JP2012166318A - Vehicular glass-processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly process vehicular glass, with a simpler configuration.SOLUTION: A vehicular glass-processing apparatus is configured in such a manner that: a positioning member 20 is disposed on a conveying member 10 while the reference point of the positioning member 20 is arranged in the reference position of the conveying member 10; a detection member 70 can detect both of the reference point of a vehicular glass W and the reference point of the positioning member 20 from above; and when the detection member 70 detects shifting of the reference point of an vehicular glass W from the reference point of the positioning member 20, the positioning member 20 is horizontally moved by a moving member to correct the shifting, and then the vehicular glass W is lifted.

Description

  The present invention relates to a vehicle glass processing apparatus.

As this type of vehicle glass processing apparatus, a processing apparatus for applying an adhesive to vehicle glass is known (see Patent Document 1). The glass for vehicles is a substantially rectangular flat plate member, and a rubber member (mall) is attached to the periphery thereof.
This processing apparatus has a plurality of robots (first robot, second robot), a pair of positioning members, and a plurality of spray guns (adhesive guns such as a degreasing liquid gun, a primer gun, and urethane). The plurality of robots are typically arm-shaped members, and can move three-dimensionally while holding the glass for a vehicle.
The positioning member is a member that corrects the vehicle glass in an appropriate direction, and includes a relay stand and a plurality of rod-shaped members. The relay stand is a flat plate member on which vehicle glass can be placed, and is arranged at a position where the operation areas of the first robot and the second robot overlap (intermediate position between both robots). The plurality of rod-shaped members are arranged so as to surround the relay stand, and can move forward and backward toward the relay stand (moves toward the vehicle glass).

In the known technique, after attaching accessories to the vehicle glass, the vehicle glass is moved to the relay stand by the first robot. Next, a plurality of rod-shaped members are moved toward the vehicle glass. After the vehicle glass is gripped by a plurality of rod-shaped members and corrected in an appropriate direction, the vehicle glass is made to face the spray gun by the first robot, and degreasing and primer processing are performed.
Next, the glass for vehicles is moved to another relay stand by the second robot. Then, after correcting the vehicle glass in an appropriate direction with another positioning member (rod-like member), the second glass is made to face another spray gun with a second robot, and an adhesive such as urethane is applied ( It can be attached to the vehicle).

JP 2008-195277 A

By the way, in a well-known technique, a some rod-shaped member is arrange | positioned so that a relay stand (vehicle glass) may be enclosed. For this reason, the positioning member has taken up space, and the apparatus has been increased in size and complexity.
Further, in the known technology, it is necessary to consider that the vehicle glass and the molding are not damaged during the positioning described above. For this reason, it is necessary to set the moving speed of the plurality of rod-like members to be relatively slow, which is not suitable for shortening the working time.
The present invention has been made in view of the above points, and a problem to be solved by the present invention is to quickly process glass for a vehicle with a simpler configuration.

As means for solving the above problems, in the vehicle glass processing apparatus according to the first aspect of the present invention, the concave vehicle glass to which the accessory is attached is disposed on the conveying member. In the middle of the transportation of the vehicle glass, the vehicle glass is lifted while being corrected in an appropriate direction by the positioning member, and then an adhesive is applied to the surface of the vehicle glass so that it can be attached to the vehicle.
It is desirable for this type of processing apparatus to be able to process vehicle glass quickly with a simpler configuration.

So, in this invention, the above-mentioned positioning member has a detection member and a moving member which moves a positioning member based on the detection result of a detection member. Then, the positioning member is arranged on the conveying member while the reference point (for example, the center) of the positioning member is arranged at the reference position of the conveying member. Here, the detection member can detect both the reference point (for example, the center) of the vehicle glass and the reference point of the positioning member from above.
When the detection member detects that the reference point of the vehicle glass and the reference point of the positioning member are deviated, the moving member moves the positioning member in the horizontal direction (sliding or rotating) to correct the deviation. After that (preferably after correction in advance), the vehicle glass is lifted.
In the present invention, the positioning of the vehicle glass can be quickly performed with a (simpler) configuration in which the positioning member is moved in the horizontal direction.

