EP1733909A2 - Verfahren und Vorrichtung zur Montage einer Isolierfensterscheibe in einen Rahmen - Google Patents

Verfahren und Vorrichtung zur Montage einer Isolierfensterscheibe in einen Rahmen Download PDF

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Publication number
EP1733909A2
EP1733909A2 EP06290883A EP06290883A EP1733909A2 EP 1733909 A2 EP1733909 A2 EP 1733909A2 EP 06290883 A EP06290883 A EP 06290883A EP 06290883 A EP06290883 A EP 06290883A EP 1733909 A2 EP1733909 A2 EP 1733909A2
Authority
EP
European Patent Office
Prior art keywords
glazing
station
robot
arm
installation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06290883A
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English (en)
French (fr)
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EP1733909B1 (de
EP1733909A3 (de
Inventor
Jean-Paul Rousse
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TECHNOROP INDUSTRIES
Original Assignee
Technorop Automation
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Filing date
Publication date
Application filed by Technorop Automation filed Critical Technorop Automation
Publication of EP1733909A2 publication Critical patent/EP1733909A2/de
Publication of EP1733909A3 publication Critical patent/EP1733909A3/de
Application granted granted Critical
Publication of EP1733909B1 publication Critical patent/EP1733909B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/673—Assembling the units
    • E06B3/67365—Transporting or handling panes, spacer frames or units during assembly

