JP2882187B2 - Automatic dam rubber pasting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically attaching a dam rubber to a peripheral portion of a window panel of a vehicle, such as a window shield glass, before the window panel is bonded and fixed to a vehicle body.

[0002]

2. Description of the Related Art When an automobile window shield glass (front glass), rear window glass, or the like is bonded and fixed to a window glass opening on a vehicle body, an adhesive interposed between a flange section on the vehicle body and the window glass. 8 is prevented from spreading unnecessarily to a portion other than the bonding region.
As shown in FIG. 7, a dam rubber R is attached to the periphery of the window glass G in advance.

As shown in FIG. 9, this dam rubber R is formed of a sponge rubber or the like in a string shape and has an adhesive surface a.
The adhesive surface a is provided in advance with release paper (release paper).
P is stuck. When the dam rubber R is attached to the window glass G, the worker is required to adhere to the adhesive surface a.
By moving the attaching jig J along the end face of the wind glass G while peeling off the release paper P protecting the rubber, the dam rubber R is adhered to the entire circumference of the wind glass G while preventing the meandering of the dam rubber R and the like. I have to.

[0004]

However, in the conventional method which relies entirely on manual work as described above, the workability is poor and not only the burden on the operator is large, but also the dam rubber R itself expands and contracts due to force. Even if the bonding jig J is used, the accuracy of the bonding position of the dam rubber R varies due to the individual difference of the worker even when the bonding jig J is used. Tends to occur.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and realizes a completely automatic dam rubber sticking operation. It is intended to provide a sticking position.

[0006]

SUMMARY OF THE INVENTION The present invention is an apparatus for attaching a dam rubber having a release paper previously adhered to an adhesive surface to a wind panel of an automobile while peeling off the release paper, and positioning the wind panel. A wind panel fixing device, a sticking hand at an end of an arm, a dam rubber sticking robot for moving the sticking hand on the wind panel along a sticking path of the dam rubber, and the sticking robot. depending on the dam rubber Paste operation of the hand Ru and a dam rubber feeding means feeding the dam rubber to該貼Ri with hand side.

[0007] The dam rubber delivery means includes:
Rotated by a roll drive motor and wound in advance
Dam rubber roll that sends out dam rubber
And, damra from dam rubber roll to pasting hand
It is provided in the middle of the bar supply path and sends out dam rubber
Dam rubber is driven by rotation by motor
Dam rubber feed roller that feeds to the sticking hand side
And Further , the pasting hand presses the dam rubber against the wind panel while guiding the dam rubber, and a pasting roller for continuously pasting the dam rubber to the wind panel according to the movement of the pasting hand itself, and a dam rubber retraction motor. Is driven to rotate by
While pulling the dam rubber of the release paper was peeled from the dam rubber in the last position in more Paste hand side to feeding operation and pull in synchronization of the dam rubber delivery means of the attaching roller, said dam rubber obtained by peeling off the release paper and a dam rubber draw rollers feeding Paste roller side. Then, the roll drive mode
Motor, dam rubber feed motor and dam rubber pulling
Each of the embedded motors
It is configured to be synchronized with the bar pasting operation
Have been.

[0008]

According to this structure, the dam rubber sticking robot moves the sticking hand along the dam rubber sticking trajectory, and the dam rubber pull-in roller on the sticking hand separates in synchronization with the delivery of the dam rubber from the dam rubber roll. By pulling the dam rubber to the hand side while peeling the pattern paper, the dam rubber from which the release paper has been peeled is bonded to the peripheral portion of the wind panel while being guided by the bonding roller.

[0009]

1, 2, and 3 are explanatory views showing the structure of an embodiment of the present invention, in which a dam rubber is attached to a windshield or a rear glass of an automobile.

This automatic dam rubber sticking apparatus is roughly classified into a plain shuttle type conveyor 1 for transporting a window glass G to a dam rubber sticking stage S,
It is composed of a dam rubber sticking robot (hereinafter simply referred to as a robot) 2 and a dam rubber supply device 3 which are arranged to face each other with the conveyor 1 interposed therebetween.

