 , this is shown as a vacuum platen (23) on the end of a robotic arm (25). While the apparatus (21 ) will generally be mechanized to provide for automatic pickup, in an alternative embodiment the robotic arm (25) may be replaced by a simple swing arm controlled by a human operator.
• the vacuum platen (23) may have its own coordinate system based on positions on the platen (23). In order to simplify discussion herein, this will be referred to as the u-v coordinate system (to distinguish the coordinates from those of the table (1 1 )).
• the u-v coordinate system may be aligned with the x-y coordinate system (e.g., they may have the same dimensional attributes) so that a position on one corresponds to the same position on the other should their origin points be aligned.
• the origin of the u-v coordinate system on the platen (23) may be positioned anywhere, but will often be positioned at or near the mechanical suction cup (34) or the corner of the fences (29) and (30) to simplify alignment determinations.
• a desired transformation of the table's x-y coordinate system to the platen's (23) u-v coordinate system may be provided so that the position of the sheet (19a) on the table (1 1 ) can be aligned with a particular position of the platen (23).
• the pickup apparatus (21 ) will provide a variety of different degrees of motion to the vacuum platen (23). This will often be full motion in all dimensions. More specifically, the platen (23) will generally be allowed to move across the table's x-y coordinates to align above a particular sheet (19a), to be rotated parallel to the u-v coordinate plane to align a particular edge of the platen (23) with a particular edge of the sheet (19a), to be rotated in a plane perpendicular to the u-v coordinate plane to invert the platen (23), and to move up and down vertically relative to the plane of the table (1 1 ) to engage the film (13) or move away from the table (1 1 ).
• the vacuum platen (23) has been moved by its robotic arm (25) to a position corresponding to that of the identified sheet (19a) and generally parallel therewith, such that the specified sheet (19a) can be lifted off of the table (1 1 ) without disturbing the other sheets (19b)-(19d).
• the platen (23) has a substantially planar vacuum pickup surface (27) including a set of parallel grooves or channels (33) coupled to a vacuum source, so that lifting the specified sheet (19a) may be performed using vacuum suction.
• the channels (33), in an embodiment, are about one inch (25.4 mm) deep, about 1 ⁇ 2 inch (12.7 mm) wide, separated by about 2 inches (50.8 mm) from neighboring channels (about 21 ⁇ 2 inches or 63.5 mm center-to- center), and up to about 13 feet (4 meters) long.
• the vacuum source is coupled to the channels (33) via a manifold
• a mechanical suction cup (34) may be provided to connect with and lift a corner of the selected sheet (19a) to within the required distance so that a particular sheet can be lifted without disturbing any neighboring sheets (19b)-(19d) even if they abut the selected sheet (19a) directly.
• the sheet (19a) will generally be edge lifted.
• one channel
• an array of vacuum openings or channels (33) may cover the vacuum pickup surface (27) of the platen (23). This in turn may be covered by vacuum-permeable diffuser pad (35) (shown partially peeled away).
• the vacuum channels (33) may have a wavy profile so that the pad (35) (if present) or the sheet (19a) being picked up (if the diffuser pad is not provided) do not locally slip into the channels (33).
• the channels (33) may be addressable by valves (not seen) within the manifold (32), so that specified channels (33) or rows of channels (33) are provided with vacuum suction, while other channels (33) remain inactive. This, essentially, allows each channel (33) (or subset of channels (33)) to be individually controlled.
• An edge or corner of a sheet (19a) may be picked up (as at (31 ) in FIG. 2) first, before the rest of the sheet (19a) is picked up, thereby minimizing the possibility of lift-off of adjacent sheets (19b)-(19d). Further, as the sheet (19a) is essentially picked up using a smooth sliding motion first in one direction and then the other, which is a similar motion to that used to smooth a bed sheet or rug to flatten it, there is generally very little wrinkling of the sheet (19a) being picked up and it is generally maintained in a fairly flat (planar) state.
• the platen (23) is then tilted as shown in FIG. 5 so that the sheet (19) slides down against the fence element (29).
• the platen (23) will then be tilted in an orthogonal direction so that the sheet (19) also slides down against another fence element (30) (seen in FIG. 3) until it is properly nestled in the corner where the two fences (29) and (30) intersect.
• both directions of tilt can be performed
• Tilting is preferably first in a widthwise direction so that the long edge of the sheet (19a) rests against one fence, and then in a lengthwise direction so that the short edge of the sheet (19a) rests against the other fence.
• direction u or v axis
• the platen (23) may, in an embodiment, be rotated prior to the sheet (19a) being picked up so that the order of dimensional tilt (e.g., u then v axial direction) is always the same.
• either edge could go first as there is no long edge.
• the tilting is generally just enough to allow the sheet (19a) to slide to abut the fences (29) and (30) and is insufficient to allow the sheet (19a) to wrinkle under the force of gravity due to the force imposed on the sheet (19a) by the fence (29) or (30).
• the air cushion can assist with this by lowering the frictional engagement between the sheet (19a) and pickup surface (27).
• the position of the sheet (19a) may also be verified by an optical reader capable of seeing the edge (31 ) and determining how close the sheet (19a) is to the corner of the fences (29) and (30). If necessary, the tilt process can be repeated to adjust the sheet (19a) position or the air cushion upon which the sheet (19a) rests can be adjusted to alter the friction between the sheet (19a) and the surface (27). Even if the sheet (19a) doesn't fully abut against the stops (29) and/or (30), the visual sensing can provide the sheet's (19a) position precisely enough for subsequent attachment to the IGU frame as slight offsets can be accounted for.
• the fence elements (29) and (30) need not actually meet.
• the "corner" of the two fences (29) and (30) could be a virtual extension of the fences (29) and (30). Leaving a slight gap at the corner has an advantage, when movement of the sheet (19a) via gravity is also assisted by an air cushion supplied through the channels (33), to allow for air to escape without wrinkling the edge of the sheet (19a) and can also assist in edge detection of the sheet (19a) by having the corner not directly abut another surface (even though the edge (31 ) does).
• the fences (29) and (30) preferably also have a set of slots along the plane of the pickup surface (27) to allow blown air to escape without riding over the fences (29) and (30) themselves to resist wrinkling of the sheet (19a) where it abuts the fences (29) and (30).
• a frame support (39), such as the depicted upright table or a conveyor, may be provided for the IGU frame (41 ).
• the frame (41 ) already has a first outer panel of glass (43) with spacers and adhesive applied thereto and is awaiting reception of the flexible sheet (19a) from the platen (23).
• One embodiment facilitating transport of the frames (41 ) could be provided with a series of rows of rollers (45) along the major surfaces of the frame support (39).
• a horizontal table is only one possibility, and other equipment for supporting a frame (41 ) during sheet (19a) attachment could be used instead.
• an arbitrary coordinate system can be supplied to the frame support (39) to allow for the location of the frame (41 ) to be communicated to the pickup apparatus (21 ) for alignment purposes.
• the platen (23) resumes vacuum suction of the sheet (19a) which is now located generally adjacent to the fences (29) and (30).
• the sheet (19a) can now be precisely aligned with the IGU frame (41 ) by aligning the sheet's (19a) coordinate position on the platen (23) with the frame's (41 ) coordinate position on the frame support (39). Once aligned, the sheet (19a) is placed against the IGU frame (41 ) by the arm (25).
• the frame (41 ) has an adhesive surface thereon for holding the sheet (19a) in place, the sheet (19a) adheres to the frame (41 ). Once attached, the vacuum from platen (23) is stopped or reversed and the sheet (19a) is released from the platen (23) and remains attached to the frame (41 ). The process may then be repeated for the next frame (41 ) and sheet (19b) combination.
• the sheet (19a) is generally planar and held generally parallel with the platen (23) when the sheet (19a) engages the frame (41 ), and the platen (23) is generally parallel to the frame at the same time, the sheet (19a) is applied to the frame (41 ) with relatively few (if any) wrinkles or waves therein.
• the IGU is ready for thermal treatment to thermally shrink the sheet (19a) while avoiding wrinkles or folds which could inhibit a resultant planar surface.

