Apparatus and method for engaging a moving glass ribbon

Patent metadata

Field	Value
Publication number	US-11987515-B2
Application number	US-201917046946-A
Country	US
Kind code	B2
Filing date	Apr 10, 2019
Priority date	Apr 12, 2018
Publication date	May 21, 2024
Grant date	May 21, 2024

Abstract

A method for forming a glass sheet includes forming a glass ribbon. A robot arm is operated to move an end effector through a preprogrammed cycle. The cycle includes engaging a segment of the glass ribbon with the end effector, separating the engaged segment from the glass ribbon to generate a glass sheet, and moving the glass sheet away from the glass ribbon. The preprogrammed cycle designates predetermined positions of the end effector at predetermined points in time. While the robot arm is operating through the preprogrammed cycle, a parameter indicative of a force being exerted on the glass ribbon by the end effector is sensed. A position of the end effector is altered to differ from the predetermined position at the corresponding point in time when the sensed parameter deviates from a target value. An excessive force applied to the glass ribbon can be reduced in real-time.

First claim

What is claimed is:

1. A method for forming a glass sheet comprising:
providing a robot including a robot arm, an end effector and a control system, wherein the robot arm carries the end effector, and further wherein movement of the robot arm is controlled by the control system;
flowing molten glass from a forming body in a downdraw process to form a continuously moving glass ribbon;
operating the robot arm to move the end effector through a robot operational cycle programmed to the control system, the robot operational cycle initiating at a start time, the robot operational cycle comprising:
engaging a segment of the glass ribbon with the end effector,
separating the engaged segment from a remainder of the glass ribbon to generate a glass sheet,
moving the glass sheet away from the glass ribbon,
wherein the robot operational cycle comprises predetermined positions of the end effector at predetermined points in time following the start time; and

during the step of operating:
sensing at least one parameter indicative of at least one force exerted on the glass ribbon by the end effector,
altering a position of the end effector to differ from the predetermined position at the corresponding point in time after the start time when the sensed parameter deviates from a target value via programing of the control system.

2. The method of claim 1 , further comprising:
forming a score line in the continuously moving glass ribbon;
wherein the step of separating the engaged segment comprises separating the engaged segment at the score line.

3. The method of claim 1 , further comprising repeating the step of operating to form a subsequent glass sheet.

4. The method of claim 1 , wherein the step of sensing at least one parameter comprises operating a force sensor carried by the robot.

5. The method of claim 4 , wherein the force sensor comprises a multiple-axis force sensor.

6. The method of claim 4 , wherein the robot arm includes a plurality of arm segments and a wrist segment, wherein the wrist segment carries the end effector and is connected to a leading arm segment of the plurality of arm segments by a joint, and further wherein the force sensor is positioned along the wrist segment at a location spaced away from the joint such that the force sensor is between the joint and the end effector.

7. The method of claim 1 , wherein the step of sensing comprises sensing at least one of a linear force and a torque applied to the glass ribbon by the end effector, and further wherein the step of altering comprises determining a position adjustment based upon the at least one of a sensed linear force and a sensed torque.

8. The method of claim 7 , wherein the step of sensing further comprises sensing a linear force and sensing a torque applied to the glass ribbon by the end effector along at least two axes.

9. The method of claim 1 , wherein the step of altering comprises determining a correction value based upon the sensed parameter and by which at least one of the predetermined positions is changed.

10. The method of claim 1 , repeating the steps of sensing and altering during at least the steps of engaging and separating.

11. The method of claim 10 , wherein the steps of sensing and altering are performed at least once per 0.1 second during the steps of engaging and separating.

12. The method of claim 1 , wherein the robot operational cycle comprises moving the end effector at a predetermined velocity at predetermined points in time after the start time, the method further comprising altering a velocity of the end effector to differ from the predetermined velocity at the corresponding point in time after the start time when the sensed parameter exceeds a target value.

13. The method of claim 1 , wherein the step of engaging comprises:
directing the end effector from a home position to a predetermined position corresponding with an expected location of the glass ribbon;
operating the end effector to engage the glass ribbon; and
moving the end effector at a velocity and in a direction corresponding with an expected velocity and expected direction of the glass ribbon.

14. The method of claim 1 , wherein the glass ribbon defines opposing, first and second major surfaces, and further wherein the steps of sensing and altering include:
sensing a linear force exerted on the glass ribbon by the end effector in a direction perpendicular to a plane of the second major surface; and
altering a position of the end effector to differ from the predetermined position at the corresponding point in time after the start time when the sensed linear force deviates from a designated target force.

15. A system for producing a glass sheet comprising:
a forming body for forming a glass ribbon from a molten glass; and
a handling apparatus for interfacing with the glass ribbon, the handling apparatus comprising:
a robot arm,
an end effector carried by the robot arm, the end effector configured to selectively engage a segment of the glass ribbon,
a sensor carried by the robot arm and configured to sense at least one parameter indicative of a force exerted on the glass ribbon by the end effector,
a control system configured to control movements of the robot arm,
wherein the control system is programmed to perform a robot operation cycle initiating at a start time, the robot operational cycle comprising,
engaging a segment of the glass ribbon with the end effector by manipulation of the robot arm,
separating the engaged segment from a remainder of the glass ribbon to generate a glass sheet,
moving the glass sheet away from the glass ribbon by manipulation of the robot arm,

wherein the robot operational cycle comprises a predetermined position of the end effector at predetermined points in time following the start time,
and further wherein the control system is programmed to prompt the robot to alter a position of the end effector to differ from the predetermined position at the corresponding point in time after the start time in response to a determination that the at least one sensed parameter deviates from a target value.

16. The system of claim 15 , wherein the sensor is configured to sense at least one of a liner force and a torque.

17. The system of claim 15 , wherein the sensor comprises a multiple-axis force sensor.

18. The system of claim 15 , wherein the sensor is positioned between a joint of the robot arm and the end effector.

19. The system of claim 15 , wherein the end effector comprises at least one suction cup.

Assignees

• Corning Inc

Inventors

• Aherns Jeffrey Howard
• Chen Nanhu
• Zhang Rui

Classifications

• C03B17/064 Primary

  by the overflow downdraw fusion process; Isopipes therefor · CPC title

• C03B33/0215 Primary

  the ribbon being in a substantially vertical plane · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• C03B17/068

  Means for providing the drawing force, e.g. traction or draw rollers · CPC title

• C03B33/0235

  Ribbons · CPC title