JP7083801B2 - Positioning device for plate materials - Google Patents

Description

The present invention relates to a plate material positioning device for positioning various plate materials including a glass plate.

A sealing material is applied to the windshield and rear glass (glass plate) of an automobile before it is incorporated into the vehicle body. The coating is performed by the coating device, and after the coating on one glass plate is completed, the glass plate is carried out, and then a new glass plate is carried in. Here, if the position of the glass plate is different each time the glass plate is carried in, the place where the sealing material is applied varies.

In order to avoid this, the glass plate is positioned by a positioning device prior to coating. Examples of this type of positioning device include those disclosed in Patent Document 1. In this positioning device, positioning rollers are arranged on the upstream side, the downstream side, and the side orthogonal to the loading direction of the glass plate, and the front and back of the glass plate are sandwiched by the positioning rollers arranged in the loading direction. At the same time, the left and right sides are sandwiched by positioning rollers arranged on the sides. The glass plate is supported by a position-invariant glass receiving piece (supporting member) arranged below the glass plate.

Jitsufuku No. 1-34954

Glass plates for automobiles have different dimensions depending on the type of vehicle. When the same positioning device is used and coating is sequentially applied to two glass plates having different dimensions, the portion supported by the glass receiving piece differs between the preceding glass plate and the succeeding glass plate. That is, the glass receiving piece has the disadvantage that it is possible to support an appropriate portion for a certain type of glass plate, but it is not easy to support an appropriate portion for another type of glass plate.

As described above, the positioning device according to the prior art has a problem that it is not easy to deal with plate materials having various dimensions. Under such circumstances, it is not easy to apply the sealing material to a desired portion of the glass plate.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a plate material positioning device capable of appropriately positioning plate materials of various dimensions.

In order to achieve the above object, according to one embodiment of the present invention, it is a plate material positioning device for positioning a plate material.
A first positioning roller that is displaced in the direction of approaching or separating from the plate material, and
The plate material is displaced in synchronization with the first positioning roller and abuts on the plate material together with the first positioning roller to hold the plate material, while the plate material is released by separating from the plate material together with the first positioning roller. With the second positioning roller,
A first movable member and a second movable member provided with the first positioning roller and the second positioning roller, respectively.
A first support member and a second support member that support the plate material by abutting on the lower surface of the plate material.
A fixing member that positions and fixes the plate material by sitting on the lower surface of the plate material, and
A third movable member provided with the first support member and close to the first movable member,
A fourth movable member provided with the second support member, which is close to the second movable member and faces the third movable member.
A direction in which the first movable member and the second movable member are displaced in a direction in which the third movable member and the fourth movable member are close to each other, and only the first movable member and the second movable member are separated from each other. The first displacement actuator that displaces to
A second displacement actuator that displaces the third movable member and the fourth movable member in a direction away from each other.
A plate material positioning device is provided.

According to the present invention, the first movable member and the second movable member are brought close to each other in synchronization with each other, and the plate material is formed by the first positioning roller and the second positioning roller provided on the first movable member and the second movable member, respectively. When sandwiching, the first support member and the second support member provided on the first movable member and the second movable member are moved in conjunction with each other. Therefore, regardless of the size of the plate material, an appropriate portion on the lower surface of the plate material is supported by the first support member and the second support member.

In other words, the positioning of plates of various dimensions is optimized. As a result, the processed portion (for example, the coated portion of the sealing material) for the plate material is accurately set. Therefore, it is possible to stably process the plate material.

That is, with the above configuration, plate materials having various dimensions can be easily positioned.

It is a schematic perspective view of the centering apparatus which is the positioning apparatus for a plate material which concerns on embodiment of this invention. It is a main part plan view of a centering device. It is a schematic vertical sectional view of a centering apparatus. FIG. 3 is a plan view of a main part in a state where the second gantry and the like are removed from FIG. It is a top view of the main part in the vicinity of the front roller. It is a schematic plan view which shows typically the state which the glass plate which is a plate material is positioned between the 1st movable member and the 2nd movable member which is an initial position (separation state). FIG. 6 schematically shows a state in which the first movable member and the second movable member, the third movable member and the fourth movable member are close to each other, and the glass plate is sandwiched between the first positioning roller and the second positioning roller. It is a plan view. 7 is a schematic plan view schematically showing a state in which the third positioning roller and the fourth positioning roller are close to each other and sandwich the glass plate from FIG. 7. It is a schematic side view schematically showing the state in which the suction pad is sucked on the glass plate positioned by the 1st positioning roller to the 4th positioning roller. It is a schematic plan view which shows typically the state which the 1st positioning roller and the 2nd positioning roller are separated from the glass plate held by the suction pad. It is a schematic side view which shows typically the state which the glass plate is held by the suction pad, and is supported by the 1st support member and the 2nd support member. FIG. 11 is a schematic side view schematically showing how the sealing material is applied to the glass plate. It is a schematic plan view which shows typically the situation that the initial position of the 1st positioning roller to the 4th positioning roller, the 1st support member, and the 2nd support member is changed according to the size of the outer dimension of a glass plate.

Hereinafter, suitable embodiments of the plate material positioning device according to the present invention will be given, and will be described in detail with reference to the attached drawings. In the following, "front" and "rear" represent the downstream side and the upstream side in the direction of carrying the plate material into the plate material positioning device, respectively. Therefore, the "front-back direction" is synonymous with the "carry-in direction". Further, "side" and "width direction" are directions orthogonal to the loading direction, and "right" and "left" are when the operator visually recognizes the front from the rear of the plate material positioning device, respectively. Right-hand side and left-hand side. "Left and right direction" is synonymous with "width direction".