As shown in FIG. 3, a vertically movable window glass fixing device 6 having a plurality of jig pieces 4, 4... And vacuum cups 5, 5 is provided on the dam rubber attaching stage S. A plurality of positioning guides 7 are provided to move forward and backward with respect to a peripheral portion of the window glass G, and a plurality of vacuum cups 9 are provided on a shuttle bar 8 of the conveyor 1.

Therefore, when the window glass G on which the dam rubber R is to be pasted is carried into the dam rubber pasting stage S by the shuttle bar 8, it waits until the suction force of the vacuum cup 9 on the shuttle bar 8 side is released. Then, the window glass fixing device 6 is raised, and receives the window glass G from the shuttle bar 8 onto the jig piece 4. Further, the positioning of the window glass G is performed by advancing the plurality of positioning guides 7, and the window glass G is finally suction-fixed by the vacuum cup 5.

The dam rubber supply device 3 is provided with a pair of hand storage devices 10A and 10B, and the support 11 of each of the hand storage devices 10A and 10B supports a sticking hand 12A or 12B, respectively. . Each of the supports 11 is, as shown in FIGS.
3 allows the robot 2 to move forward and backward between the storage position P1 and the hand exchange position P2.
The two sticking hands 12A or 12B can be alternately held by the chuck 15 at the tip of the arm 14.

The frame 16 of the dam rubber supply device 3
The dam rubber roll 17A, 17
B is supported, and one dam rubber roll 17A is attached to the sticking hand 12A and the other dam rubber roll 17
Since B corresponds to the sticking hand 12B, the dam rubber R pulled out from each of the dam rubber rolls 17A and 17B is guided through the hose 18 to the corresponding sticking hand 12A or 12B. I have.

The dam rubber supply device 3 includes a pair of roll drive motors 19A and 19B for individually rotating the respective dam rubber rolls 17A and 17B, and a dam rubber delivery motor 20 as shown in FIGS.
A pair of dam rubber delivery rollers 21 driven to rotate by A and 20B, and a pair of spring-supported tension rollers 22 and guide rollers 23 are provided.
And, as described later, the dam rubber R by the robot 2 is used.
Of one roll drive motor 19 in synchronization with the
A and the dam rubber delivery motor 20A, or the other roll drive motor 19B and the dam rubber delivery motor 20
By driving B and B synchronously, the dam rubber R is sent out to the corresponding sticking hand 12A or 12B side while being guided by the rollers 21, 22, 23 and the hose 18.

Therefore, the roll drive motor 19A
Alternatively, the dam rubber delivery motor 20A or 20B and the dam rubber delivery roller 21 constitute dam rubber delivery means on the dam rubber supply device 3 side.

As shown in FIGS. 4 and 5, the roll drive motors 19A and 19B and the dam rubber delivery motors 20A and 20B are provided with tachogenerators 24 and 25, and the frame 16 is provided with respective dam rubber rolls 17A. , 17B, a dam rubber remaining amount detection sensor 26 for detecting the remaining amount of the dam rubber R is provided. When the remaining amount of the currently delivered dam rubber roll 17A or 17B reaches a predetermined amount, the dam rubber remaining amount detecting sensor 26 detects the remaining amount and affixes it to the robot 2 based on the output of the dam rubber remaining amount detecting sensor 26. While the hand holding command is given, the replacement of the dam rubber roll 17A or 17B whose remaining amount is reduced is urged by an alarm device or the like.

The pasting hands 12A and 12B are constructed around a base plate 27 as shown in FIGS. 6 and 7, and the base plate 27 has a pasting roller 28 at the center thereof which is biased by a spring. Auxiliary roller 2
9, a guide roller 30 and a tension roller 31
In addition, a guide plate 32 for preventing twisting is provided. Therefore, the dam rubber R sent out from the dam rubber supply device 3 receives the guide roller 30, the tension roller 31, and the guide plate 32 from the hose 18.
While being guided to the lower surface side of the sticking roller 28.

The tension roller 31 is connected to the shaft 3
The arm 34 is rotatably supported by the tip of an arm 34 having the fulcrum 3 as a fulcrum. The entire arm 34 is urged by a tension coil spring 37 via a wire 36 guided by a roller 35. Therefore, a predetermined tension is applied to the dam rubber R guided by the tension roller 31.