Definitions

  • the present invention relates to a method for inserting double glazing in an opening frame, in particular in the case of a glazed door or window, comprising a rebate and an installation capable of implementing this method. .
  • Most windows intended to equip an opening, door or window, for example, are generally immobilized on the rabbet of the opening by means of a bead.
  • the glazing is first placed on the rabbet of the opening and the pareclose, usually in the form of a profile, is reported above the glazing and secured to the opening so as to ensure immobilization of the glazing between pareclose and rabbet.
  • the use of an insert to maintain the position of the glazing poses various problems.
  • this process requires the use of at least one insert, the geometry and the mechanical characteristics of this part being dependent on the geometry of the opening in which the glazing must be inserted as well as the type of glazing used. , especially its weight. Thus, it is difficult to define standards for a pareclose.
  • the cost of inserting a glazing with this method is therefore high since it requires the manufacture and installation of a specific part for each application. For the same reasons it is also very difficult to automate such a process because it requires complex operations and different from one glazing to another.
  • An object of the invention is therefore to provide a method for inserting double glazing in an opening frame which makes it possible to reduce or even avoid the use of inserts, such as a pareclose or wedges, without impairing the quality of immobilization of said glazing in the context of the opening.
  • Another object of the invention is to provide a method for the insertion of double glazing in an opening frame whose different steps can be performed automatically by a single polyarticulate robot.
  • Another object of the invention is to provide an installation for the insertion of double glazing in an opening frame allowing the implementation, in a fully automated manner, of the aforementioned method.
  • the subject of the present invention is a method for the automated insertion, by means of a polyarticulated robot, of double glazing in a window or door opening frame having a rebate, this opening being it. even intended to be housed in a frame, this method comprising at least one step of gripping the glazing by an arm of the robot, a step of transporting said glazing from a storage station to a station and an insertion step of the glazing in the opening frame adapted to receive this glazing, characterized in that, during the step of transporting the glazing to be installed from its storage station to its position of installation in the opening frame, the arm is animated robot carrying said glazing and at least one gluing nozzle head positioned on the path followed by the robot arm, a relative movement to ensure, in the loaded state of the arm of the automaton, the glue deposit on the edges of said glazing previously at his pose in the opening.
  • Gluing the glazing and not the frame for receiving the glazing allows, with the aid of a single robot, in a single operation, parallel to the transfer of the glazing from a storage station to a laying station, to glue it. This results in a simplification of the process and the associated installation.
  • the present invention also relates to an installation for the automated insertion of double glazing in a window frame or door with a rebate, this opening being intended to be housed in a frame, said installation, in particular used for the implementation of a method of the aforementioned type, comprising on the one hand a polyarticulate robot, preferably six axes, whose arm is provided with gripping members and movement of said double glazing between a double glazing storage station and a laying station, on the other hand a gluing station equipped with at least one gluing nozzle, characterized in that the gluing nozzle of the station of gluing is positioned along the trajectory followed by the arm of the robot during the movement of the glazing from the storage station to the laying station so as to allow, with the aid of the same robot, parallel to the transport of the glazing of the station storage at the laying station, gluing said glazing.
  • the use and especially the control of the bonding process allow the user to reduce the number of shims, or even to remove the latter and possibly to overcome the use of a pareclose.
  • the cost and the weight of the opening obtained can therefore be considerably reduced compared with those obtained by a traditional method.
  • the method for the insertion of double glazing 2 in the frame 14 of an opening comprising a rabbet comprises several steps. Several operations must be performed on the glazing 2, such as its displacement or its gluing, to allow proper installation. These operations are performed automatically by means of a polyarticulate robot 1, preferably six axes, provided with an arm 3 on which are mounted gripping members 8 able to grip and move the double glazing 2.
  • Double glazing 2 to be installed are first stored on a storage station 4 located near the robot 1 polyarticulate.
  • said storage station 4 preferably consists of a display on which the double glazing 2 are placed vertically.
  • This storage station 4 is placed so as to be accessible by the arm of the robot 1.
  • the glazing 2 is then entered and transported from the storage station 4 to the station 5, via a reference station 6, using the vacuum gripping members 8, such as suction cups, carried by the arm 3 of said robot 1.
  • the gripping members 8 for moving said glazing 2 are vacuum gripping members 8 , sucker type, carried by the arm 3 of the robot 1 and preferably positioned near the end of the arm 3.
  • Said reference station 7 is preferably positioned along the trajectory followed by the arm 3 of the robot 1, between the storage station 4 and the station 6 sizing.
  • This referencing station 7 comprises at least one referencing member making it possible to precisely position and orient the glazing 2 serving as a reference for said robot 1.
  • the organ 7 of FIG. referencing consists on the one hand of an inclined guide path 13 formed of rollers, on which the glazing 2 moves under the effect of its own weight, on the other hand a stop 11 end of race , marking the end of the progression of said glazing 2 on said path 13, this stop 11 immobilizing the glazing 2 in a predetermined position and orientation.
  • the relative position and orientation of the double glazing 2 with respect to the seam station 6 are then determined so as to serve as a reference for the movements of the arm 3 of the robot 1.
  • the glazing is then moved, by means of the arm 3 of the polyarticulate robot 1, to the station 6 sizing.
  • Said station 6 sizing comprises a bracket 10 carrying a gluing nozzle 9, preferably stationary, under which the arm 3 of the robot 1 moves to the state loaded with glazing 2.
  • glue is injected through said nozzle 9 so as to deposit glue on the edges of the glazing 2.
  • the hot glue is preferably deposited on said glazing 2, said glue preferably being a one-component transparent glue of the family of silicones or polyurethanes, this glue being cold-removable by simple scraping, in particular to allow rapid cleaning of the adhesive.
  • the nozzle head 9 sizing.
  • the nature of the glue eliminates any preparation of the edge of the glazing.
  • the gluing nozzle 9 is supplied with glue by a heating duct (not shown) in order to allow a hot application of said glue on the glazing 2.
  • the gluing nozzle 9 with means of rotation about its axis so as to ensure a regular deposit of glue on the entire edge of the glazing 2, especially in the corners.
  • the glazing still loaded on the arm 3 of the robot 1 and having a film or a bead of adhesive over its entire periphery, is ready to be applied to the rabbet present in the frame 14 of the opening.
  • the arm 3 of the robot 1 loaded with glazing 2 is then moved towards the laying station 5 where the glazing 2 is applied to the rabbet of the frame 14 of the opening. It is provided at said station 5 for installation a conveyor 12 for scrolling frame 14 opening whose operation is controlled by the movement of the arm 3 of robot 1.
  • a frame 14 opening is placed on the conveyor 12 in a predetermined position so that the robot can come to automatically insert the double glazing 2.
  • the robot 1 positions said window 2 above the frame 14 opening to receive and applied against the rabbet by a pressure exerted by the gripping members 8 equipping the arm 3 of the robot 1. Once the glazing 2 in place, the robot releases the glazing and retracts.
  • the conveyor 12 is then actuated so as to evacuate the sash frame 14 into which the double glazing 2 has just been inserted into a chain where operations subsequent to the installation of the glazing can be carried out on the sash frame 14.
  • This movement of the conveyor 12 also makes it possible to place a new frame 14 opening in a position where the robot 1 can apply a new glazing 2.
  • the robot performs a new cycle to glue another double glazing 2 and come to apply it in the frame 14 of empty opening.

