JPH01303226A - Transplacing device for window glass - Google Patents

Abstract

PURPOSE:To put together a window glass precisely without generation of misregistration and the like by providing a second positioning mechanism positioning a floating member and an assembling robot. CONSTITUTION:When positioning of a window glass to a supporting mechanism 350 or to a base frame 301 is finished, the front window-glass W1 is absorbed by absorbing pads 357 for fixing to the supporting mechanism 350. Then, lock condition on a floating plate 353 through a lock mechanism is released and the supporting mechanism 350 is made possible to move horizontally while an assembling, robot 400 is made to descend. When the assembling robot 400 is descended, penetrated hole 404 on the robot are fitted with positioning pins 383 of a second positioning mechanism 380. The supporting mechanism 350 moves horizontally in accordance with the assembling robot 400, here, and the front window glass W1 is positioned in referring the assembling robot as standard. Thereafter, the window glass W1 is delivered to the assembling robot 400 side.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a transfer device for positioning a window glass conveyed by a conveyor and delivering it to a robot for assembly onto a vehicle body.

(Conventional technology) In order to automatically attach a window glass to a vehicle body, a robot receives the window glass transported on a conveyor and assembles it, and the robot presses and joins the window glass to the window frame, etc. That's what I do. Since high precision is required for the above-mentioned joining, conventional methods include equipping the robot itself with a function to detect the position of the window frame, or displaying the robot's position on a monitor. The robot is made to move accurately by operating the keyboard, etc.

(Problems to be Solved by the Invention) As described above, in assembly, the robot itself must have a position detection function to accurately position the window frame and the window glass, making the mechanism complicated and increasing the overall cost. Furthermore, moving the mouth pot by operating a keyboard or the like requires a dedicated operator, and cannot be fully automated.

Furthermore, in the past, due to the difficulty of positioning, etc.
The front windshield and rear windshield are assembled at separate stations, and the equipment is designed for inspection.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a transfer device for delivering a window glass to a robot, and a method for positioning the window glass with respect to the base of the transfer device. In addition, the base is provided with a floating member that can move horizontally and is fixed at the original position, and a support mechanism that sucks and holds the positioned window glass on the floating member, and the positioned land glass and the floating member that is fixed at the original position. For assembly, a second positioning mechanism was provided to perform positioning with the robot.

(Function) With the floating member locked to the base, place the window glass on the support mechanism provided on the floating member, position the window glass with the first positioning mechanism, and then place the window glass on the support mechanism. The second positioning mechanism positions the window glass and the robot for assembly, and transfers the window glass to the robot for assembly.

(Example) Embodiments of the present invention will be described below based on the accompanying drawings.

FIG. 1 is a perspective view of a windshield assembly station using the transfer device according to the present invention, and FIG. 2 is a plan view of the same device. A transfer device 300 according to the present invention is placed on one side of the reversing device 200, and an assembly robot 400 is placed above the transfer device 300.

The conveyance device 100 has a plurality of suction pads 102 provided on a frame body 101 that circulates, and these suction pads 102 suction the front windshield W1 and the rear windshield W2 and alternately convey them. Here, the window glasses W1 and W2 are transported with the indoor side surfaces facing upward in order to perform operations such as degreasing, coating of brimer, and shielding with adhesive on the peripheral edges of the indoor side surfaces in the preceding process.

Further, at the downstream end of the conveying device 100, a suction pad 103 is used to transfer the window glass to the reversing device 200.
can be moved up and down relative to the frame 101.

The reversing device 200 engages the sliding table 202 with the rail 201 laid between the transport device 100 and the transfer device 300, and moves the 8th shift table 202 to the rail 20 by the operation of the cylinder unit.
The movable base 202 is capable of reciprocating in the X direction along the
A rail 203 extending in the X direction is provided on the top surface, a reversing device main body 204 is movably engaged with the rail 203, and a rotary actuator 205 is further provided on the main body 204, so that a shaft 206 is rotated by the rotary actuator 205. I have to.

Further, the base ends of arms 207, 207 are fixed to the shaft 206, and a cylinder unit is installed between the tips of these arms 207, 207 as shown in FIG. 3, which is a plan view, and FIG. 4, which is a side view. Plate 20 that moves up and down by 208
9 is provided, and a suction pad 210 is attached to this plate 209.

The transfer device 300 includes a first positioning mechanism 310 for positioning the window glass on a frame-shaped base 301;
It consists of a support mechanism 350 that sucks and holds the window glass received from the reversing device 200, and a second positioning mechanism 380 that positions the assembly with the robot 400.

As shown in FIG. 5 which is a plan view and FIG. 6 which is a view taken in the direction of arrow A in FIG.
Rails 311° 311 in the X direction are provided on 01, and plates 312 extending in the X direction are provided on these rails 311, 311.
is engaged and played by the operation of the cylinder unit 313)-
312 is arranged to move in the X direction. On the left and right sides of the plate 312 are resin positioning pins 31 that receive the front end of the windshield W1 and position it in the X direction.
4,314 have been erected.