The base plate 27 is provided with a dam rubber pull-in roller 39 which is in contact with the guide roller 38. As shown in FIGS. 4 and 5, the dam rubber retracting roller 39 synchronizes with the above-described feeding operation of the dam rubber supply device 3 and outputs the dam rubber retracting motor 4.
0, the release paper P peeled from the dam rubber R at the position of the auxiliary roller 29 is guided by the dam rubber pull-in roller 39 while the recovery port 42 and the hose 43 are rotated. Through the release paper collection box 44 shown in FIGS. 2 and 3 by air suction pressure or the like. Therefore, the dam rubber retracting roller 39 and the dam rubber retracting motor 40 constitute dam rubber retracting means.

That is, the dam rubber pull-in roller 39 has both a function of pulling the dam rubber R to the sticking hand 12A or 12B side and a function of peeling the release paper P from the dam rubber R. Up to the position, the dam rubber R on which the release paper P is stuck is pulled in by the pulling force of the dam rubber pull-in roller 39, while the auxiliary roller 29 reverses the pull-in direction of the release paper P to peel the release paper P from the dam rubber R. At the same time, the dam rubber R from which the release paper P has been peeled off is sent to the sticking roller 28 side.

In addition to the pressing roller 45 adjacent to the sticking roller 28, the base plate 27
A terminal pressing roller 46 and a terminal processing unit 47 are provided. As shown in FIG. 6, the pressing roller 45 is always lowered by the extension operation of the cylinder 47 while the sticking roller 28 is sticking the dam rubber R, and the dam rubber stuck by the sticking roller 28 is It serves to push R against the window glass G so as to follow R. On the other hand, the terminal pressing roller 46 immediately moves the cylinder 4
After the sticking roller 28 and the pressing roller 45 are separated from the dam rubber R by the elongating operation of 8, the stick roller 28 and the pressing roller 45 serve to carefully press the vicinity of the butted portions of both ends of the dam rubber R.

The terminal processing unit 47 has a gripper 49 for grasping the dam rubber R from both sides, a dam rubber cutter 50 and a dam rubber cutting confirmation sensor 51 supported by a common slider 52. By the operation of, it is possible to move up and down diagonally. Then, the terminal processing unit 47 normally rises as shown in FIG. 6, but descends as shown in FIG. 7 at the end of the sticking of the dam rubber R, so that the terminal end of the stick rubber R is cut by the dam rubber cutter. 5
Cut at 0 and paste hand 12A or 1
The end portion of the dam rubber R remaining on the 2B side is gripped and held by the gripper 49 until the start of the next dam rubber sticking operation, and further, the dam rubber cut confirmation sensor 51 checks whether the dam rubber R has been cut reliably. I do.

In the thus constructed automatic dam rubber sticking device, the window glass G is carried into the window glass fixing device 6 shown in FIGS.
The robot 2 is on standby at the origin position indicated by a solid line in FIG. 1, and one of a pair of pasting hands 12A and 12B, for example, a pasting hand 12A, is attached to the tip of the arm 14. The supports 11 of the two hand storage devices 10A and 10B are both located at the storage position P1, and the support body 11 of one hand storage device 10B supports the other sticking hand 12B.

At this time, the sticking hand 12A mounted on the robot 2 is in the state shown in FIG. 7, and the tip of the dam rubber R guided by the sticking roller 28 is pressed by the gripper 49.

As shown in FIGS. 1, 2, and 3, when the window glass G is loaded onto the window glass fixing device 6 and the window glass G is positioned and fixed, the robot 2 starts. The robot 2 moves the sticking hand 12A to the sticking start position in the dam rubber sticking locus on the periphery of the window glass G, and moves the end of the dam rubber R guided by the sticking roller 28 shown in FIG. Press against glass G.

At this time, the terminal processing unit 47 rises and retracts immediately before and after the end of the dam rubber R is pressed against the window glass G, while the pressing roller 45 descends as shown in FIG. .

