JP2022516104A - Adhesive application system for automobile windshields - Google Patents

Abstract

The present invention grips a pre-coating device that discharges a pre-coating agent at the time of pre-coating and a glass at a corresponding position and moves the glass below the pre-coating device, and moves the glass according to a predetermined trajectory. An adhesive coating system for the front glass of an automobile including a pre-coating robot for applying a coating agent to the glass is provided, and uneven coating is performed manually by using a pre-coating robot and a pre-coating device instead of manual work. In addition, the system of the present invention uses a first material supply device, a material supply robot, a centering device, a second material supply device, and an adhesive application robot. The equipment is used instead of manual work, and the operator only has to place the material rack in the first material supply device, the automation level is high, and the coating quality of the adhesive is ensured. [Selection diagram] Fig. 1

Description

The present invention relates to the technical field of final assembly of automobiles, and more particularly to an adhesive coating system for automobile windshields.

In the final assembly line of the windshield of an automobile, first, the glass is pre-applied mainly by applying a cleaning agent and an undercoating agent, then an adhesive is applied, and finally assembly is performed. In a conventional final assembly line of automobile glass, generally, a worker transfers the glass from a material rack to a conveyor chain and manually applies a cleaning agent and an undercoating agent to the glass using a brush to improve the quality of application. After confirmation, apply the adhesive using a 6-axis robot and assemble. In the conventional technology, the automation level is low, so that the labor cost is high and the production efficiency is low. Furthermore, a glass degreasing agent (mainly composed of acetone) is generally used as a cleaning agent, and a strengthening agent (mainly composed of carbon black, butanone, ethyl acetate, 2-ethoxyethyl acetate, and xylene) is used as an undercoating agent. Since both cleaning agents and primer are dangerous chemicals, they are harmful to the human body if they come into contact with them for a long period of time.

An object of the present invention is to provide an adhesive application system for an automobile windshield that automatically applies a cleaning agent and an undercoating agent to the defects in the prior art.

In order to solve the above technical problems, the adhesive coating system for the windshield of an automobile according to the present invention grips the precoating device that discharges the precoating agent at the time of precoating and the glass at the corresponding position. It comprises a pre-coating robot that moves the pre-coating device below and moves the glass according to a predetermined trajectory to apply the pre-coating agent to the glass.

As a preferred embodiment, a first material supply device, a material supply robot, a centering device, a second material supply device, and a coating robot are further provided, and the first material supply device includes a material rack on which glass is placed. The material supply robot grips the glass in the material rack and places it on the centering device for positioning and centering, and the pre-coating robot grips the glass from the centering device and the spare. Pre-coating is performed by placing it in a coating device, and after the pre-coating is completed, the glass is placed in the second material supply device, and the second material supply device moves the glass in front of the coating robot, and after the coating is completed, the glass is placed. Is taken out, and a coating head for discharging the adhesive at the time of coating is connected to the coating robot, and the coating robot moves the coating head to apply the adhesive on the glass.

As a preferred embodiment, the first material supply device comprises a moving platform, a guide rail, an X-axis clamping mechanism, and a Y-axis clamping mechanism, the moving platform being slidably provided on the guide rail and of the moving platform. Both the first side and the second side adjacent thereto are provided with stopper brackets, the X-axis clamp mechanism and the Y-axis clamp mechanism are provided on the moving platform, and the X-axis clamp mechanism is the same. Installed parallel to the second side of the mobile platform and facing the second side, the Y-axis clamp mechanism is installed parallel to the first side of the mobile platform and facing the first side. The X-axis clamp mechanism pushes the material rack to move it to the second side of the moving platform, and the Y-axis clamp mechanism pushes the material rack to move it to the first side of the moving platform, and the X-axis clamp mechanism. The mechanism is provided with an X-axis displacement sensor, and the Y-axis clamp mechanism is provided with a Y-axis displacement sensor.

In a preferred embodiment, the first material supply device further comprises four trays for mounting the legs of the material rack, the four trays each movably provided at four corners of the mobile platform. The mobile platform is provided with a plurality of steel ball rollers installed in a rectangular array, the tray is provided above the steel ball rollers, and the X-axis clamp mechanism and the Y-axis clamp mechanism are provided. Both are provided on the outside of the tray.

As a preferred embodiment, the material supply robot comprises a jig with a grip sucker, a shift lever for shifting a stopper rod in the material rack, and a shift lever detection mechanism, wherein the shift lever detection mechanism includes an elastic member and a touch. A sensor is provided, the shift lever is provided on the jig so as to be movable in the axial direction, a connection block is externally fitted to the shift lever, and the elastic member is attached to the lower side of the shift lever and the connection block. Connected to the bottom and exerting a urging force on the shift lever, the touch sensor is provided on the connection block and is located above the shift lever.

