JP6318768B2 - Glass positioning device and glass mounting device - Google Patents

Description

  A glass positioning device that corrects the position of a glass placed on a glass mounting table that is disposed opposite to a glass mounting device for a vehicle, and a glass mounting device that attaches the positioned glass to a predetermined position of a vehicle by a glass mounting robot About.

2. Description of the Related Art A glass mounting device is known in which vehicle glass is adsorbed on a peripheral edge of the glass and then adsorbed by a glass mounting robot, moved three-dimensionally, and mounted at a predetermined position of the vehicle (for example, a patent) Reference 1).
As shown in FIG. 7, this glass mounting apparatus is provided with a pair of front and rear sides on the side of the conveyor C constituting the assembly line of the vehicle B, and applies an adhesive to the peripheral portions of the front and rear window glasses FGn and RGn. Front and rear coating robots 201 and 202, and a pair of front and rear assembly robots 301 and 302 that transport front and rear window glasses FGn and RGn and attach them to the vehicle body B, respectively.

Here, for example, in the previous assembling robot 301, the front window glass FGn is taken out from the carriage 401, and the glass surface opposite to the adhesive application surface (back surface) is adsorbed and placed on the glass mounting table 501. Then, after the reference position of the placed glass is adjusted by the glass positioning device, it is adsorbed again and moved to the coating robot 201 side of the coating area. Therefore, in a state where the window glass FGn is held by the front assembly robot 301, the coating robot 201 sequentially applies the degreasing agent, the primer coating, and the adhesive coating to the peripheral portion on the back surface of the window glass FGn. The window glass is three-dimensionally moved by the assembly robot 301 and attached to a predetermined location on the vehicle body B. Note that the rear window glass RGn is attached to a predetermined location of the vehicle body B by the rear mounting robot 302 and the coating robot 202 with a glass mounting device arranged symmetrically in the front-rear direction.

As described above, the assembling robot 301 temporarily moves and places the glass from the carriage 401 on the glass placing table 501 before assembling the window glass FGn. At this time, as shown in FIGS. 8A and 8B, the glass can be placed in a state of low frictional resistance on the plurality of distributedly arranged receivers 601 equipped on the glass placing table 501. . Further, the peripheral edge of the front glass FGn is pressed and finely moved by a plurality of positioning devices 801 equipped on the glass mounting table 501, and a predetermined position is set as a reference position (for example, a position indicated by a solid line in the drawing) of the assembly robot 301 . It is positioned in the direction of.

Japanese Utility Model Publication No. 64-50180

By the way, in recent years, various shapes of glass have appeared, and in the case of a small glass, for example, as shown in FIGS. The small glass FGn is placed on the tool 601 for positioning.
Thus, in the case of the vertically long and comparatively narrow vertically long rectangular or triangular glass FGn, the number of the plurality of receivers 601 on which the glass FGn is placed is limited, and is surrounded by the connection line 701 connecting the plurality of receivers 601. The stable region 702 is narrowed. Due to such a situation, when the small glass FGn is placed or positioned, the center of gravity 703 of the glass is easily detached from the inside of the stable region 702. In particular, it is assumed that the peripheral edge of the glass FGn is pressed by a plurality of positioning devices 801 and positioned in a predetermined direction at a set position serving as a reference position for the assembly robot 301 . At this time, when the time and Positioning of the mounting of the glass, when the glass is as excessively displaced, glass of the center of gravity 703 is disengaged outside the stability region within 702, falling glass FGn Figure 8 ( It may occur as shown by a two-dot chain line in b) and the function of correcting the position of the glass for the positioning process may not be exhibited accurately.

  An object of the present invention is to solve the above-described problems, and it is an object of the present invention to provide an assembly robot that accurately corrects and positions the position and orientation of glass on a plurality of receivers even if the glass is small. An object of the present invention is to provide a glass positioning device that can be supplied and a glass mounting device including the same.

The present invention has the following configuration in order to achieve the above object.
The glass positioning device according to claim 1 is a glass mounting table that supports the glass mounting robot used in the glass mounting device so that the glass can be supplied, and protrudes upward from the glass mounting table and abuts on the back surface of the glass. A plurality of receptacles for placing glass, a positioning device that presses the peripheral edges of the glass placed on the plurality of receptacles from a plurality of locations and positions them in a predetermined direction, and a wire connecting the receptacles adjacent to each other And a fall prevention member that receives the edge of the glass when the glass moves in the detaching direction and is displaced downward.