1 to 3 are a schematic perspective view, a plan view of a main part, and a schematic vertical sectional view of a plate material positioning device (hereinafter, also referred to as a “centering device”) 10 according to the present embodiment, respectively. The centering device 10 constitutes a sealing material coating device for applying a sealing material S (see FIG. 12) to a glass plate 12 (see FIG. 2) as a plate material, and constitutes a floor 16 of a coating station (see FIG. 3). Installed on top.

In particular, as shown in FIG. 3, the centering device 10 includes a first gantry 20 and a second gantry 22. A spacer 24 is provided at the tip of each leg of the first gantry 20, and the height of the first gantry 20 from the floor 16 can be appropriately adjusted by the spacer 24.

As shown in FIG. 4, which is a plan view of the main part with the second gantry 22 and the like removed, the first gantry 20 covers from the front end of the first gantry 20 to the rear side slightly from the middle in the front-rear direction. A plate 26 is provided. At the rear end of the top plate 26, a second pedestal elevating cylinder 30 (particularly see FIG. 3) for raising and lowering the second gantry 22 is positioned and fixed. The tip of the second gantry elevating rod 32 of the second gantry elevating cylinder 30 is connected to the lower surface of the table 34 provided on the second gantry 22. Therefore, as the second gantry elevating rod 32 moves forward (ascends) or retracts (descends) along the vertical direction, the second gantry 22 rises or rises together with the table 34 integrally with the second gantry elevating rod 32. Plumb bob.

The first side plate 40 and the second side plate 42 are displaceably supported on the top plate 26 via the first side plate guide rail 36 and the second side plate guide rail 38 (see FIGS. 1 and 4). This will be described later.

On the lower surface of the table 34, a plurality of table guide rods 44 are formed so as to project vertically downward on the first gantry 20 (see FIG. 3). On the other hand, the top plate 26 of the first gantry 20 is provided with a large cylindrical guide portion 46 through which the table guide rod 44 is inserted. That is, the table guide rod 44 is guided to the large cylindrical guide portion 46 when the second gantry 22 moves up and down.

Further, on the lower surface of the table 34, the first movable plate 50 (first movable member) and the second movable plate 52 (second movable member) shown in FIG. 1 are located substantially in the middle of the second pedestal 22 in the front-rear direction. A rotary encoder 54 for a movable plate is provided to detect that the rotary encoders are displaced in synchronization with each other. A movable plate pinion gear 56 provided on the upper surface of the table 34 is connected to the tip of the rotary shaft of the movable plate rotary encoder 54. That is, the rotary shaft of the rotary encoder 54 for the movable plate rotates integrally with the pinion gear 56 for the movable plate. Further, the pinion gear 56 for the movable plate meshes with the rack 58 for the first movable plate and the rack 60 for the second movable plate (both see FIG. 2).

A set of movable plate guide rails 62 is laid on the upper surface of the table 34. The movable plate guide rail 62 extends along the extending direction of the table 34, that is, the front-rear direction (the carrying-in direction of the glass plate 12).

The legs of the first movable plate 50, the second movable plate 52, the third movable plate 64 (third movable member), and the fourth movable plate 66 (fourth movable member) slide on the movable plate guide rail 62. Engaged as possible. That is, the first movable plate 50 to the fourth movable plate 66 are movable members that can be displaced along the front-rear direction while being guided by the movable plate guide rail 62. The tip of the first movable plate rack 58 is connected to the lower surface of the first movable plate 50. Similarly, the tip of the second movable plate rack 60 is connected to the lower surface of the second movable plate 52.

A third movable plate cylinder 70 (second displacement actuator) for displacing the third movable plate 64 is arranged between the movable plate guide rail 62 and the first movable plate rack 58 on the upper surface of the table 34. Will be set up. The tip of the third movable plate rod 72 constituting the third movable plate cylinder 70 is connected to the third movable plate 64. Therefore, the third movable plate 64 integrally advances forward as the third movable plate rod 72 advances forward.

Similarly, a fourth movable plate cylinder 74 (second displacement actuator) for displacementing the fourth movable plate 66 is disposed between the second movable plate rack 60 and the movable plate guide rail 62. .. The tip of the fourth movable plate rod 76 constituting the fourth movable plate cylinder 74 is connected to the fourth movable plate 66. Therefore, when the fourth movable plate rod 76 advances rearward, the fourth movable plate 66 is integrally displaced rearward.

Further, the position setting cylinder 80 (initial position setting actuator), the first movable plate 50, and the second movable plate 52 are synchronized between the second movable plate rack 60 and the fourth movable plate cylinder 74. A contact / detachment cylinder 82 (first displacement actuator) for displacement is provided. The position setting cylinder 80 and the contact / detachment cylinder 82 are arranged in parallel along the front-rear direction, and the tip of the position setting rod 84 of the position setting cylinder 80 and the tip of the contact / detachment rod 86 of the contact / detachment cylinder 82. And are concatenated.

As will be described later, the position setting cylinder 80 sets the initial positions of the first movable plate 50 and the second movable plate 52 (in other words, the initial separation distance between the first movable plate 50 and the second movable plate 52). Will be done. The position setting cylinder 80 is positioned and fixed on the upper surface of the table 34. On the other hand, the contact / detachment cylinder 82 is connected to the lower surface of the second movable plate 52.

