JP2628887B2 - Wind glass transfer equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a transfer device that positions a window glass conveyed by a conveyor and transfers it to a robot that is assembled to a vehicle body.

(Conventional technology) In order to automatically attach window glass to the vehicle body, the window glass conveyed on the conveyor is received by an assembling robot, and the window glass is pressed onto a window frame or the like by the robot and joined. I have to. In addition, since the above joining requires high accuracy, conventionally, the mounting robot itself has a function of detecting the position of the window frame, or the position of the mounting robot is displayed on a monitor, and a keyboard is provided. The robot is moved accurately by manipulating the robot.

(Problems to be Solved by the Invention) As described above, providing the position detection function to the assembling robot itself and accurately positioning the window frame and the window glass requires a complicated mechanism and increases the cost as a whole. Also, moving the robot by keyboard operation etc.
A dedicated operator is required, making complete automation impossible.

Further, in the related art, the front window glass and the rear window glass are assembled at different stations due to difficulty in positioning or the like, and the equipment is large-scale.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a transfer device for transferring a window glass to an assembling robot. A floating mechanism that can be moved horizontally and is fixed at the original position is provided on the base, and a support mechanism that adsorbs and holds the window glass positioned on the floating member is assembled with the positioned window glass. A second positioning mechanism for positioning with the mounting robot is provided.

(Operation) With the floating member locked on the base, the window glass is placed on the support mechanism provided on the floating member, and the window glass is positioned by the first positioning mechanism. Then, the locked state is released and the window glass and the assembling robot are positioned by the second positioning mechanism, and the window glass is delivered to the assembling robot.

(Example) Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view of a window glass assembling station to which the transfer device according to the present invention is applied, and FIG. 2 is a plan view of the transfer device.
00, a transfer device 300 according to the present invention is arranged on one side of the reversing device 200, and an assembling robot is mounted above the transfer device 300.
400 is facing.

The transport device 100 is provided with a plurality of suction pads 102 on a frame 101 that circulates and travels, and the suction pads 102 suction and wind the front window glass W1 and the rear window glass W2 alternately. Here the window glass W1, W2
In order to perform operations such as degreasing, primer application, and shielding of an adhesive on the peripheral portion of the indoor side surface in the preceding step, the indoor side surface is conveyed with the indoor side surface as the upper surface.

Further, at the downstream end of the transfer device 100, in order to transfer the window glass to the reversing device 200, the suction pad 103 is
It can move up and down with respect to 101.

The reversing device 200 engages the moving table 202 with the rail 201 laid between the transfer device 100 and the transfer device 300, and the moving of the cylinder 202 moves the moving table 202 in the Y direction along the rail 201. Further, a rail 203 extending in the X direction is provided on the upper surface of the movable base 202, a reversing device main body 204 is movably engaged with the rail 203, and a rotary actuator 205 is further provided on the main body 204.
Is used to rotate the shaft 206.

Further, base ends of arms 207, 207 are fixed to the shaft 206, and a cylinder unit is provided between the distal ends of the arms 207, 207 as shown in FIG. 3 which is a plan view and FIG. 4 which is a side view.
A plate 209 that moves up and down by 208 is provided, and a suction pad 210 is attached to the plate 209.

The transfer device 300 includes a first positioning mechanism 310 for positioning a window glass on a frame-shaped base 301, a support mechanism 350 for sucking and holding the window glass received from the reversing device 200, and an assembling robot 400. Positioning with the second
And a positioning mechanism 380.

As shown in FIG. 5 which is a plan view and FIG. 6 which is a view in the direction of arrow A in FIG.
1 are provided with rails 311 and 311 in the X direction.
A plate 312 extending in the Y direction is engaged with 311 so that the operation of the cylinder unit 303 causes the plate 312 to move in the X direction. On the left and right sides of the plate 312, resin positioning pins 314, 314 for receiving the front end of the window glass W1 and positioning in the X direction are provided upright.