  Invention of Claim 2 is the glass positioning device of Claim 1, Comprising: The upper surface of the said fall prevention member is arrange | positioned below predetermined position from the position of the connection which connects the said adjacent receiving tool, It is characterized by the above-mentioned. To do.

According to a third aspect of the invention, a glass positioning device according to claim 1 or 2, wherein a plurality of receiving fixture for mounting the pre-Symbol glass is characterized by three certain.

  A fourth aspect of the present invention is the glass positioning device according to the third aspect, wherein the two receivers at positions where the distance between the three receivers is the smallest are connected to the other receiver. The fall prevention member is provided along two connections.

  The invention according to claim 5 is the glass positioning device according to claim 4, wherein the two connections are longer than the connection between the two receivers, and the glass forms a vertically long rectangle. And

  The glass mounting apparatus which is invention of Claim 6 is equipped with the glass positioning device as described in any one of Claims 1-5, It is characterized by the above-mentioned.

  According to the first aspect of the present invention, when the glass is positioned in a predetermined direction by pressing the periphery of the glass from a plurality of positions by the positioning device, even if the glass moves excessively in the disengagement direction from the connection and is displaced downward, it falls. The prevention member receives the edge of the glass, can prevent the glass from falling, and can reliably position the glass placed on the plurality of receiving devices.

According to a second aspect of the invention, the upper surface of the fall preventing member in a predetermined amount lower than the position of the connection is located, the edge of the glass can be abutted against the upper surface in an inclined state, it can be reliably prevented from falling glass, the glass It is possible to prevent the primer on the back surface from adhering to the top surface.

  Since the invention according to claim 3 uses three receiving tools for placing glass, even a small glass can be placed and the fall preventing member can prevent the fall.

  In the invention of claim 4, since the fall prevention member is arranged along the two connections connecting the two receivers and the other receiver, the center of gravity is more easily separated from the region sandwiched between the two connections. The fall prevention member can prevent the fall.

  According to the fifth aspect of the present invention, even if the glass is a vertically long rectangle and is roughly a shape close to a vertically long triangle, the glass can be placed using three receivers, and the fall preventing member can prevent the fall.

  The glass mounting apparatus which is invention of Claim 6 can prevent fall of glass using the glass positioning device as described in any one of Claims 1-5, and can position small glass reliably.

It is a whole block diagram of the glass mounting apparatus which mounts the glass positioning device of one Embodiment of this invention. It is a partial notch side view of the vehicle body side front part by which side glass is attached by the glass attachment apparatus of FIG. The glass positioning apparatus of FIG. 1 and the front glass positioned there are shown, ( a ) is a plan view, and ( b ) is a cross-sectional view along the line AA ′ in ( a ). The glass positioning apparatus of FIG. 1 and the side glass positioned there are shown, ( a ) is a plan view, and ( b ) is a cross-sectional view taken along line BB ′ in ( a ). FIGS. 5A and 5B are schematic views for explaining functions of the glass positioning device in FIG. 4A, and FIG. 5B is a cross-sectional view taken along line C-C ′ in FIG. In the schematic diagram of the glass positioning device of FIG. 5, the side glass shows a state in which the center of gravity is separated from the connection and is inclined, (a) is a plan view, and (b) is a CC ′ line in (a). Sectional drawing and (c) are explanatory views of inclination angles. It is the whole glass attachment apparatus which mounts the conventional glass positioning device. It is a displacement explanatory drawing of the conventional glass positioning apparatus and the side glass positioned there, ( a ) is a top view, ( b ) is a DD 'line sectional drawing in ( a ).

A glass positioning device to which the present invention is applied and a glass mounting device including the same will be described.
In short, the glass positioning device to which the present invention is applied can prevent the glass from dropping from a plurality of receiving devices due to the variation in the position of the supplied glass when the glass attached to the vehicle body is supplied to the glass mounting table. It is characterized by the provision of members.
The features of the present invention will be described using the following embodiments and modifications. In addition, about embodiment, a modification, etc., about the components, such as a member and a component which have the same function or shape, the subsequent description is abbreviate | omitted by attaching | subjecting the same code | symbol as much as possible.