As a preferred embodiment, the centering device includes a lateral clamp mechanism, a longitudinal clamp mechanism, a support column, a support sucker, and a measuring device, and the lateral clamp mechanism is provided above the longitudinal clamp mechanism and It is perpendicular to the vertical clamping mechanism and
The lateral clamp mechanism and the longitudinal clamp mechanism both include a centering cylinder, a first clamp unit, and a second clamp unit, and the first clamp unit and the second clamp unit are connected via a transmission gear. The first clamp unit and the second clamp unit are provided in a centrally symmetrical manner with the transmission gear as a axis of symmetry, and the centering cylinder is connected to the first clamp unit.
The first clamp unit and the second clamp unit each include a slide table, a clamp rod, a centering guide rail, and a slider, the slider is slidably provided on the centering guide rail, and the slide table is the slider. The clamp rod is provided vertically on the slide table, and the clamp rod of the first clamp unit and the clamp rod of the second clamp unit are in the same straight line as the center of the transmission gear. The side surface of the slide table is provided with meshing teeth that mesh with the transmission gear, the support column and the support suction plate are located in a region formed by connecting the clamp rods, and the support suction plate is an intake device. Connected to
The measuring device includes an encoder and a rack, the rack is provided above the slide table of the first clamp unit, and extends along the longitudinal direction of the slide table, and the encoder is the first clamp. A measuring gear that is provided on the side of the slide table of the unit and meshes with the rack is installed on the extension shaft of the encoder.

As a preferred embodiment, the pre-applying device comprises a vertical column, a connecting arm, a cleaning head, and an undercoat head, one end of the connecting arm is connected to the support column, and the other end of the connecting arm is provided with a mounting bracket. The cleaning head is connected to the mounting bracket, the undercoat head is provided on the mounting bracket so as to be movable up and down, and the cleaning head and the undercoat head are connected to their respective hoppers via connection pipes. The liquid supply of the cleaning head and the undercoat head is controlled by the PLC system.

As a preferred embodiment, the mounting bracket is provided with a first cylinder, the undercoat head is connected to the piston rod of the first cylinder, and the bottom of the support column is provided with a second cylinder. The two-cylinder piston rod is parallel to the vertical column, and the connecting arm is connected to the second cylinder piston rod.

As a preferred embodiment, the visual detection device further comprises a visual detection device comprising a camera, an image processing module, and a display screen, the camera being connected to the coating robot, the camera being connected to the image processing module, and the like. The image processing module is connected to the display screen.

As a preferred embodiment, the second material supply device includes a transport belt, and the preliminary coating robot and the coating robot are provided close to both ends of the transport belt, respectively.

The beneficial effects of the present invention are as follows.
1. 1. The present invention installs a pre-coating device and a pre-coating robot, places the pre-coating device under the pre-coating device that grips the glass to be coated by the pre-coating robot and discharges the pre-coating agent, and puts the pre-coating agent on the glass. The glass is moved while being gripped so that it can be applied to the position, which uses a pre-applying robot and a pre-applying device instead of manual work, and the manual work causes uneven coating, which is inefficient and impairs health. To solve the problem.
2. 2. In the adhesive coating system of the present invention, all the steps of adhesive coating of glass are realized by the first material supply device, the material supply robot, the centering device, the second material supply device, and the coating robot, and the operator can apply the glass. Simply place the placed material rack in the first material supply device and the cleaning agent, primer and adhesive can be applied automatically, the level of automation is high, the work process is optimized and the adhesive is applied. The coating efficiency of the adhesive is improved, the coating quality of the adhesive is ensured, and the cost is further reduced.
3. 3. In the present invention, the first material supply device is provided with an X-axis clamp structure and a Y-axis clamp mechanism, the material rack is pushed to the second side of the moving platform by the X-axis clamp mechanism, and the material rack is moved by the Y-axis clamp mechanism. Pushed to the first side of the mobile platform, the material rack is placed so that the intersection of the first and second sides of the mobile platform is one of its vertices, with two X-axis displacement sensors and a Y-axis sensor. The displacement distance in the direction is measured, the size of the material rack is obtained, and based on this, the movement distance of the moving platform is controlled so that the material rack is directly in front of the first material supply robot. Further, the shift lever detection mechanism provided in the material supply robot can detect whether or not the stopper rod of the material rack is opened, and can protect the glass of the material supply robot or the automobile. The centering device can position the center of the glass in it so that the pre-applying robot can grasp the predetermined position of the glass and apply the pre-applying agent to the predetermined position of the glass. The measuring device of the centering device can measure the size of the glass to obtain the type of glass, which facilitates planning the movement trajectory of the pre-coating robot. The pre-coating device is provided with both a cleaning head and a primer head, which allows the same robot to coat both the cleaning agent and the primer, thus reducing the number of robots used and reducing costs. Also, the workshop can be simplified. In addition, a visual detection device is further provided, whereby the coating quality of the cleaning agent and the undercoating agent and the coating quality of the adhesive after the adhesive coating can be confirmed before the adhesive is applied, and the operator can check the display screen. By confirming the image processed by the image processing module through the image processing module, defects that cannot be seen with the naked eye can be enlarged, enhanced, or clearly displayed.

