# US 11,111,086 B2 · Glass stacking systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,111,086 B2 - Document ID: US11111086B2 - Status: Granted - Kind: B2 - Application number: 16/680,485 - Filed: 2019-11-11 - Published: 2021-05-13 - Granted: 2021-09-07 - Earliest claimed: 2019-11-11 - Assignees: Cardinal IG Company - Applicants: Cardinal IG Company - Inventors: Robert C. Buchanan; Karl T. Chic - Web page: https://patentgrep.com/patent/US11111086B2 ## CPC - B65G 49/067: {Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass (suction cups B65G49/061; combined with vertical conveyors C03B33/00 - C03B33/10; stacking and destacking B65G49/068)} - B65G 49/068: {Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces (stacking in general B65G57/00; destacking in general B65G59/00; spacer sheets in general B65H)} - B65G 49/061: {Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames (suction means as load-engaging elements attached to the lifting or lowering gear of cranes B66C1/02; suction cups for attaching purposes F16B47/00; suction cups on gripping heads B25J15/0616; suction cups in general B65G47/91; suction cups combined with cutting means on vertical conveyors C03B33/00 - C03B33/10; devices for turning sheets B65G49/067; suspending devices B65G49/066)} - B65G 61/00: Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for - B65G 2201/022: Flat - B65G 2249/04: Arrangements of vacuum systems or suction cups - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract The invention provides systems and methods for robotically stacking sheets. The systems and methods involve a robot arm and a conveyor line. The robot arm has attached thereto a suction frame. In some embodiments, the systems and methods involve first and second robot arms. In such embodiments, the system and method facilitate and involve a sequentially alternating unloading operation such that the system has a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded. ## Claims ### Claim 1 A robotic sheet stacking system comprising first and second robot arms and a conveyor line, the first and second robot arms being located on opposite sides of the conveyor line, the first robot arm having a free end region to which is attached a first suction frame, the second robot arm having a free end region to which is attached a second suction frame, the system having a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded, and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded, the conveyor line having a cantilevered end region comprising a plurality of individual conveyor belts with longitudinal gaps therebetween, wherein the system has a first picking configuration in which a first beam of the free end region of the first robot arm extends crosswise directly below the conveyor belts of the cantilevered end region such that the first suction frame projects upwardly through the longitudinal gaps between the individual conveyor belts of the cantilevered end region so as to engage one or more sheets on the conveyor line, the first beam being rotatable about a rotation axis along which the first beam is elongated. ### Claim 2 (depends on 1) The robotic sheet stacking system of claim 1 wherein the first suction frame is above the second suction frame when the system is in the first position, and the second suction frame is above the first suction frame when the system is in the second position. ### Claim 3 (depends on 1) The robotic sheet stacking system of claim 1 wherein the system also has a third position in which the first robot arm is adjacent a storage rack and has the first suction frame loaded with one or more sheets while the second robot arm is adjacent the conveyor line and has the second suction frame unloaded. ### Claim 4 (depends on 3) The robotic sheet stacking system of claim 3 wherein the system also has a fourth position in which the second robot arm is adjacent the storage rack and has the second suction frame loaded with one or more sheets while the first robot arm is adjacent the conveyor line and has the first suction frame unloaded. ### Claim 5 (depends on 1) The robotic sheet stacking system of claim 1 wherein the conveyor line is a single conveyor line, and the system includes a controller configured to move the first and second robot arms in a sequentially alternating unloading operation in which both the first and second robot arms remove sheets from the single conveyor line. ### Claim 6 (depends on 5) The robotic sheet stacking system of claim 5 wherein the system is arranged such that the first and second robot arms are both configured to stack the glass sheets on a single rack located directly downstream from the conveyor line. ### Claim 7 (depends on 1) The robotic sheet stacking system of claim 1 wherein the system has a first approach configuration in which the first suction frame is beneath the cantilevered end region of the conveyer line, and the system has a second approach configuration in which the second suction frame is beneath the cantilevered end region of the conveyor line. ### Claim 8 (depends on 1) The robotic sheet stacking system of claim 1 wherein the