Automated seaming apparatus and method

Patent metadata

Field	Value
Publication number	US-9925634-B2
Application number	US-201514688577-A
Country	US
Kind code	B2
Filing date	Apr 16, 2015
Priority date	Apr 16, 2015
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A seaming station and method of seaming utilizing two robot arms with seaming heads coupled thereto to seam a large lite by working in conjunction with one another or simultaneously seaming two lites independently of one another.

First claim

What is claimed is:

1. A seaming station for seaming edges of at least one workpiece, the station comprising:
a first robot arm suspended above a platform, the first robot arm having a first seaming head coupled thereto;
a second robot arm suspended above the platform, the second robot arm having a second seaming head coupled thereto;
a processor operatively coupled to the first and second robot arms as well as the first and second seaming heads, the processor programmed to independently control the robot arms and seaming heads to perform both of the following functions:
move the first robot arm and associated seaming head independently of the second robot arm and associated seaming head to each simultaneously seam all edges of different workpieces located at different positions on the platform without changing the orientation of the workpiece on its respective platform; and
move the first robot arm and associated seaming head in conjunction with the second robot arm and associated seaming head to simultaneously seam edges of one workpiece located on the platform without changing the orientation of the workpiece on its respective platform wherein the function performed is determined by the dimension of the workpiece located at the platform wherein the processor receives information from an optical system concerning the dimensions of the workpiece to be processed and selects the function dependent on the received information.

2. A seaming station according to claim 1 where in each of the first and second robot arms has six axis of rotation.

3. A seaming station according to claim 1 wherein each of the first and second seaming heads includes a vacuum port coupled to a vacuum system for aspirating debris from the seaming head when the seaming head is operating.

4. The seaming station according to claim 1 further comprising a lifting device associated with each platform that can be operated independently of one another or in conjunction with one another depending on the dimension and position of the lite being processed at the station wherein the lifting device lifts a lite or a portion of a lite above the respective platform when the lifting device is activated.

5. A seaming station according to claim 4 wherein the first platform is divided into a plurality of platforms and each platform has its own lifting device that can be independently operated.

6. A seaming station according to claim 5 wherein each lifting device comprises a matrix of suction cups arranged sequentially parallel to the longitudinal axes of the platforms wherein the matrix is located underneath the platforms when the lifting device is not activated and wherein the lifting devices raise the matrix of suction cups above the platform when the lifting device is activated.

7. A seaming station according to claim 1 wherein each of the first and second seaming heads includes a vacuum port coupled to a vacuum system for aspirating debris from the seaming head when the seaming head is operating.

8. A seaming station according to claim 1 further comprising a transport mechanism for transporting a seamed lite to the station and transporting a seamed lite from the station.

9. A seaming station according to claim 1 further comprising a gantry straddling the first and second platforms from which the first and second robot arms are suspended.

10. A seaming station according to claim 9 further comprising an enclosure for enclosing a perimeter of the seaming station.

11. A seaming station according to claim 1 further comprising a processor operably controlling the first and second robot arms wherein the processor receives information from a scanner located upstream of the station concerning the dimensions and position of each lite that will be input to the seaming station and outputs data to each robot arm that guides the robot arm and associated seaming head around al lite during a seaming process.

Assignees

• Cardinal Ig Co

Inventors

• Queck Curt L
• Milewski Michael J
• Buchanan Robert C
• Carlson Erik W
• Wyman Jonathan D

Classifications

• B24B51/00

  Arrangements for automatic control of a series of individual steps in grinding a workpiece (if applicable to other machine tools, G05B takes precedence) · CPC title

• B24B9/10 Primary

  of plate glass · CPC title

• B24B49/12

  involving optical means · CPC title