It is a schematic diagram of the adhesive application system of the windshield of the automobile of an Example. It is a schematic diagram of the 1st material supply apparatus of an Example. It is a schematic diagram of the arrangement in the mobile platform of an Example. It is a schematic diagram of the place A of FIG. It is a schematic diagram of the material supply robot and the material rack of an Example. It is a schematic diagram of the arrangement in the jig of an Example. It is a schematic diagram of the centering apparatus of an Example. It is a schematic diagram of the B location of FIG. FIG. 7 is a top view of FIG. 7. It is a schematic diagram of the preliminary coating apparatus of an Example. It is a schematic diagram of the coating robot of an Example.

In the description of the present invention, "center", "vertical direction", "horizontal direction", "top", "bottom", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by terms such as "horizontal", "top", "bottom", "inside", and "outside" is based on the orientation or positional relationship shown in the drawings, and the convenience and explanation of the description of the present invention are given. The present invention is limited because it is merely for the sake of simplification and does not explicitly or imply that the mentioned device or element has a specific orientation and is configured or operated in a specific orientation. It should not be understood as a thing. Moreover, the terms "first," "second," and "third" are for illustration purposes only and should not be understood as an explicit or implied relative importance.

In the description of the present invention, terms such as "mounting", "connecting", and "connecting" should be understood in a broad sense unless otherwise specified or limited, and even if they are fixedly connected, for example. Often, they may be detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, or indirectly via an intermediate medium. The two components may be connected to each other. Those skilled in the art can understand the specific definitions of the above terms in the present invention according to the specific circumstances.

Hereinafter, the technical solutions in the examples of the present invention will be clearly and completely described with reference to the drawings in the examples of the present invention, but as is clear, the described examples are the examples of the present invention. Only some, not all examples. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of patent protection of the present invention.

As shown in FIGS. 1 to 11, the windshield adhesive coating system of the present embodiment includes a pre-coating robot 4 and a pre-coating device 5, and the pre-coating device 5 is pre-coated at the time of pre-coating. The purpose is to discharge the agent, and the pre-applying robot 4 grasps the glass at the corresponding position and moves it below the pre-applying device 5, and predetermines the glass so that the pre-applying agent is applied to the glass. It is for moving according to the trajectory of. In this embodiment, the pre-coating device 5 and the pre-coating robot 4 are arranged, and the pre-coating robot 4 grips the glass to be coated and places it below the pre-coating device 5 for discharging the pre-coating agent. The glass is moved while being gripped so that the glass is applied to a predetermined position on the glass, whereby the pre-coating robot 4 and the pre-coating device 5 are used instead of the manual work, and the manual work causes uneven coating. , Inefficient and solves the problem of poor health.

The adhesive coating system of this embodiment further includes a first material supply device 1, a material supply robot 2, a centering device 3, a second material supply device 6, and a coating robot 7, and the first material supply device 1 is glass. This is for moving the material rack 8 on which the material rack 8 is placed to the front of the material supply robot 2, and the material supply robot 2 grips the glass in the material rack 8 and places it on the centering device 3 for positioning and centering. The pre-coating robot 4 grips the glass from the centering device 3 and places it on the pre-coating device 5 to perform pre-coating. After the pre-coating is completed, the pre-coating robot 4 places the glass on the second material supply device 6 and the second material. The supply device 6 is for moving the glass to the front of the coating robot 7 and taking out the glass after the coating is completed. The coating robot 7 is connected to the coating head 701 for discharging the adhesive at the time of coating. The coating robot 7 is for moving the coating head 701 to apply the adhesive on the glass. In the adhesive coating system of this embodiment, all the steps of adhesive coating of glass are realized by the first material supply device 1, the material supply robot 2, the centering device 3, the second material supply device 6, and the coating robot 7. , The worker can automatically apply the adhesive just by placing the material rack 8 on which the glass is placed on the first material supply device 1, the automation level is high, the work process is optimized, and the adhesive is adhered. Since the application efficiency of the agent is improved and the cleaning agent, the undercoat agent and the adhesive are all applied by the machine, the application quality of the adhesive is ensured and the cost is reduced.

Further, in this embodiment, the first material supply device 1 and the second material supply device 6 are installed facing each other, and the material supply robot 2, the centering device 3, the pre-coating robot 4, and the pre-coating device 5 are the first. The material supply robot 2 is sequentially provided between the material supply device 1 and the second material supply device 6, the material supply robot 2 is provided in front of the first material supply device 1, and the adhesive application robot 7 is the second material supply device 6. In this embodiment, the second material supply device 6 is provided with a transfer belt 601, and the preliminary coating robot 4 and the adhesive coating robot 7 are provided close to both ends of the transfer belt 601. As a result, the process can be carried out sequentially and correctly, the length of the production line can be effectively shortened, and the production space can be fully utilized.