conveyor line includes an upstream region that is adjacent to and upstream from the cantilevered end region, the upstream region comprising transport rollers configured such that a glass sheet conveyed along the conveyor line is conveyed from transport rollers of the upstream region directly onto conveyor belts of the cantilevered end region. ### Claim 9 (depends on 1) The robotic sheet stacking system of claim 1 wherein the first robot arm is configured to lift a sheet from the conveyor line and thereafter rotate the sheet about multiple axes. ### Claim 10 (depends on 1) The robotic sheet stacking system of claim 1 wherein the first suction frame comprises a plurality of frame members that are crosswise to the first beam and carry a plurality of suction cups, and wherein the free end region of the second robot arm comprises a second beam that is elongated along a rotation axis of the second robot arm, the second suction frame comprising a plurality of frame members that are crosswise to the second beam and carry a plurality of suction cups. ### Claim 11 (depends on 10) The robotic sheet stacking system of claim 10 wherein one or more of the suction cups are extendable and retractable so as to each have a retracted position and an extended position, such that each such suction cup is configured to move from the retracted position to the extended position in response to operation of an actuator. ### Claim 12 (depends on 1) The robotic sheet stacking system of claim 1 wherein the conveyor line comprises a skew conveyor. ### Claim 13 (depends on 12) The robotic sheet stacking system of claim 12 wherein the skew conveyor is a dual-lane skew conveyor having an adjustable alignment fence. ### Claim 14 (depends on 1) The robotic sheet stacking system of claim 1 further comprising a storage rack configured to retain a stack of sheets in a vertical-offset position, the conveyor line configured to convey sheets in a horizontal position. ### Claim 15 (depends on 1) The robotic sheet stacking system of claim 1 wherein the cantilevered end region has a downstream end, and the longitudinal gaps open through the downstream end of the cantilevered end region, such that when the first suction frame is received in a plurality of the longitudinal gaps it projects, in an upstream direction, through the downstream end of the cantilevered end region. ### Claim 16 A robotic sheet stacking system comprising first and second robot arms and a conveyor line, the first and second robot arms being located on opposite sides of the conveyor line, the first robot arm having attached thereto a first suction frame, the second robot arm having attached thereto a second suction frame, the system having a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded, and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded, wherein the system has a first loaded configuration in which the first suction frame retains two sheets in a first rotational position adjacent the conveyor line, and the system has a second loaded configuration wherein the first suction frame retains said two sheets in a second rotational position adjacent a storage rack, such that said two sheets are effectively offset rotationally by about 90 degrees relative to a vertical axis when in the second rotational position as compared with the first rotational position. ### Claim 17 (depends on 16) The robotic sheet stacking system of claim 16 wherein when the system is in the first loaded configuration said two sheets are spaced apart from each other along a longitudinal axis of the conveyor line, and when the system is in the second loaded position said two sheets are side-by-side such that two bottom edges of said two sheets are substantially flush with each other and substantially equidistant from a bottom wall of an adjacent storage rack. ### Claim 18 A method of using a robotic sheet stacking system to stack glass sheets, the robotic sheet stacking system comprising first and second robot arms and a conveyor line, the first robot arm having a free end region to which is attached a first suction frame, the second robot arm having a free end region to which is attached a second suction frame, the method comprising conveying a plurality of glass sheets along the conveyor line and moving the first and second robot arms in a sequentially alternating unloading operation such that the system has a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded, the conveyor line having a cantilevered end region comprising a plurality of individual conveyors having longitudinal gaps therebetween, wherein the method comprises moving the system into a first picking configuration in which a first beam of the free end region of the first robot arm extends crosswise directly below the conveyors of the cantilevered end region of the conveyer line such that the first suction frame projects upwardly through the longitudinal gaps between the individual conveyors of the cantilevered end region of the conveyor line so as to engage one or more sheets on the conveyor line, the first beam being rotatable about a rotation axis along which the first beam is