Also, on the plate 312 is a pair of bars 315°315.
A slider 317° 317 is provided at the outer end of these bars 315, 315 to engage with the Y-direction rails 316, 316 formed on the plate 312. Positioning bins 318 and 31 that abut and perform positioning in the Y direction
8 is attached, and racks 319 and 319 are carved on the inside of the bars 315 and 315, and these racks 319 and 31
9 meshed with one pinion 320, and plate 31
The cylinder unit 321 fixedly attached to the bar 31
It is connected to 5. By operating the cylinder unit 321 and moving one bar 315 left and right eight times,
The other bar 3 via the rack 319 and the pinion 320
15 goes 8 shifts in the opposite direction. That is, cylinder unit 3
21, the left and right positioning bins 318, 318 open and close by the same amount.

Further, a fixing plate 322 is provided at the center of the base 301, and a double rod type cylinder unit 324 is attached to a rail 323 in the X direction formed on the fixing plate 322.
The rod 325 of the cylinder unit 324 is connected to the bracket 326 of the fixing plate 322.
and connect the other rod 326 to the rail 327 in the X direction.
A positioning pin 329 is connected to the slider 328 that engages with the windshield W1, and a positioning pin 329 is provided upright on the slider 328 for abutting against the rear end of the windshield W1 and positioning it in the X direction.

The window glass support mechanism 350 is shown in FIG. 7, which is a plan view, FIG. 8, which is a view taken in the direction of arrow B in FIG. 7, and FIG. 9, which is a view taken in the direction of arrow C in FIG. 7. , base 301
A fixing plate 351 is provided on the top, and this fixing plate 35
1 supports a floating plate 353 horizontally movably via a thrust washer 352, a cross plate 354 is attached to this floating plate 353, and a front windshield W1 is attached to this cross plate 354.
A resin support member 355 supports the rear window glass W2 from below, and a resin support member 356 supports the rear window glass W2 from below.
A suction pad 357 is provided upright to fix the window glass positioned by the first positioning mechanism 310 to the floating plate 353.

Furthermore, a second positioning mechanism 380 is provided on both fiMlls of the floating plate 353 for positioning the assembly with the robot 400. This second positioning mechanism 380 is a cylinder unit 381 whose axis is oriented in the vertical direction.
and a position pin 383 having a tapered tip that moves up and down along a guide rod 382 by the operation of this cylinder unit 381.

The floating plate 353 also has a lock mechanism 3.
90 is set. As shown in FIG. 10, this locking mechanism 390 has a through hole 3 in
91 is formed, and a hole 394 is formed in this through hole 391 in which a bottle 393 that appears and retracts by actuation of a solenoid 392 is engaged, and when the bottle 393 is removed from the hole 394, the floating plate 353 can move horizontally. Furthermore, bottle 393
As shown in FIG. 10, the small diameter portion of the lower end of the bottle is retracted only to the height where it is positioned above the hole 394. Therefore, the horizontal movement range of the floating plate 353 is such that the lower end of the bottle 393 is located above the hole 394. It is regulated by coming into contact with.

In other words, whenever the solenoid 392 is activated, the bottle 393
enters into the hole 394, and the floating plate 353 is fixed at its original position by the engagement of the pin 393 with the hole 394.

In addition, for assembly, the robot 400 attaches a head 402 to an arm 401 that moves three-dimensionally, and fixes brackets 403, 403 on the left and right sides of this head 402, and these brackets 403 have through-holes into which the positioning bins 383 are inserted. 404 is formed.

Further, the head 402 is provided with a cylinder unit 405, and the cylinder unit 405 moves a support plate 406 up and down.
7 is attached to the head 402, and an arm 408 that moves horizontally and an arm 4 that moves vertically 9 are attached to the head 402.
09° 409 is installed.A tactile sensor 410 is attached to the arm 408 to detect the position of the pillar and confirm the relative position of the robot 400 and the vehicle window frame in the direction of the inside of the vehicle.
A tactile sensor 411 is attached to 9 for detecting either the upper or lower flanges of the window frame and confirming the relative position of the robot 400 and the vehicle window frame in the vertical direction.

The process of assembling a window glass using the apparatus configured as described above and delivering it to a robot will be described below.

First, the main body 204 of the reversing device 200 moves eight times along the rail 201 so as to approach the downstream end of the conveying device 100.

At this time, the rotary actuator 205 is actuated to tilt the arm 207 toward the transport device 100, and the pad 210 is positioned above the front windshield W1.

Further, in parallel with the above, the front window glass W1 that has been transported to the downstream end of the transport device 100 is lifted by the rise of the pad 102.

Simultaneously with this operation, the cylinder unit 208 of the reversing device 200 operates, lowering the pad 210 and sucking the indoor side surface of the front windshield W1, and
Reversing device 200 for front windshield W1 from 00
receives it.