In this embodiment, the first material supply device includes a guide rail 101, a moving platform 102, an X-axis clamping mechanism, and a Y-axis clamping mechanism, and the moving platform 102 is slidably provided on the guide rail 101 to provide a moving platform. A stopper bracket 103 is provided on both the first side of the 102 and the second side adjacent thereto, the X-axis clamp mechanism and the Y-axis clamp mechanism are provided on the moving platform 102, and the X-axis clamp mechanism is moved. Installed parallel to and opposed to the second side of the platform 102, the Y-axis clamping mechanism is installed parallel to and opposed to the first side of the moving platform 102, and the X-axis clamping mechanism is a material. The Y-axis clamp mechanism is for pushing the rack 8 to move it to the second side of the moving platform 102, and the Y-axis clamping mechanism is for pushing the material rack 8 to move it to the first side of the moving platform 102, and is an X-axis clamp. The mechanism is provided with an X-axis displacement sensor, and the Y-axis clamp mechanism is provided with a Y-axis displacement sensor. When the operator places the material rack 8 on the first material supply device 1 by a fork lift, the X-axis clamp mechanism and the Y-axis clamp mechanism provided on the moving platform 102 of the first material supply device 1 place the material rack 8 in a predetermined position. The material rack 8 is moved to the front of the material supply robot 2 so that the material supply robot 2 can smoothly grip the glass from the material rack 8 by moving to and sliding the platform 102 on the guide rail 101. As a result, it is not necessary to manually position the material rack 8 in front of the material supply robot 2, the impact between the forklift and the material supply robot 2 can be avoided, the material supply robot 2 can be protected, and the material rack 8 can be protected. Can be ensured to be positioned accurately. The X-axis clamp mechanism of this embodiment includes two first push plates 104 and two first clamp cylinders 105, and one first push plate 104 is connected to the piston rod of either first clamp cylinder 105. The first push plate 104 is provided in parallel with the second side of the moving platform 12, and the two first clamp cylinders 105 are provided on the fourth side facing the second side of the moving platform 102, respectively. It is provided close to the first side and the third side of the mobile platform 102. The Y-axis clamp mechanism includes four second push plates 106 and four second clamp cylinders 107, and one second push plate 106 is connected to the piston rod of any of the second clamp cylinders 107. The two second clamp cylinders 107 are provided on the third side of the mobile platform 102 and in close proximity to the second and fourth sides of the mobile platform 102, respectively, with the other two second clamp cylinders 107 The second clamp cylinder 107 on the fourth side of the mobile platform 102 is provided on the second side and the fourth side of the mobile platform 102, respectively, and both are installed facing each other. The second clamp cylinder 107 on the fourth side of the mobile platform 102 is a piston rod of the first clamp cylinder 105. It is connected to and is located behind the first push plate 104 of the first clamp cylinder 105. Further, a push plate extension cylinder 108 is connected to the piston rod of the second clamp cylinder 107 provided on the second side and the fourth side of the mobile platform, and the second push plate 106 is the push plate extension cylinder 108. Connected to the piston rod. The piston rod of the first clamp cylinder 105 is parallel to the piston rod of the push plate extension cylinder 108, and the piston rod of the first clamp cylinder 105 is perpendicular to the piston rod of the second clamp cylinder 107. The push plate moves due to the expansion and contraction of the piston rod, and the material rack 8 is moved by the push plate. Since there is a certain space between the two legs of the material rack 8 and the position of the second clamp cylinder 107 on the third side of the mobile platform 102 is fixed, these two second clamp cylinders. The second push plate 106 connected to the 107 may be displaced from the leg of the material rack 8, so that one second clamp cylinder 107 is provided on each of the second and fourth sides of the mobile platform 102. Provided, when pushed by the first clamp cylinder 105, the second clamp cylinder 107 moves near the legs of the material rack 8 as the piston rod of the first clamp cylinder 105 moves, thereby in the Y-axis direction. Avoid the problem of not being able to press. In this embodiment, a push plate extension cylinder 108 is further provided, and when the material rack 8 is pushed by the first push plate 104, the impact between the material rack 8 and the second push plate 107 can be avoided. The X-axis clamp mechanism pushes the material rack 8 to the second side of the moving platform 102, and the Y-axis clamping mechanism pushes the material rack to the first side of the moving platform 102, whereby the material rack 8 is pushed to the moving platform 102. It is arranged so that the intersection of the first side and the second side of the above is one of the vertices. The X-axis displacement sensor and the Y-axis displacement sensor of this embodiment measure the displacements of the first push plate 104 and the second push plate 106, respectively, and the displacements of the first push plate 104 and the second push plate 106 are the original distances. By comparing with, the size of the material rack 8 is obtained, and based on this, the movement distance of the movement platform 102 is controlled so that the material rack 8 is located directly in front of the material supply robot 2, whereby the movement trajectory is determined. The constant material supply robot 2 can smoothly grip the glass from the material rack 8, and the impact between the material supply robot 2 and the material rack 8 is avoided. Further, in this embodiment, two mobile platforms 102 are provided on the guide rail 101, and when the robot grips the glass from the material rack 8 mounted on one of the mobile platforms 102, the logistics personnel perform a forklift. The material rack 8 can be placed on the other mobile platform 102 to improve operating efficiency.