In this state, the robot 2 moves the sticking hand 12A, that is, the sticking roller 28, along the dam rubber sticking trajectory which has been taught in advance. At the same time, the roll driving motor 19A of the dam rubber supply device 3 is moved in accordance with the movement of the sticking hand 12A by the robot 2.
The dam rubber delivery motor 20A and the dam rubber retraction motor 40 of the hand itself are driven synchronously.
Therefore, as shown in FIGS. 3 and 6, one of the dam rubber supply devices 3 corresponds to the moving speed of the pasting hand 12A from one dam rubber roll 17A corresponding to the pasting hand 12A currently mounted on the robot 2. The dam rubber R is sent out at the speed, and the sent out dam rubber R is drawn into the sticking hand 12A side, the release paper P is peeled at the position of the auxiliary roller 29, and the movement of the sticking hand 12A is performed. Accordingly, the sheet is sequentially pasted on the window glass G by the pasting roller 28 and further securely pressed by the pressing roller 45.

As shown in FIG. 8, at the corner of the window glass G where the dam rubber R is bent,
Since the position of the corner is previously grasped on the robot control system side as dam rubber pasting locus data, the robot 2 moves to the pasting hand 12A side in parallel with the lowering of the moving speed of the pasting hand 12A. The amount of retraction of the dam rubber R is suppressed, and the robot 2 changes the direction of the sticking hand 12A at the same time, so that the dam rubber R can be stuck even at corners without any excess or shortage.

The release paper P peeled off from the dam rubber R is continuously sucked through the hose 18 into the release paper recovery box 44 shown in FIGS.

On the other hand, when the sticking of the dam rubber R has progressed to the vicinity of the terminal end, the robot 2 applies the dam rubber R guided by the sticking roller 28 to the dam rubber R already stuck to the window glass G. In order to prevent sticking by overlapping the starting end, the sticking hand 12A is floated by a predetermined amount as compared with the general part to perform sticking, and at the same time, the terminal pressing roller 46 is lowered to be stuck. The dam rubber R is prevented from floating.

Then, dam rubber R up to the end of attachment
Is completed, the pressing roller 45 is raised while the terminal processing unit 47 is lowered. As a result, the dam rubber R is cut by the dam rubber cutter 50, and the end of the dam rubber R left on the sticking hand 12A is gripped by the gripper 49.

Thereafter, the terminal processing unit 47 is raised, and the vicinity of the butting portion between the start and end portions of the dam rubber R affixed to the window glass G is pressed by the terminal pressing roller 46 so that the vicinity of the butting portion is reduced. The sticking of the dam rubber R is made more reliable.

The remaining amount of the dam rubber roll 17A is monitored by the aforementioned dam rubber remaining amount detecting sensor 26 (FIG. 4). When the remaining amount of the dam rubber R reaches a predetermined amount, the dam rubber remaining amount detecting sensor 26 is activated. Based on the output, a hand-holding command is issued to the control system of the robot 2, and at the same time, a predetermined alarm is issued to urge the operator to replace the dam rubber roll 17A whose remaining amount is low.

Then, when the above hand-holding command is output, the robot 2 waits for the completion of the sticking of the dam rubber R currently being stuck, and changes the hand. That is, as shown in FIGS. 2 and 3, the sticking hand 12A on which the robot 2 is mounted on the wrist is placed on the currently empty hand storage device 10A of the two hand storage devices 10A and 10B. Chuck 15
While the sticking hand 12B supported by the support 11 of the other hand storage device 10B is gripped by the chuck 15 and replaced. As described above, the hand is switched to the dam rubber roll 17B side at the same time as the hand holding, and the sticking operation of the dam rubber R can be continuously performed without waiting for the replacement of the dam rubber roll 17A whose remaining amount is reduced.

As described above with reference to FIGS. 4 and 5, the control of the feed amount of the dam rubber R is performed by controlling the roll drive motor 19A or 19B, the dam rubber feed motor 20A or 20B, and the dam rubber retracting motor 40. And the pasting hand 12 by the robot 2
By giving a sticking speed v ₀ according to the moving speed of A or 12B as a command value, the respective motors are controlled synchronously. Note that f ₁ and f ₂ in FIG. 5 are the pull-out forces (pull-in forces) of the dam rubber R applied by the tension rollers 22 and 31 of the spring support type.

However, since the dam rubber R has an elongation due to a tensile force or a slip due to the release paper P as a characteristic thereof, it is difficult to completely synchronize the respective motors.