The first movable plate 50 is located at the frontmost position among the first movable plate 50 to the fourth movable plate 66. Vertical flange portions 90 are provided at the front right end and the front left end of the first movable plate 50 so as to stand upward. Each of the vertical flange portions 90 is provided with a relaxation pin 92 (relaxation member) shown in FIG. 5 so as to be able to advance and retreat along the front-rear direction. Specifically, the shaft portion of the relaxation pin 92 is passed through the coil spring 94. The front end of the coil spring 94 is seated on the rear wall of the vertical flange portion 90, and the rear end is seated on the head of the relaxation pin 92. Therefore, the coil spring 94 constantly repels the relaxation pin 92 toward the rear.

When the relaxation pin 92 is pressed forward, the coil spring 94 is compressed, and the relaxation pin 92 moves forward by the amount of the compression. On the other hand, when the relaxation pin 92 is released from the pressing force, the coil spring 94 expands and elastically urges the relaxation pin 92 to the rear. As a result, the relaxation pin 92 returns to the position before pressing.

A bearing holder 96 containing a bearing (not shown) is provided at the rear end of the first movable plate 50 substantially in the middle in the width direction. From the bearing holder 96, a rotation center shaft 98 extending upward is exposed. The rotation center shaft 98 is inserted into a shaft insertion hole formed in the bottom plate portion 102 constituting the roller holder 100 (rotating member). In other words, the roller holder 100 is held by the rotation center shaft 98. The roller holder 100 rotates slightly with the rotation center shaft 98 as the rotation center as the rotation center shaft 98 rotates.

The roller holder 100 has a main body portion 104 having a so-called hat shape, in addition to the bottom plate portion 102. The top surface of the head of the relaxation pin 92 abuts on the front surface of the main body 104.

On the upper surface of the bottom plate portion 102, a roller elevating cylinder 106 for raising and lowering the main body portion 104 is provided. The roller elevating rod 108 constituting the roller elevating cylinder 106 is connected to the ceiling surface of the main body 104 via a ball joint (not shown). On the other hand, the two tip portions of the main body portion 104 extending outward in the width direction face the bottom plate portion 102. Two roller support shafts 110 are erected on the bottom plate portion 102 so as to sandwich the main body portion 104. The roller support shaft 110 is passed through a shaft insertion hole formed in the tip portion and an inner hole of a bush 112 provided in the tip portion.

A front roller 114 as a first positioning roller is rotatably mounted on each of the two roller support shafts 110. When the roller holder 100 rotates, the front roller 114 moves integrally with the rotating tip portion. Since the ball joint is interposed between the roller elevating rod 108 and the main body portion 104, the rotation of the roller holder 100 is not hindered by the roller elevating cylinder 106.

Further, when the main body portion 104 rises or falls integrally with the roller elevating rod 108, the front roller 114 rises or falls together with the tip portion and the bush 112. The position of the roller support shaft 110 does not change. Therefore, when the tip portion and the bush 112 rise or fall, the roller support shaft 110 descends relative to the tip portion and the bush 112. At this time, the roller support shaft 110 slides relative to the inner hole of the bush 112.

The second movable plate 52 is located at the rearmost position among the first movable plate 50 to the fourth movable plate 66. A lower bracket 116 and an upper bracket 118 are provided at the left end of the second movable plate 52. Similarly, the lower bracket 116 and the upper bracket 118 are provided on the right end. A tilting cylinder 120 (tilting actuator) is held in each of the lower brackets 116. On the other hand, the tongue piece portion of the tilting arm 122 is connected to the upper bracket 118 via the tilting central axis 124. Further, the tip of the tilting rod 126 constituting the tilting cylinder 120 is connected to the end portion on the outer side in the width direction of the tilting arm 122.

A rear roller 130 (second positioning roller) is rotatably supported on the opposite side of the tongue piece portion of the tilting arm 122. Since the tongue piece portion of the tilting arm 122 is restrained by the upper bracket 118 and the tilting rod 126 is connected to the outer end in the width direction, when the tilting rod 126 rises, the tilting arm 122 moves inward in the width direction. Tilt to stand up. On the contrary, when the tilting rod 126 is lowered, the tilting arm 122 is tilted so as to lie outward in the width direction. In this way, as the tilting arm 122 rotates, the rear roller 130 tilts integrally.

The glass plate 12 is carried into the centering device 10 from the rear roller 130 side toward the front roller 114. That is, the front roller 114 is arranged on the downstream side in the carry-in direction of the glass plate 12, while the rear roller 130 is arranged on the upstream side in the carry-in direction of the glass plate 12.

The third movable plate 64 is located close to the first movable plate 50 and slightly behind the first movable plate 50. The third movable plate 64 has a substantially U-shape, and front support members 132 (first support members) are provided at two tips protruding rearward. The front support member 132 extends upward.

Further, the fourth movable plate 66 is located close to the second movable plate 52 and slightly in front of the second movable plate 52. That is, the third movable plate 64 and the fourth movable plate 66 face each other at predetermined intervals. Further, the first movable plate 50 and the second movable plate 52 face each other with the third movable plate 64 and the fourth movable plate 66 interposed therebetween.

The fourth movable plate 66 has a substantially flat plate shape. A rear support member 134 (second support member) extending upward is provided at both ends (left end and right end) in the width direction, similarly to the front support member 132.