elongated. ### Claim 19 (depends on 18) The method of claim 18 wherein the sequentially alternating unloading operation is performed such that the first suction frame is above the second suction frame during at least some time when the system is in the first position and the second suction frame is above the first suction frame during at least some time when the system is in the second position. ### Claim 20 (depends on 18) The method of claim 18 wherein the sequentially alternating unloading operation is performed such that the system also has a third position in which the first robot arm is adjacent a storage rack and has the first suction frame loaded with one or more sheets while the second robot arm is adjacent the conveyor line and has the second suction frame unloaded, the first suction frame being at a higher elevation than the second suction frame during at least some time when the system is in the third position. ### Claim 21 (depends on 20) The method of claim 20 wherein the sequentially alternating unloading operation is performed such that the system also has a fourth position in which the second robot arm is adjacent the storage rack and has the second suction frame loaded with one or more sheets while the first robot arm is adjacent the conveyor line and has the first suction frame unloaded, such that the second suction frame is at a higher elevation than the first suction frame during at least some time when the system is in the fourth position. ### Claim 22 (depends on 18) The method of claim 18 wherein the conveyor line is a single conveyor line and the sequentially alternating unloading operation is performed such that both the first and second robot arms remove glass sheets from the single conveyor line. ### Claim 23 (depends on 18) The method of claim 18 wherein the sequentially alternating unloading operation is performed such that the system has a first approach configuration in which the first suction frame is beneath the cantilevered end region of the conveyer line and the system has a second approach configuration in which the second suction frame is beneath the cantilevered end region of the conveyor line. ### Claim 24 (depends on 23) The method of claim 23 wherein the method includes moving the first robot arm along an upper motion path toward a rack while simultaneously moving the second robot arm along a lower motion path toward the cantilevered end region of the conveyor line. ### Claim 25 (depends on 18) The method of claim 18 wherein the first robot arm is operated to lift a sheet from the conveyor line and thereafter rotate the sheet about multiple axes. ### Claim 26 (depends on 18) The method of claim 18 wherein the sequentially alternating unloading operation produces a stack of glass sheets positioned on a storage rack in a vertical-offset position, and said conveying the plurality of glass sheets along the conveyor line involves conveying the plurality of glass sheets in a horizontal orientation. ### Claim 27 A method of using a robotic sheet stacking system to stack glass sheets, the robotic sheet stacking system comprising first and second robot arms and a conveyor line, the first robot arm having a free end region to which is attached a first suction frame, the second robot arm having a free end region to which is attached a second suction frame, the method comprising conveying a plurality of glass sheets along the conveyor line and moving the first and second robot arms in a sequentially alternating unloading operation such that the system has a first position in which the first robot arm is elevated and has the first suction frame loaded with one or more sheets while the second robot arm is lowered and has the second suction frame unloaded and the system has a second position in which the second robot arm is elevated and has the second suction frame loaded with one or more sheets while the first robot arm is lowered and has the first suction frame unloaded, wherein the sequentially alternating unloading operation is performed such that the system has a first loaded configuration in which the first suction frame retains two sheets in a first rotational position adjacent the conveyor line, and the system has a second loaded configuration wherein the first suction frame retains said two sheets in a second rotational position adjacent a storage rack, such that said two sheets are effectively offset rotationally relative to a vertical axis by about 90 degrees when in the second rotational position as compared with the first rotational position. ### Claim 28 (depends on 11) The method of claim 11 wherein the sequentially alternating unloading operation is performed such that when the system is in the first loaded configuration said two sheets are spaced apart from each other along a longitudinal axis of the conveyor line and when the system is in the second loaded position said two sheets are side-by-side such that two bottom edges of said two sheets are substantially flush with each other and substantially equidistant from a bottom wall of an adjacent storage rack. ### Claim 29 A robotic sheet stacking system comprising first and second