JPS61275071A - Device for automatically attaching windshield pane - Google Patents

Abstract

PURPOSE:To aim at saving labor and making the quality of attached windshield panes uniform, by automating a series of working steps of the pretreatment of windshield panes to the attachment thereof. CONSTITUTION:A windshield pane transferring shuttle conveyer 1 laid along one side of a vehicle transferring belt conveyer 70 is constituted such that it receives the windshield pane W and then transfers the same successively to a windshield sorting station (a), an auxiliary station (b), a primer coating station (c), a binder coating station (d) and a windshield pane delivery station (e), which stations are arranged at predetermined intervals corresponding to the strokes of feed cylinders 9. Support columns having windshield pane sucking couplers 3 attached thereto, are installed on a common long base 2 extending through the stations (a through e), at positions corresponding to those of the windshield sorting station (a) to the binder coating station (d).

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automated device for assembling a window glass onto a vehicle body that has been transported through a required assembly process.

(Prior art) The work of attaching a windshield to a car body generally involves a pre-treatment process in which oil, dirt, etc. adhering to the adhesive surface of the glass is wiped away using a cotton cloth soaked in degreasing liquid, and the compatibility between the glass surface and the adhesive is determined. There is a process of applying primer to the adhesive surface of the glass to increase the adhesive strength, a process of applying adhesive to the primer-applied surface, and a process of positioning the window glass on the car body so that the adhesive-applied side of the glass faces the frame. Attachment by press-bonding this consists of several steps.

However, this type of work is difficult because the windshield differs depending on the model, the primer used as an affinity agent has quick-drying properties, so the agent and the parts to which it is applied harden extremely easily, and there are some manufacturing errors for each car body. Problems such as misalignment of the car body on the comparison trolley and insufficient dimensional accuracy of the window glass must be addressed depending on the nature of the agent used and the shape of the individual workpiece. Therefore, until now, almost all work from glass pretreatment to installation had to be done manually.

(Purpose) The present invention has been made in view of the above circumstances, and its purpose is to solve the above-mentioned problems that have been an obstacle in automating the process from glass pretreatment to assembly. Our objective is to provide a new windshield installation device that can automate the series of operations leading up to this process, thereby saving labor and ensuring uniform quality.

(Means for Achieving the Object) In other words, in order to achieve the object, the present invention provides an automatic windshield installation device that includes a means for detecting a part of the windshield and determining its model, and a means for detecting a part of the windshield and determining the type of the windshield. Depending on the detection output, the windshield is installed by sequentially applying pretreatment and adhesive to the surface, and by holding the windshield that has gone through each of the above means and transporting it to the vehicle body for installation. The present invention is characterized in that a manual operating means is provided for displaying the relative positional relationship between the window glass and the mounting portion, and correcting the movement of the mounting means based on the projected result.

(Example) The details of the present invention will be described below based on illustrated examples.

FIG. 1 shows the entire structure of the apparatus according to the present invention, in which a shuttle conveyor l for transporting windshields, which is disposed along one side of a belt conveyor 70 for transporting vehicle bodies, is used to transport windshields that have been carried in. A window glass model determination stage A, a preliminary station B, a primer application stage stage C1, and an adhesive application stage stage A, a preliminary station B, and a primer application stage C1 are arranged at intervals corresponding to the stroke of the feed cylinder 9, which will be described later. d and window glass delivery station e, respectively.

That is, on a common long base 2 provided through each station a to e, there is a model discrimination stage, and a window glass supporting stage is installed at the tip at a position corresponding to each stage mark from a to adhesive application station d. Adsorption coupler 3...
・Four station posts 4 are installed, and four station posts 4 are installed inside each of these posts 4.
Two shuttle bars 5, 5 with a length corresponding to the distance between them are assembled in parallel by several connecting rods 5a, and each is fixed to the rod tip of a lifting cylinder 7 provided in the base 2. It is slidably supported in an upwardly U-shaped holding frame 8, and its end is connected to the rod end of a feed cylinder 9 provided at one end of the base 2, so that each of these cylinders 7.
9, the two adsorption couplers 6.6 on one bar 5 and the other on the other bar 5 are driven in the vertical and longitudinal directions by repeating rectangular reciprocating motion. The windshield W held under suction by one suction coupler 6 is sequentially transferred from the model discrimination station a to the delivery station e.