As will be described later, the first movable plate 50 and the second movable plate 52 cooperate with the contact / separation cylinder 82, the first movable plate rack 58, the second movable plate rack 60, and the movable plate pinion gear 56. Under action, it moves (displaces) in the direction of approaching or separating from each other in synchronization with each other. At this time, the front roller 114 is integrally displaced with the first movable plate 50, and the rear roller 130 is integrally displaced with the second movable plate 52.

When the first movable plate 50 and the second movable plate 52 approach each other, the third movable plate 64 and the fourth movable plate 66 are displaced so as to approach each other. Since the third movable plate 64 and the fourth movable plate 66 are sandwiched between the first movable plate 50 and the second movable plate 52, the first movable plate 50 and the second movable plate 52 heading inward in the front-rear direction. This is because it receives pressure from. As described above, the first movable plate rack 58, the second movable plate rack 60, and the movable plate pinion gear 56 have the first movable plate 50 and the second movable plate 52, and the third movable plate 64 and the fourth movable plate. Move each 66 in the direction of approaching each other.

On the other hand, when the first movable plate 50 and the second movable plate 52 are separated from each other, the third movable plate 64 and the fourth movable plate 66 are directed outward in the front-rear direction to the first movable plate 50 and the second movable plate. It is not pressed by 52. Therefore, the third movable plate 64 and the fourth movable plate 66 are the cylinder for the third movable plate 70 and the cylinder for the fourth movable plate even when the first movable plate 50 and the second movable plate 52 are separated from each other. Keep the position unless 74 is urged. That is, the contact / separation cylinder 82, the first movable plate rack 58, the second movable plate rack 60, and the movable plate pinion gear 56 can separate only the first movable plate 50 and the second movable plate 52 from each other. Is.

The tab portion 138 projects outward in the width direction at substantially the middle of the left outer edge portion and the right outer edge portion of the table 34 in the front-rear direction. A vertical stay 140 is erected on the tab portion 138, and a pad elevating cylinder 142 (elevating actuator) is attached to the vertical stay 140. The pad elevating rod 144 constituting the pad elevating cylinder 142 faces upward, and two suction pads 150 (fixing members) are supported at the tip thereof via the upper horizontal stay 146. The two suction pads 150 are arranged in parallel along the front-rear direction, and the suction surface faces upward.

A stay guide rod 152 is provided on the lower surface of the upper horizontal stay 146 so as to hang down. On the other hand, the lower horizontal stay 154 is positioned and fixed on the upper surface of the cylinder tube constituting the pad elevating cylinder 142. The lower horizontal stay 154 is provided with a small cylindrical guide portion 156, and the stay guide rod 152 is inserted through the small cylindrical guide portion 156. That is, the stay guide rod 152 has a small cylindrical guide portion 156 when the upper lateral stay 146 and the suction pad 150 are integrally moved up and down as the pad elevating rod 144 moves forward (ascends) or retracts (descends). Will be guided to.

Next, the first side plate 40, the second side plate 42, and their displacement mechanism will be described.

A rotary encoder 160 for a side plate that detects that the first side plate 40 and the second side plate 42 are displaced in synchronization is held on the lower surface of the front end of the top plate 26 via a holder 161. A side plate pinion gear 162 provided on the upper surface of the top plate 26 is connected to the tip of the rotary shaft of the side plate rotary encoder 160. That is, the rotation shaft of the side plate rotary encoder 160 rotates integrally with the side plate pinion gear 162.

A rack 164 for the first side plate and a rack 166 for the second side plate (both see FIG. 4) mesh with the pinion gear 162 for the side plate. The tips of the first side plate rack 164 and the second side plate rack 166 are connected to the lower surfaces of the first side plate 40 and the second side plate 42, respectively.

A set of long flat plate members 168 are positioned and fixed to the front end of the top plate 26 so as to be separated from each other at predetermined intervals. The length of the flat plate member 168 is larger than the length in the width direction of the first pedestal 20 and the second pedestal 22. Therefore, the flat plate member 168 extends so as to project from the left and right ends of the first gantry 20 and the second gantry 22.

A set of the first side plate guide rail 36 and the second side plate guide rail 38 are laid on the upper surface of the set of flat plate members 168, respectively. The first side plate guide rail 36 and the second side plate guide rail 38 are separated from each other in the widthwise middle of the flat plate member 168. The first side plate guide rail 36 and the second side plate guide rail 38 project from the left and right ends of the first gantry 20 and the second gantry 22 in the same manner as the flat plate member 168.

The legs of the first side plate 40 and the second side plate 42 are slidably engaged with the first side plate guide rail 36 and the second side plate guide rail 38. That is, the first side plate 40 can be displaced along the width direction while being guided by the first side plate guide rail 36. Similarly, the second side plate 42 can be displaced along the width direction while being guided by the second side plate guide rail 38.

In the top plate 26, a side plate displacement cylinder 170 (third displacement actuator) is installed between the flat plate members 168 and substantially in the middle in the width direction. The side plate displacement rod 172 of the side plate displacement cylinder 170 extends toward the second side plate 42, and its tip is connected to the lower surface of the second side plate 42. Further, as described above, the tips of the first side plate rack 164 and the second side plate rack 166 are connected to the lower surfaces of the first side plate 40 and the second side plate 42.