Landscapes

  • Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Securing Of Glass Panes Or The Like (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
EP06290883A 2005-06-15 2006-05-31 Verfahren und Vorrichtung zur Montage einer Isolierfensterscheibe in einen Rahmen Not-in-force EP1733909B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0506024A FR2887282B1 (fr) 2005-06-15 2005-06-15 Procede et installation pour l'insertion de double vitrage dans un cadre d'ouvrant

Publications (3)

Publication Number Publication Date
EP1733909A2 true EP1733909A2 (de) 2006-12-20
EP1733909A3 EP1733909A3 (de) 2008-04-30
EP1733909B1 EP1733909B1 (de) 2011-11-30

Family

ID=35735335

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06290883A Not-in-force EP1733909B1 (de) 2005-06-15 2006-05-31 Verfahren und Vorrichtung zur Montage einer Isolierfensterscheibe in einen Rahmen

Country Status (3)

Country Link
EP (1) EP1733909B1 (de)
AT (1) ATE535412T1 (de)
FR (1) FR2887282B1 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202007004183U1 (de) 2007-03-16 2008-08-07 Kuka Systems Gmbh Rahmungseinrichtung
EP2586955A1 (de) * 2011-10-28 2013-05-01 S.N. Techniques et Automatismes de Manutention - Tecauma Anlage für die Verlegung einer Glasleiste auf dem Falz eines Längsträgers, der den Rahmen eines Glasfensters oder einer Glastür bildet
WO2013056288A3 (de) * 2011-10-20 2013-07-18 Inova Lisec Technologiezentrum Gmbh Versiegeln und abstapeln
AT13586U1 (de) * 2011-10-20 2014-04-15 Inova Lisec Technologiezentrum Versiegeln und Abstapeln
CN105573326A (zh) * 2016-02-03 2016-05-11 南京聚立工程技术有限公司 移动巡检极地机器人自主充电系统及其方法
CN107414452A (zh) * 2017-08-08 2017-12-01 珠海格力智能装备有限公司 电池盖装配装置及装配方法
CN110064932A (zh) * 2019-05-29 2019-07-30 东莞市电子科技学校 一种u盘自动化生产线
AT16979U1 (de) * 2019-07-23 2021-01-15 Lisec Austria Gmbh
CN114345638A (zh) * 2022-02-08 2022-04-15 滁州市伊斯特装备制造有限公司 一种玻璃门生产用自动打胶压合设备
US20220282560A1 (en) * 2021-03-08 2022-09-08 Erdman Automation Corporation Independently operating insulated glass unit robotic work cell and method of manufacturing
US11536083B2 (en) 2020-05-22 2022-12-27 Cardinal Ig Company Automated spacer processing systems and methods

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2936835B1 (fr) * 2008-10-02 2013-07-05 Tech & Automatismes De Manutention Tecauma Procede de fabrication de cadres vitres et installation mettant en oeuvre ce procede.
CN115431028B (zh) * 2022-07-29 2023-09-01 广东省科学院智能制造研究所 一种镜子自动打框与质检的生产方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1374552A (fr) * 1962-09-10 1964-10-09 Excel Corp Procédé et appareil pour sceller des panneaux dans des cadres
US3490978A (en) * 1966-03-15 1970-01-20 Excel Corp Method of bedding panels into frames
US5948194A (en) * 1998-06-12 1999-09-07 Ford Global Technologies, Inc. In-line microwave heating of adhesives
DE19825918C1 (de) * 1998-06-10 1999-12-09 Daimler Chrysler Ag Vorrichtung und Verfahren zum Auftragen von Beschichtungen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1374552A (fr) * 1962-09-10 1964-10-09 Excel Corp Procédé et appareil pour sceller des panneaux dans des cadres
US3490978A (en) * 1966-03-15 1970-01-20 Excel Corp Method of bedding panels into frames
DE19825918C1 (de) * 1998-06-10 1999-12-09 Daimler Chrysler Ag Vorrichtung und Verfahren zum Auftragen von Beschichtungen
US5948194A (en) * 1998-06-12 1999-09-07 Ford Global Technologies, Inc. In-line microwave heating of adhesives