Also, a pair of bars 315, 315 are provided on the plate 312,
The outer ends of the bars 315, 315 have sliders 317, 317 which engage with Y-direction rails 316, 316 formed on the plate 312.
And positioning pins 31 for abutting the sliders 317, 317 on the side ends of the window glass W1 to perform positioning in the Y direction.
8,318, and racks 31 inside the bars 315,315
9,319 are engraved and these racks 319,319 are one pinion
Cylinder unit 321 meshed with 320 and fixed to plate 312 is connected to one bar 315. By moving one of the bars 315 to the left or right by the operation of the cylinder unit 321, the other bar 315 moves in the opposite direction via the rack 319 and the pinion 320. That is, by the operation of the cylinder unit 321, the left and right positioning pins 318, 318 open and close by an equal amount.

In addition, a fixed plate 322 is provided at the center on the base 301,
A double rod type cylinder unit 324 is movably engaged with an X-direction rail 323 formed on the fixed plate 322, and one rod 325 of the cylinder unit 324 is engaged with a bracket 326 of the fixed plate 322, and Rod of 32
6 is engaged with a slider 328 that engages with the rail 327 in the X direction, and a positioning pin 329 that abuts the rear end of the window glass W1 to perform positioning in the X direction is provided upright on the slider 328.

As shown in FIG. 7 which is a plan view, FIG. 8 which is a view in the direction of arrow B in FIG. 7, and FIG. 9 which is a view in the direction of arrow C in FIG. A fixed plate 351 is provided on the base 301, and a floating plate 353 is supported on the fixed plate 351 via a thrust washer 352 so as to be movable horizontally.
Attach the cross plate 354 to the
The resin support member 355 for supporting the front window glass W1 from below, the resin support member 356 for supporting the rear window glass W2 from below, and the window glass positioned by the first positioning mechanism 310 with respect to the floating plate 353. A suction pad 357 is provided to be fixed.

Further, a second positioning mechanism 3 for positioning with the assembling robot 400 is provided at both ends of the floating plate 353.
80 are provided. The second positioning mechanism 380 includes a cylinder unit 381 whose axis is oriented in the vertical direction, and a positioning pin 383 whose tip moves up and down along the guide rod 382 by operation of the cylinder unit 381. ing.

The floating plate 353 has a lock mechanism 390.
Is provided. This lock mechanism 390 forms a through hole 391 in the floating plate 353 as shown in FIG.
A pin 39 which appears in this through hole 391 by the operation of the solenoid 392
3 forms an engaging hole 394, and the floating plate 353 can move horizontally with the pin 393 removed from the hole 394. In addition, as shown in FIG. 10, the pin 393 has its lower end small diameter portion retracted only to the height located at the upper part of the hole 394, so that the range in which the floating plate 353 can move horizontally is the lower end of the pin 393. It is regulated by contacting the upper part of the hole 394. That is, when the solenoid 392 is operated, the pin 393 always enters the hole 394, and the pin 393 engages with the hole 394, whereby the floating plate 353 is fixed at the original position.

Further, the assembling robot 400 has a head 402 attached to an arm 401 that operates three-dimensionally, and brackets 403, 403 are fixed to left and right of the head 402, and a through hole 404 into which the positioning pin 383 is inserted is formed in the bracket 403. doing.

Further, a cylinder unit 405 is provided on the head 402, the support plate 406 is moved up and down by the cylinder unit 405, and the suction pad 407 is attached to the support plate 406. Arms 409, 409 that move in the vertical direction are provided, and a tactile sensor 410 that detects the position of the pillar on the arm 408 and checks the relative position of the robot 400 and the body window frame in the vehicle width direction is attached,
The arm 409 is provided with a tactile sensor 411 for detecting either the upper or lower flange of the window frame and confirming the vertical position of the robot 400 with respect to the vehicle body window frame.

The process up to delivery of the window glass to the assembling robot using the apparatus having the above configuration will be described below.

First, the main body 204 of the reversing device 200 moves along the rail 201 so as to approach the downstream end of the transport device 100. At this time, the arm 207 is moved down to the transfer device 100 side by the operation of the rotary actuator 205, and the pad 210 is moved to the front window glass W1.
It is located above.

In addition, the front window glass W1 conveyed to the downstream end of the conveying device 100 in parallel with the above is lifted by the pad 102 rising. At the same time as this operation, the cylinder unit 208 of the reversing device 200 operates, and the pad 21
0 is lowered to adsorb the indoor side surface of the front window glass W1, and the reversing device 200 receives the front window glass W1 from the transfer device 100.