Here, the case where the glass positioning device of the present invention is applied to a glass mounting device will be described as a first embodiment.
The glass mounting device 1 including the glass positioning device of the first embodiment is arranged in a glass assembly area E in the assembly line of the vehicle body B. Here, the vehicle body B is conveyed to the glass assembly area E by, for example, a shuttle plate conveyor (hereinafter simply referred to as a conveyor) C. In addition, in FIG. 1, two glass attachment devices 1, 1 a are arranged on the right and left sides of the conveyor C so as to be approximately shifted about the vehicle body length.

  The vehicle body B conveyed along the assembly line of the vehicle body B is stopped and held in the glass mounting device 1 for a predetermined work time, during which the glass mounting device 1 places the front glass FG on the front side of the vehicle body B, and the glass mounting device. 1a attaches the rear glass RG to the rear side of the vehicle body B. Further, as shown in FIG. 2, the glass mounting device 1 mounts the right side glass SG1 on the substantially triangular side wall area between the front pillar 2 of the vehicle body B and the door-facing front sash 4 of the front door 3. Similarly, the glass attachment device 1a attaches the left side glass (left SG2 is not shown) to the substantially triangular side wall area (not shown) on the left side of the vehicle body B, and is transferred to the next work area. Here, since the two glass mounting devices 1 and 1a have a substantially bilateral configuration, the glass mounting device 1 will be mainly described here.

Next, the glass mounting apparatus 1 in the glass assembly area E will be described.
In FIG. 1, a conveyor C is disposed in the center of the glass assembly area E so that the vehicle body B can be transferred. Further, a mounting device (hereinafter simply referred to as a right glass mounting device) 1 for the front glass FG and the right side glass SG1 on the right side in the transport direction X of the conveyor C, and a mounting device for the rear glass RG and the left side glass SG2 on the left side. (Hereinafter simply referred to as the left glass mounting device) 1a is deployed.
The glass attachment device 1,1a left and right is mounted substantially symmetrically, each made of a member having a substantially elements having the same functions or corresponding functions, to the right glass installation device 1, the left glazing A subscript a is added to indicate that the element belongs to the device 1a , and a duplicate description is omitted.

The right glass mounting device 1 includes first and second pallets 4 and 5 which are glass mounting tables for storing a right working area 7 for mounting glass on the side of the conveyor C, and a front glass FG and a right side glass SG1 on the side. And a glass supply area 10 in which is provided.
In the right work area 7, a degreasing liquid application device 21 and a primer application device 22 as an adhesive application pretreatment device, an adhesive application device 23, a glass mounting robot 14, and a front glass positioning table as a glass mounting table. 15 and a right side glass positioning table 16 as a glass mounting table are provided. Further, an attachment / detachment holding device 19 for accommodating a front glass suction tool 17 and a right side glass suction tool 18 that can be selectively attached to and detached from an arm end of the glass mounting robot 14 is provided. Note that these devices are disposed within the movable range of the arm 141 of the robot 14.

  As shown in FIG. 1, the front glass adsorbing tool 17 is formed in a shape capable of adsorbing the surface of the front glass FG having a substantially curved rectangular long plate shape. The front glass suction tool 17 includes a detacher 171 that can be attached to and detached from the arm-side connector 142 and four suction members 172 that are integrally coupled to the detacher 171 and that have respective suction cups q arranged in a distributed manner. The The suction member 172 is connected to a vacuum pump (not shown) by a pipe so that the surface of the front glass FG can be sucked by a negative pressure.

As shown in FIG. 1, the side glass suction tool 18 is formed in a shape capable of adsorbing the surface of the right side glass SG <b> 1 having a substantially vertically long rectangular shape. The side glass suction device 18 includes a detachable device 181 that can be attached to and detached from the arm-side connection device 142 and three suction members 182 that are integrally coupled to the detachable device and that have respective suction cups q arranged in a distributed manner. The The suction member 182 is connected to a vacuum pump (not shown) by a pipe so that the surface of the right side glass SG1 can be sucked by a negative pressure.
A front glass positioning table 15 and a right-side glass positioning table 16 are disposed on the right working area 7 in the vicinity of the glass supply area 10. The front glass positioning table 15 and the right side glass positioning table 16 perform glass positioning (setting) on the front glass positioning table 15 and the right side glass positioning table 16 before the mounting robot 14 receives the glass supply. .