Therefore, in this embodiment, the sticking hand 1
2A or 12B side dam rubber retraction motor 40 and dam rubber retraction roller 39 driven by it
And a torque limiter 41 interposed therebetween to intentionally cause a slip with a predetermined torque, so that the dam rubber R
The tension in the middle of feeding is balanced.
Torque limiter 41 for causing the above-mentioned slip
Is the holding force F ₀ of the dam rubber R on the adhesive surface.
(About 150 ± 50 gf) or a value slightly smaller than the value so that the dam rubber R can be pulled out without excess or deficiency. Thereby, when the robot 2 continuously pastes the dam rubber R, the pulling out (delivery) of the dam rubber R is performed by the adhesive force of the dam rubber R.
Is performed smoothly, an appropriate tension is applied in the process of attaching the dam rubber R, and the dam rubber R can be stuck neatly and without excess or deficiency.

[0039]

As described above, according to the present invention, there is no need for the operator to be involved in the work of attaching the dam rubber, so that labor can be saved. As a result, the accuracy of the dam rubber attachment position is improved and stabilized, and the quality can be greatly improved.

[Brief description of the drawings]

FIG. 1 is a configuration explanatory view showing one embodiment of the present invention.

FIG. 2 is a plan view of FIG. 1;

FIG. 3 is a perspective view of a main part of FIG. 1;

FIG. 4 is an explanatory view of a dam rubber feed path in FIG. 1;

FIG. 5 is a block circuit diagram of a motor control system related to the supply of the dam rubber of FIG. 1;

FIG. 6 is an explanatory front view of the sticking hand in FIG. 1;

FIG. 7 is an operation explanatory view of the pasting hand of FIG. 6;

FIG. 8 is an explanatory view showing a conventional dam rubber sticking procedure.

FIG. 9 is a perspective view of a main part of the dam rubber.

[Explanation of symbols]

2: Dam rubber sticking robot 3: Dam rubber supply device 6: Window glass fixing device 12A, 12B: Sticking hand 14: Arm 17A, 17B: Dam rubber roll 19A, 19B: Roll drive motor (dam rubber feeding means) 20A, 20B ... Dam rubber delivery motor (dam rubber delivery means) 21 ... dam rubber delivery roller (dam rubber delivery means) 28 ... sticking roller 39 ... dam rubber retraction roller (dam rubber retraction means) 40 ... dam rubber retraction motor (dam rubber retraction means) G ... wind glass P ... separation Pattern R ... Dumb rubber

Claims (1)

(57) [Claims] 1. A device for attaching a dam rubber having a release paper previously adhered to an adhesive surface to a wind panel of an automobile while peeling off the release paper, the wind panel fixing device positioning and fixing the wind panel. A dam rubber sticking robot having a sticking hand at the tip of the arm and moving the sticking hand on the wind panel along the sticking locus of the dam rubber, and according to the dam rubber sticking operation of the sticking hand. Te becomes and a dam rubber feeding hand stage feeding the dam rubber Ri attached to a hand side該貼, said dam rubber delivery means is rotatably driven by roll drive motor, wound beforehand
Dam rubber roll that sends out the dam rubber and dam rubber from the dam rubber roll to the pasting hand
It is installed in the middle of the supply path and
Paste the dam rubber by being driven to rotate by the
While having a dam rubber feed roller feeds the attached hand side, and the paste hand while guiding the dam rubber is pressed against it to the window panel side, the window the dam rubber in accordance with the movement of the paste hand itself An attaching roller that is continuously attached to the panel, and a release roller that is rotationally driven by a dam rubber retraction motor and peeled off from the dam rubber at a position immediately adjacent to the attaching roller to pull in in synchronization with the delivery operation of the dam rubber delivery unit. While the rubber damper is drawn into the sticking hand side, the rubber damper from which the release paper has been peeled is sent to the sticking roller side .
It has the over La, and the roll drive motor, dam rubber feed motor Oyo
And each of the dam rubber retraction motors
Synchronous control according to dam rubber sticking operation of hand
An automatic sticking apparatus for dam rubber, characterized in that the sticking apparatus is configured to perform the following.