A first arm member 174 and a second arm member 176 that incline from the front to the rear as they go upward are erected on each of the first side plate 40 and the second side plate 42. A left roller 178 (third positioning roller) and a right roller 180 (fourth positioning roller) are provided at the tips of the first arm member 174 and the second arm member 176 via ball joints (not shown). As will be described later, the left roller 178 and the right roller 180 sandwich the glass plate 12 in a width direction orthogonal to the front-rear direction, which is the sandwiching direction between the front roller 114 and the rear roller 130.

The sealing material coating device basically includes a centering device 10 configured as described above and a coating robot (not shown). A coating gun 182 (see FIG. 12) for discharging the sealing material S is provided on the tip arm of the coating robot. The front support member 132 and the rear support member 134 are arranged on the movement locus of the coating gun 182, in other words, on the coating locus of the sealing material S.

Next, regarding the action and effect of the centering device 10 according to the present embodiment, in relation to the displacement of the front roller 114, the rear roller 130, the left roller 178, the right roller 180, the front support member 132, and the rear support member 134. This will be described with reference to FIGS. 6 to 13. In FIGS. 6 to 13, the components are simplified to facilitate understanding of the operation. In addition, the following operations are performed by sequence control.

First, the position setting cylinder 80 is urged, and the position setting rod 84 advances toward the downstream side or the upstream side according to the outer dimensions of the glass plate 12 carried into the centering device 10. Specifically, the position setting rod 84 advances toward the upstream side when the outer dimension of the glass plate 12 detected by the sensor is large. Since the position setting rod 84 is connected to the tip of the contact / disengagement rod 86 and the contact / disengagement cylinder 82 is connected to the second movable plate 52, the position setting rod 84 is connected to the upstream side as it advances. The contact / detachment cylinder 82 and the second movable plate 52 are displaced upstream.

Here, the rack 60 for the second movable plate is connected to the second movable plate 52, and the rack 58 for the first movable plate is connected to the first movable plate 50. Further, the first movable plate rack 58 and the second movable plate rack 60 are meshed with the movable plate pinion gear 56. Since the rack 60 for the second movable plate is displaced to the upstream side with the displacement of the second movable plate 52 to the upstream side, the pinion gear 56 for the movable plate rotates and the rack 58 for the first movable plate is moved to the downstream side. Displace.

That is, the first movable plate 50 and the second movable plate 52 are separated from each other in synchronization with each other. As a result, the separation distance between the first movable plate 50 and the second movable plate 52, and eventually the separation distance between the front roller 114 and the rear roller 130 increases. The progress of the position setting rod 84, in other words, the displacement of the first movable plate 50 and the second movable plate 52 stops when the front roller 114 and the rear roller 130 reach a predetermined position according to the outer dimensions of the glass plate 12. (See the solid line in FIG. 13).

When the first movable plate 50 and the second movable plate 52 are separated from each other as described above, the third movable plate cylinder 70 and the fourth movable plate cylinder 74 are urged. As a result, the third movable plate rod 72 and the fourth movable plate rod 76 advance, the third movable plate 64 comes into contact with the first movable plate 50, and the fourth movable plate 66 hits the second movable plate 52. Contact. That is, the front support member 132 and the rear support member 134 are separated from each other.

On the other hand, when the outer dimension of the glass plate 12 detected by the sensor is small, the position setting rod 84 advances toward the downstream side. Along with this, contrary to the above, the contact / detachment cylinder 82 and the second movable plate 52 are displaced to the downstream side, while the first movable plate 50 is displaced to the upstream side. That is, the first movable plate 50 and the second movable plate 52 approach each other in synchronization with each other, and as a result, the separation distance between the first movable plate 50 and the second movable plate 52, or the separation distance between the front roller 114 and the rear roller 130. Becomes smaller. Then, when the front roller 114 and the rear roller 130 reach a predetermined position according to the outer dimensions of the glass plate 12, the position setting rod 84 advances, in other words, the first movable plate 50 and the second movable plate 52 The displacement stops (see the virtual line in FIG. 13).

The third movable plate 64 is pressed by the first movable plate 50 that moves upstream. Therefore, the third movable plate rod 72 is pressed by the first movable plate 50. Since the third movable plate cylinder 70 has been destroyed, the pressed third movable plate rod 72 advances toward the upstream side. Therefore, the third movable plate 64 is integrally displaced to the upstream side with the first movable plate 50.

On the other hand, the fourth movable plate 66 is pressed by the second movable plate 52 that moves to the downstream side. Since the cylinder 74 for the fourth movable plate is destroyed, the rod 76 for the fourth movable plate receives the pressure from the second movable plate 52 and advances toward the downstream side. Therefore, the fourth movable plate 66 is integrally displaced to the downstream side together with the second movable plate 52, and as a result, the front support member 132 and the rear support member 134 approach each other.

In this way, the initial positions (separation distances) of the first movable plate 50 and the second movable plate 52 before the glass plate 12 is carried in are set by the position setting cylinder 80 according to the size of the glass plate 12. At the same time, the initial positions (separation distance) of the front roller 114 and the rear roller 130 are set. Further, by aligning the third movable plate 64 with respect to the first movable plate 50 and aligning the fourth movable plate 66 with respect to the second movable plate 52, the initial positions of the front support member 132 and the rear support member 134 are set. Set.

If necessary, the second pedestal elevating cylinder 30 or the roller elevating cylinder 106 is urged. The second pedestal elevating rod 32 or the roller elevating rod 108 stops at an appropriate position corresponding to the carry-in height position and the thickness of the glass plate 12 detected by the sensor after the advancing / retreating operation.