On the other hand, the delivery stage box e located at the end of the base 2 has a disk-shaped support plate whose rotation is suppressed by inserting four wooden rods 62 provided on the lower surface into holes on the upper surface of the base 2. 61 is supported by the upper step of the rod 64 of the rotary cylinder 63 disposed in the base 2, and is arranged to be movable up and down.
On the top, there is a rotating frame 65 equipped with suction couplers 66 at the four corners of the upper surface.
is mounted via casters (not shown) provided on the lower surface thereof, and is fixed to the upper end of a rod 64 that protrudes through the support plate 61, and rotates once on the frame 65 while performing a reversal movement of 90'''. The window glass W that has been transferred is delivered to a base 89, which will be described later.

Next, to explain the devices installed at each station a to e, the one model discrimination station a has a windshield model discrimination device including a rotary cylinder 11 on one side of the base 2, as shown in FIG. 10 is fixed, and two upper and lower detection plates 13.13 are mounted horizontally on the tip of the rod 12 with the window glass W sandwiched between them.
Ceramic coat S applied to the edge of the window glass W
Several pairs of photoelectric detectors 16 . . . each consisting of a light emitting element 14 and a light receiving element 15 are provided for determining the model based on the width.

In addition, at the station C adjacent to the preliminary station b, there is a robot 20 for applying primer on the side of the base 2.
As shown in FIG. 3, a support frame 22 with a downward diagonal shape is integrally fixed to a support rod 21 provided at the end of the arm, and both leg ends of this support frame 22 A coating member 24 is attached to the coating member 24, which is driven by a rotating cylinder 23 and rotates with the surface of the window glass W as a tangent.

This application member 24 is composed of a shaft portion 25 rotatably attached between both ends of the support frame 22, and two support rods 27 and 28 extending radially from this shaft portion 25,
A roller 29 formed of a liquid-absorbing material such as felt that moves in contact with the surface of the windshield W is pivotally supported at the tip of one of the support rods 27, and the roller 29 is slightly shorter in length than the support rod 27. A stub 30 for applying a primer liquid is attached to the end of the other support rod 28, and a liquid supply pipe 32 is connected to a liquid passage 31 bored from one end of the shaft portion 25 into the roller support rod 27. The degreasing liquid is supplied through a liquid supply pipe 34, and a primer liquid is supplied from one end of the shaft portion 25 to a liquid passage 33 bored inside the brush support rod 28 through a liquid supply pipe 34. configured to be supplied. On the other hand, on the upper part of the support frame 22, there is a container 35 that accommodates the above-mentioned stub 30 that has been rotated to the non-use position and prevents the primer liquid adhering therefrom from hardening, so that the insertion hole 36 of the stub 30 is directed downward. cylinder 3
7, and is configured such that solvent vapor for preventing primer curing flows into the rod end through a supply pipe 38.

On the other hand, as shown in FIG. 4, the apparatus for supplying Brush 30 Hebraima includes an air dehumidifying tank 41 sealed with a dehumidifier, a solvent tank 42 sealed with a solvent for preventing primer curing, and a primer tank containing primer. 43, the air sucked through the intake pipe 44 is dehumidified in the dehumidifying tank 41, and the air is flowed into the solvent tank 42, while the solvent vapor generated in the solvent tank 42 is supplied with a pressure pump 45. The solvent vapor is introduced into the primer tank 43 via the solvent vapor supply pipe 46 to prevent the primer from curing in the tank 43, and the primer pressurized by the pressure pump 47 is supplied to the heke 30 via the primer supply pipe 34 described above. In addition, the solvent vapor supply pipe 46 extending from the solvent tank 42 is branched on the downstream side of the pressure pump 45, and one of the supply pipes 38 is led to the hardening prevention container 35 in the container 3.
5 is configured to supply solvent vapor for preventing primer curing.