As shown in FIGS. 1 and 3, the front glass positioning table 15 is for performing setting for taking out the front glass FG from the reference position P <b> 1 (the position indicated by the solid line in FIG. 3) by the robot 14 described later. The front glass positioning table 15 is provided by projecting a plurality of receiving tools 152 upward from the upper surface of the base 151 via the shaft portion 153.
The amount of protrusion of the receiving device 152 is adjusted in advance according to the unevenness (see FIG. 3B) on the back surface of the front glass FG corresponding to the type of vehicle to be assembled. The receiving member 152 is a hemispherical protruding member formed of a resin or the like having low frictional resistance, and the shaft portion 153 is supported via a protrusion adjusting portion 154 so that the upward protruding amount can be adjusted in a timely manner with respect to the base 151. Has been.

  Accordingly, the front glass FG is configured to be placed so that the center of gravity CG1 (see FIG. 3A) is positioned in a region e0 surrounded by the support 152. Further, the base 151 is provided with a pre-positioning device 150 that presses the peripheral edge of the placed front glass FG from a plurality of locations and positions the front glass FG in a predetermined direction on the outer peripheral side of the collecting area of the support 152. . As shown in FIG. 3B, the front positioning device 150 includes a front positioning roller 155 pivotally supported by the vertical shaft 159, a lateral support plate 156 that integrally supports the lower end of the vertical shaft 159, A plurality of pressing devices 158 including a cylinder 157 in which a distal end rod portion is integrally coupled to the lateral support plate 156 are provided. These cylinders 157 are pressed and retracted by a control system of a pressurized air circuit (not shown).

Each pressing device 158 of the front positioning device 150 is simultaneously driven by the pressurized air of the pressure source, and presses the peripheral edge of the front glass FG toward the glass center side to position it at a predetermined front glass reference position P1. Is set.
In some cases, a reference roller (not shown) may be provided in the pressing device separately from the positioning roller. If the placed glass is close to the reference roller, this reference roller will be pushed out first. Otherwise, the positioning roller will operate to push the glass to the position where it hits the reference roller. Good.

Next, as shown in FIGS. 1 and 4, the right side glass positioning table 16 is for performing setting for taking out the right side glass SG <b> 1 from the reference position P <b> 2 by the robot 14 described later. The positioning table 16 of the right side glass SG1 includes a plurality of, in this case, three receivers 162 on the surface of the base 161 (see FIG. 4A), and the type of vehicle used for assembling these receivers 162. Is set with the protrusion amount displaced in advance according to the back surface irregularities (see FIG. 4B) of the right side glass SG1.
The receiver 162 is formed of a resin having a low frictional resistance like the receiver 152 of the front glass positioning table 15 described above, and the shaft portion 163 of the receiver 162 is protruded from the base 161 via the adjusting portion 164. It is supported.

Further, the base 161 is provided with a right side positioning device 160 that presses the periphery of the right side glass SG1 placed from a plurality of places on the outer peripheral side of the gathering area of the receiving fixture 162 and positions it in a predetermined direction. Is done. This right-side positioning device 160 is configured in the same manner as the above-described front positioning device 150, and is a lateral support plate 166 that integrally supports the front positioning roller 165 pivotally supported by the vertical shaft 169 and the lower end of the vertical shaft 169. And a plurality of pressing devices 168 including a cylinder 167 whose tip rod portion is integrally coupled to the lateral support plate 166. These cylinders 167 are pressed and retracted by a control system of a pressurized air circuit (not shown).
Each presser 168 of the right side positioning device 160 is simultaneously driven by the pressurized air of the pressure source, and presses the peripheral edge of the right side glass SG1 toward the glass center side to position it at the reference position P2 of the predetermined right side glass. The pressing operation amount is set.

Here, as shown in FIG. 1 and FIG. 4, the right side glass SG1 has a substantially vertically long rectangular plate shape and is substantially a shape close to a vertically long substantially triangular shape, and the right side glass SG1 is held at the reference position P2. If it is, the center of gravity CG2 is located in a region e1 surrounded by the connection s of the three receiving tools 162 .