Next, the entire reversing device 200 is moved backward along the rail 201, and the rotary actuator 205 tilts the arm 207 toward the 9-mount device 300 side. Then,
The front window glass W1, which had been suction-held on the pad 210 of the reversing device 200, is placed on the support members 355, 356 and the suction pad 357 of the support mechanism 350 with the indoor side facing downward. At this time, the lock mechanism 39
0, the floating plate 353 provided with the support mechanism 350 is fixed to the base 301 side, and the suction pad 357 is not operating.

Thereafter, the suction state by the suction pad 2!0 of the reversing device 200 is released, and the first positioning mechanism 310 positions the front windshield W1 with respect to the base 301 or the support mechanism 350. Note that positioning is performed with the positioning bin 314 fixed at a predetermined position, and the positioning bins 318 and 329
This is done by pressing the side and rear ends of 1. Then, by being pressed by the positioning bins 318 and 329, the front windshield W1 is moved to the support members 355 and 35.
6 and the suction pad 357.

When the positioning of the windshield with respect to the support mechanism 350 or the base 301 is completed through the above operations, the front windshield W1 is sucked by the suction pad 357 and fixed to the support mechanism 350.

Thereafter, the floating plate 353 is unlocked by the lock mechanism 390, the support mechanism 350 holding the front windshield W1 can be moved horizontally, and the assembly robot 400 is lowered. In assembly, when the robot 400 descends, the positioning pin 383 of the second positioning mechanism 380 fits into the through hole 404 of the robot. Here, during assembly, even if there is a positional shift between the robot 400 and the support mechanism 350, the support mechanism 350
0 is the floating plate 35 that has released the locked state
3, the support mechanism 350 moves horizontally in accordance with the robot 400 during assembly, and the assembly is performed on the robot 400.
The position of the front windshield W1 is determined using this as a reference. This state is shown in FIG.

After that, the suction state by the suction pad 357 is released, and the front windshield W1 is suctioned by the suction pad 407 of the robot 400 for assembly.
Deliver the front windshield W1 to the 00 side. After receiving the front windshield W1, the robot 400 accurately detects the position of the window frame of the vehicle body using tactile sensors 410 and 411, and attaches the front windshield W1 to the window frame.

Incidentally, FIG. 12 is a plan view showing the positioning process for the rear window glass W2 that is performed subsequent to the above operation, and in this case, only the support member 356 and the suction pad receive the interior side surface of the rear window glass. That will happen.

(Effects of the Invention) As explained above, according to the present invention, a transfer device for positioning the window glass is provided between the conveyance device and the robot, and the assembly is performed with reference to the robot by this transfer device. Since the windshield is positioned and handed over, the windshield can be assembled accurately without any misalignment, the structure of the device itself is not complicated, and the front windshield and rear windshield are Wind glasses can be delivered at the same station, which is extremely advantageous in terms of workability and space.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a station for assembling a windshield using the transfer device according to the present invention, FIG. 2 is a plan view of the same transfer device, FIG. 3 is a plan view of the tip of the reversing device, and FIG. 4 is a side view of the tip of the reversing device, FIG. 5 is a plan view of the positioning mechanism in FIG. 1, FIG. 6 is a view taken in the direction of arrow A in FIG. 5, and FIG. 7 is a plan view of the support mechanism. Figure 8 is a view taken in the direction of arrow B in Figure 7;
Fig. 9 is a view taken in the direction of arrow C in Fig. 7, Fig. 10 is a sectional view of the locking mechanism, Fig. 11 is a perspective view of the assembly in which the windshield is delivered to the robot, and Fig. 12 is a rear window glass. FIG. 3 is a plan view of the support mechanism in a state in which the In addition, 100 in the drawing is a conveyance device, 102, 210° 357
．． 407 is a suction pad, 200 is a reversing device, 300 is a transfer device, 301 is a base, 310 is a first positioning mechanism,
314, 318, 329° 383 are positioning pins, 35
3 is a floating plate, 390 is a locking mechanism, 4
00 is assembled by a robot, and Wl and W2 are window glasses. Patent applicant: Agent for Honda Motor Co., Ltd.
Patent Attorney Part 2 1) Part 1 Patent Attorney
Kuni Ohashi Patent Attorney Small
Yama Yu Figure 2 Figure 3 Figure 4

Claims (2)

[Claims] (1) In a transfer device that receives transported window glass and delivers it to an assembly robot, this transfer device is equipped with a first positioning mechanism on the base for positioning the received window glass, and a support mechanism for supporting a floating member so as to be horizontally movable and fixable at its original position; a support mechanism for adsorbing and holding a window glass positioned on the floating member; and a second positioning mechanism for positioning the floating member and an assembly robot. A window glass transfer device characterized by being equipped with a mechanism. (2) A delivery device for inverting and delivering the window glass transfer device is interposed between the support mechanism and the conveyor, the window glass transfer device according to claim 1. Device.