Next, the entire reversing device 200 is retracted along the rail 201, and the arm 207 is moved down to the transfer device 300 side by the rotary actuator 205. Then, the reversing device 200
The front window glass W1 sucked and held by the pad 210 is placed on the support members 355 and 356 of the support mechanism 350 and the suction pad 357 with the indoor side face down. At this time, the floating plate 353 provided with the support mechanism 350 by the lock mechanism 390 is fixed to the base 301 side, and the suction pad 357 is not operated.

Thereafter, the state of suction by the suction pad 210 of the reversing device 200 is released, and the first positioning mechanism 310 positions the front window glass W1 with respect to the base 301 or the support mechanism 350. In addition, the positioning is a positioning pin
With the 314 fixed at a predetermined position, the positioning pins 318, 329
This is performed by pressing the side end and the rear end of the front window glass W1 with. The front window glass W1 slides on the support members 355, 356 and the suction pad 357 by being pressed by the positioning pins 318, 329.

When the positioning of the window glass with respect to the support mechanism 350 or the base 301 is completed by the above operation, the suction pad 35
The support mechanism 3 sucks the front window glass W1 by 7
Fix to 50.

Thereafter, the lock state of the floating plate 353 by the lock mechanism 390 is released, and the front window glass W is released.
The support mechanism 350 holding 1 is made horizontally movable, and the mounting robot 400 is lowered. When the assembling robot 400 descends, the second
The positioning pin 383 of the positioning mechanism 380 is fitted. Here, even if there is a displacement between the mounting robot 400 and the support mechanism 350, the support mechanism 350 is provided on the floating plate 353 which has been unlocked. The 350 moves horizontally, and the positioning of the front window glass W1 is performed with reference to the assembly robot 400. This state is shown in FIG.

Thereafter, the suction state by the suction pad 357 is released, and the front window glass W1 is suctioned by the suction pad 407 of the mounting robot 400, and the front window glass W1 is delivered to the mounting robot 400 side. Then, the assembling robot 400 that has received the front window glass W1 accurately detects the position of the window frame of the vehicle body with the tactile sensors 410 and 411, and attaches the front window glass W1 to the window frame.

FIG. 12 is a plan view showing a positioning step for the rear window glass W2 performed subsequent to the above-described operation. In this case, only the support member 356 and the suction pad receive the indoor side surface of the rear window glass. It will be.

(Effects of the Invention) As described above, according to the present invention, a transfer device for positioning a window glass is provided between a transfer device and an assembling robot, and the transfer device uses the window as a reference for the assembling robot. Since the glass is positioned and delivered, the window glass can be accurately assembled without any displacement, etc. The structure of the device itself is not complicated, and the front window glass and the rear window glass Can be delivered at the same station, which is extremely advantageous in terms of workability and space.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a window glass assembling station to which a transfer device according to the present invention is applied, FIG. 2 is a plan view of the transfer device, and FIG. FIG. 4 is a side view of the tip of the reversing device, FIG. 5 is a plan view of the positioning mechanism of FIG. 1, FIG. 6 is a view in the direction of arrow A in FIG. 5, and FIG. FIG. 8 is a plan view of the support mechanism, FIG.
9 is a view in the direction of arrow C in FIG. 7, FIG. 10 is a cross-sectional view of the lock mechanism, FIG. 11 is a perspective view showing a state where the window glass is delivered to the assembling robot, and FIG. It is a top view of the support mechanism of the mounted state. In the drawings, 100 is a transfer device, 102, 210, 357, 407 are suction pads, 200 is a reversing device, 300 is a transfer device, 301 is a base, 310 is a first positioning mechanism, 314, 318, 329, 383 are positioning pins, 353 is a floating plate, and 390 is a floating plate. Locking mechanism,
400 is an assembly robot, and W1 and W2 are window glasses.

Claims (2)

(57) [Claims] 1. A transfer device for receiving a conveyed window glass and transferring it to an assembling robot, wherein the transfer device includes a first positioning mechanism for positioning the received window glass on a base. A support mechanism for supporting the floating member horizontally movable and fixable at the original position with respect to the base, for holding the window glass positioned on the floating member by suction, and for positioning the floating member and the assembling robot. A window glass transfer device, comprising: a positioning mechanism. 2. A window glass transfer device according to claim 1, wherein a transfer device for turning over and transferring the window glass transfer device is interposed between the support mechanism and the conveyor. Transfer equipment.