CN114728833B

CN114728833B - Method and apparatus for forming glass ribbon

Info

Publication number: CN114728833B
Application number: CN202080081284.5A
Authority: CN
Inventors: 考希克·阿鲁姆布利尤尔·科曼德尔; 陈伦斌; 陈南虎; 陈英豪; 拉塞尔·格里芬·德雷克; 张锐
Original assignee: Corning Inc
Current assignee: Corning Inc
Priority date: 2019-09-20
Filing date: 2020-09-16
Publication date: 2024-09-13
Anticipated expiration: 2040-09-16
Also published as: TW202126590A; WO2021055404A1; JP2022549117A; CN114728833A; KR20220066919A

Abstract

A method for forming a glass ribbon may include: the glass ribbon is moved along a travel path in a travel direction at a ribbon speed. The method may include: the glass ribbon is engaged with an end effector attached to a robotic arm. The method may include: the end effector is moved in the direction of travel at a first robot speed. The method may include: the force applied by the glass ribbon to the end effector is sensed. The method may include: when the magnitude of the force exceeds a predetermined value, the speed of the end effector is changed from the first robotic speed to a second robotic speed.

Description

Method and apparatus for forming glass ribbon

Technical Field

The present application claims the benefit of priority from U.S. provisional application No. 62/903,356 filed on 9, 20, 2019, the entire contents of which are incorporated herein by reference.

The present disclosure relates generally to methods for forming glass ribbons, and more particularly to methods for forming glass ribbons using glass manufacturing equipment that includes a control assembly.

Background

It is known to manufacture molten material into a glass ribbon using a glass manufacturing apparatus. Sometimes, the glass ribbon may be damaged when in contact with the ribbon. To limit damage, the end effector may be engaged with the glass ribbon. However, it is difficult to match the speed and travel path of the end effector to the glass ribbon.

Disclosure of Invention

The following presents a simplified summary of the disclosure in order to provide a basic understanding of some embodiments described in the detailed description.

In some embodiments, the glass manufacturing apparatus includes one or more devices that facilitate reducing relative movement between the glass ribbon and the end effector. For example, the end effector may engage the glass ribbon and move with the glass ribbon in the direction of travel. The end effector may be coupled to a sensor that may sense any force applied to the end effector by the glass ribbon. The control assembly may be electrically connected to the sensor and to a robotic arm for controlling movement of the end effector. The control assembly may receive force data from the sensors and adjust the speed and/or path of the end effector to more closely match the speed and/or path of the glass ribbon. Thus, the relative motion between the glass ribbon and the end effector may be reduced, thereby reducing any forces applied to the glass ribbon.

According to some embodiments, a method for forming a glass ribbon includes: the glass ribbon is moved along the travel path in the travel direction at a ribbon speed. The method comprises the following steps: the glass ribbon is engaged with an end effector attached to a robotic arm. The method comprises the following steps: the end effector is moved in a travel direction at a first robot speed. The method comprises the following steps: the force applied by the glass ribbon to the end effector is sensed. The method comprises the following steps: when the magnitude of the force exceeds a predetermined value, the speed of the end effector is changed from the first robot speed to the second robot speed.

In some embodiments, the method comprises: the first ribbon portion of the glass ribbon is separated from the second ribbon portion of the glass ribbon prior to changing the speed.

In some embodiments, the method comprises: the second ribbon portion of the glass ribbon is engaged prior to changing the speed.

In some embodiments, the method comprises: the speed of the end effector is maintained at the first robot speed during a period of time between the engagement of the first belt portion with the end effector and the disengagement of the first belt portion from the second belt portion.

In some embodiments, the force is sensed at a plurality of locations.

According to some embodiments, a method for forming a glass ribbon includes: the glass ribbon is moved along a travel path in a travel direction. The method comprises the following steps: a first ribbon portion of the glass ribbon is engaged with an end effector attached to a robotic arm. The method comprises the following steps: the end effector is moved in the travel direction at a first robot speed during a first operational cycle during a period of time that the first belt portion is engaged with the end effector to disengage the first belt portion from the second belt portion. The method comprises the following steps: during a first operating cycle, a first force applied by the first belt portion to the end effector is sensed. The method comprises the following steps: after the first operating cycle, the second belt portion is engaged with the end effector. The method comprises the following steps: the speed of the end effector is changed from the first robotic speed to a second robotic speed based on the first force, and the end effector is moved in the travel direction at the second robotic speed during the second operating cycle.

In some embodiments, the method comprises: the first belt portion is separated from the second belt portion prior to engaging the second belt portion.

In some embodiments, the method comprises: during a second operating cycle, a second force applied by the second belt portion to the end effector is sensed. The method comprises the following steps: after the second operating cycle, a third ribbon portion of the glass ribbon is engaged with the end effector. The method comprises the following steps: the speed of the end effector is changed from the second robotic speed to a third robotic speed based on one or more of the first force or the second force, and the end effector is moved in the travel direction at the third robotic speed during the third operating cycle.

In some embodiments, the method comprises: the speed of the end effector is maintained at the first robot speed throughout a first operating cycle during a period of time that the first belt portion is engaged with the end effector to disengage the first belt portion from the second belt portion.

In some embodiments, the method comprises: the second belt portion is separated from the third belt portion prior to joining the third belt portion.

In some embodiments, the method comprises: the speed of the end effector is maintained at the second robot speed throughout a second operating cycle during which the second belt portion is engaged with the end effector to a period of time during which the second belt portion is disengaged from the third belt portion.

In some embodiments, the first force is sensed at a plurality of locations.

In some embodiments, the rate of change occurs when the magnitude of the first force exceeds a predetermined value.

In some embodiments, the speed of the end effector is changed to the second robot speed before the second operating cycle begins.

According to some embodiments, a method for forming a glass ribbon includes: the glass ribbon is moved along the travel path in the travel direction at a ribbon speed. The method comprises the following steps: a first ribbon portion of the glass ribbon is engaged with an end effector attached to a robotic arm. The method comprises the following steps: the end effector is moved in the direction of travel using the robot speed. The method comprises the following steps: the force applied by the first belt portion to the end effector is sensed. The method comprises the following steps: the belt speed is quantified by correlating the belt speed with the robot speed when the magnitude of the force is within a predetermined value. The method comprises the following steps: parameters of the glass ribbon are adjusted based on the ribbon speed.

In some embodiments, quantifying the belt speed comprises: an average belt speed during a period of time between engagement of the first belt portion with the end effector to disengagement of the first belt portion from the second belt portion is determined.

In some embodiments, adjusting the parameter includes: a constant length of the first and second belt portions is maintained.

In some embodiments, quantifying the belt speed comprises: an instantaneous band speed during a sampling period of less than about 2 milliseconds is determined.

Additional features and advantages of the embodiments described herein are disclosed in the following detailed description, and in part will be readily apparent to those skilled in the art from that description or recognized by practicing the embodiments described herein, including the detailed description which follows, the claims, as well as the appended drawings. It is to be understood that both the foregoing general description and the following detailed description present and are intended to provide an overview or framework for understanding the nature and character of the embodiments disclosed herein. The accompanying drawings are included to provide a further understanding, and are incorporated in and constitute a part of this specification. The drawings illustrate various embodiments of the disclosure and together with the description serve to explain the principles and operation of the embodiments.

Drawings

These and other features, embodiments, and advantages will be better understood when the following detailed description is read with reference to the accompanying drawings, in which:

FIG. 1 schematically illustrates an exemplary embodiment of a glass manufacturing apparatus according to an embodiment of the present disclosure;

FIG. 2 illustrates a cross-sectional perspective view of a glass manufacturing apparatus along line 2-2 of FIG. 1 in accordance with an embodiment of the present disclosure;

FIG. 3 illustrates an enlarged portion of the glass manufacturing apparatus taken at view 3 of FIG. 1 in accordance with an embodiment of the present disclosure;

FIG. 4 illustrates a side view of a glass manufacturing apparatus including an end effector along line 4-4 of FIG. 3 in accordance with an embodiment of the present disclosure;

FIG. 5 illustrates a side view of the glass manufacturing apparatus similar to FIG. 4 with an end effector engaged with a glass ribbon according to an embodiment of the present disclosure;

FIG. 6 illustrates a side view of the glass manufacturing apparatus similar to FIG. 5 with the first belt portion separated in accordance with an embodiment of the present disclosure;

FIG. 7 illustrates a side view of a glass manufacturing apparatus similar to FIG. 6 with a first belt portion separated from a second belt portion in accordance with an embodiment of the present disclosure;

FIG. 8 illustrates a side view of the glass manufacturing apparatus similar to FIG. 7 with the end effector engaged with the second belt portion in accordance with an embodiment of the present disclosure;

FIG. 9 illustrates a side view of the glass manufacturing apparatus similar to FIG. 8 with the end effector separating the second ribbon portion from the third ribbon portion in accordance with an embodiment of the present disclosure;

FIG. 10 illustrates a side view of the glass manufacturing apparatus similar to FIG. 9 with the end effector engaged with a third ribbon portion of the glass ribbon after a second operating cycle;

FIG. 11 illustrates a control diagram of a glass manufacturing apparatus according to an embodiment of the present disclosure; and

Fig. 12 illustrates a graph of time versus force applied by a glass ribbon to an end effector in accordance with an embodiment of the present disclosure.

Detailed Description

Referring now to the drawings, which illustrate exemplary embodiments of the present disclosure, embodiments will be described more fully below. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

The present disclosure relates to a glass manufacturing apparatus and a method for forming a glass ribbon. For purposes of the present application, a "glass ribbon" is considered to be one or more of a glass ribbon in a viscous state, a glass ribbon in an elastic state (e.g., at room temperature), and/or a glass ribbon in a viscoelastic state between a viscous state and an elastic state. Methods and apparatus for forming a glass ribbon are now described with exemplary embodiments for producing a glass ribbon. As schematically illustrated in fig. 1, in some embodiments, an exemplary glass manufacturing apparatus 100 may include a glass melting and delivery apparatus 102 and a forming apparatus 101, the forming apparatus 101 including a forming vessel 140 designed to produce a glass ribbon (e.g., glass ribbon 103) from a quantity of molten material 121. In some embodiments, the glass ribbon 103 can include a central portion 152 positioned between opposing edge portions (e.g., edge beads) formed along the first outer edge 153 and the second outer edge 155 of the glass ribbon 103, wherein the thickness of the edge portions can be greater than the thickness of the central portion. Additionally, in some embodiments, the separated glass ribbon 104 can be separated from the glass ribbon 103 along a separation path 151 by a glass separator 149 (e.g., score line, score wheel, diamond tip, laser, etc.).

In some embodiments, the glass melting and delivery apparatus 102 may include a melting vessel 105, the melting vessel 105 oriented to receive the batch material 107 from a storage bin 109. The batch material 107 may be introduced by a batch delivery device 111 powered by a motor 113. In some embodiments, the optional controller 115 may be operated to activate the motor 113 to introduce a desired amount of the batch material 107 into the melting vessel 105, as indicated by arrow 117. The melting vessel 105 may heat the batch material 107 to provide a molten material 121. In some embodiments, the fusion probe 119 can be used to measure the level of the molten material 121 within the standpipe 123 and communicate the measurement information to the controller 115 via the communication line 125.

Additionally, in some embodiments, the glass melting and delivery apparatus 102 can include a first conditioning station including a fining vessel 127 and located downstream of the melting vessel 105 and coupled to the melting vessel 105 by a first connecting conduit 129. In some embodiments, molten material 121 may be gravity fed from melting vessel 105 to fining vessel 127 through first connecting conduit 129. For example, in some embodiments, gravity may drive the internal path of molten material 121 from melting vessel 105 through first connecting conduit 129 to fining vessel 127. Additionally, in some embodiments, bubbles may be removed from the molten material 121 within the fining vessel 127 by various techniques.

In some embodiments, the glass melting and delivery apparatus 102 can further include a second conditioning station that includes a mixing chamber 131 that can be downstream of the fining vessel 127. Mixing chamber 131 may be used to provide a uniform composition of molten material 121, thereby reducing or eliminating non-uniformities that may be present in molten material 121 exiting fining vessel 127. As shown, the fining vessel 127 may be coupled to the mixing chamber 131 via a second connecting conduit 135. In some embodiments, molten material 121 may be gravity fed from fining vessel 127 to mixing chamber 131 through second connecting conduit 135. For example, in some embodiments, gravity may drive the molten material 121 from the fining vessel 127 through the internal path of the second connecting conduit 135 to the mixing chamber 131.

Additionally, in some embodiments, the glass melting and delivery apparatus 102 can include a third conditioning station that includes a delivery chamber 133 that can be downstream of the mixing chamber 131. In some embodiments, the delivery chamber 133 may condition the molten material 121 fed to the inlet conduit 141. For example, the delivery chamber 133 may act as an accumulator and/or flow controller to regulate and provide a consistent flow of the molten material 121 to the inlet conduit 141. As shown, the mixing chamber 131 may be coupled to the delivery chamber 133 by a third connecting conduit 137. In some embodiments, the molten material 121 may be gravity fed from the mixing chamber 131 to the delivery chamber 133 through the third connecting conduit 137. For example, in some embodiments, gravity may drive the molten material 121 from the mixing chamber 131 through the internal path of the third connecting conduit 137 to the delivery chamber 133. As further illustrated, in some embodiments, the delivery tubing 139 may be positioned to deliver the molten material 121 to the forming apparatus 101 (e.g., the inlet conduit 141 forming the vessel 140).

The forming apparatus 101 can include various embodiments of forming receptacles (e.g., forming receptacles having wedges for fusion drawing glass ribbon, forming receptacles having slots for slot drawing glass ribbon, or forming receptacles provided for press rolls of glass ribbon from forming receptacles) according to features of the present disclosure. In some embodiments, the forming apparatus 101 may include sheet redrawing (e.g., with the forming apparatus 101 as part of the redrawing process). For example, the glass ribbon 104 (which may include a thickness) may be heated and redrawn to obtain a thinner glass ribbon 104 that includes a smaller thickness. By way of illustration, a forming vessel 140, shown and described below, may be provided to fusion draw molten material 121 from a bottom edge (defined as root 145) of forming wedge 209 to produce glass ribbon 103. For example, in some embodiments, the molten material 121 may be delivered from the inlet conduit 141 to the forming vessel 140. Molten material 121 may then be formed into glass ribbon 103 based in part on the structure forming vessel 140. For example, as shown, the molten material 121 may be drawn from a bottom edge (e.g., root 145) of the forming vessel 140 along a travel path extending in a draw direction 154 of the glass manufacturing apparatus 100. In some embodiments, edge directors 163, 164 may direct molten material 121 away from forming vessel 140, and the glass portion defines a width "W" of glass ribbon 103. In some embodiments, the width "W" of the glass ribbon 103 extends between the first outer edge 153 of the glass ribbon 103 and the second outer edge 155 of the glass ribbon 103. In some embodiments, pull roll assemblies 158 may assist in drawing glass ribbon 103 downward in a direction of travel 154 away from root 145. The pull roll assembly 158 may include one or more pull rolls (which may be driven, for example, by a motor).

In some embodiments, the width "W" of the glass ribbon 103 extending between the first outer edge 153 of the glass ribbon 103 and the second outer edge 155 of the glass ribbon 103 may be greater than or equal to about 20 millimeters (mm) (e.g., greater than or equal to about 50mm, such as greater than or equal to about 100mm, such as greater than or equal to about 500mm, such as greater than or equal to about 1000mm, such as greater than or equal to about 2000mm, such as greater than or equal to about 3000mm, such as greater than or equal to about 4000 mm), although other widths less than or equal to the above widths may be provided in further embodiments. For example, in some embodiments, the width "W" of the glass ribbon 103 can range from about 20mm to about 4000mm (e.g., from about 50mm to about 4000mm, such as from about 200mm to about 4000mm, such as from about 100mm to about 4000mm, such as from about 500mm to about 4000mm, such as from about 1000mm to about 4000mm, such as from about 2000mm to about 4000mm, such as from about 3000mm to about 4000mm, such as from about 20mm to about 3000mm, such as from about 50mm to about 3000mm, such as from about 100mm to about 3000mm, such as from about 500mm to about 3000mm, such as from about 1000mm to about 3000mm, such as from about 2000mm to about 2500mm, and all ranges and subranges therebetween.

Fig. 2 illustrates a cross-sectional perspective view of the forming apparatus 101 (e.g., forming the container 140) along line 2-2 of fig. 1. In some embodiments, forming the vessel 140 may include a channel 201 oriented to receive the molten material 121 from the inlet conduit 141. For illustration purposes and for clarity, hatching of the molten material 121 is removed from fig. 2. Forming the container 140 may further include forming the wedge 209, the forming the wedge 209 including a pair of downwardly sloped converging surface portions 207, 208 extending between opposite ends 210, 211 (see fig. 1) of the forming wedge 209. The pair of downwardly inclined converging surface portions 207, 208 forming wedge 209 may converge in the travel direction 154 and intersect along root 145 forming vessel 140. The draw plane 213 of the glass manufacturing apparatus 100 may extend through the root 145 in the direction of travel 154. In some embodiments, the glass ribbon 103 can be drawn along a draw plane 213 in the travel direction 154. As shown, the tensile plane 213 may bisect the wedge 209 by the root 145, but in some embodiments the tensile plane 213 may extend in other orientations relative to the root 145. In some embodiments, the glass ribbon 103 can move along a travel path 221, and the travel path 221 can be coplanar with the draw plane 213 in the travel direction 154.

Additionally, in some embodiments, the molten material 121 may flow into the channel 201 forming the container 140 along the direction 156. The molten material 121 may then flow out of the trough 201 while simultaneously flowing over the respective weirs 203, 204 and down the outer surfaces 205, 206 of the respective weirs 203, 204. The respective flows of molten material 121 then flow along the downwardly sloped converging surface portions 207, 208 forming the wedge 209, are pulled from the root 145 forming the vessel 140, and at the root 145, the fluids converge and fuse into the glass ribbon 103. The glass ribbon 103 may then be drawn from the root 145 in the travel direction 154 in the draw plane 213. In some embodiments, the glass ribbon 103 includes one or more material states based on the vertical position of the glass ribbon 103. For example, at one location, the glass ribbon 103 may include viscous molten material 121, while at another location, the glass ribbon 103 may include glassy amorphous solids (e.g., glass ribbon).

Glass ribbon 103 includes a first major surface 215 and a second major surface 216, with first major surface 215 facing in an opposite direction than second major surface 216, and defining a thickness "T" (e.g., an average thickness) of glass ribbon 103. In some embodiments, the thickness "T" of the glass ribbon 103 may be less than or equal to about 2 millimeters (mm), less than or equal to about 1mm, less than or equal to about 0.5 mm, less than or equal to about 300 micrometers (μm), less than or equal to about 200 micrometers, or less than or equal to about 100 micrometers, although other thicknesses may be provided in further embodiments. For example, in some embodiments, the thickness "T" of the glass ribbon 103 can be in a range of about 20 microns to about 200 microns, in a range of about 50 microns to about 750 microns, in a range of about 100 microns to about 700 microns, in a range of about 200 microns to about 600 microns, in a range of about 300 microns to about 500 microns, in a range of about 50 microns to about 700 microns, in a range of about 50 microns to about 600 microns, in a range of about 50 microns to about 500 microns, in a range of about 50 microns to about 400 microns, in a range of about 50 microns to about 300 microns, in a range of about 50 microns to about 200 microns, in a range of about 50 microns to about 100 microns, in a range of about 25 microns to about 125 microns, and all ranges and subranges including thicknesses therebetween. In addition, the glass ribbon 103 can include a variety of compositions (e.g., borosilicate glass, aluminoborosilicate glass, alkali-containing or alkali-free glass, alkali aluminosilicate glass, alkaline earth aluminosilicate glass, soda lime glass, etc.).

In some embodiments, a glass separator 149 (see fig. 1) can separate the glass ribbon 104 from the glass ribbon 103 along a separation path 151 to provide a plurality of separated glass ribbons 104 (i.e., a plurality of glass sheets). According to other embodiments, a longer portion of the glass ribbon 104 may be wound onto a storage roll. The separated glass ribbon can then be processed into a desired application (e.g., a display application). For example, the separated glass ribbon may be used in a variety of display applications including Liquid Crystal Displays (LCDs), electrophoretic displays (EPDs), organic light emitting diode displays (OLEDs), plasma Display Panels (PDPs), touch sensors, photovoltaics, and other electronic displays.

Referring to fig. 3, an example of a glass manufacturing apparatus 100 is illustrated, taken at view 3of fig. 1. In some embodiments, a method for forming a glass ribbon 103 can include: the glass ribbon 103 is moved along the travel path 221 in the travel direction 154 at a ribbon speed. In some embodiments, the travel direction 154 may be substantially parallel to the y-axis. In some embodiments, the travel path 221 and the glass ribbon 103 may be substantially parallel to the x-axis and the y-axis, while the travel path 221 and the glass ribbon 103 may be substantially perpendicular to the z-axis. In some embodiments, glass manufacturing apparatus 100 may include robotic assembly 301. The robotic assembly 301 may include a robot 303 and one or more end effectors 305. In some embodiments, one or more end effectors 305 may be attached to the robotic arm 303. The robotic assembly 301 may engage one or more end effectors 305 with the glass ribbon 103. In some implementations, the robotic assembly 301 may move one or more end effectors 305 along a path substantially parallel to the travel path 221 in the travel direction 154. The robotic assembly 301 may apply bending forces to the glass ribbon 103 in a direction perpendicular to the first major surface 215 and/or the second major surface 216 to create bending moments about the x-axis. For example, bending moments about the x-axis caused by the robotic assembly 301 may create tensile stresses across the score line established by the glass separator 149 (e.g., as shown in fig. 1) (across the separation path 151 extending along the x-axis). The tensile stress may cause a crack to propagate through the thickness of the glass ribbon 103, thereby separating a portion 103 of the glass ribbon from an upstream portion of the glass ribbon.

In some embodiments, one or more end effectors 305 may engage the first major surface 215 and/or the second major surface 216 of the glass ribbon 103. For example, the one or more end effectors 305 may include a plurality of end effectors (e.g., four end effectors). In some embodiments, one or more of the end effectors 305 may include a soft vacuum cup. The vacuum line may be connected to a suction cup and may be attached to a vacuum source, which may create a negative pressure or vacuum at the suction cup. The suction cups may engage the glass ribbon 103 and, in some embodiments, form a vacuum suction attachment 103 with the glass ribbon for limiting relative movement between the glass ribbon 103 and the one or more end effectors 305. In some embodiments, four end effectors may engage the first major surface 215 of the glass ribbon 103 at four locations (e.g., first engagement location 307, second engagement location 309, third engagement location 311, and fourth engagement location 313). The first engagement location 307 and the second engagement location 309 can be adjacent to the first outer edge 153 of the glass ribbon 103. The first engagement position 307 and the second engagement position 309 may be oriented in the direction of travel 154. The third engagement location 311 and the fourth engagement location 313 can be adjacent to the second outer edge 155 of the glass ribbon 103. The third engagement position 311 and the fourth engagement position 313 may be oriented in the travel direction 154. In some embodiments, the glass ribbon 103 may apply a force to the one or more end effectors 305 when the one or more end effectors 305 are engaged with the glass ribbon 103. For example, the force applied to the one or more end effectors 305 may include a force in a direction along one or more of an x-axis, a y-axis, or a z-axis. Additionally or alternatively, the glass ribbon 103 may apply torque to the one or more end effectors 305, for example, around the x-axis (e.g., M _x), around the y-axis (e.g., M _y), and/or around the z-axis (e.g., M _z).

Referring to fig. 4, a side view of the glass manufacturing apparatus 100 along line 4-4 of fig. 3 is illustrated in which the glass ribbon 103 moves along the travel path 221 in the travel direction 154. In some implementations, the one or more end effectors 305 of the robotic assembly 301 may include a first end effector 401 and a second end effector 403. The first end effector 401 may be engaged with the glass ribbon 103 at a first engagement location 307 (e.g., shown in fig. 3), and the second end effector 403 may be engaged with the glass ribbon 103 at a second engagement location 309 (e.g., shown in fig. 3). In some implementations, the one or more end effectors 305 may include a third end effector and a fourth end effector, where the third end effector is obscured by the first end effector 401 and the fourth end effector is obscured by the second end effector 403. The first end effector 401, the second end effector 403, and the other end effectors may be substantially identical in structure and function, for example, by including a suction cup.

In some embodiments, the robotic assembly 301 may include a sensor 405, and the sensor 405 may sense and/or transmit signal information indicative of one or more forces (e.g., linear forces, torque, etc.) at the one or more end effectors 305 (applied to the glass ribbon 103 by the one or more end effectors 305 when the one or more end effectors 305 are engaged with the glass ribbon 103). In some implementations, the sensor 405 may include a multi-axis or multi-degree of freedom force sensor (e.g., a six-axis force and/or torque sensor (or a six-degree of freedom force sensor) that may sense forces in six directions). In some implementations, the sensor 405 may be configured to sense forces in more or less than six directions. In some embodiments, the forces that may be sensed by sensor 405 may include a force F _x in the direction of the x-axis, a force F _y in the direction of the y-axis, a force F _z in the direction of the z-axis, a torque (or moment) M _x around the x-axis, Torque (or moment) M _y around the y-axis, and/or torque (or moment) M _z around the z-axis. The term "force" as used herein may include a force component of linear force (e.g., along an x-axis, y-axis, z-axis, etc.) and/or torque. In some implementations, the sensing component of the sensor 405 may include transducers that may sense forces in six directions. Sensor 405 may further include programming and/or circuitry that may generate and transmit electrical signals for transmitting sensed information. In some implementations, the sensor 405 may include a sampling rate of 50 hertz (Hz) or more, or a sampling rate of, for example, 100Hz or more. Some non-limiting examples of the sensor 405 may include, for example, a six-degree-of-freedom force sensor available under the trade names FS-10iA ^TM、FS-30^TM and FS-60 ^TM from FANUCAmerica Corp; A force/torque sensor available under the trade name Omega160 ^TM from ATI Industrial Automation, inc; etc.

In some embodiments, the glass manufacturing apparatus 100 may include a control component 409, and the control component 409 may receive data from the sensor 405 and operate the robotic arm 303. The control assembly 409 may include a control device (e.g., a computer-like device, a programmable logic controller, etc.) configured (e.g., programmed, encoded, designed, and/or manufactured) to operate the robotic arm 303. For example, the control component 409 can be electrically connected (e.g., wired or wireless) to the sensor 405 and the robotic arm 303. In some implementations, the control component 409 can receive force data 411 from the sensor 405. The control assembly 409 may communicate motion instructions 413 to the robotic arm 303. In some implementations, the control component 409 can include one or more controllers (e.g., a first controller 415 and a second controller 417). In some embodiments, the first controller 415 may control the operation of the robotic arm 303, while the second controller 417 may process and/or analyze the force data 411 (e.g., force-related feedback information) from the sensor 405 and may generate a response adjustment of the robotic arm 303. For example, the motion instructions 413 may be sent from the first controller 415 to the robotic arm 303, and/or to a separate controller at the robotic arm 303 for controlling movement of the sections of the robotic arm 303. The robotic arm 303 may move in response to the motion command 413. For example, the motion instructions 413 may specify one or more of a path along which the robotic arm 303 may travel, a speed of the robotic arm 303, a distance traveled by the robotic arm 303, and so forth. Thus, the robot arm 303 may move according to the motion instruction 413.

The first controller 415 may receive the force data 411 from the sensor 405 and the first controller 415 may send the force data 411 to the second controller 417. In some embodiments, by bypassing the first controller 415, the force data 411 from the sensor 405 may be sent directly to the second controller 417. The glass ribbon 103 may exert a force on one or more end effectors 305, wherein the force is configured to be sensed by sensor 405 and transmitted to the control assembly 409 as part of force data 411. For example, the force data 411 may include a force that may be sensed along one or more of an x-axis, a y-axis, a z-axis, a torque around the x-axis, a torque around the y-axis, or a torque around the z-axis. The second controller 417 may determine possible adjustments to the operation of the robotic arm 303 (e.g., changes or adjustments in one or more of the position, path, or speed of the one or more end effectors 305). The adjustment determined by the second controller 417 may be based in part on the force data 411 received by the second controller 417. In some embodiments, the second controller 417 may send these adjustments as adjustment data 419 to the first controller 415. The first controller 415 may receive adjustment data 419 from the second controller 417 and may incorporate the adjustment data 419 to the movement instructions 413 for the robotic arm 303. In some implementations, the user can input user input data 421 to the first controller 415. For example, in some embodiments, the user input data 421 may represent the movement instructions 413 for the robotic arm 303 during a first operating cycle of the robotic arm 303, wherein the user input data 421 may include one or more of an initial position, an initial path, or an initial velocity of the one or more end effectors 305. In some implementations, the motion instructions 413 may then be changed based on the force data 411, and the user input data 421 may no longer be implemented.

In some embodiments, a method for forming a glass ribbon 103 can include: the glass ribbon 103 is engaged with an end effector (e.g., one or more end effectors 305) attached to the robotic arm 303. For example, the robotic arm 303 may move one or more end effectors 305 between a disengaged position 427 and an engaged position 429. In the disengaged position 427, the one or more end effectors 305 may not be in contact or engagement with the glass ribbon 103 and may be spaced apart from a major surface (e.g., the first major surface 215) of the glass ribbon 103. To engage the glass ribbon 103, the robotic arm 303 may move one or more end effectors 305 toward the glass ribbon 103 along the engagement direction 425. The one or more end effectors 305 may be moved along the engagement direction 425 at least until the one or more end effectors 305 engage the first major surface 215 to form a suction attachment with the first major surface 215. When the one or more end effectors 305 are engaged with the glass ribbon 103, relative movement between the glass ribbon 103 and the one or more end effectors 305 may be substantially limited such that the glass ribbon 103 and the one or more end effectors 305 may move together relative to each other.

Fig. 5 illustrates one or more end effectors 305 engaged with the first major surface 215 of the glass ribbon 103 (e.g., in an engaged position 429). For example, one or more end effectors 305 may engage the first ribbon portion 501 of the glass ribbon 103. The first ribbon portion 501 may be located downstream of the second ribbon portion 503 of the glass ribbon 103 relative to the direction of travel 154. For example, as the glass ribbon 103 travels in the travel direction 154, the first ribbon portion 501 may pass through a position before the second ribbon portion 503 passes through the same position. In some embodiments, the first operating cycle may continue from a condition in which the first strap portion 501 is engaged with one or more end effectors 305 (e.g., as shown in fig. 4) to a condition in which the first strap portion 501 is disengaged from the second strap portion 503 (e.g., as shown in fig. 7).

In some embodiments, a method for forming a glass ribbon 103 can include: the one or more end effectors 305 are moved in the travel direction 154 with a robot speed (e.g., a first robot speed 505). For example, the glass ribbon 103 may move along the travel path 221 in the travel direction 154 at a ribbon speed 507. In some embodiments, a method for forming a glass ribbon 103 can include: during a first operating cycle, a force (e.g., a first force) applied by the first ribbon portion 501 of the glass ribbon 103 to the one or more end effectors 305 is sensed. For example, in some embodiments, the belt speed and belt path of the first belt portion 501 may or may not match the preprogrammed robot speed and robot path of the one or more end effectors 305.

In some implementations, the first robot speed 505 and the belt speed 507 may be substantially the same (e.g., by including the same magnitude and the same direction (e.g., in the travel direction 154)). When the first robot speed 505 is substantially the same as the belt speed 507 and when the path traveled by the first belt portion 501 and the one or more end effectors 305 is substantially parallel, then the first belt portion 501 and the one or more end effectors 305 may travel along parallel paths with the same speed. Thus, the first force that may be sensed may be zero or close to zero. For example, since the first robot speed 505 is substantially the same as the belt speed 507, the relative motion along the y-axis between the first belt portion 501 and the one or more end effectors 305 is negligible, such that the first force may be zero or close to zero. In some implementations, the first force may be sensed at a plurality of locations (e.g., along a plurality of axes (e.g., an x-axis, a y-axis, a z-axis, torque around the x-axis, torque around the y-axis, and/or torque around the z-axis)).

The term "speed" (e.g., for first robot speed 505, belt speed 507, other speeds described herein, etc.) as used herein is not limited to a single speed (e.g., a single magnitude of speed along a single direction). In contrast, in some embodiments, "speed" as used herein may include a set of varying speeds. For example, during an operating cycle, in some embodiments, one or more of the speeds (e.g., first robot speed 505, belt speed 507, etc.) may include a constant speed (e.g., a constant speed along a single direction). However, in some embodiments, the "speed" is not limited to a constant speed, but a set of varying speeds during an operating cycle. For example, in some embodiments, the speed (e.g., first robot speed 505, belt speed 507, etc.) may change during an operating cycle (e.g., between about every 10ms to about every 50 ms). For example, the speed of change may include a magnitude of the speed of change and/or a direction of change. Thus, a "speed" during an operating cycle may include a plurality of speeds that may vary in speed and/or direction.

In some embodiments, a method for forming a glass ribbon 103 can include: when the magnitude of the force exceeds a predetermined value, the speed of the one or more end effectors 305 is changed from the first robot speed 505 to the second robot speed 509. The magnitude of the force may include an absolute value of the force. For example, the sensor 405 may sense the force applied by the first strap portion 501 to one or more end effectors 305. The sensor 405 may send this force as force data 411 to the first controller 415, which may then be sent to the second controller 417. In some embodiments, the second controller 417 may compare the magnitude of the force data 411 to a predetermined value that may be set by a user. In some implementations, the force data 411 may include a magnitude of force that may be within a predetermined value (e.g., when the first robot speed 505 is substantially the same as the belt speed 507 and the relative motion between the first belt portion 501 and the one or more end effectors 305 is zero). Thus, the force data 411 may indicate that the force is zero or close to zero (may be within a predetermined value). In some implementations, the speed of the one or more end effectors 305 may not change when the magnitude of the force sensed by the sensor 405 is within a predetermined value, and conversely, the speed of the one or more end effectors 305 may remain constant. Thus, the first controller 415 may not change the movement command 413 sent to the robotic arm 303.

In some embodiments, for example, when the first robot speed 505 is not the same as the belt speed 507 and there is relative motion between the first belt portion 501 and the one or more end effectors 305, the magnitude of the force data 411 may exceed a predetermined value. Thus, the force data 411 may indicate that the force is not close to zero, but may be greater than zero or less than zero, and thus may exceed a predetermined value. In some implementations, the speed of one or more end effectors 305 may change when the magnitude of the force sensed by sensor 405 exceeds a predetermined value. For example, the first controller 415 may change the motion command 413 sent to the robotic arm 303 to provide the motion command 413 for changing the speed of the robotic arm 303 from the first robotic speed 505 to the second robotic speed 509. It should be appreciated that in fig. 5, the lengths of the lines representing the first robot speed 505 and the second robot speed 509 may be different, and thus the speed representing the one or more end effectors 305 is changed from the first robot speed 505 to the second robot speed 509. In some implementations, the second robot speed 509 may be closer to the belt speed 507 than the first robot speed 505 (e.g., a first difference between the second robot speed 509 and the belt speed 507 is less than a second difference between the first robot speed 505 and the belt speed 507). In some embodiments, when the second robot speed 509 is substantially the same as the belt speed 507 such that the force sensed by the sensor 405 may be zero or near zero, the force sensed by the sensor 405 may not exceed a predetermined value. However, in some embodiments, when the second robot speed 509 is different from the belt speed 507 such that the force sensed by the sensor 405 may be zero or near zero, the magnitude of the force sensed by the sensor 405 may not exceed a predetermined value. In this way, a change in velocity may occur when the magnitude of the first force exceeds a predetermined value, but if the magnitude of the first force is within the predetermined value, the velocity may not change.

In some embodiments, the first strap portion 501 may apply a force to the one or more end effectors 305 along a first force direction 511, which may be the same direction as the direction of travel 154. When the first belt portion 501 applies a force in the first force direction 511, then the belt speed 507 may be greater than the first robot speed 505 such that the first belt portion 501 may travel faster than the one or more end effectors 305. To compensate for this difference between the belt speed 507 and the first robot speed 505, the second robot speed 509 may be greater than the second robot speed 509 (e.g., faster than the second robot speed 509) such that the second robot speed 509 may more closely match the belt speed 507. In some embodiments, the first strap portion 501 may apply a force to the one or more end effectors 305 along a second force direction 513, which second force direction 513 may be opposite the first force direction 511 and opposite the direction of travel 154. When the first belt portion 501 applies a force in the second force direction 513, then the belt speed 507 may be less than the first robot speed 505 such that the travel of the first belt portion 501 may be slower than the one or more end effectors 305. To compensate for this difference between the belt speed 507 and the first robot speed 505, the second robot speed 509 may be less than the second robot speed 509 (e.g., slower than the second robot speed 509) such that the second robot speed 509 may more closely match the belt speed 507.

In some embodiments, a method for forming a glass ribbon 103 can include: when the magnitude of the force is within a predetermined value, the belt speed 507 is quantified by correlating the belt speed 507 with a robot speed (e.g., the first robot speed 505 or the second robot speed 509). For example, in some embodiments, when the robot speed of the one or more end effectors 305 (e.g., the first robot speed 505 or the second robot speed 509) substantially matches the belt speed 507 of the first belt portion 501, the relative motion between the first belt portion 501 and the one or more end effectors 305 may be negligible such that the first force may be zero or close to zero. In some embodiments, when the first force is zero or near zero, then the magnitude of the first force may be within a predetermined value. Thus, in case the magnitude of the first force is within a predetermined value, it may be assumed that the robot speed (e.g. the first robot speed 505 or the second robot speed 509) substantially matches the belt speed 507. Since the first controller 415 sends the motion instructions 413 to the robotic arm 303, the robot speed (e.g., the magnitude of the robot speed) may be a known quantity. Thus, the belt speed 507 may be quantified by associating the belt speed 507 with a robot speed (e.g., the first robot speed 505 or the second robot speed 509) (e.g., by assigning a known robot speed to the belt speed 507).

In some embodiments, when the magnitude of the first force exceeds a predetermined value, there may be relative motion between the first belt portion 501 and the one or more end effectors 305 such that the first force may not be negligible. In some embodiments, the relative movement may cause the magnitude of the first force to exceed a predetermined value. When the magnitude of the first force exceeds a predetermined value, then it may be assumed that the robot speed is different from the belt speed 507. Thus, the belt speed 507 may not be quantified until the robot speed is changed to substantially match the belt speed 507 such that the magnitude of the first force is within a predetermined value.

In some implementations, quantifying the belt speed 507 may include: one or more of an average belt speed or an instantaneous belt speed is determined. For example, in some embodiments, quantifying the belt speed 507 may include: an average ribbon speed during a time period from a condition of engaging the first ribbon portion 501 with the one or more end effectors 305 (e.g., as shown in fig. 4) to a condition of separating the first ribbon portion 501 from the second ribbon portion 503 of the glass ribbon 103 (e.g., as shown in fig. 7) is determined. For example, the average belt speed may be represented by equation (1):

In equation (1), P (t _start) may represent the position of the first strap portion 501 when one or more end effectors 305 are first engaged with the first strap portion 501. P (t _end) may represent the position of the first strap portion 501 when the first strap portion 501 is separated from the second strap portion 503 (e.g., as shown in fig. 7). Accordingly, the numerator of equation (1) (e.g., P (t _end)-P(t_start)) may represent the distance traveled by the first strap portion 501 from the time the one or more end effectors 305 first engage the first strap portion 501 to the time the first strap portion 501 separates from the second strap portion 503. In some embodiments, t _start may represent the time at which the one or more end effectors 305 first engage the first strap portion 501, and t _end may represent the time at which the first strap portion 501 separates from the second strap portion 503. Accordingly, the denominator (e.g., t _end-t_start) of equation (1) may represent the time that has elapsed between the time that the one or more end effectors 305 first engage the first strap portion 501 and the time that the first strap portion 501 is disengaged from the second strap portion 503. Thus, an average belt speed of the first belt portion 501 during the first operating cycle (e.g., from the time the one or more end effectors 305 first engage the first belt portion 501 to the time the first belt portion 501 separates from the second belt portion 503) may be determined.

Additionally or alternatively, in some embodiments, quantifying the belt speed may include: the instantaneous band speed during a sampling period that may be less than about 2 milliseconds (ms), less than about 1 ms, etc., is determined. For example, the instantaneous ribbon speed may include a real-time ribbon speed of the glass ribbon 103 over a sampling period. In some embodiments, the instantaneous belt speed may be represented by equation (2):

In equation (2), Δt may represent a sampling period that may be less than about 2 milliseconds. P (t _k) may represent the position of the first band portion 501 at time t _k, while P (t _k +Δt) may represent the position of the first band portion 501 at time t _k +Δt (in other words, after the sampling period). For example, the numerator of equation (2) (e.g., P (t _k+Δt)-P(t_k)) may represent the distance that the first band portion 501 travels during a sampling period Δt, which may be less than about 2 milliseconds, less than about 1 millisecond, etc. In some embodiments, the sampling period may be in the range of about 1 millisecond to about 2 milliseconds. The denominator Δt of equation (2) may represent the time (e.g., sampling period) that has elapsed. Thus, the instantaneous belt speed of the first belt portion 501 may be determined during a sampling period.

In some embodiments, a method of forming a glass ribbon 103 can include: parameters of the glass ribbon 103 are adjusted based on the ribbon speed 507. For example, in some embodiments, once the ribbon speed 507 (e.g., average ribbon speed and/or instantaneous ribbon speed) is known, parameters of the glass ribbon 103 can be adjusted to compensate for the ribbon speed 507. For example, if the tape speed 507 is less than the target tape speed, the adjustment parameters may include: a constant length of the first and second ribbon portions 501, 503 of the glass ribbon 103 is maintained. Since the belt speed 507 is less than the target belt speed, separation of the first belt portion 501 from the second belt portion 503 may be delayed to compensate for the slower belt speed 507, thereby allowing the length of the first belt portion 501 to be longer before separation. If the belt speed 507 is faster than the target belt speed, separation of the first belt portion 501 from the second belt portion 503 may occur earlier, thereby allowing the length of the first belt portion 501 to be shorter prior to separation. In some embodiments, for example, additional parameters that may be adjusted may include localized heating of the glass ribbon 103, changes in the chemistry of the glass ribbon 103, and the like. In some embodiments, the second ribbon portion 503 may be separated from the upstream portion of the glass ribbon 103 such that the length of the second ribbon portion 503 matches the length of the first ribbon portion 501. Thus, in some embodiments, the lengths of the first and second strap portions 501, 503 may be maintained constant. In some embodiments, the length of the first strap portion 501 and/or the second strap portion 503 may be adjusted across the width of the first strap portion 501 and/or the second strap portion 503. For example, in some embodiments, the length of the first and/or second ribbon portions 501, 503 (e.g., as well as other ribbon portions of the glass ribbon 103) can be adjusted along the first outer edge 153, the second outer edge 155, and/or at a location between the first and second outer edges 153, 155. In some embodiments, the change and/or maintenance of the length of the belt portions (e.g., first belt portion 501, second belt portion 503, etc.) may be made based on changes in process parameters (e.g., changes in diameter of pull roll assembly 158, speed of glass separator 149, etc.).

Referring to fig. 6, in some embodiments, a score line 601 may be formed in the glass ribbon 103 as part of the separation process. For example, to separate the first ribbon portion 501 from the second ribbon portion 503, the glass separator 149 may form a score line 601 in the second major surface 216, but may additionally or alternatively form a score line 601 on the first major surface 215. In some embodiments, score line 601 may define a boundary between first strap portion 501 and second strap portion 503. For example, the first strap portion 501 may be located on one side of the score line 601 and the second strap portion 503 may be located on an opposite side of the score line 601.

Referring to fig. 6-7, in some embodiments, a method for forming a glass ribbon 103 can include: the first ribbon portion 501 of the glass ribbon 103 is separated from the second ribbon portion 503 of the glass ribbon 103 prior to the change in speed. For example, as shown in fig. 7, a first operating cycle may include manipulating the robotic arm 303 to move one or more end effectors 305 and cause the first ribbon portion 501 to bend relative to the rest of the glass ribbon 103 (e.g., the second ribbon portion 503). In some embodiments, one or more end effectors 305 may pivot the first strap portion 501 about the x-axis (e.g., counterclockwise about the x-axis) at the score line 601. Pivoting of the first strap portion 501 relative to the second strap portion 503 at the score line 601 may cause the first strap portion 501 to separate from the second strap portion 503. In some embodiments, the first belt portion 501 may move away from the second belt portion 503 along the separation direction 701 and away from the travel path 221 traveled along the second belt portion 503. In some embodiments, the robotic arm 303 may move the first belt portion 501 to a discrete region and release the first belt portion 501 from the one or more end effectors 305, thereby disengaging the one or more end effectors 305 from the first belt portion 501.

In some embodiments, the robotic arm 303 may move at the first robotic speed 505 for the duration of the first operating cycle (e.g., beginning with engagement of the first belt portion 501 with the one or more end effectors 305 and ending with disengagement of the first belt portion 501 from the second belt portion 503). By moving at the first robot speed 505 for the duration of the first operating cycle, the method for forming the glass ribbon 103 may include: the speed of the one or more end effectors 305 is maintained at the first robot speed 505 during a period of time from when the first belt portion 501 is engaged with the one or more end effectors 305 to when the first belt portion 501 is disengaged from the second belt portion 503 (e.g., throughout the first operating cycle). By maintaining the speed of the one or more end effectors 305 and by separating the first belt portion 501 prior to the speed change, the one or more end effectors 305 may maintain the first robot speed 505 during the first operating cycle without changing to the second robot speed 509 (e.g., as shown in fig. 5).

In some implementations, since the magnitude of the force sensed by the sensor 405 is within a predetermined value, the speed of the one or more end effectors 305 may be maintained at the first robot speed 505. For example, when the first robot speed 505 is substantially the same as the belt speed 507, then the force sensed by the sensor 405 may be zero or close to zero, and thus the magnitude of the force may be within a predetermined value. However, in some embodiments, the speed of the one or more end effectors 305 during the first operating cycle may be maintained at the first robot speed 505 independent of the force sensed by the sensor 405. For example, it may be beneficial to maintain the one or more end effectors 305 at the first robot speed 505 during the first operating cycle even in the event that the magnitude of the force sensed by the sensor 405 exceeds a predetermined value. This may be due in part to the reduced need for data collection and computational power. For example, by not changing the first robot speed 505 to the second robot speed 509 during the first operating cycle, the data transfer from the first controller 415 to the robotic arm 303 (e.g., in the form of updated motion instructions 413) may be reduced. In addition, since the need to generate the motion instruction 413 is reduced, the calculation power can be reduced as well. According to some embodiments, in response to the magnitude of the force sensed by the sensor 405 exceeding a predetermined value, the control component 409 may change the robot speed from the first robot speed 505 to the second robot speed 509 in real time during a first operating cycle (e.g., as described with respect to fig. 5). However, in other embodiments, the control component 409 may maintain the robot speed at the first robot speed 505 during the first operating cycle even in the event that the magnitude of the force sensed by the sensor 405 exceeds a predetermined value. In some embodiments, regardless of whether the control component 409 changes the robot speed during the first operating cycle, the control component 409 may receive the force data 411 throughout the first operating cycle and store the force data 411 in, for example, a memory. For example, the force data 411 that may be stored may include one or more of a force sensed by the sensor 405, a speed of the one or more end effectors 305 (e.g., first robot speed 505, second robot speed 509, etc.), an estimate of a belt speed 507 based on a force sensed by the sensor 405 at the robot speed, an instantaneous belt speed, an average belt speed, etc.

Referring to fig. 8, in some embodiments, a method for forming a glass ribbon 103 can include: the first strap portion 501 is separated (e.g., as shown in fig. 7) before the second strap portion 503 is joined. For example, once the first strap portion 501 is separated from the second strap portion 503, the one or more end effectors 305 may disengage from the first strap portion 501. In some embodiments, a method for forming a glass ribbon 103 can include: the second ribbon portion 503 of the glass ribbon 103 is engaged prior to changing the speed of the one or more end effectors 305. For example, in some embodiments, the control component 409 may maintain the robot speed at the first robot speed 505 during the first operating cycle even in the event that the magnitude of the force sensed by the sensor 405 exceeds a predetermined value. After a first operational cycle in which the first belt portion 501 may be separated from the second belt portion 503 is completed, one or more end effectors 305 may be engaged with the second belt portion 503. For example, the one or more end effectors 305 may be engaged with the second belt portion 503 in substantially the same manner as the one or more end effectors 305 are engaged with the first belt portion 501 (e.g., as shown in fig. 4, wherein the robotic arm 303 moves the one or more end effectors 305 along the engagement direction 425). In some embodiments, a method for forming a glass ribbon 103 can include: after the first operating cycle, the second belt portion 503 is engaged with one or more end effectors 305. Engagement of the second strap portion 503 with the one or more end effectors 305 may indicate the start of a second operating cycle that may continue until the second strap portion 503 is separated from the third strap portion 801.

In some implementations, the speed 305 of the one or more end effectors may be changed to the second robot speed 509 (e.g., from the first robot speed 505) prior to the start of the second operating cycle. For example, during a first operating cycle, the first controller 415 may receive force data 411 from the sensor 405, wherein the force data 411 is indicative of a first force (e.g., shown in fig. 4-7) applied by the first belt portion 501 to the one or more end effectors 305. The first robot speed 505 (e.g., shown in fig. 5-7) may be substantially the same as the belt speed 507 if the magnitude of the first force is within a predetermined value for the duration of the first operating cycle. However, if the magnitude of the first force during the first operating cycle exceeds a predetermined value, the first robot speed 505 (e.g., as shown in fig. 5-7) is different from the belt speed 507. In some implementations, the first force may indicate this speed difference, such that the second controller 417 may process and/or analyze the first force to determine a correction for the first robot speed 505. For example, the second controller 417 may generate the second robot speed 509 (the second robot speed 509 may include a correction for the first robot speed 505 based on the first force) and send the second robot speed 509 as adjustment data 419 to the first controller 415. In response, the first controller 415 may send a motion command 413 (which may include the second robot speed 509) to the robotic arm 303. Then, in some embodiments, the robotic arm 303 may move the one or more end effectors 305 at the second robot speed 509 for the duration of the second operating cycle. In this manner, in some embodiments, a method for forming the glass ribbon 103 can include: during a second operating cycle, changing the speed of the one or more end effectors 305 from a first robotic speed 505 (e.g., shown in fig. 5-7) to a second robotic speed 509 based on the first force, and moving the one or more end effectors 305 in the travel direction 154 at the second robotic speed 509. In some embodiments, the difference between the second robot speed 509 and the belt speed 507 may be less than the difference between the first robot speed 505 and the belt speed 507.

In some embodiments, a method for forming a glass ribbon 103 can include: during a second operating cycle, a second force applied by the second ribbon portion 503 to the one or more end effectors 305 is sensed. For example, the sensing of the second force may be substantially the same as the sensing of the first force (e.g., as shown and described with respect to fig. 5). In some embodiments, the second robot speed 509 and the belt speed 507 may be substantially the same (e.g., by including the same magnitude and the same direction (e.g., in the travel direction 154)). When the second robot speed 509 is substantially the same as the belt speed 507, then the second belt portion 503 and the one or more end effectors 305 may travel along the same path with the same speed. Thus, the second force that may be sensed may be zero or near zero. In some implementations, when the magnitude of the second force exceeds a predetermined value, the second robot speed 509 of the one or more end effectors 305 may change (e.g., to a third speed) in a similar manner as the change from the first robot speed 505 to the second robot speed 509.

Referring to fig. 9, in some embodiments, a method for forming a glass ribbon 103 can include: the second strap portion 503 is separated from the third strap portion 801 prior to engaging the third strap portion 801. For example, the second strap portion 503 may be removed in substantially the same manner as the first strap portion 501 (e.g., as shown in fig. 7) is removed from the second strap portion 503. For example, glass separator 149 can form score line 901 in glass ribbon 103 (e.g., second major surface 216 and/or first major surface 215). In some embodiments, score line 901 may define a boundary between second ribbon portion 503 and third ribbon portion 801. For example, the second ribbon portion 503 may be located on one side of the score line 901 and the third ribbon portion 801 may be located on the opposite side of the score line 901. In some embodiments, during the second operating cycle, the robotic arm 303 may be manipulated to move one or more end effectors 305 and cause the second ribbon portion 503 to bend relative to the rest of the glass ribbon 103 (e.g., the third ribbon portion 801). In some embodiments, one or more end effectors 305 may pivot the second ribbon portion 503 about the x-axis (e.g., counterclockwise about the x-axis) at the score line 901. Pivoting of the second strap portion 503 relative to the third strap portion 801 at the score line 901 may cause the second strap portion 503 to separate from the third strap portion 801.

In some embodiments, a method for forming a glass ribbon 103 can include: the speed of the one or more end effectors 305 is maintained at the second robot speed 509 throughout a second operating cycle during a period of time from when the second belt portion 503 is engaged with the one or more end effectors 305 to when the second belt portion 503 is disengaged from the third belt portion 801. For example, maintaining the speed of the one or more end effectors 305 at the second robot speed 509 throughout the second operating cycle may be substantially the same as maintaining the speed of the one or more end effectors 305 at the first robot speed 505 (e.g., as shown in fig. 5-7) during the first operating cycle. In some implementations, the speed of the one or more end effectors 305 may be maintained at the second robot speed 509 because the magnitude of the second force sensed by the sensor 405 is within a predetermined value. When the second force is within the predetermined value, then the magnitude of the second robot speed 509 may be substantially the same as the belt speed 507. However, in some embodiments, the speed of the one or more end effectors 305 during the second operating cycle may be maintained at the second robot speed 509 independent of the force sensed by the sensor 405. For example, to reduce the need for data collection and computational power, the control component 409 may not change the robot speed from the second robot speed 509 to the third robot speed in real time during the second operating cycle even if the second force sensed by the sensor 405 exceeds a predetermined value. In some embodiments, even if the second robot speed 509 is maintained throughout the second operating cycle, the control component 409 may receive the force data 411 throughout the second operating cycle and store the force data 411 in, for example, a memory.

Referring to fig. 10, in some embodiments, a method for forming a glass ribbon 103 can include: after the second operating cycle, a third ribbon portion of the glass ribbon 103 is engaged with one or more end effectors 305. For example, in some embodiments, after a second operational cycle is completed in which the second belt portion 503 may be separated from the third belt portion 801, one or more end effectors 305 may disengage from the second belt portion 503 and engage with the third belt portion 801. The one or more end effectors 305 may engage the third band portion 801 in substantially the same manner as the one or more end effectors 305 are engaged with the first band portion 501 and/or the second band portion 503. Engagement of the third ribbon portion 801 with the one or more end effectors 305 may indicate initiation of a third operating cycle that may continue until the third ribbon portion 801 is separated from another portion (e.g., a fourth ribbon portion) of the glass ribbon 103.

In some embodiments, a method for forming a glass ribbon 103 can include: changing the speed of the one or more end effectors 305 from the second robot speed 509 (e.g., as shown in fig. 5-9) to a third robot speed 1001 based on one or more of a first force (e.g., applied to the one or more end effectors 305 during a first operational cycle as shown in fig. 4-7) or a second force (e.g., applied to the one or more end effectors 305 during a second operational cycle as shown in fig. 7-9), and moving the one or more end effectors 305 in the travel direction 154 at the third robot speed 1001 during the third operational cycle. For example, in some implementations, the speed of the one or more end effectors 305 may be changed from the second robot speed 509 to the third robot speed 1001 based on force data 411 from a closest operating cycle (e.g., a second operating cycle). In some embodiments, the second robot speed 509 is different from the belt speed 507 if the magnitude of the second force sensed during the second operating cycle exceeds a predetermined value. The second force may indicate this speed difference, such that the second controller 417 may process and/or analyze the second force to determine a correction for the second robot speed 509. For example, the second controller 417 may generate the third robot speed 1001 (may include a correction for the second robot speed 509). The third robot speed 1001 may be sent to the first controller 415 as adjustment data 419 and in response, the first controller 415 may send motion instructions 413 to the robotic arm 303. The robotic arm 303 may then move the one or more end effectors 305 at a third robot speed 1001 for the duration of a third operating cycle.

In some embodiments, changing the speed of the one or more end effectors 305 from the second robot speed 509 to the third robot speed 1001 is not limited to being based on force data 411 from the closest operating cycle. In contrast, in some embodiments, the speed may be varied based on a combination of the first force sensed during the first operating cycle and the second force sensed during the second operating cycle. For example, in some implementations, the second controller 417 may combine the first force and the second force, e.g., by averaging the first force and the second force, to determine a correction for the second robot speed 509. The second controller 417 may then generate a third robot speed 1001, which may be sent to the robotic arm 303 via the motion command 413 by the first controller 415.

Fig. 11 illustrates an exemplary control diagram 1101 or control architecture for representing control that may be implemented by the control component 409. In some implementations, the user may initially input user input data 421 to the control algorithm 1103. The control algorithm 1103 may compare the force data from the sensor 405 with the user input data 421. Based on the difference between the magnitude of the force sensed by the sensor 405 and the user input data 421, the control algorithm 1103 may generate motion instructions 1104 for the robotic controller 1105, while the movement of the robotic arm 303 may be controlled. The sensor 405 may sense the force applied by the glass ribbon 103 to one or more end effectors 305 and send force data 411 to a filter 1107, whereby signal filtering of the force data 411 may be performed. Force data 411 may then be sent to memory 1109 for storage in some embodiments. For example, the memory 1109 may store force data for some or all of the operating cycles (e.g., first operating cycle, second operating cycle, etc.). In some implementations, the stored force data from the operating cycle may be sent to the control algorithm 1103, and the control algorithm 1103 may thereby compare the force data to a predetermined value and may update the motion command 1104 accordingly.

In some implementations, the control algorithm 1103 can be represented by equation (3):

(3)u_k(t)＝u_k-1(t)+ΦΔy_k-1(t)

In equation (3), t may represent a sampling time sequence over an operating cycle, while Δy _k-1 (t) may represent the difference between the desired force profile (e.g., during the operating cycle) and the actual force profile y _k-1 sensed by sensor 405. Φ may represent an update law of causality or non-causality. For example, the update law may be: Φ= - α, the effectiveness of the algorithm can be evaluated. By using this iterative learning control algorithm, the initial user input data 421 may or may not be accurate. In contrast, in some embodiments, the control algorithm 1103 may compensate for inaccuracies in the user input data 421 by sensing forces and making adjustments to one or more end effectors 305. Thus, over time, the control algorithm 1103 will reduce the error between the desired force profile and the actual force profile.

Fig. 12 illustrates the relationship between time and force sensed by sensor 405 for a given operating cycle. The x-axis (e.g., horizontal axis) represents time (e.g., in seconds) and the y-axis (e.g., vertical axis) represents force sensed by sensor 405 (e.g., in newtons "N"). The first line 1201 represents the relationship of time and sensed force within the first operating cycle. The second line 1203 represents the time in the second operating cycle after the first operating cycle as a function of the sensed force. The third line 1205 represents the time in the third operating cycle after the second operating cycle as a function of the sensed force. The fourth line 1207 represents time in the fourth operating cycle after the third operating cycle as a function of the sensed force. In some embodiments, the first cycle of operation is performed without any adjustments or corrections during the cycle. After the first operating cycle, adjustments are made to the speed and path of the one or more end effectors 305 based on the forces sensed during the first operating cycle. The second operating cycle represented by the second line 1203 follows a path based on the adjustments made for the first operating cycle. After the second operating cycle, another adjustment is made to the speed and path of the one or more end effectors 305 based on the sensed forces during the second operating cycle. The third operating cycle represented by the third line 1205 follows a path based on the adjustments made for the second operating cycle. After the third operating cycle, another adjustment is made to the speed and path of the one or more end effectors 305 based on the sensed forces during the third operating cycle. The fourth operating cycle represented by the fourth line 1207 follows a path based on adjustments made for the third operating cycle.

In some embodiments, the first operating cycle represented by the first line 1201 experiences the greatest force differential, wherein the force differential increases from about 15N to about-60N over a period of 0 seconds to 401 seconds. The second operating cycle represented by the second line 1203 experiences a second greatest force differential, wherein the force differential increases from about 15N to about-35N over a period of 0 seconds to 401 seconds. The third operational cycle represented by the third line 1205 experiences the third greatest force differential, wherein the force differential increases from about 15N to about-20N over a period of 0 seconds to 401 seconds. The fourth operating cycle represented by the fourth line 1207 experiences the smallest force differential, wherein the force differential increases from about 15N to about-5N over a period of 0 seconds to 401 seconds. Thus, after each operating cycle, corrections may be made for the speed and path of one or more end effectors 305, where the corrections are based on the forces sensed during the closest completed operating cycle. Each subsequent operating cycle may achieve less force variance and thus represent that the control algorithm 1103 of fig. 11 may improve the speed and/or path of the one or more end effectors 305 to more closely match the speed and/or path of the glass ribbon 103.

The glass manufacturing apparatus 100 may provide several benefits. For example, by adjusting the speed and/or path of the one or more end effectors 305 after an operating cycle (rather than in real time), the need for data collection and computational power may be reduced while still improving to reduce the force between the one or more end effectors 305 and the glass ribbon 103. Additionally, when the magnitude of the force sensed by the sensor 405 is within a predetermined value, the belt speed 507 may be quantified by correlating the belt speed 507 with a robot speed (e.g., first robot speed 505, second robot speed 509, etc.). Once the magnitude of the ribbon speed 507 is known, a parameter of the glass ribbon 103 (e.g., the length of the glass ribbon 103) may be adjusted to compensate for the ribbon speed 507 so that the length of the ribbon portion of the glass ribbon 103 may be the same. In some embodiments, the belt speed 507 may vary over time (e.g., due to wear of the pull roll assembly 158 and a gradual decrease in the diameter of the pull roll assembly 158). These variations in ribbon speed 507 may be compensated for by the control assembly 409, thereby providing a matched speed and/or travel path of the one or more end effectors 305 with the glass ribbon 103. Additionally, in some embodiments, the time to reduce the force sensed by sensor 405 from exceeding a predetermined value to being within a predetermined value may be relatively rapid (e.g., within one second). For example, in less than one second, the sensor 405 may sense that the magnitude of the force exceeds a predetermined value, and may trigger an adjustment to the speed or path of the one or more end effectors 305, thereby restoring the force to approximately zero (e.g., within the predetermined value).

Embodiments and functional operations described herein may be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments described herein may be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a tangible program carrier, to perform or control the operation of a data processing apparatus. The tangible program carrier may be a computer readable medium. The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, or a combination of one or more of them.

The term "processor" or "controller" may include all devices, apparatuses and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. In addition to hardware, a processor may include code that establishes an execution environment for the computer program, such as code that builds processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more thereof.

A computer program (also known as a program, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, sub-routine, or other unit suitable for use in a computing environment. The computer program does not necessarily correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language file), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store portions of one or more modules, sub-programs, or code). A computer program can be deployed to be executed on one computer or on multiple computers at one site or distributed across multiple sites and interconnected by a communication network.

The processes described herein may be performed by one or more programmable processors executing one or more computer programs to produce output by operating on input data to perform functions. The processing and logic flows may also be performed by, and apparatus may be implemented as, special purpose logic circuitry, e.g., an FPGA (programmable logic array) or an ASIC (application-specific integrated circuit), to name a few.

Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Typically, a processor will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a processor for executing instructions and one or more data storage devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, or may be operatively coupled to receive data from or transfer data to, or both, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer does not necessarily have such a device. In addition, a computer may be embedded in another device (e.g., a mobile phone, a Personal Digital Assistant (PDA), to name a few).

Computer readable media suitable for storing computer program instructions and data include all forms of data storage, including non-volatile memory, media and memory devices, including by way of example semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disk; CD ROM and DVD-ROM discs. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

To provide for interaction with a user, the embodiments described herein can be implemented on a computer including a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, etc.) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) or a touch screen by which the user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, input from the user may be received in any form, including acoustic, speech, or tactile input.

Implementations described herein may be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes an intermediate component (e.g., an application server), or that includes a front-end component (e.g., a client computer that includes a graphical user interface or a web browser with which a user may interact with implementations of the subject matter described herein), or any combination of one or more such back-end, intermediate, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication, e.g., a communication network. Embodiments of communication networks include local area networks ("LANs") and wide area networks ("WANs"), such as the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and comprising a client-server relationship to each other.

It is to be understood that while various embodiments have been described in detail with respect to certain illustrative and specific examples, the disclosure should not be considered limited thereto, as numerous modifications and combinations of the disclosed features may be made without departing from the scope of the appended claims.

Claims

1. A method for forming a glass ribbon, comprising:

Moving the glass ribbon along a travel path in a travel direction at a ribbon speed, wherein the glass ribbon includes a first ribbon portion and a second ribbon portion, and the first ribbon portion of the glass ribbon is downstream of the second ribbon portion of the glass ribbon relative to the travel direction;

engaging the glass ribbon with an end effector attached to a robotic arm;

moving the end effector in the direction of travel at a first robot speed;

sensing a force applied to the end effector by the first ribbon portion of the glass ribbon; and

When the magnitude of the force exceeds a predetermined value, the speed of the end effector is changed from the first robotic speed to a second robotic speed.

2. The method of claim 1, further comprising: the first ribbon portion of the glass ribbon is separated from the second ribbon portion of the glass ribbon prior to changing the speed.

3. The method of claim 2, further comprising: the second ribbon portion of the glass ribbon is engaged prior to changing the speed.

4. The method of claim 2, further comprising: the speed of the end effector is maintained at the first robot speed during a period of time between engagement of the first belt portion with the end effector and disengagement of the first belt portion from the second belt portion.

5. The method of claim 1, wherein the force is sensed at a plurality of locations.

6. A method for forming a glass ribbon, comprising:

moving the glass ribbon along a travel path in a travel direction, wherein the glass ribbon includes a first ribbon portion and a second ribbon portion, and the first ribbon portion of the glass ribbon is downstream of the second ribbon portion of the glass ribbon relative to the travel direction;

Engaging the first ribbon portion of the glass ribbon with an end effector attached to a robotic arm;

Moving the end effector in the direction of travel at a first robot speed during a first operating cycle during a time period when the first belt portion is engaged with the end effector to disengage the first belt portion from the second belt portion;

during the first operating cycle, sensing a first force applied by the first belt portion to the end effector;

engaging the second belt portion with the end effector after the first operating cycle; and

Changing the speed of the end effector from the first robotic speed to a second robotic speed based on the first force, and moving the end effector in the direction of travel at the second robotic speed during a second operating cycle.

7. The method of claim 6, further comprising: the first strap portion is separated from the second strap portion prior to joining the second strap portion.

8. The method of claim 7, further comprising:

Sensing a second force applied by the second belt portion to the end effector during the second operating cycle;

engaging a third ribbon portion of the glass ribbon with the end effector after the second operating cycle; and

Changing the speed of the end effector from the second robotic speed to a third robotic speed based on one or more of the first force or the second force, and moving the end effector in the direction of travel at the third robotic speed during a third operating cycle.

9. The method of claim 8, further comprising: the second belt portion is separated from the third belt portion prior to joining the third belt portion.

10. The method of claim 6, wherein the first force is sensed at a plurality of locations.

11. The method of claim 6, wherein changing the velocity occurs when the magnitude of the first force exceeds a predetermined value.

12. The method of claim 6, wherein the speed of the end effector is changed to the second robot speed before the second operating cycle begins.

13. A method for forming a glass ribbon, comprising:

moving the end effector in the direction of travel at a robot speed;

sensing a force applied by the first belt portion to the end effector;

Quantifying a belt speed by correlating the belt speed with the robot speed when the magnitude of the force is within a predetermined value; and

Parameters of the glass ribbon are adjusted based on the ribbon speed.

14. The method of claim 13, wherein said quantifying said tape speed comprises: an average belt speed during a period of time between engagement of the first belt portion with the end effector to separation of the first belt portion from the second belt portion is determined.

15. The method of claim 14, wherein the adjusting the parameter comprises: a constant length of the first and second belt portions is maintained.

16. The method of claim 13, wherein said quantifying said tape speed comprises: an instantaneous band speed during a sampling period of less than 2 milliseconds is determined.