On the other hand, as shown in FIG. 5, one end of an arm 52 is fixed to the lower end of a support rod 51 of the robot arm of the robot 50 disposed at the adhesive application stage d, and the adhesive is applied inside the robot 50. This arm 5 forms a supply channel 53 for the agent.
On the fixed end side of 2.

A cylindrical nozzle 54 having a cutout opening 54a on the side surface of its tip is hinged downward on the axis of the support rod 51 so that its upper end communicates with the supply flow 1853, and the free end side of the arm 52 A bottomed cylindrical joint 58 connected to a flexible hose 57 for supplying adhesive via an elbow is rotatably fitted into a vertical sleeve 55 provided at The supply flow 90 of the arm 52 is connected to the four holes 59 at 90° intervals drilled toward the path 58a.
It is configured as a swivel joint by communicating the four holes 59 spaced apart with the supply channel 53 of the arm 52.

Returning again to FIG. 1, at the delivery station e of the windshield W, a gate-shaped rail 71 that straddles the conveyor 70 is disposed at right angles, and here the windshield W is installed on the vehicle body B stopped at the position. The glass mounting frame F
Two television cameras 73, 73 capable of capturing the upper sides of both sides of
It is configured to be displayed above.

On the other hand, on the gate-shaped rail 71, a robot 74 for installing the windshield is arranged so that it can run driven by a motor (not shown), and its running body 75 has vertical control via a cylinder 76. A first support 78 is suspended, which is controlled by a controller 77, and a fork-shaped second support 80 is connected to the support 78, which is controlled by a controller 79 for longitudinal direction control. cylinder 8 so as to be able to move parallel to the conveyor belt 70;
It is attached to the end of the rod of 1. A pressing cylinder 83 having a jig 82 for suctioning and holding the window glass W attached to the rod end of the second support body 80 is rotatable around its axis by a controller 84 and can be moved up and down by a controller 85. Mounted so that it can swing.

In addition, a frame 8B extending upward along the shuttle conveyor l for transporting window glass is horizontally fixed between the legs 72 and 72 of the gate-shaped rail 71, and two cylinders are vertically disposed at the tip of the frame 8B. At each rod end of 87° and 87,
A receiving frame 89 equipped with suction couplers 88 at the four corners of the lower surface is rotatably supported around an axis parallel to the portal rail 71, and the upper angle constituting this receiving frame 89 is the same as the above-mentioned 2.
It is rotatably connected to the rod end of a swinging cylinder 90 installed obliquely between the wooden cylinders 87 and 87, and receives the window glass W transferred to the delivery station e and transfers it to the traveling main body 75. It is configured to be delivered to the suction holding jig 82.

On the other hand, the control panel 91 arranged near the gate-shaped rail 1 is
This is for correcting the robot 74 based on the relative positional relationship between the mounting frame F of the vehicle body B and the windshield W shown on the two cathode ray tubes 92 and 92. Each controller is displayed on the operation panel surface. 77.79.84.85
A correction operation button 93 is used to slightly correct the window glass W held by the jig 82 by suction at a position immediately before the mounting frame F, and a cylinder 83 is used to press the corrected window glass W onto the mounting frame F. An operation completion button 94 for pressing is provided.

Next, the operation of installing the window glass W using the above-mentioned apparatus will be explained.

First, in the model discrimination stage, the shuttle/<-
When a new window glass W is sent by 5, 5, the rod 12 of the rotary cylinder 11 disposed on one side of the base 2 rotates, and the two upper and lower detection plates 13 that were in the retracted position are rotated. 13 to a position perpendicular to the axis of the shuttle conveyor 1, and a plurality of photoelectric detectors 16 and 13 provided there.
. . , the width of the ceramic coat S applied to one side of the window glass W is detected, the model of the window glass W is determined based on the width, and this detection signal is output to each subsequent processing device.