Here, of the connections s connecting the three receivers 162, two connections s-1 connecting the two receivers 1621 at the position where the distance between them is the smallest and the other receiver 1622 are two. A region e1 of a vertically long triangle that is longer than the connection line s-2 between the receivers 1621 and relatively narrow is provided.
A relatively small right side glass SG1 having a vertically long trapezoidal shape, which is a vertically long rectangle, is placed in the relatively narrow vertically triangular region e1, and then the plurality of pressing devices 168 of the right side positioning device 160 are operated for positioning. In this case, when the right side glass SG1 is excessively displaced from the relatively narrow vertically long triangular area e1, the center of gravity CG2 is easily separated beyond the area e1 that can be sandwiched between the two connections s-1. In this case, as shown in FIGS. 6A to 6C, the right side glass SG <b> 1 may fall from the three receiving tools 162. Therefore, the positioning base 16 has two connections on the base 161 between the two receivers 1621 at the position where the distance between them is the smallest among the three receivers 162 and the other receiver 1622. A plurality of fall prevention members 24 are arranged directly below s-1. This prevents the right side glass SG1 from falling.

The plurality of drop preventing member 24 forms a long plate, where, along each connection s-1, are deployed two respectively separated from each other, these upper surface of the fall preventing member 24 is adjacent receiving fixture 162 Is disposed below a predetermined amount H1 (see FIG. 4B) from the position of the connection line s-1 connecting the two.
Here, in particular, it is assumed that the right side glass SG <b> 1 during drying standby is placed on the right side positioning device 160. In this case, the primer coating line PB exists on the back surface of the side edge of the right side glass SG1. For this reason, when right side glass SG1 inclines and falls, inclination angle (theta) 1 (refer FIG.6 (c)) between right side glass SG1 and the fall prevention member 24 at that time is apply | coated to the peripheral part of right side glass SG1. The preset primer coating line PB is set in advance so as not to hit the upper surface of the fall prevention member 24.

Accordingly, it is assumed that the center of gravity CG2 of the right side glass SG1 during positioning operation has crossed the two connections s-1 by the plurality of pressing devices 168 of the right side positioning device 160 and has left the region e1. Even in such a case, the fall prevention member 24 can prevent the right side glass SG1 from dropping excessively, and the primer coating line PB can be prevented from being peeled off by setting the inclination angle θ1. The inclined right side glass SG1 is subjected to a push-back operation into the region e1 which is the glass center direction of the right side glass SG1 by one of the plurality of pressers 168 of the right side positioning device 160 , and the center of gravity CG2 is the region e1. The process returns to the reference position P2.

  Next, a degreasing liquid application device 21 that discharges a degreasing liquid as an adhesive application pretreatment device, a primer application device 22 that discharges a primer, and an adhesive application device that discharges an adhesive at one end of the right work area 7 23 is deployed. Here, the degreasing liquid application device 21, the primer application device 22, and the adhesive application device 23 are formed at the tips of the cylindrical portions 212, 222, and 232 that protrude downward from the tips of the support frames 211, 221, and 231, respectively. The configuration is such that a degreasing liquid, a primer liquid, and an adhesive can be applied from a gun tip (not shown).

The robot 14 deployed in the center of the right work area 7 has the front glass FG attached to the arm 141, adsorbs and holds the front glass FG, and moves three-dimensionally to remove the degreasing liquid application device 21 . After reaching the primer applicator 22 and waiting for the dry positioning, the adhesive applicator 23 is sequentially faced. Next, a series of operations for attaching the front glass FG to a predetermined position of the vehicle is performed in accordance with an instruction of a control system (not shown). Further, the robot 14 can attach a side glass suction tool 18 to the arm 141 instead of the front glass suction tool 17. Then, the right side glass SG1 is adsorbed and held and moved three-dimensionally to reach the degreasing liquid coating device 21 and the primer coating device 22, and sequentially face the adhesive coating device 23 after waiting for dry positioning. Next, a series of operations for attaching the right side glass SG1 to a predetermined position of the vehicle is performed in accordance with an instruction of a control system (not shown).

