Method and system for loading panels into shipping containers at a work station and end effector for use therein

A robotic end effector adapted to be mounted at the end of an arm of a program-controlled robot is capable of providing compliance within a vertical plane as well as alignment along a horizontal axis. A method and system utilizing the end effector to pick up flat or curved glass panels from glass racks and place the glass panels into irregularly-shaped wooden crates. Due to the compliance and horizontal alignment provided by the end effector, the system allows essentially perfect piece-to-piece vertical edge-of-glass alignment and side-edge to side-edge alignment during the packaging process so as to eliminate glass etching/scratching and breakage. The end effector includes a base frame on which compliance devices and side-shift alignment devices in the form of linear bearing systems support a number of material handling devices in the form of suction devices. The handling devices are typically material holding/gripping devices. Selected ones of the compliance devices can be locked out under the control of a controller for the robot. Also, a number of counterbalancers change counterbalance forces based on glass panel size also under control of the controller of the robot. Each suction device includes a spring-biased suction cup to also provide compliance in a direction substantially normal to the compliance provided in the vertical plane.

Abstract

A robotic end effector adapted to be mounted at the end of an arm of a program-controlled robot is capable of providing compliance within a vertical plane as well as alignment along a horizontal axis. A method and system utilizing the end effector to pick up flat or curved glass panels from glass racks and place the glass panels into irregularly-shaped wooden crates. Due to the compliance and horizontal alignment provided by the end effector, the system allows essentially perfect piece-to-piece vertical edge-of-glass alignment and side-edge to side-edge alignment during the packaging process so as to eliminate glass etching/scratching and breakage. The end effector includes a base frame on which compliance devices and side-shift alignment devices in the form of linear bearing systems support a number of material handling devices in the form of suction devices. The handling devices are typically material holding/gripping devices. Selected ones of the compliance devices can be locked out under the control of a controller for the robot. Also, a number of counterbalancers change counterbalance forces based on glass panel size also under control of the controller of the robot. Each suction device includes a spring-biased suction cup to also provide compliance in a direction substantially normal to the compliance provided in the vertical plane.

1. Drawings

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