The processing apparatus for glass for vehicles of 2nd invention is a processing apparatus for glass for vehicles of 1st invention, Comprising: After raising glass for vehicles as mentioned above, a detection member carries with the reference point of glass for vehicles, and conveyance It is detected that the reference position of the member is shifted. Therefore, the moving glass is used to move the vehicle glass together with the positioning member in the horizontal direction to correct the deviation.
According to the present invention, the reference point of the vehicle glass can be adjusted to the reference position of the transport member by moving the positioning member in the horizontal direction together with the vehicle glass.

  According to the 1st invention concerning the present invention, glass for vehicles can be processed quickly with a simpler configuration. According to the second invention, the vehicle glass can be processed more accurately and quickly.

It is a perspective view of the processing apparatus of the glass for vehicles. It is a perspective view of a part of processing device of glass for vehicles. It is a perspective view of a part of processing device of glass for vehicles which shows the state where glass for vehicles was lifted up. It is a schematic front view of a part of processing device of glass for vehicles. It is a schematic front view of glass for vehicles and a part of positioning member, and shows the procedure of position correction of glass for vehicles in order of (a)-(b). It is a schematic top view of glass for vehicles and a part of positioning member, and shows a mode that plane shift arises in order of (a)-(c). It is a schematic top view of the glass for vehicles, and is a figure which shows the procedure of an image process in order of (a)-(e). It is a schematic top view of glass for vehicles and a part of positioning member, and shows another procedure of position correction of glass for vehicles in order of (a)-(b). (A) is a figure which shows the process process of the glass for vehicles which concerns on a prior art example, (b) is a figure which shows the process process of the glass for vehicles which concerns on embodiment. It is a table | surface which shows the processing time of the process process which concerns on an Example. It is a table | surface which shows the processing time of the process process which concerns on a comparative example.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to FIGS. In each drawing, reference numeral F is attached to the front of the processing apparatus and each member, reference numeral B is attached to the rear of the processing apparatus and each member, reference numeral UP is attached above the processing apparatus and each member, and reference numeral DW is attached below the processing apparatus and each member.

The vehicle glass processing apparatus 2 is an apparatus for applying an adhesive to the vehicle glass W, and includes conveying members 10a and 10b, a positioning member 20, an applying member 30, and a support member 35 (FIG. 1). Referring to FIG. 3, details of each member will be described later.
The vehicle glass W is a concave glass (substantially rectangular in front view) and can be attached to a vehicle window frame (not shown) by application of an adhesive. Examples of the vehicle glass W include a vehicle glass W at the front of the vehicle and a vehicle glass W at the rear of the vehicle. More accessories (not shown) are attached to the vehicle glass W at the rear of the vehicle than the vehicle glass W at the front of the vehicle. A rubber member (mall) (not shown) is attached around the vehicle glass W.

In this embodiment, after attaching accessories to the plurality of vehicle glasses W, they are sequentially arranged on the conveying members 10a and 10b. Next, during the conveyance of each vehicle glass W, the positioning member 20 lifts the vehicle glass W upward while correcting the vehicle glass W in an appropriate direction. And the adhesive agent is apply | coated to the periphery of the glass W for vehicles with the application member 30, and it enables it to attach to a vehicle (illustration omitted).
It is desirable that this type of processing apparatus 2 can process the vehicle glass W quickly with a simpler configuration. Therefore, in the present embodiment, the vehicle glass W is quickly processed with a simple configuration described later. Hereinafter, each configuration will be described in detail.

[Conveying member]
The conveyance members 10a and 10b (conveyor-like members) include a base 12, a pair of endless belts 14, a conveyance drive unit 16, and a pair of rail members 18 (see FIGS. 1 to 3).
The base 12 is a substantially rectangular parallelepiped frame (rectangular when viewed from the side). Moreover, the conveyance drive part 16 is a member (pulley shape) which drives the endless belt 14, and can be attached to the top vertex of the base 12, respectively.
A pair of endless belts 14 are attached to both sides of the base 12 so as to face each other. Each endless belt 14 can be wound between a pair of transport driving units 16 arranged in parallel in the transport direction of the vehicle glass W (transport direction Y1).