The movement direction, movement amount, and movement timing of the main body 140, the front glass suction tool 17, and the side glass suction tool 18 of the robot 14 are taught in advance, and are operated so as to operate along the taught trajectory. Control is performed by a control system (not shown).
Such a robot 14 three-dimensionally moves the glass FG and SG1 adsorbed and held by the suction cup q at a position corresponding to each fixed nozzle, and at this time, application of degreasing liquid, primer and adhesive by the fixed nozzle is performed. It is supposed to be.

The operation of the glass mounting device 1 including the glass positioning device configured as described above will be described along the operation of the robot 14.
When the robot 14 receives an instruction to attach the front glass FG from the control system, the robot 14 attaches the front glass suction tool 17 to the arm 141, sucks the front glass FG of the pallet 4, and a plurality of receivers 152 of the front glass positioning table 15. Place on top to complete the glass supply process. In response to this, the plurality of pressing devices 158 of the front positioning device 150 of the front glass positioning table 15 are operated to hold the front glass FG at the reference position P1. At this time, the connection s (see FIG. 3) connecting the plurality of receivers 152 forms a relatively large ring shape, and even if the front glass FG is moved to correct the position by the front positioning device 150, it is detached from the connection line s forming the ring. The front glass FG is positioned and the positioning process of the front glass is completed. In some cases, a fall prevention member having a function similar to that of the fall prevention member 24 described in the right side glass positioning table 16 may be provided immediately below the connection s.

Next, when the positioning of the front glass FG is completed, the robot 14 adsorbs the surface of the positioned glass FG and moves it three-dimensionally so that the back surface is held upward. Then, the front glass FG is moved for the degreasing process and is made to face the degreasing liquid coating apparatus 21 . Here, the front glass FG is three-dimensionally moved to perform degreasing for one round of the peripheral portion, and the degreasing treatment process is completed. Next, the robot 14 moves the front glass FG for primer application, and faces the primer application device 22. Here, the primer coating process is completed by moving the front glass FG three-dimensionally to perform primer coating for one round of the peripheral portion.

Next, the robot 14 moves the front glass FG three-dimensionally so that the surface is held upward, places the front glass FG on the front glass positioning table 15 to release the suction, drys the primer, and waits for drying. Complete the process. Here, after the reference position P1 is corrected again by the front positioning device 150, the front glass FG is sucked and held from the front glass positioning table 15, and then, the front glass FG is made to face the adhesive coating device 23 for coating the adhesive. Here, the front glass FG is moved three-dimensionally to apply the adhesive for one round of the peripheral portion, and the adhesive application process is completed.
Thereafter, the robot 14 three-dimensionally moves the front glass FG coated with the adhesive to a predetermined location on the vehicle body B to face the vehicle, and fits the front glass FG into the front window frame (front opening) of the vehicle body B. An adhesion process is performed.

Next, when the robot 14 receives an instruction to attach the right side glass SG1 from the control system, the robot 14 attaches the side glass suction tool 18 to the arm 141 instead of the front glass suction tool 17, and the right side glass from the pallet 5. SG1 is sucked and held and placed on the three receivers 162 of the right side glass positioning table 16 (see FIGS. 4 and 5), and the glass supply process is completed.
In response to this, the plurality of pressers 168 of the right side positioning device 160 of the right side glass positioning table 16 are operated to correct the position of the right side glass SG1 to the reference position P2.
At this time, in the three receivers 162, two connection lines s-1 and a relatively short connection line s-2 connecting the adjacent receivers 162 form a vertically long triangle.

A relatively small right side glass SG <b> 1 is placed in the vertically long triangular area e <b> 1, and the positioning operation is performed by the plurality of pressers 168 of the right side positioning device 160. In this case, the right side glass SG1 than the region e1 in the vertical triangle is excessively displaced, the center of gravity CG2 moves beyond the connection s-1 of two, separated from the region e1, FIG 6 (a), (b ), The right side glass SG1 may fall from the support 162 as shown in FIG. At that time, the right side glass SG1 can be prevented from dropping by the plurality of fall prevention members 24 arranged immediately below the two connections s-1, and the glass positioning step is completed. The inclined right side glass SG1 is subjected to a push-back operation into the region e1 which is the glass center direction of the right side glass SG1 by one of the plurality of pressers 168 of the right side positioning device 160, and the center of gravity CG2 is the region e1. The process returns to the reference position P2.