Further, the first material supply device 1 further includes four trays 109 for mounting the legs of the material rack, and the four trays 109 are movably provided at four corners of the moving platform 102, respectively. The mobile platform 102 is provided with a plurality of steel ball rollers (not shown) installed in a rectangular array, the tray 109 is provided above the steel ball rollers, and the X-axis clamp mechanism and the Y-axis clamp mechanism are either provided. Is also provided on the outside of the tray 109. When pushing the material rack 8 by the X-axis clamp mechanism and the Y-axis clamp mechanism, the tray 4 moves with the movement of the material rack 8, reduces the friction between the material rack 8 and the moving platform 102, and with a small pushing force. The material rack 8 can be pushed.

The material rack 8 generally includes a stopper rod 801, a horizontal rod 802, and two vertical rods 803 provided by a reversing fixing mechanism for separating the glass, and both ends of the horizontal rod 802 have two vertical rods, respectively. Connected to the rod 803, the stopper rod 801 is rotatably connected to the horizontal rod 802 via the reversing fixing mechanism about the horizontal rod 802, and when the glass is supplied, the material supply robot 2 is a stopper of the material rack 8. The rod 801 is shifted to open the reversing fixing mechanism of the stopper rod 801 to invert the stopper rod 801 and the material supply robot 2 grips the glass from the material rack 8. In this embodiment, the material rack 8 is provided with a stopper rod detection device 804 for detecting the inversion of the stopper rod 801. The stopper rod detection device 804 of the present embodiment is provided on the vertical rod 803 using a laser sensor. Moreover, it is located above the stopper rod 801 and determines whether or not the stopper rod 801 has opened by detecting whether or not the stopper rod 801 has passed in front of the stopper rod detection device 804. If the stopper rod 801 is not open and the operation of the material supply robot 2 does not stop, the glass for automobiles and the material supply robot 2 will be damaged. Therefore, a warning is issued in a timely manner by installing the stopper rod detection device 804 to supply the material. The robot 2 can be stopped to protect the automobile glass and the material supply robot 2.

The material supply robot 2 further includes a jig 201 with a sucker, a shift lever 202 for shifting the stopper rod 801 and a shift lever detection mechanism, and the shift lever detection mechanism includes an elastic member 203 and a touch sensor 204. The shift lever 202 is provided on the jig 201 so as to be movable in the axial direction, the connection block 204 is externally fitted to the shift lever 202, and the elastic member 203 has the lower side of the shift lever 202 and the bottom of the connection block 205. Connected in between and exerting a urging force on the shift lever 202, the touch sensor 204 is provided on the connection block 205 and is located above the shift lever 202. When the material supply robot 2 shifts the stopper rod 801, the jig 201 of the material supply robot 2 moves above the stopper rod 801 and tilts downward by a predetermined angle, and the shift lever 202 protrudes with the stopper rod 801. The jig 201 comes into contact with each other and moves diagonally upward to apply an upward diagonal force to the stopper rod 801 via the shift lever 202 to open the reversing fixing mechanism of the stopper rod 801. It moves below the stopper rod 801 and then moves upwards to push the stopper rod 801 until it is inverted, thereby opening the stopper rod 801. In order to prevent the stopper rod 801 of the material rack 8 from opening and the glass falling during transportation, the manufacturer ties the stopper rod 801 of the material rack 8 with a fixing belt to prevent the stopper rod 801 from opening. , The fixed belt 8 is located above the stopper rod 801 and when supplying the glass for automobiles, the operator removes the fixed belt and shifts the stopper rod 801 by the material supply robot so that the stopper rod 801 can be inverted. There is a need. If the fixing belt above the stopper rod 801 is not removed, the shift lever 202 receives a greater urging force than in normal operation, moves upward against the pulling force of the elastic member 203, and moves upward. A touch sensor 204 is touched, thereby transmitting information to the control system, stopping the material supply robot 2 and protecting the material supply robot 2 and the automobile glass. Further, the jig 201 is further provided with an ultrasonic sensor 206 for detecting the glass and determining the position between the glass and the stopper rod 801 so that the material supply robot 2 accurately shifts the lever. You can grip the glass. Further, a shift lever extension cylinder 207 is connected to the jig 201 of this embodiment, one end of the shift lever 207 is connected to the piston rod of the shift lever extension cylinder 207, and a connection block is connected to the other end of the shift lever 207. 205 is attached.