In this embodiment, a pair of conveyance members 10a and 10b are arranged in parallel in the conveyance direction Y1 (see FIG. 1). A support member 35 is disposed between the pair of conveying members 10a and 10b, and an application member 30 and a positioning member 20 described later are disposed. The support member 35 is a substantially arched member, and can support a detection member 70 and an application member 30 described later.
Further, a pair of rail members 18 are disposed at a lower position of the conveying member 10 so as to straddle both conveying members 10a and 10b. The pair of rail members 18 pass through the lower portion of the support member 35, and are in the middle of the first transport member 10a (directly below the detection unit 72 described later) to the midway of the second transport member 10b (directly below the application member 30 described later). Can be arranged.

[Positioning member]
The positioning member 20 includes a moving member 40, a lifting member 50, a suction member 60, and a detection member 70 (see FIGS. 2 to 4).
In the present embodiment, the positioning member 20 is disposed on the pair of rail members 18 (below the vehicle glass W) and is movable in the transport direction Y1. At this time, the reference point (center C2) of the positioning member 20 can be appropriately arranged at the reference position (position C3) of the conveying member 10 (see FIG. 8).

(Moving member)
The moving member 40 is a member that moves the positioning member 20 in the horizontal direction (sliding or rotating) (see FIG. 3).
The moving member 40 includes a plurality of flat plate portions (40b, 40f, 40s), a plurality of drive portions (42f, 42s), and a pair of rail portions 44. Each of the plurality of flat plate portions is a flat plate-like member, and includes a substantially rectangular basic flat plate portion 40b (largest size), a rectangular first flat plate portion 40f, and a rectangular second flat plate portion 40s.

In the present embodiment, the basic flat plate portion 40b is slidably disposed on the pair of rail members 18 so as to be movable in the transport direction Y1. Next, a pair of rail part 44 is arrange | positioned on the basic flat plate part 40b by the direction (orthogonal direction X1) orthogonal to the conveyance direction Y1. Then, the first flat plate portion 40f is slidably disposed on the pair of rail portions 44, and can be moved in the orthogonal direction X1 by the first drive portion 42f (allowing sliding movement of the vehicle glass W).
Next, the second flat plate portion 40s is disposed on the first flat plate portion 40f. Then, the second flat plate portion 40s is supported by the second drive portion 42s so as to be relatively rotatable in the horizontal direction with respect to the first flat plate portion 40f (allowing the rotational movement of the vehicle glass W).

(Elevating member / Adsorbing member)
The elevating member 50 is a member for elevating and lowering the vehicle glass W, and includes a pair of glass receiving portions 52, a support portion 54, and an elevating drive portion 56 (see FIG. 3). A pair of glass receiving part 52 is a rod-shaped member which has an elastic part in the end.
The suction member 60 is a tubular member having a trumpet (pad) at one end, and can suck (suck) the vehicle glass W.
In the present embodiment, the rectangular support portion 54 (flat plate shape) is disposed at the end of the second flat plate portion 40s in the orthogonal direction X1, and is lifted and lowered with respect to the second flat plate portion 40s by the lift drive unit 56. Hold as possible. Further, the glass receiving portions 52 are erected at both ends of the support portion 54, and one end side thereof is directed to the vehicle glass W. Further, the adsorbing member 60 is erected on both sides of the support portion 54 (inside the glass receiving portion 52), and one end side thereof is directed to the vehicle glass W.