  Next, when the positioning of the right side glass SG1 is completed, as in the case of the front glass FG, the surface of the right side glass SG1 positioned at the reference position P2 is sucked and the three-dimensional movement is performed so that the back surface is held upward. Let After that, the right side glass SG1 is moved for the degreasing process, and is made to face the degreasing liquid coating device 21 to perform degreasing for one round of the peripheral portion, thereby completing the degreasing process.

  Next, as in the case of the front glass FG, the right side glass SG1 is faced to the primer coating device 22 for primer coating, and primer coating for one round of the peripheral portion of the front glass FG is performed to complete the primer coating process. . Next, as in the case of the front glass FG, the right side glass SG1 is three-dimensionally moved so that the surface is held upward, the right side glass SG1 is placed on the right side glass positioning table 16, and the suction is released. Then, the primer is dried and the drying standby process is completed. Here, the right side positioning device 160 of the right side glass positioning table 16 corrects the reference position P2 again in the same manner as in the case of the front glass FG.

In this case, FIG. 6 (a), the can block dropping right side glass SG1 by a plurality of drop preventing member 24 is sometimes dropped from receiving fixture 162 as the right side glass SG1 shown in (b). At this time, even if the right side glass SG1 is inclined and falls, the inclination angle θ1 between the right side glass SG1 and the fall prevention member 24 hits the primer coating line PB applied to the peripheral edge of the right side glass SG1. An angle that does not exist can be maintained. Thereby, even if the center of gravity CG2 of the right side glass SG1 during the positioning operation is separated from the region e1, the fall preventing member 24 can prevent the right side glass SG1 from excessively falling. In addition, the primer on the primer coating line PB can be prevented from being peeled off by regulating the inclination angle θ1 of the right side glass SG1. The inclined right side glass SG1 is subjected to a push-back operation into the region e1 which is the glass center direction of the right side glass SG1 by one of the plurality of pressers 168 of the right side positioning device 160 , and the center of gravity CG2 is the region e1. returning to, it will be rectified in the reference position P2.

Next, after the reference position P2 is corrected again by the right side positioning device 160, the right side glass SG1 is sucked and held from the right side glass positioning table 16, and then is applied to the adhesive application device 23 for applying the adhesive. I will. Here, the right side glass SG1 is moved three-dimensionally, thereby applying the adhesive for one round of the peripheral portion, and completing the adhesive application step.
Thereafter, the robot 14 moves the right side glass SG1 coated with the adhesive three-dimensionally to a predetermined position of the vehicle body B so as to face the vehicle, and the right side glass SG1 is moved to the front end frame (front side opening) of the vehicle body B. And is subjected to an adhesive treatment.

On the other hand, the left glass attachment device 1a is arranged on the left side toward the conveyor C in the glass assembly area E, but the left and right glass attachment devices 1 and 1a are equipped almost symmetrically. For this reason, in order to exhibit the same function, since it operate | moves in the left-right symmetrical manner similarly, duplication description is abbreviate | omitted. In such a left glass mounting device 1a , the rear glass RG is fitted and adhered to the rear window frame (rear opening) of the vehicle, and the left side glass SG2 is fitted and adhered to the front left end frame (front left side opening) of the vehicle body B. Will be.

As described above, when the right and left glass mounting devices 1 and 1a shown in FIG. 1 are positioned in a predetermined direction by pressing the peripheral edges of the glass SG1 and SG2 from a plurality of positions by the right and left side positioning devices 160 and 160a. to, be displaced displaced glass moves too far removal direction from the connection s downward, receiving the edge of the fall preventing member 24, 24 a glass, it can be prevented from falling glass, a plurality of receiving fixture 162 , 162a can be reliably positioned.

Furthermore, since the upper surfaces of the fall prevention members 24 and 24a are located below the position of the connection s by a predetermined amount H1, the edges of the glasses SG1 and SG2 can be in contact with the upper surface in an inclined state (inclination angle θ1), and the glass drops. Can be reliably prevented. In addition, it is possible to prevent the primer on the back surface of the glass from being peeled off and adhering to the upper surfaces of the fall prevention members 24 and 24a. Furthermore, since the three receivers for placing the glass SG1, SG2 are used, even a small glass can be placed, and the fall preventing members 24, 24a can prevent the fall.
Furthermore, since the fall prevention members 24 and 24a are arranged along the two connections s-1 connecting between the two receivers 1621 and the other receiver 1622, the center of gravity CG2 is more easily separated from the two connections. Even if it is small glass, the fall prevention members 24 and 24a can prevent the fall.

