OPENTECHNICAL PUBLICATION
OT-2026-000003257

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

Published: 2026-09-15T19:57:25.951370Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003257
Categories: Robotics & Automation > Robot Architectures

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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

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

[0006] Sheet 6.

[0007] Sheet 7.

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OpenTechnical publication OT-2026-000003257
Published 2026-09-15T19:57:25.951370Z
https://opentechnical.org/p/OT-2026-000003257