(Detection member)
The detection member 70 is a member that detects a reference point (center C1, center C2) and a reference position (C3) of each member (see FIGS. 3 to 5).
And the detection member 70 has the detection part 72 (typically a camera), the instruction | indication part 74, and the illumination part 76 (refer FIG. 4). The instruction unit 74 is a member that supports the movement of the moving member 40 based on the detection result (image processing result or the like) of the detection unit 72, and a general-purpose computer can be used.
In this embodiment, the detection part 72 is arrange | positioned in the support member 35, and is located above the glass W for vehicles (height H1). At this time, it is desirable to arrange the pair of illumination units 76 on the sides of the detection unit 72 to illuminate the vehicle glass W from above. The detection unit 72 detects both the reference point (center C1) of the vehicle glass W and the reference point (center C2) of the positioning member 20. Next, when each reference point has a deviation, the detection result of the detection unit 72 is sent to the instruction unit 74, and the moving member 40 is moved by the instruction of the instruction unit 74.
Furthermore, the detection unit 72 can also detect a deviation between the reference point (center C1, center C2) of each member and the reference position C3 of the conveying member 10.

[Coating member]
The application member 30 is a member (arm-shaped) that has a discharge port 32 at the tip and can discharge adhesive to the vehicle glass W (see FIG. 1). The application member 30 of the present embodiment can move the discharge port 32 three-dimensionally by a plurality of joint portions.
In the present embodiment, the adhesive can be applied to an appropriate position (periphery) of the vehicle glass W by the application member 30 by positioning the vehicle glass W in a predetermined direction. At this time, the application member 30 can perform a predetermined determined operation by a preset program. For example, the applying member 30 can perform an operation of applying the adhesive while moving along the periphery of the vehicle glass W with reference to the reference position C3 of the conveying member 10.

[Vehicle glass processing]
The processing operation of the vehicle glass W includes a charging process, a positioning process, a coating process, and a reversing process (see FIG. 9B). In this embodiment, a repositioning process may be performed between the positioning process and the coating process (see FIG. 8).
In the charging process of the present embodiment, various accessories are attached to the vehicle glass W and then placed on the conveying member 10. Here, the processing apparatus 2 can be loaded with the vehicle glass W at the front of the vehicle, or the vehicle glass W at the rear of the vehicle.

By the way, as described above, the vehicle glass W at the rear of the vehicle is attached with more accessories than the vehicle glass W at the front of the vehicle. Therefore, conventionally, in order to match the total processing time of the vehicle glass W at the front of the vehicle and the vehicle glass W at the rear of the vehicle, it is necessary to provide a drying (buffer) process between the charging process and the positioning process (FIG. 9). (See (a)).
Unlike this, in this embodiment, the positioning step (described later) of the vehicle glass W at the rear of the vehicle can be performed quickly. Therefore, the total processing time of the vehicle glass W at the front of the vehicle and the vehicle glass W at the rear of the vehicle can be matched while omitting the drying (buffer) step (see FIGS. 9B and 10).

(Positioning process)
In the positioning step, the vehicle glass W being conveyed is corrected to an appropriate direction by the positioning member 20 (see FIGS. 4 to 6 and FIG. 9B).
At this time, the detection unit 72 detects whether or not the center C1 (reference point) of the vehicle glass W and the center C2 (reference point) of the positioning member 20 are deviated from above. Next, the instruction unit 74 recognizes the coordinates of the center C1 of the vehicle glass W and the coordinates of the center C2 of the positioning member 20 by image processing (details will be described later).
In this way, the detection member 70 detects whether or not the coordinates of the two members are different, whereby the reference point of the vehicle glass W and the reference point of the positioning member 20 are displaced in the horizontal direction (so-called plane deviation). It can be detected. When the plane deviation occurs, the moving member 40 moves the positioning member 20 in the horizontal direction (slide movement or rotational movement) to correct the deviation (plane deviation amount).
In the same step, the positioning member 20 can be corrected and moved before the vehicle glass W comes directly below. By doing so, the positioning process (particularly the positioning process of the vehicle glass W at the rear of the vehicle) can be performed quickly.

(Image processing)
Here, a detection method (image processing) of the detection member 70 will be described in detail (see FIG. 7).
In the present embodiment, a part of the outer shape of the vehicle glass W is detected by the detection member 70, and the inclination (angle θ) of the vehicle glass W is calculated from the image horizontal line D0. Then, an affine transformation is performed on a part of the outer shape of the vehicle glass W horizontally.
Next, the midpoint of the vehicle glass W in the x direction is calculated, and the midpoint of the vehicle glass W in the y direction is calculated. From the midpoint of the x direction and the midpoint of the y direction, the coordinates of the center C1 of the vehicle glass W can be calculated.