Furthermore, even if the glass has a vertically long rectangular shape, which is roughly a shape close to a vertically long triangle and is small in size, it can be placed using the three receivers 162 , and the fall prevention members 24 and 24a can prevent the fall.
Furthermore, the glass mounting device 1 described above can prevent the glass from falling by using the glass positioning devices 150 and 160, and can reliably position the small glass.

  In the above-described case, the glass mounting device 1 provided with the glass positioning device is provided in a production line of a one-box type vehicle, and a small-sized glass close to a longitudinal triangle is fitted into the front and rear side openings of the vehicle and bonded. Mainly explained. Alternatively, other rectangular glass can be similarly applied to the side opening of the vehicle and bonded, and a large rectangular window glass equipped on the front and rear window frames (front and rear openings) may be used. .

In the above-described first embodiment, the degreasing liquid coating device 21 and the primer coating device 22 perform the degreasing liquid coating and the primer coating on the front glass FG and the right side glass SG1 that are transported to the glass supply area 10, and the drying process. adsorption held from before the glass positioning base 15 a front glass FG after elapse, thereon, to face the adhesive applying device 23 for adhesive application, fitted to the front window frame of the vehicle body B (front opening), Bonding treatment was performed. Instead of this, the front glass FG and the right side glass SG1 that have been preliminarily degreased and primed may be transported to the glass supply area 10 to shorten the glass attachment work time. In this case, primer-coated glass is supplied at the stage before reaching the positioning device of the glass, precisely because it is the primer-coated, arrangement positions primer coating line PB of the plurality of receiving fixture 162 so as not to contaminate the primer coated surface However, the fall prevention members 24 and 24a can prevent the glass from falling.

The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments, and the present invention described in the claims is not specifically limited by the above description. Various modifications and changes are possible within the scope of the above.
For example, the glass mounting apparatus manufacturing line to which the present invention is applied is not limited to the above-described type, but other types, for example, a plurality of glass assembly areas may be arranged in series on the left and right sides in the conveying direction of the conveyor. In this case, since the production line is arranged in series, it is possible to prevent the lateral width from increasing excessively. The effects described in the embodiments of the present invention are only the most preferable effects resulting from the present invention, and the effects of the present invention are limited to those described in the embodiments of the present invention. It is not a thing.

1 Right glass mounting device (glass mounting device)
1a left glass mounting device (glass mounting device)
14 Glass mounting robot 15 Front glass positioning table (glass mounting table)
16 Right side glass positioning table (glass mounting table)
150,150a before positioning device 160,160a right side positioning device 151, 161 base plate 152, 162 receiving fixture 158, 168 pusher 24 fall preventing member CG1, CG2 centroid s connection SG1, SG2 side glass

Claims (6)

A glass mounting table that supports the glass mounting robot used in the glass mounting apparatus so that the glass can be supplied;
A plurality of receivers for placing the glass by projecting upward from the glass placing table and contacting the back surface of the glass;
A positioning device that presses the periphery of the glass placed on the plurality of receivers from a plurality of locations and positions the glass in a predetermined direction;
A fall prevention member that catches the edge of the glass when the glass moves in the detaching direction from the connection connecting the adjacent receivers and is displaced downward,
A glass positioning device. The glass positioning device according to claim 1,
The glass positioning device according to claim 1, wherein an upper surface of the fall prevention member is disposed below a predetermined amount from a position of a wire connecting the adjacent receiving tools. The glass positioning device according to claim 1 or 2,
The glass positioning device characterized in that there are three plural receiving tools on which the glass is placed. The glass positioning device according to claim 3,
2. The glass according to claim 1, wherein the fall prevention member is arranged along two connections connecting the two receivers at positions where the distance between the three receivers is the smallest and the other receiver. Positioning device. The glass positioning device according to claim 4,
The glass positioning apparatus characterized in that the two connections are longer than the connection between the two receivers, and the glass forms a vertically long rectangle.   A glass mounting device comprising the glass positioning device according to claim 1.

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