Next, the glass plate 12 which is a plate material is transferred by a roller conveyor or the like (not shown) and carried into the centering device 10 constituting the sealing material coating device. At this time, the two rear rollers 130 are separated from each other. In other words, the rear roller 130 is in a lying position so as to fall outward in the width direction. Therefore, the glass plate 12 passes on the second movable plate 52 and the fourth movable plate 66 in this order without being blocked by the rear roller 130.

As shown in FIG. 6, the glass plate 12 is stopped between the front roller 114 and the rear roller 130. Here, the pad elevating rod 144 is raised, and compressed air is discharged from the suction pad 150. Therefore, the glass plate 12 is put into a floating state by being pressed by the compressed air. Therefore, at this point, the glass plate 12 is not supported by the suction pad 150, the front support member 132, or the rear support member 134.

In this state, the tilting cylinder 120 is urged. That is, the tilting rod 126 rises. Since the tilting rod 126 is connected to the widthwise outer end of the tilting arm 122 and the tongue piece portion of the tilting arm 122 is restrained by the upper bracket 118, the tilting arm 122 is directed inward in the width direction. Tilt to approach each other. Along with this, the rear roller 130 tilts integrally with the tilting arm 122. The tilting arm 122 is in a lying position, and the rear roller 130 is in an upright position.

Next, the contact / detachment cylinder 82 is urged, and the contact / detachment cylinder 82 houses the contact / detachment rod 86. Therefore, the contact / detachment cylinder 82 is relatively displaced toward the front side. Since the contact / detachment cylinder 82 is provided on the second movable plate 52, the second movable plate 52 is integrally displaced toward the front side together with the contact / detachment cylinder 82.

Further, the pinion gear 56 for the movable plate rotates counterclockwise. As described above, the first movable plate rack 58 and the second movable plate rack 60 are meshed with the movable plate pinion gear 56. Since the first movable plate rack 58 and the second movable plate rack 60 are connected to the first movable plate 50 and the second movable plate 52, respectively, the first movable plate 50 is on the rear side and the second movable plate. 52 is displaced toward the front side. At the time of displacement, the first movable plate 50 and the second movable plate 52 are guided by the movable plate guide rail 62. Further, the rotation speed of the movable plate pinion gear 56 is detected by the movable plate rotary encoder 54.

That is, as shown in FIG. 7, the first movable plate 50 and the second movable plate 52 are synchronously displaced so as to approach each other. In other words, the first movable plate 50 and the second movable plate 52 are in close proximity to each other. As a result, the front roller 114 provided on the first movable plate 50 and the rear roller 130 provided on the second movable plate 52 come close to each other and sandwich the glass plate 12. As a result, the glass plate 12 is positioned in the front-rear direction. Since the first movable plate 50 and the second movable plate 52 are close to each other in synchronization with each other, the middle of the glass plate 12 in the front-rear direction is substantially in the middle of the centering device 10 in the front-rear direction.

When the front roller 114 comes into contact with the glass plate 12, the roller holder 100 provided with the front roller 114 is pressed by the glass plate 12, and the relaxation pin 92 that comes into contact with the front surface of the roller holder 100 moves forward. Pushed towards. Along with this, the coil spring 94 sandwiched between the head of the relaxation pin 92 and the vertical flange portion 90 contracts. Due to this shrinkage, the impact when the glass plate 12 comes into contact with the front roller 114 is alleviated.

Here, it is assumed that the load of the glass plate 12 mainly acts on the left front roller 114 due to the fact that the glass plate 12 is slightly biased to the left side. In this case, as shown by a virtual line in FIG. 5, the roller holder 100 rotates so that the left end advances to the downstream side and the right end advances to the upstream side with the rotation center axis 98 as the rotation center. .. Since the bearing is housed in the bearing holder 96 provided with the rotation center, the roller holder 100 can rotate without being restrained by the first movable plate 50.

The opposite is true when the glass plate 12 is slightly biased to the right and the load of the glass plate 12 mainly acts on the right front roller 114. That is, the roller holder 100 rotates so that the left end advances to the upstream side and the right end advances to the downstream side with the rotation center shaft 98 as the rotation center.

Further, at the same time that the first movable plate 50 and the second movable plate 52 approach each other, the third movable plate 64 and the fourth movable plate 66 approach each other for the same reason as described above. Therefore, the two front support members 132 and the rear support member 134 are located below the glass plate 12. In this way, the front support member 132 and the rear support member 134 approach in conjunction with the approach of the first movable plate 50 and the second movable plate 52.

Next, the side plate displacement cylinder 170 is urged. As a result, the side plate displacement rod 172 advances to the right, and the side plate pinion gear 162 rotates counterclockwise. The side plate displacement rod 172 is connected to the second side plate 42, and the side plate pinion gear 162 is connected to the first side plate rack 164 connected to the first side plate 40 and the second side plate rack connected to the second side plate 42. 166 is engaged. Therefore, at the same time that the rack for the first side plate 164 advances toward the right, the rack 166 for the second side plate advances toward the left. That is, the first side plate 40 and the second side plate 42 are synchronized and displaced so as to approach each other. As a result, the first side plate 40 and the second side plate 42 are in close proximity to each other. The rotation speed of the side plate pinion gear 162 is detected by the side plate rotary encoder 160.