In this embodiment, the centering device 3 includes a horizontal clamp mechanism, a vertical clamp mechanism, a support column 3010, a suction plate 3011, and a measuring device, and the horizontal clamp mechanism is provided above the vertical clamp mechanism and is vertical. It is perpendicular to the directional clamp mechanism, and both the lateral clamp mechanism and the longitudinal clamp mechanism include a centering cylinder 301, a first clamp unit, and a second clamp unit, and the first clamp unit and the second clamp unit are transmission gears. Connected via 302, the transmission gear 302 is provided centrally symmetrically with the transmission gear 302 as the axis of symmetry, the centering cylinder 301 is connected to the first clamp unit, and the first clamp unit and the second clamp unit are both the slide table 303, A clamp rod 304, a centering guide rail 305, and a slider 306 are provided, the slider 306 is slidably provided on the centering guide rail 305, the slide table 303 is connected above the slider 306, and the clamp rod 304 is a slide table. The clamp rod 304 of the first clamp unit and the clamp rod 304 of the second clamp unit, which are provided vertically to 303, are located on the same straight line as the center of the transmission gear 302, and the transmission gear is on the side surface of the slide table 303. The meshing teeth that mesh with the 302 are provided, the support column 3010 and the suction plate 3011 are located in the region formed by connecting the clamp rods 304, and the suction plate 3011 is connected to the intake device. The measuring device includes an encoder 307 and a rack 308, in which the rack 308 is provided above the slide table 303 of the first clamp unit and extends along the longitudinal direction of the slide table 303, and the encoder 307 is the first. A measuring gear 309 that is provided on the side side of the slide table 303 of the clamp unit and meshes with the rack 308 is installed on the extension shaft of the encoder 307. When the material supply robot 2 places the glass on the support column 3010 of the centering device 3, the transmission gear 302 rotates to move the slide table 303 of the first clamp unit and the slide table 303 of the second clamp unit inward at the same speed. Moved, the clamp rod 304 pushes and moves the glass so that the center of the glass is aligned with the predetermined position, whereby the precoating robot 4 can accurately grasp the glass and confirm the center of the glass. In addition, the moving distance of the slide table 303 can be measured by the encoder 307 to obtain the size of the glass, whereby the adhesive coating system determines the type and size of the glass, and the pre-applying robot is based on the determination result. 4 can control the locus of movement while gripping the glass, and can accurately bring the predetermined coating position of the glass into contact with the preliminary coating device 5.

In this embodiment, the preliminary coating device includes a vertical column 501, a connection arm 502, a cleaning head 503, and an undercoat head 504, one end of the connection arm 502 is connected to the vertical column 501, and the other end of the connection arm 502 is a mounting bracket. Is attached, the cleaning head 503 is connected to the mounting bracket, the undercoat head 504 is provided on the mounting bracket so as to be movable up and down, and the cleaning head 503 and the undercoat head 504 are connected to the respective hoppers 9 via connection pipes, respectively. The liquid supply of the cleaning head 503 and the undercoat head 504 is controlled by the PLC system. The mounting bracket is provided with a first cylinder 505, the undercoat head 504 is connected to the piston rod of the first cylinder 505, the bottom of the vertical column 501 is provided with a second cylinder 506, and the piston rod of the second cylinder 506. Is parallel to the vertical column 501, the connecting arm 502 is connected to the piston rod of the second cylinder 506, and the first connecting arm 502 can move up and down, so that maintenance is easy. The cleaning head 503 and the undercoat head 504 are mounted on the same mounting bracket, and the undercoat head 504 is provided so as to be movable up and down. When the undercoat head 504 is located below the cleaning head 503, the cleaning and the undercoat do not affect each other, one adhesive application robot can be reduced, and the production line can be simplified. The pre-coating robot 4 of this embodiment is a 6-axis robot, and when the cleaning agent and the undercoating agent are applied, the pre-applying robot 4 reverses and moves, so that the materials of the cleaning head 503 and the undercoating head 504 are made of glass. Can be applied to the edge position of. Further, the vertical column 501 and the connecting arm 502 of this embodiment have a hollow structure, and the bottom and the top of the vertical column 501 and both ends of the connecting arm 502 are each provided with through holes 507 communicating with the inside thereof. The connecting pipe enters the vertical column 501 from the bottom of the vertical column 501, extends from the through hole 507 at the top of the vertical column 501, and further enters the connecting arm 502 through the through hole 507 near the vertical column 501 of the connecting arm 502, and finally. It extends from the through hole 507 at the other end of the connection arm 502 and is connected to the cleaning head 503 and the undercoat head 504 so that the pipe can be protected in this way. Further, the connection arm 502 of the present embodiment includes two connections, one of which is connected vertically to the vertical column 501 and the other of which is connected to this connection at a constant angle. In addition, the impact between the preliminary coating robot 4 and the vertical column 501 can be avoided.