Landscapes

• Engineering & Computer Science (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
• Manipulator (AREA)
• Sheets, Magazines, And Separation Thereof (AREA)
• Casting Or Compression Moulding Of Plastics Or The Like (AREA)
• Automatic Assembly (AREA)

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Publications (1)

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Citations (7)

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• 2014
  • 2014-01-13 US US14/153,227 patent/US9896289B2/en not_active Expired - Fee Related
  • 2014-03-04 WO PCT/US2014/020151 patent/WO2014158788A1/en not_active Ceased
  • 2014-03-04 JP JP2016500581A patent/JP2016513592A/ja active Pending
  • 2014-03-04 CA CA2899984A patent/CA2899984A1/en not_active Abandoned
  • 2014-03-04 RU RU2015143624A patent/RU2015143624A/ru not_active Application Discontinuation
  • 2014-03-04 CN CN201480014919.4A patent/CN105008649B/zh not_active Expired - Fee Related
  • 2014-03-04 AU AU2014241909A patent/AU2014241909B2/en not_active Ceased
  • 2014-03-04 EP EP14714839.9A patent/EP2971424B1/en not_active Not-in-force
  • 2014-03-04 KR KR1020157028926A patent/KR20150131228A/ko not_active Withdrawn
  • 2014-03-13 TW TW103109172A patent/TWI629147B/zh not_active IP Right Cessation

Patent Citations (7)

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