DEVICE AND METHODS FOR PICKING AND PLACING HOT 3D GLASS
First Claim
1. A system for handling a glass article that is being transported to and from a thermal reforming apparatus, comprising:
- at least one robot;
at least one input nest assembly, the input nest assembly including at least one input cross bar receiving frame, at least one input cross bar for inserting into the at least one input cross bar receiving frame and at least one compound angle nest frame for receiving the at least one input cross bar receiving frame, the at least one input cross bar receiving frame and at least one input cross bar comprising a polymer;
an output nest assembly, the output nest assembly including at least one output cross bar receiving frame, at least one output cross bar for inserting into the at least one output cross bar receiving frame and another of the at least one compound angle nest frames for receiving the at least one output cross bar receiving frame, the at least one output cross bar receiving frame and at least one output cross bar comprising a heat resistant material;
a manifold, the manifold having at least one connecting means for connecting the manifold to the robot, at least one adapter plate and at least one chamber;
at least one wedge adapter plate;
at least one compound angle adapter plate, the at least one compound angle adapter plate having a compound angle that corresponds to the at least one compound angle nest frame;
at least one open pneumatic system, the at least one open pneumatic system adapted to apply a fluid pressure that is lower than an ambient pressure through the at least one chamber, creating a partial vacuum in the at least one chamber;
at least one closed pneumatic system, the at least one closed pneumatic system adapted to apply another fluid pressure, the other fluid pressure including a positive fluid pressure greater than the ambient pressure and a negative fluid pressure less than the ambient pressure;
at least one compliance assembly, the compliance assembly including at least one first portion in fluid communication with the at least one closed pneumatic system, and at least one second portion in fluid communication with the at least one open pneumatic system, the at least one first portion comprising a compliance device for accommodating a positional error between a target location and an actual location, at least a portion of the compliance device capable of at least three degrees of freedom, and the at least one second portion comprising a compliance device adapter for interfacing between the compliance device and at least one glass article, at least a portion of the compliance device adapter capable of at least three other degrees of freedom.
1 Assignment
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Accused Products
Abstract
A system for picking and placing glass articles from a first location to a second location, the second location including a thermal reforming apparatus for transforming the glass articles from 2D glass articles to 3D glass articles includes a robot having an end effector, the end effector including a compliance assembly having at least six degrees of freedom. The compliance assembly is in fluid communication with both an open pneumatic system and a closed pneumatic system, the open pneumatic system providing a partial vacuum to a portion of the compliance assembly for grabbing the glass article, and the closed pneumatic system for activating a centering function for a portion of the compliance assembly.
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Citations
25 Claims
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1. A system for handling a glass article that is being transported to and from a thermal reforming apparatus, comprising:
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at least one robot; at least one input nest assembly, the input nest assembly including at least one input cross bar receiving frame, at least one input cross bar for inserting into the at least one input cross bar receiving frame and at least one compound angle nest frame for receiving the at least one input cross bar receiving frame, the at least one input cross bar receiving frame and at least one input cross bar comprising a polymer; an output nest assembly, the output nest assembly including at least one output cross bar receiving frame, at least one output cross bar for inserting into the at least one output cross bar receiving frame and another of the at least one compound angle nest frames for receiving the at least one output cross bar receiving frame, the at least one output cross bar receiving frame and at least one output cross bar comprising a heat resistant material; a manifold, the manifold having at least one connecting means for connecting the manifold to the robot, at least one adapter plate and at least one chamber; at least one wedge adapter plate; at least one compound angle adapter plate, the at least one compound angle adapter plate having a compound angle that corresponds to the at least one compound angle nest frame; at least one open pneumatic system, the at least one open pneumatic system adapted to apply a fluid pressure that is lower than an ambient pressure through the at least one chamber, creating a partial vacuum in the at least one chamber; at least one closed pneumatic system, the at least one closed pneumatic system adapted to apply another fluid pressure, the other fluid pressure including a positive fluid pressure greater than the ambient pressure and a negative fluid pressure less than the ambient pressure; at least one compliance assembly, the compliance assembly including at least one first portion in fluid communication with the at least one closed pneumatic system, and at least one second portion in fluid communication with the at least one open pneumatic system, the at least one first portion comprising a compliance device for accommodating a positional error between a target location and an actual location, at least a portion of the compliance device capable of at least three degrees of freedom, and the at least one second portion comprising a compliance device adapter for interfacing between the compliance device and at least one glass article, at least a portion of the compliance device adapter capable of at least three other degrees of freedom. - View Dependent Claims (2, 3, 4)
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5. A method of picking and placing an article, the method comprising the steps of:
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positioning an end effector having at least one compliance assembly proximate to at least one article at a first location; applying at least one fluid pressure to at least one portion of the at least one compliance assembly; picking the at least one article; moving the end effector in at least three axes simultaneously toward a second location, the second location having at least one locating reference feature associated with at least one article receiving surface; and placing the at least one article at the second location. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification