JPH021546B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Field of Application) The present invention provides a method for attaching the peripheral surface of each type of window glass, which has different specifications depending on the vehicle, in accordance with the respective specifications, before assembling the window glass to the vehicle. The present invention relates to an automatic adhesive applicator for window glass that can automatically apply an adhesive.

(Prior art) In general, in order to automate the work of applying adhesive to the circumferential surfaces of various windshields, which have different specifications for each vehicle, it is necessary to Because it is necessary to operate an automatic coating device so that the adhesive can be applied at each step, managing the work has been extremely difficult. Also, to avoid accidentally applying adhesive to the window glass surface or damaging the window glass with the automatic applicator, be sure to maintain a specified distance from the circumference of the window glass. , it is necessary to ensure that the automatic applicator is precisely positioned on the circumference of the window glass. Further, structures conventionally provided as automatic coating devices employ a tracing mechanism such as a cam, which is complicated, difficult to adapt to various types of windows, and large in size, making them impractical.

On the other hand, as disclosed in Japanese Unexamined Patent Publication No. 54-37141, a system has been proposed in which an industrial robot is used to automatically apply the sealant.

(Problem to be solved by the invention) By the way, using the automatic coating device proposed above,
As mentioned above, various types of adhesives can be used without applying adhesive to the window glass surface or damaging the window glass. It is conceivable to be able to automatically apply a predetermined adhesive to the window glass.

In this case, the device with the nozzle that applies the adhesive is a robot, and this robot can basically apply the adhesive while moving the nozzle along the X-Y coordinate plane. The adhesive application surface of is curved, so in order to always maintain a constant relative relationship between the application surface and the nozzle tip, the position of the nozzle tip must be adjusted by moving in both the X and Y directions. In addition, it is necessary to adjust the vertical position to maintain the distance between the nozzle tip and the coating surface at a predetermined position, and the inclination angle to maintain the nozzle perpendicularly opposed to the window glass surface. For this reason, if you try to control the robot to adjust the position of the nozzle tip in all of the X, Y directions, up and down directions, and inclination, the control and movement will be extremely complicated and the tact will be slow. . In particular, window glass adhesive is not simply applied to the glass surface, but its application cross-section is approximately triangular, and the adhesive of this triangular cross-section is applied perpendicularly to the vehicle mounting surface. Fine adjustments must be made to apply the adhesive with the nozzle facing perpendicularly to the window glass surface, making control of the movement of the nozzle tip extremely complicated.

The present invention has been made in view of the above, and when applying adhesive to the circumferential surface of the window glass, the turntable device on which the window glass is placed is rotated around the center of the window glass. By making the nozzle move in the X direction and the Y direction, the nozzle on the industrial robot side can be fixed in the X and Y directions. , by eliminating position control in the Y direction, the burden on the robot for nozzle position control is reduced,
To enable adhesive to be applied to a window glass with high positional accuracy and to increase takt time of adhesive application work.

(Means for Solving the Problem) In order to achieve this object, the solution taken by the present invention is to store the mounting order of various window glasses with different specifications for each vehicle model and the work information for each window glass. a central information processing unit, and various window glasses are placed in the order in which the central information processing unit is placed; work information for each window glass is read out from the central information processing unit in the order in which they are placed;
It has a turntable device that operates based on the work information, and a nozzle that applies adhesive to the circumferential surface of the window glass rotating on the turntable device, and receives work information for each window glass from the central information processing device. An industrial robot is provided that reads the work information in accordance with the placement order and controls the operation of the nozzle based on the work information.

By causing the turntable device to perform rotational movement around the center of the window glass and linear movement in the X direction and the Y direction perpendicular to the X direction, the circumferential surface of the window glass is always The nozzle is configured to perform an irregular rotational movement so as to be located at a point below the fixed nozzle with respect to the direction and the Y direction. On the other hand, when applying adhesive, the nozzle of an industrial robot is moved vertically and linearly to maintain a predetermined distance between the nozzle tip and the window glass surface, and the nozzle is moved perpendicularly to the window glass surface. It is configured to perform only the tilt adjustment movement of the nozzle to maintain it.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 shows an automatic windshield adhesive applicator A according to an embodiment of the present invention, which automatically applies adhesive to the circumferential surface of a front windshield. Reference numeral 1 denotes a central information processing unit, and the central information processing unit 1 stores information on the transport order (i.e., (order of placement on the turntable device 2, which will be described later), and work information for each windshield glass necessary to apply adhesive to the circumferential surface of each of the various windshield glasses, such as the shape of the circumferential edge of the windshield glass, etc. It is stored in advance.