Further, in this embodiment, the vertical column 501 is separately provided with a connection arm 502, a cleaning head 503, and an undercoat head 504, and the two connection arms 502, the cleaning head 503, and the undercoat head 504 are each of the vertical column 501. Located on both sides facing each other. In the adhesive coating system for the front glass of the automobile of the present embodiment, the first material supply device 1, the material supply robot 2, the centering device 3, the pre-coating robot 4, the pre-coating device 5, the second material supply device 6, and the bonding are provided. The agent coating robot 7 is provided with two sets having the same structure, respectively, and two sets of the first material supply device 1, two sets of the material supply robot 2, two sets of the centering device 3, and two sets of the preliminary coating robot. 4, 2 sets of preliminary coating device 5, 2 sets of second material supply device 6, and 2 sets of adhesive coating robot 7 are arranged on both sides of the vertical column 501 with the straight line on which the vertical column 501 is located as an axis of symmetry, respectively. , The hopper 9 is provided between the two sets of first material supply devices 1 and can apply two pieces of glass at the same time, so that the space is sufficiently utilized.

The vehicle front glass adhesive coating system of the present embodiment further comprises a visual detection device, the visual detection device comprises a camera 10, an image processing module, and a display screen, and the camera 10 is connected to the adhesive coating robot 7. The camera 10 is connected to the image processing module, and the image processing module is connected to the display screen. The image processing module can enlarge, enhance, and clearly display the coating locus in the image collected by the camera 10, and the operator can visually check the image processed by the image processing module through the display screen. Unidentifiable defects can be detected clearly and accurately, and the coating quality of the cleaning agent and undercoating agent is inspected before the adhesive is applied, and the coating quality of the adhesive is inspected after the adhesive is applied, thereby ensuring the coating quality. .. The adhesive coating robot 7 of this embodiment is a 6-axis robot, and both the coating head 701 and the camera 10 are connected to the T-axis member of the adhesive coating robot 7.

As described above, in the present embodiment, by providing the pre-coating device 5 and the pre-coating robot 4, the pre-coating robot 4 is located below the pre-coating device 5 that grips the glass to be coated and discharges the pre-coating agent. Place and move while gripping the glass, apply the pre-coating agent to a predetermined position on the glass, thereby substituting the manual work with the pre-coating robot 4 and the pre-coating device 5, and the manual work causes uneven coating. It arises, is inefficient, and solves the problem of poor health.

The above are merely preferred embodiments of the present invention, and those skilled in the art can make some improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions can also be made. It should be regarded as the patent scope of the present invention.

1-1st material supply device, 101-guide rail, 102-moving platform, 103-stopper bracket, 104-1st push plate, 105-1st clamp cylinder, 106-2nd push plate, 107-2nd clamp cylinder , 108-Push plate extension cylinder, 109-Tray; 2-Material supply robot, 201-Jig, 202-Shift lever, 203-Elastic member, 204-Touch sensor, 205-Connection block, 206-Ultrasonic sensor, 207-Shift lever extension cylinder; 3-centering device, 301-centering cylinder, 302-transmission gear, 303-slide table, 304-clamp rod, 305-centering guide rail, 306-slider, 307-encoder, 308-rack , 309-Measuring Gear, 3010-Support Pillar, 3011-Sucker; 4-Preliminary Coating Robot; 5-Preliminary Coating Device, 501-Standing Pillar, 502-Connecting Arm, 503-Cleaning Head, 504-Undercoat Head, 505-First Cylinder, 506-2nd cylinder, 507-through hole; 6-2nd material supply device; 7-adhesive coating robot, 701-applying head; 8-material rack, 801-stopper rod, 802-horizontal rod, 803- Vertical rod, 804-stopper rod detector; 9-hopper; 10-camera.

Claims (10)

An adhesive coating system for automobile windshields
A pre-coating device that discharges the pre-coating agent during pre-coating,
A pre-coating robot that grips the glass at the corresponding position and moves it below the pre-coating device and moves the glass according to a predetermined trajectory to apply the pre-coating agent to the glass.
An adhesive coating system for automobile windshields, characterized by being equipped with. A first material supply device, a material supply robot, a centering device, a second material supply device, and an adhesive application robot are further provided, and the first material supply device places a material rack on which glass is placed in front of the material supply robot. The material supply robot grips the glass in the material rack and places it on the centering device for positioning and centering, and the pre-coating robot grips the glass from the centering device and the pre-coating device. The pre-coating is performed on the glass, and the glass is placed on the second material supply device after the pre-coating is completed. The adhesive coating robot is connected to a coating head for discharging the adhesive at the time of coating, and the adhesive coating robot moves the coating head to apply the adhesive on the glass. The adhesive coating system for an automobile front glass according to claim 1. The first material supply device includes a moving platform, a guide rail, an X-axis clamping mechanism, and a Y-axis clamping mechanism, and the moving platform is slidably provided on the guide rail, and the first side of the moving platform and the first side of the moving platform. Stopper brackets are provided on both of the second sides adjacent to the stopper brackets, the X-axis clamp mechanism and the Y-axis clamp mechanism are provided on the moving platform, and the X-axis clamp mechanism is the first of the moving platforms. Installed parallel to the two sides and facing the second side, the Y-axis clamp mechanism is installed parallel to the first side of the mobile platform and facing the first side, said X-axis clamp. The mechanism pushes the material rack to move it to the second side of the moving platform, the Y-axis clamping mechanism pushes the material rack to move it to the first side of the moving platform, and the X-axis clamping mechanism has an X. The adhesive application system for an automobile front glass according to claim 2, wherein an axis displacement sensor is provided, and the Y-axis clamp mechanism is provided with a Y-axis displacement sensor. The first material supply device further comprises four trays for mounting the legs of the material rack, each of the four trays being movably provided at four corners of the mobile platform. The platform is provided with a plurality of steel ball rollers installed in a rectangular array, the tray is provided above the steel ball rollers, and the X-axis clamping mechanism and the Y-axis clamping mechanism are both the trays. The adhesive coating system for an automobile front glass according to claim 3, wherein the adhesive coating system is provided on the outside of the vehicle. The material supply robot includes a jig with a grip sucker, a shift lever for shifting a stopper rod in the material rack, and a shift lever detection mechanism, and the shift lever detection mechanism includes an elastic member and a touch sensor. The shift lever is provided on the jig so as to be movable in the axial direction, a connection block is externally fitted to the shift lever, and the elastic member is placed between the lower side of the shift lever and the bottom of the connection block. 2. The vehicle according to claim 2, wherein the touch sensor is provided on the connection block and is located above the shift lever. Front glass adhesive application system. The centering device includes a horizontal clamp mechanism, a vertical clamp mechanism, a support column, a support suction cup, and a measuring device, and the horizontal clamp mechanism is provided above the vertical clamp mechanism and the vertical clamp. It is perpendicular to the mechanism and
The lateral clamp mechanism and the longitudinal clamp mechanism both include a centering cylinder, a first clamp unit, and a second clamp unit, and the first clamp unit and the second clamp unit are connected via a transmission gear. The first clamp unit and the second clamp unit are provided in a centrally symmetrical manner with the transmission gear as a axis of symmetry, and the centering cylinder is connected to the first clamp unit.
The first clamp unit and the second clamp unit each include a slide table, a clamp rod, a centering guide rail, and a slider, the slider is slidably provided on the centering guide rail, and the slide table is the slider. The clamp rod is provided vertically on the slide table, and the clamp rod of the first clamp unit and the clamp rod of the second clamp unit are in the same straight line as the center of the transmission gear. The side surface of the slide table is provided with meshing teeth that mesh with the transmission gear, the support column and the support suction plate are located in a region formed by connecting the clamp rods, and the support suction plate is an intake device. Connected to
The measuring device includes an encoder and a rack, the rack is provided above the slide table of the first clamp unit, and extends along the longitudinal direction of the slide table, and the encoder is the first clamp. The adhesive for the front glass of an automobile according to claim 2, wherein a measuring gear that is provided on the side side of a slide table of the unit and meshes with the rack is provided on the extension shaft of the encoder. Coating system. The preliminary coating device includes a vertical column, a connection arm, a cleaning head, and an undercoat head, one end of the connection arm is connected to the support column, and a mounting bracket is provided at the other end of the connection arm. Is connected to the mounting bracket, the undercoat head is provided on the mounting bracket so as to be movable up and down, and the cleaning head and the undercoat head are connected to their respective hoppers via connection pipes, respectively, and the cleaning head and the above. The adhesive application system for an automobile windshield according to claim 2, wherein the liquid supply of the undercoat head is controlled by a PLC system. The mounting bracket is provided with a first cylinder, the undercoat head is connected to the piston rod of the first cylinder, and a second cylinder is provided at the bottom of the support column, and the piston of the second cylinder is provided. The adhesive application system for an automobile front glass according to claim 7, wherein the rod is parallel to the vertical column and the connecting arm is connected to the piston rod of the second cylinder. Further comprising a visual detection device, the visual detection device comprises a camera, an image processing module, and a display screen, the camera being connected to the adhesive coating robot, the camera being connected to the image processing module, and the image. The adhesive application system for an automobile front glass according to claim 2, wherein the processing module is connected to the display screen. The automobile according to claim 2, wherein the second material supply device includes a transport belt, and the preliminary coating robot and the adhesive coating robot are provided close to both ends of the transport belt, respectively. Windshield adhesive application system.

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