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202007004183U1 (de) 2007-03-16 2008-08-07 Kuka Systems Gmbh Rahmungseinrichtung
WO2008113508A3 (de) * 2007-03-16 2008-11-06 Kuka Systems Gmbh Verbindungsverfahren und rahmungseinrichtung
DE202008018124U1 (de) 2007-03-16 2011-12-28 Kuka Systems Gmbh Roboter mit Fügewerkzeug
US8365386B2 (en) 2007-03-16 2013-02-05 Kuka Systems Gmbh Connection process and framing device
WO2013056288A3 (de) * 2011-10-20 2013-07-18 Inova Lisec Technologiezentrum Gmbh Versiegeln und abstapeln
US10633200B2 (en) 2011-10-20 2020-04-28 Lisec Austria Gmbh Sealing and de-stacking
AT13586U1 (de) * 2011-10-20 2014-04-15 Inova Lisec Technologiezentrum Versiegeln und Abstapeln
CN103890302A (zh) * 2011-10-20 2014-06-25 李赛克奥地利有限公司 密封和堆叠
EP2796653A1 (de) * 2011-10-20 2014-10-29 LISEC Austria GmbH Verfahren und Vorrichtung zum Versiegeln von Isolierglas-Rohlingen
CN105173759A (zh) * 2011-10-20 2015-12-23 李赛克奥地利有限公司 密封和堆叠
CN103890302B (zh) * 2011-10-20 2016-03-02 李赛克奥地利有限公司 密封和堆叠
FR2981977A1 (fr) * 2011-10-28 2013-05-03 S N Tech Et Automatismes De Manutention Tecauma Installation pour la pose d'une pareclose sur la feuillure d'un longeron constitutif d'un cadre d'une menuiserie recevant un vitrage
EP2586955A1 (de) * 2011-10-28 2013-05-01 S.N. Techniques et Automatismes de Manutention - Tecauma Anlage für die Verlegung einer Glasleiste auf dem Falz eines Längsträgers, der den Rahmen eines Glasfensters oder einer Glastür bildet
CN105573326A (zh) * 2016-02-03 2016-05-11 南京聚立工程技术有限公司 移动巡检极地机器人自主充电系统及其方法
CN105573326B (zh) * 2016-02-03 2018-04-20 南京聚立科技股份有限公司 移动巡检极地机器人自主充电系统及其方法
CN107414452B (zh) * 2017-08-08 2020-04-10 珠海格力智能装备有限公司 电池盖装配装置及装配方法
CN107414452A (zh) * 2017-08-08 2017-12-01 珠海格力智能装备有限公司 电池盖装配装置及装配方法
CN110064932A (zh) * 2019-05-29 2019-07-30 东莞市电子科技学校 一种u盘自动化生产线
CN110064932B (zh) * 2019-05-29 2024-04-05 东莞市电子科技学校 一种u盘自动化生产线
AT16979U1 (de) * 2019-07-23 2021-01-15 Lisec Austria Gmbh
US11536083B2 (en) 2020-05-22 2022-12-27 Cardinal Ig Company Automated spacer processing systems and methods
US20220282560A1 (en) * 2021-03-08 2022-09-08 Erdman Automation Corporation Independently operating insulated glass unit robotic work cell and method of manufacturing
CN114345638A (zh) * 2022-02-08 2022-04-15 滁州市伊斯特装备制造有限公司 一种玻璃门生产用自动打胶压合设备
CN114345638B (zh) * 2022-02-08 2023-08-15 滁州市伊斯特装备制造有限公司 一种玻璃门生产用自动打胶压合设备

Also Published As

Publication number Publication date
FR2887282A1 (fr) 2006-12-22
ATE535412T1 (de) 2011-12-15
EP1733909B1 (de) 2011-11-30
EP1733909A3 (de) 2008-04-30
FR2887282B1 (fr) 2007-08-31

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