Further, at the primer application station C that follows this via the preliminary stage, nb, when the window glass W is conveyed to the application position by the shuttleper 5.5, the support rod 21 of the robot arm lowers the roller 29. Then, the application member 24, which is standing upright, is lowered to press the roller 29 against the peripheral adhesive surface of the windshield W (FIG. 3(a)), and the solenoid valve of the liquid supply pipe 32 is activated to remove the liquid from the degreasing liquid tank 49. While supplying the liquid to the roller 29, the application member 24 is moved along the periphery of the window glass W, and the roller 29 soaked with the degreasing liquid is rolled onto the glass surface to degrease the adhesive surface.

During this period, the brush 30, which is not in use at the end of the other support rod 28, is inserted into the container 35 lowered by the cylinder 37, and the primer hardening inhibitor supplied from the solvent tank 42 via the supply pipe 38 is inserted into the container 35. Although the curing is prevented by the steam of
7, pull up the container 35 to expose the brush 30, rotate the shaft 25 1800 times with the rotating cylinder 23, and remove the brush 30.
into sliding contact with the adhesive surface of the window glass W (Fig. 3(b)
)), and a primer tank 43 via the supply pipe 34.
While supplying the primer liquid to the brush 30, the application member 24 is again moved around the circumference of the window glass W in the same manner as the degreasing operation, and the primer is applied thereto, thereby completing the series of operations.

On the other hand, at the adhesive application stage α adjacent to the primer application station C, as shown in FIG. 54, and then rotate the support rod 51 so that the notch opening 54a faces rearward in the moving direction.

Then, the nozzle 54 is moved from left to right along one side i of the windshield W, and when it reaches the right corner in the figure, it is rotated 90 @ counterclockwise in the figure and moved to the second area,
The flexible hose 57 is rotated 90'' in the opposite direction with respect to the arm 52 via the elbow at the upper end of the joint 58, thereby moving the nozzle 54 while maintaining the same posture as the tip against torsional stress. Nozzle 54
When the flexible hose 57 is rotated 180 degrees from its original state and moved to the third side I, the flexible hose 57 is twisted 90 degrees while keeping the rotation of the joint 5B relative to the arm 52, and the nozzle is moved to the fourth side 1. 54 is rotated by 270 degrees, the flexible hose 57 is twisted by 180 degrees while the joint 58 remains as it is, and the nozzle 54 is rotated by 36 degrees.
When rotated by 0° and moved to the first side g again, the joint 5
8 is rotated 180 degrees from its original state, and by this rotation the flexible hose 57 is twisted by 180 degrees.
Then, ridges of adhesive having the same cross section as the notch opening 54a are formed around the four circumferences of the window glass.

By the way, while the above-mentioned processes are being performed on the windshield W, the rod of the feed cylinder 9 is in a retracted state, and the two shuttlepers 5.5 connected to one end of the rod are applied with adhesive from the model discrimination station a. station d
It is located between each adsorption coupler 3 . . . and below each window glass W held by these couplers 3 .

When the predetermined processing operations for the window glass W in each stage a to e are completed, the lifting cylinders 7.7 disposed before and after the base 2 push up the shuttleper 5.5 horizontally. A suction coupler 6 of the shuttleper 5 holds the window glass W placed on each of the above-mentioned stages
Then, by operating the feed cylinder 9, each window glass W on the shuttleper 5.5 is transferred to the next stage. When the rod of the lifting cylinder 7.7 is retracted from this state, the shuttle/<
-5, 5 is transferred onto the suction coupler 3 of each stage, and when one or more operations are completed, the feed cylinder 91 is operated again to operate the shuttleper 5. 5 to return to its original position.

On the other hand, by this operation, the shuttlepers 5, 5, which have transferred the window glass W from the adhesive application station d, place the window glass W on the rotation frame 65 of the delivery stage, nC.
When the cylinder 63 extends the rod 64 and rotates the rotating frame 65 at its tip by 90 degrees, the window glass W transferred thereon is oriented perpendicularly to the axis of the shuttle conveyor l. Rotate it to make it ready for delivery.