robot arms and a conveyor line, the conveyor line configured to convey glass sheets in a machine direction along which the conveyor line is elongated, the first and second robot arms being located on opposite sides of the conveyor line and being configured to move independently of each other, the first robot arm comprising a free end region having attached thereto a first suction frame, the second robot arm comprising a free end region having attached thereto a second suction frame, the conveyor line having a cantilevered end region with an underpass that is open on a downstream side, such that the first and second suction frames are each configured to travel in a counter-machine direction starting from a downstream position, which is spaced from the cantilevered end region in the machine direction, to an approach position underneath the cantilevered end region, wherein the first suction frame when in the approach position is in a first rotational orientation about a vertical axis, and wherein the first suction frame when in the downstream position is in a second rotational orientation about a vertical axis, the first and second rotational orientations being offset by greater than 25 degrees. ### Claim 30 (depends on 29) The robotic sheet stacking system of claim 29 wherein the cantilevered end region of the conveyor line comprises a plurality of individual conveyors bounding between them a plurality of longitudinal gaps, the longitudinal gaps being elongated in the machine direction, the system having a first picking configuration in which a first beam of the free end region of the first robot arm extends crosswise directly below the conveyors of the cantilevered end region such that the first suction frame projects upwardly through the longitudinal gaps so as to engage one or more glass sheets on the cantilevered end region of the conveyor line, the first beam being rotatable about a rotation axis along which the first beam is elongated. ### Claim 31 (depends on 29) The robotic sheet stacking system of claim 29 wherein the first and second rotational orientations are offset by between 30 and 60 degrees. ### Claim 32 (depends on 29) The robotic sheet stacking system of claim 29 wherein the cantilevered end region of the conveyor line has a plurality of individual conveyors bounding between them a plurality of longitudinal gaps, the longitudinal gaps being elongated in the machine direction, the longitudinal gaps configured to enable the first suction frame to project upwardly through the longitudinal gaps so as to engage one or more glass sheets on the cantilevered end region of the conveyor line, and wherein the underpass of the cantilevered end region is open laterally and is open to the longitudinal gaps. ### Claim 33 (depends on 32) The robotic sheet stacking system of claim 32 wherein the longitudinal gaps are open on a downstream end. ### Claim 34 (depends on 29) The robotic sheet stacking system of claim 29 wherein the first and second robot arms respectively have first and second vertical rotation axes that are located laterally outwardly and longitudinally downstream from the cantilevered end region of the conveyor line. ### Claim 35 A method of using a robotic sheet stacking system to stack glass sheets, the robotic sheet stacking system comprising first and second robot arms and a conveyor line, the method comprising conveying a glass sheet along the conveyor line in a machine direction, the conveyor line being elongated in the machine direction, the first and second robot arms being located on opposite sides of the conveyor line, the method comprising moving the first and second robot arms independently of each other, the first robot arm comprising a free end region having attached thereto a first suction frame, the second robot arm comprising a free end region having attached thereto a second suction frame, the conveyor line having a cantilevered end region with an underpass that is open on a downstream side, and the method comprising sequentially moving the first and second robot arms such that the first and second suction frames sequentially travel in a counter-machine direction, starting from a downstream position, which is spaced from the cantilevered end region in the machine direction, to an approach position underneath the cantilevered end region, wherein the first suction frame when in the approach position is in a first rotational orientation about a vertical axis, and wherein the first suction frame when in the downstream position is in a second rotational orientation about a vertical axis, the first and second rotational orientations being offset by greater than 25 degrees. ### Claim 36 (depends on 35) The method of claim 35 wherein the first robot arm is operated to lift a first sheet from the conveyor line and thereafter rotate the first sheet about multiple axes, and the second robot arm is subsequently operated to lift a second sheet from the conveyor line and thereafter rotate the second sheet about multiple axes. ### Claim 37 (depends on 35) The method of claim 35 wherein the first and second rotational orientations are offset by between 