Next, with reference to FIG.5 (b), the glass W for vehicles (correct | amended by the appropriate direction) is lifted upwards with the raising / lowering member 50. FIG. And the glass W for vehicles can be hold | maintained to the positioning member 20 by adsorb | sucking the glass W for vehicles with the adsorption | suction member 60 (refer FIG. 8).
After the vehicle glass W is thus aligned in an appropriate direction, it is transported together with the positioning member 20 and moved below the application member 30 (see FIG. 1). Next, after the adhesive is applied to the periphery of the vehicle glass W by the application member 30 (after the application process), the vehicle glass W is inverted (by the inversion process) so that it can be attached to the vehicle.

(Repositioning process)
By the way, after the positioning process, there may be a residual CR due to an angular deviation between the vehicle glass W and the positioning member 20 (see FIG. 5B).
For example, it is assumed that the vehicle glass W is displaced in the orthogonal direction X <b> 1 with respect to the conveying member 10 during the charging process. When the vehicle glass W is lifted upward in this state, a residual skid CR due to an angle shift occurs, and a position shift due to the fall of the vehicle glass W occurs. For this reason, the center C <b> 1 of the vehicle glass W may be displaced from the reference position C <b> 3 on the conveying member 10.
Therefore, in the present embodiment, after the vehicle glass W is lifted upward, the detection member 70 detects again whether the center C1 of the vehicle glass W and the reference position C3 of the transport member 10 are shifted.
And when the position shift by a fall generate | occur | produces, the glass W for vehicles is moved to the horizontal direction with the positioning member 20, and the position shift is correct | amended again (refer FIG. 8). Thus, the positioning member 20 moves in the horizontal direction together with the vehicle glass W, whereby the center C1 (reference point) of the vehicle glass W can be aligned with the reference position C3 on the transport member 10.

As described above, in the present embodiment, the positioning of the vehicle glass W can be performed quickly with a (relatively simple) configuration in which the positioning member 20 is moved in the horizontal direction. And by raising the vehicle glass W by the positioning member 20, it becomes a structure which does not need to consider as much as possible so that the glass W for vehicles and a molding may not be damaged.
Moreover, in this embodiment, since most positioning members 20 can be arrange | positioned under the glass W for vehicles, the compactness of an apparatus is attained compared with the structure (structure arrange | positioned around the glass for vehicles) of a well-known technique. Can do.
In this embodiment, the process of processing the vehicle glass W can be simplified by omitting the drying (buffer) process.
For this reason, according to this embodiment, the glass W for vehicles can be processed rapidly by a simpler structure.

[Example]
Hereinafter, although this embodiment is described based on an example, the present invention is not limited to the example.
In this example, the vehicle glass W was processed using the processing apparatus of FIG. At this time, the detection part 72 was arrange | positioned to the supporting member 35, and it was made to position above the glass W for vehicles (height H1: 2000 mm).
In this example, paper was stretched at the center of the vehicle glass W, and a cross mark (C1) was added at the center (see FIG. 6). In addition, the coordinates of the cross mark (C1) of the vehicle glass W were also recognized as the central location by the detection member 70 (image processing apparatus). Then, the vehicle glass W was moved to an arbitrary position, and the cross mark of the vehicle glass W was moved from the C1 position recognized by the detection member 70 (consciously generated horizontal deviation). The amount of deviation at this time was typically set in a range of ± 0.3 mm to 0.5 mm.