As a result, as shown in FIG. 8, the left roller 178 provided on the first side plate 40 and the right roller 180 provided on the second side plate 42 approach each other and sandwich the glass plate 12. As a result, the glass plate 12 is positioned in the width direction (left-right direction). Since the first side plate 40 and the second side plate 42 are close to each other in synchronization with each other, the middle of the glass plate 12 in the left-right direction is substantially in the middle of the centering device 10 in the left-right direction. Since the glass plate 12 has already been positioned in the front-rear direction, the glass plate 12 is centered by being positioned in the left-right direction.

Next, the discharge of compressed air from the suction pad 150 is stopped. As a result, the floating force with respect to the glass plate 12 disappears, so that the suction pad 150 comes into contact with the lower surface of the glass plate 12 as shown in FIG. After that, the suction from the suction pad 150 is started, whereby the suction pad 150 is sucked on the glass plate 12. That is, the glass plate 12 is held by the suction pad 150.

Next, the side plate displacement rod 172 advances to the left, and the side plate pinion gear 162 rotates clockwise. Following this, the rack for the first side plate 164 advances toward the left, and at the same time, the rack 166 for the second side plate advances toward the right. That is, the first side plate 40 and the second side plate 42 are synchronously separated from each other (in a separated state), and the left roller 178 and the right roller 180 are separated from the glass plate 12 as in FIG. 7. That is, the glass plate 12 is released from being pinched by the left roller 178 and the right roller 180.

Further, the contact / detachment cylinder 82 is urged, and the contact / detachment cylinder 82 exposes the contact / detachment rod 86. Further, the pinion gear 56 for the movable plate rotates clockwise in the opposite direction to the above. As described above, the first movable plate 50 and the second movable plate 52 are displaced toward the front and the rear, respectively, while being guided by the movable plate guide rail 62. That is, the first movable plate 50 and the second movable plate 52 are synchronously separated from each other, and return to the initial position and are in a separated state as in FIG. Along with this, the front roller 114 and the rear roller 130 are separated from the glass plate 12 as in FIG. 10. That is, the glass plate 12 is released from being pinched by the front roller 114 and the rear roller 130. At this point, the rear roller 130 may remain in an upright position. Similar to the above, the rotation speed of the movable plate pinion gear 56 is detected by the movable plate rotary encoder 54.

As described above, the glass plate 12 is already held by the suction pad 150. Therefore, even if the front roller 114, the rear roller 130, the left roller 178, and the right roller 180 are separated from the glass plate 12, the glass plate 12 maintains the centering position. That is, it is possible to prevent the glass plate 12 from being displaced.

Here, the third movable plate 64 and the fourth movable plate 66 are not pressed by the first movable plate 50 and the second movable plate 52 that are displaced so as to be separated from each other. Therefore, although the positions of the first movable plate 50 and the second movable plate 52 change from the close state to the separated state, the third movable plate 64 and the fourth movable plate 66 are in the initial positions, that is, Keep separated.

Next, the pad elevating cylinder 142 is urged, and the pad elevating rod 144 is lowered. As a result, the glass plate 12 is integrally lowered, and as a result, as shown in FIG. 11, the tips of the front support member 132 and the rear support member 134 come into contact with the lower surface of the glass plate 12. That is, the glass plate 12 is supported at four points by the two front support members 132 and the rear support member 134, in addition to being held by the suction pad 150.

As described above, according to the present embodiment, the glass plate 12 is centered by the front roller 114, the rear roller 130, the left roller 178, and the right roller 180. Therefore, the front support member 132 and the rear support member 134 that are integrally displaced with the first movable plate 50 and the second movable plate 52 while the first movable plate 50 and the second movable plate 52 are in close proximity to each other. , The position is suitable for supporting the glass plate 12. Therefore, for example, even if the dimensions of the glass plate 12 differ within the tolerance range, an appropriate portion of the glass plate 12 can be supported. In other words, the glass plate 12 is stably supported.

Next, the coating robot operates appropriately according to the teaching given in advance. By this operation, as shown in FIG. 12, the coating gun 182 moves along the glass plate 12. During this movement, the sealing material S is applied from the coating gun 182 toward the glass plate 12. As described above, since the support of the glass plate 12 by the front support member 132 and the rear support member 134 is stable, the application range of the sealing material S to the plurality of glass plates 12 having different dimensions becomes substantially constant. That is, the sealing material S can be stably applied to the glass plate 12. This improves the coating accuracy of the sealing material S.

In the glass plate 12, the coating gun 182 passes through the upper surface of the portion where the lower surface is supported by the front support member 132 and the rear support member 134. As described above, the front support member 132 and the rear support member 134 are arranged on the movement locus of the coating gun 182, that is, on the coating locus of the sealing material S. In short, in this case, the position of the glass plate 12 to which the sealing material S is applied is stable. Therefore, the sealing material S can be stably applied to the position.

After that, as the pad elevating rod 144 rises, the front roller 114 becomes a position relatively lower than the glass plate 12. Further, the tips of the front support member 132 and the rear support member 134 are separated from the glass plate 12. Further, the intake air from the suction pad 150 is stopped, and the glass plate 12 is released from the restraint by the suction pad 150. The glass plate 12 in this state is transferred to the downstream side (front side) by a carry-out robot or the like. Since the front roller 114 is already at a lower position than the glass plate 12 as described above, the glass plate 12 is smoothly carried out from the centering device 10 without interfering with the front roller 114.