30 and 60 degrees. ### Claim 38 (depends on 35) The method of claim 35 wherein the method includes moving the first robot arm along an upper motion path toward a rack while simultaneously moving the second robot arm along a lower motion path toward the cantilevered end region of the conveyor line. ### Claim 39 A robotic sheet stacking system comprising a robot arm and a conveyor line, the robot arm being rotatable about four or more axes, the robot arm having a free end region to which is attached a suction frame, the robot arm having a vertical rotation axis that is spaced laterally outwardly and longitudinally downstream from an end region of the conveyor line, wherein the system has a first loaded configuration in which the suction frame retains one or more sheets in a first rotational position adjacent the conveyor line, and the system has a second loaded configuration wherein the first suction frame retains said one or more sheets in a second rotational position adjacent a storage rack, such that said one or more sheets are effectively offset rotationally by about 90 degrees relative to a vertical axis when in the second rotational position as compared with the first rotational position. ### Claim 40 (depends on 39) The robotic sheet stacking system of claim 39 wherein the free end of the robot arm comprises a beam that is elongated along a rotation axis of the robot arm, and the suction frame has a plurality of frame members that are crosswise to the beam, said frame members carrying a plurality of suction cups. ### Claim 41 (depends on 40) The robotic sheet stacking system of claim 40 wherein the end region of the conveyor line is a cantilevered end region with an underpass that is open on a downstream side, the cantilevered end region of the conveyor line having a plurality of individual conveyors bounding between them a plurality of longitudinal gaps, the longitudinal gaps being open to the underpass. ### Claim 42 (depends on 41) The robotic sheet stacking system of claim 41 wherein the system has an approach configuration in which the suction frame is positioned beneath the cantilevered end region of the conveyer line. ### Claim 43 (depends on 41) The robotic sheet stacking system of claim 41 wherein the system has a picking configuration in which the beam of the free end region of the robot arm extends crosswise directly beneath the individual conveyors of the cantilevered end region of the conveyor line, such that the suction frame projects upwardly through the plurality of longitudinal gaps so as to engage one or more sheets on the conveyor line. ### Claim 44 (depends on 41) The robotic sheet stacking system of claim 41 wherein the cantilevered end region of the conveyor line has a downstream end, and the longitudinal gaps open through the downstream end of the cantilevered end region, such that when the suction frame is received in a plurality of the longitudinal gaps it projects, in an upstream direction, through the downstream end of the cantilevered end region. ### Claim 45 (depends on 39) The robotic sheet stacking system of claim 39 wherein said frame members are parallel to each other and perpendicular to the beam. ### Claim 46 (depends on 45) The robotic sheet stacking system of claim 45 wherein the beam is shorter than the frame members. ### Claim 47 (depends on 39) The robotic sheet stacking system of claim 39 wherein when the system is in the first loaded configuration said one or more sheets are retained in a horizontal orientation, and when the system is in the second loaded position said one or more sheets are retained in a generally vertical orientation. ### Claim 48 (depends on 39) The robotic sheet stacking system of claim 39 wherein the robot arm is configured to lift one or more sheets from the conveyor line and thereafter rotate said sheet or sheets about multiple axes. ### Claim 49 (depends on 39) The robotic sheet stacking system of claim 39 wherein when the system is in the first loaded configuration the suction frame retains two sheets in the first rotational position adjacent the conveyor line, and when the system is in the second loaded configuration the suction frame retains said two sheets in the second rotational position adjacent the storage rack, such that said two sheets are effectively offset rotationally by about 90 degrees relative to a vertical axis when in the second rotational position as compared with the first rotational position, wherein when the system is in the first loaded configuration said two sheets are spaced apart from each other along a longitudinal axis of the conveyor line, and when the system is in the second loaded position said two sheets are side-by-side such that two bottom edges of said two sheets are substantially flush with each other and substantially equidistant from a bottom wall of the storage rack. ### Claim 50 (depends on 39) The robotic sheet stacking system of claim 39 wherein the conveyor line comprises a skew conveyor. ### Claim 51 (depends on 50) The robotic sheet stacking system of claim 50 wherein the skew conveyor is a dual-lane skew conveyor having an adjustable alignment fence.