In this example, a plurality of vehicle glasses W were sequentially processed (see FIGS. 1 and 10). At this time, in the positioning step, the operations from “1 glass conveyance” to “7 position correction” in FIG. 10 were performed. In the coating process, the operations from “8 glass coating” to “13 glass dispensing” in FIG. 10 were performed.
In this embodiment, after “1 glass conveyance” and “2 camera image + correction value calculation” in FIG. 10 are performed in advance, in the positioning step, “3 glass receiving rise” to “7 position correction” in FIG. Went. That is, while performing “3 glass receiving rise” to “7 position correction” for the first vehicle glass W, “1 glass conveyance” and “2 camera image + “Correction value calculation” was performed (in advance). Thus, in the present Example, the processing of the vehicle glass W was able to be performed rapidly by performing a part of processing process previously.

[Comparative example]
In the comparative example, a positioning member having a configuration similar to that of a known technique was used in the processing apparatus of FIG. 1 (see FIG. 11). The positioning member includes a plurality of rod-shaped members (centering rollers), a lifting member, and an adsorption member. The plurality of rod-shaped members (centering rollers) are arranged around the vehicle glass W and can advance and retreat toward the glass.
More specifically, the plurality of rod-like members (centering rollers) are attached to the support member so as to be movable up and down, and descend toward the vehicle glass W (move in the H direction). The plurality of rod-shaped members descend toward the vehicle glass W and then move forward and backward toward the vehicle glass (moves in the W direction).
In the positioning process of this comparative example, the operations from “1 glass conveyance” to “12 glass delivery” in FIG. 11 were performed. In the coating process, the operations from “13 glass coating” to “17 loader return” in FIG. 11 were performed.
And in the structure of the comparative example, since it was necessary to take time for the movement of a some rod-shaped member (centering roller) so that the glass for vehicles might not be damaged, it took time to complete the process. Further, since the above-described configuration needs to be performed in order (part of the process cannot be performed in advance), the positioning process takes a relatively long time.

The vehicle glass processing apparatus of the present embodiment is not limited to the above-described embodiment, and can take other various embodiments.
(1) In this embodiment, another detection member can be attached to the support member. For example, it is possible to detect whether or not an appropriate amount of adhesive has been applied to the vehicle glass by detecting the glass for the vehicle from the horizontal direction and detecting the application amount of the adhesive with another detection member.
(2) In this embodiment, when the vehicle glass is in an appropriate position, the vehicle glass can be lifted without moving the positioning member.
(3) The reference point of the vehicle glass and the reference point of the positioning member in the present embodiment can be set as appropriate in addition to the center of these members.

2 Processing apparatus 10a, 10b Conveying member 12 Base 14 Endless belt 16 Conveying drive unit 18 Rail member 20 Positioning member 30 Application member 32 Discharge port 34 Joint portion 35 Support member 40b Basic flat plate portion 40 Moving member 40f First flat plate portion 40s Second flat plate portion 42f First drive portion 42s Second drive portion 44 Rail portion 50 Lifting member 52 Glass receiving portion 54 Support portion 56 Lifting drive portion 60 Adsorption member 70 Detection member 72 Detection portion 74 Instruction portion 76 Illumination portion

Claims (2)

A concave vehicle glass attached with an accessory is arranged on a conveying member, and the vehicle glass is lifted while correcting the vehicle glass in an appropriate direction by a positioning member during the conveyance of the vehicle glass. In the processing apparatus for vehicle glass that can be attached to the vehicle by applying an adhesive to the surface of the vehicle glass,
The positioning member includes a detection member and a moving member that moves the positioning member based on a detection result of the detection member;
While positioning the reference point of the positioning member at the reference position of the conveying member, the positioning member is disposed on the conveying member, and the reference point of the vehicle glass and the reference point of the positioning member are determined by the detection member. Both of them can be detected from above,
When the detection member detects that the reference point of the vehicle glass is shifted from the reference point of the positioning member, the moving member moves the positioning member in the horizontal direction and corrects the shift. The processing apparatus of the glass for vehicles which is the structure which lifts the said glass for vehicles. In the processing apparatus of the glass for vehicles of Claim 1,
After the vehicle glass is lifted, when the detection member detects that a reference point of the vehicle glass is shifted from a reference position of the transport member, the moving member and the positioning member are used together with the positioning member. A processing apparatus for glass for a vehicle, which is configured to correct the deviation by moving the glass in a horizontal direction.

Images