When the sealing material S is applied to the newly carried-in glass plate 12, the pad elevating rod 144 is lowered, and the front roller 114 is set at a height position capable of blocking the new glass plate 12. .. Further, the tilting cylinder 120 is urged to tilt the rear rollers 130 so as to be in a lying posture so as to be separated from each other.

For example, if the new glass plate 12 is for a vehicle model different from the existing glass plate 12, and the outer dimensions thereof are significantly different, the position setting rod 84 is used as shown by a solid line or a virtual line in FIG. It may be advanced to the front side or the rear side. In this way, by setting the initial positions of the first movable plate 50 and the second movable plate 52 (front roller 114 and rear roller 130) in the position setting cylinder 80, the first movable plate is set in the contact / detachment cylinder 82. The time from the separated state to the close state of the 50 and the second movable plate 52 is shortened. That is, the glass plate 12 is quickly sandwiched between the front roller 114 and the rear roller 130. In other words, the positioning of the glass plate 12 in the front-rear direction can be efficiently performed.

Then, the third movable plate rod 72 and the fourth movable plate rod 76 are advanced in the direction in which the third movable plate 64 and the fourth movable plate 66 are separated from each other. As a result, the third movable plate 64 is close to the first movable plate 50, and the fourth movable plate 66 is close to the second movable plate 52. As a result, the centering device 10 returns to the state shown in FIG. After that, the sealing material S may be applied in the same manner as described above.

The distance from the outer edge portion of the glass plate 12 to the portion to which the sealing material S is applied is substantially the same regardless of the outer dimensions of the glass plate 12. Therefore, even if the outer dimensions of the preceding glass plate 12 and the succeeding glass plate 12 are different, the front support member 132 and the rear support member 134 are arranged on the coating locus of the sealing material S. Therefore, even in this case, the sealing material S can be stably applied.

The present invention is not particularly limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, the plate material is not limited to the glass plate 12, and may be a metal plate or the like. Further, the centering device 10 (positioning device for plate material) is not limited to the one constituting the sealing material coating device, but may constitute another processing device, or may be used alone. There may be.

10 ... Centering device 12 ... Glass plates 40, 42 ... 1st and 2nd side plates 50, 52, 64, 66 ... 1st to 4th movable plates 56 ... Pinion gears for movable plates 58, 60 ... 1st and 2nd movable plates Racks 70, 74 ... Cylinders for third and fourth movable plates 80 ... Cylinders for setting positions 82 ... Cylinders for contact / detachment 92 ... Relaxing pins 94 ... Coil springs 96 ... Bearing holders 98 ... Rotation center shaft 100 ... Roller holders 106 ... Roller elevating cylinder 114 ... Front roller 120 ... Tilt cylinder 130 ... Rear roller 132 ... Front support member 134 ... Rear support member 142 ... Pad elevating cylinder 150 ... Suction pad 162 ... Side plate pinion gear 164 ... First , 2nd side plate rack 170 ... Side plate displacement cylinder 178 ... Left roller 180 ... Right roller 182 ... Coating gun S ... Sealing material

Claims (6)

A plate material positioning device that positions plate materials.
A first positioning roller that is displaced in the direction of approaching or separating from the plate material, and
The plate material is displaced in synchronization with the first positioning roller and abuts on the plate material together with the first positioning roller to hold the plate material, while the plate material is released by separating from the plate material together with the first positioning roller. With the second positioning roller,
A first movable member and a second movable member provided with the first positioning roller and the second positioning roller, respectively.
A first support member and a second support member that support the plate material by abutting on the lower surface of the plate material.
A fixing member that positions and fixes the plate material by sitting on the lower surface of the plate material, and
A third movable member provided with the first support member and close to the first movable member,
A fourth movable member provided with the second support member, which is close to the second movable member and faces the third movable member.
A direction in which the first movable member and the second movable member are displaced in a direction in which the third movable member and the fourth movable member are close to each other, and only the first movable member and the second movable member are separated from each other. The first displacement actuator that displaces to
A second displacement actuator that displaces the third movable member and the fourth movable member in a direction away from each other.
An initial position setting actuator for setting an initial position between the first movable member and the second movable member, and an actuator for setting the initial position.
Equipped with
A plate material positioning device in which the tip of the position setting rod of the initial position setting actuator and the tip of the detaching rod of the first displacement actuator are connected . In the apparatus according to claim 1, the first positioning roller is arranged on the downstream side of the plate material in the carry-in direction to the plate material positioning device, and the second positioning roller is on the upstream side in the carry-in direction. Placed,
A plate material positioning device including a tilting actuator that tilts the second positioning roller in a direction approaching or separating from the plate material. In the apparatus according to claim 2, the plate material positioning device in which the first positioning roller is provided on a rotatable rotating member and the relaxation member comes into contact with the rotating member. In the apparatus according to any one of claims 1 to 3, a third positioning roller and a fourth positioning roller that sandwich the plate material from a direction orthogonal to the sandwiching direction of the first positioning roller and the second positioning roller. With Laura,
A third displacement actuator that displaces the third positioning roller and the fourth positioning roller in a direction approaching or separating from each other.
A positioning device for plate materials. In the apparatus according to any one of claims 1 to 4, a plate material positioning device including an elevating actuator that raises or lowers the fixing member relative to the first support member and the second support member. .. In the apparatus according to any one of claims 1 to 5 , the plate material is a glass plate, and at least one of the first support member or the second support member is a sealing material applied to the glass plate. A positioning device for plate materials placed on the coating locus of.

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