Meanwhile, at the same time, the receiving frame 89 on the portal rail 71 is maintained horizontally by the swing cylinder 90, and the two cylinders 89 are held horizontally by the swing cylinder 90.
7.87, it descends onto the rotating frame 65, and the suction coupler 88 provided on its lower surface attracts the window glass W on the rotating frame 65, and then each cylinder 87, 90 retracts its rod and moves the receiving frame 89. It is raised while rotating and tilting around an axis parallel to the gate-shaped rail 71.

On the other hand, the traveling main body 75 travels on the circular rail 71 to a position directly above the shuttle conveyor l in conjunction with this series of operations, and moves around the cylinder 76.81° under the control of the respective controllers 77.79° and 84.85. 83 etc. are operated to make the suction holding jig 82 face the surface of the receiving frame 89, and the receiving frame 89 suctions and receives the window glass W that was being held by suction from its outer surface. Then, at the stage where the vehicle body B transported by the conveyor belt 70 is transported to the mounting position, the traveling main body 75, the first support member 78. The second support body 80 is moved in the traveling direction, the vertical direction, and the front and rear direction by a preset amount by motors and cylinders 76 and 81 (not shown), and furthermore, the pressure on the second support body 80 is
3 is rotated to a preset angle of inclination, and a rod with a jig 82 at the tip is projected, and the window glass W held by suction thereon is transferred to a position immediately in front of the mounting frame F of the vehicle body B.

By the way, the car bodies B that have been assembled through the necessary processes have some differences in their construction, and the windshields W are also not made with sufficient precision, so the automatic transfer operation Although the windshield W is not necessarily positioned exactly in front of the mounting frame F of the vehicle body B, this relative positional relationship is such that the two windshields are attached to the gate-shaped rail 71 in order to reflect the upper sides of the mounting frame F on both sides. The operation was captured by the television camera 73.73! 19
The image is projected on two cathode ray tubes 92 and 92 above 1.

Therefore, the operator can use these cathode ray tubes 92.9
2, based on the X, Y reference line or cursor drawn on it, and if, for example, vertical correction is required, press the correction operation button 93 with an arrow pointing upward or downward. Press one of the controllers 77
Finely adjust the vertical position of the first support body 78 by operating the cylinder 76 via To make a slight movement or to correct the inclination, operate the correction operation button 93 with a diagonal arrow or the like, and press the cylinder 83 by slightly rotating it in the axial direction. Accurately determine the position of the window glass W corresponding to F, and finally press the correction completion button 94, operate the cylinder 83 to press, and press and fix the window glass W to the frame F to perform all operations. finish.

(Effects) As described above, according to the present invention, a part of the window glass is detected and its model is determined, and the installation of the window glass is performed by pre-treating the surface and applying adhesive. Furthermore, the windshield that has undergone these treatments is modified based on its relative position with the vehicle body, and then installed at the same location, so even on a multi-model mixing line, there is no need to worry about pre-treatment of the windshield. Part of the series of processes leading to installation on the main body can be performed almost automatically, eliminating differences in the ability of each worker, achieving uniform quality, and greatly saving labor. can be achieved.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the entire structure of the device of the present invention, and FIG. 2 is a side view of the device for determining the type of windshield. Figure 3 (&) (b) is a side view of the primer coating device showing its operation, Figure 4 is a diagram showing the supply system for the primer and its curing prevention solvent vapor, and Figure 5 is a side view of the adhesive coating device. FIG. 6 is an explanatory view showing the coating operation of the same apparatus as above. 1... Shuttle conveyor for transporting window glass lO
... Windshield model discrimination device 20 ... Primer application robot 50 ... Adhesive application robot 65 ... Rotating frame

Claims (1)

[Claims] means for detecting a part of the window glass and determining its model; means for sequentially performing pretreatment and adhesive application on the mounting surface of the window glass according to the detection output of the determination means; and a window that has undergone each of the above means. A manual means for holding the glass, transferring it to a windshield mounting part of the vehicle body, and mounting it thereon, and displaying the relative positional relationship between the window glass and the mounting part, and correcting the movement of the mounting means based on the projection result. Automatic installation device for windshields with operating means.