Reference numeral 2 denotes a turntable device, and the windshield glass transported by the window transport conveyor (not shown) is sequentially transferred to the turntable device 2 by an operator in the order in which it is transported. (that is, the placement order stored in the central information processing device 1).

As shown in detail in FIGS. 2 and 3, the turntable device 2 has a turntable 5 rotatably attached to the center of a turntable pedestal 3 via a bearing 4. A DC servo motor 7 is connected to the table 5 via a gear box 6 arranged below the table 5 for changing the rotation speed.
are connected to each other, and are configured to rotate the turntable 5 at, for example, three rotational speeds. Further, a window mounting jig 9 equipped with two suction cups 8, 8 is mounted on the upper part of the turntable 5, with its center part inserted and connected to a vacuum coupler 10 provided at the rotation center of the turntable 5. It is placed. A front window glass 11 from the window conveyor (not shown) is placed on the two suction cups 8, 8 of the window mounting jig 9. A vacuum pump (not shown) is connected to the window mounting jig 9 via the vacuum coupler 10, and the operation of the vacuum pump (not shown) moves the front window glass 11 into two suction cups. 8, 8, and in this state, as the turntable 5 rotates due to the operation of the servo motor 7, the front window glass 11
is configured to rotate around its central portion O.

Further, a slide base 12 is disposed below the turntable pedestal 3, and the slide base 12 is disposed below the turntable pedestal 3.
2, the turntable pedestal 3 is placed in the X direction (second
Two guide rails 13, 13 are provided to guide and support the slider 12 in a slidable manner (vertical direction in the figure). Further, in the center between both guide rails 13, 13, a threaded rod 14 extending in the X direction and having a threaded outer periphery is arranged with both ends rotatably supported by supporting members 15, 15. At one end, there is a DC servo motor 16 installed on the slide base 12.
are connected via a deceleration mechanism 16a, and the lower part of the turntable pedestal 3 is screwed onto the screw rod 14, and the X-direction screw rod 14 is rotated by the operation of the servo motor 16. The turntable pedestal 3 is screwed in the X direction, and thus the front window glass 11 is moved in the X direction.

A base 18 is disposed on the floor 17 below the slide base 12, and on the base 18, the slide base 12 is moved in the Y direction (horizontal direction in FIG. 2) orthogonal to the X direction. Two guide rails 19, 19 are arranged to slidably guide and support. Further, in the center between both guide rails 19, 19, a threaded rod 20 in the Y direction is connected to the support member 2 at both ends.
1, and a DC servo motor 22 provided on the base 18 at one end of the threaded rod 20.
are connected to each other via a deceleration mechanism 22a, and the lower part of the slide base 12 is screwed to the threaded rod 20. The Y-direction threaded rod 20 is rotated by the operation of the servo motor 22, and the slide base 12 is configured to be screwed in the Y direction, thereby moving the front window glass 11 in the Y direction. As described above, the front window glass 11 placed on the turntable 5 is moved in the X direction and the Y direction by the operation of the first and second servo motors 16 and 22.

Further, the central information processing device 1 is connected to the turntable device 2, and the work information for each front windshield is read out from the central information processing device 1 in accordance with the order of placement, and the work information for each front windshield is read out from the central information processing device 1. Based on the work information corresponding to 11, the turntable 5 is rotated and moved in the X direction and the Y direction, and the turntable 5 is rotated and moved in the X direction and the Y direction.
By performing a linear movement in the direction, the circumferential surface of the windshield is always fixed with respect to the X and Y directions, at a fixed point D shown in FIG.
to perform an irregular rotational movement such that it is located at
It is configured to drive and control the three servo motors 7, 16, and 22.

In addition, reference numeral 23 is an industrial robot, and the robot 23 has an arm 25 equipped with a swingable adhesive application nozzle 24 at its tip, and the nozzle 24 is attached to a certain portion of the front windshield 11. It is placed above point D. The industrial robot 23
reads the work information for each front windshield from the central information processing device 1 in accordance with the position order, and each time a front windshield 11 is placed on the turntable device 2, the work information corresponding to the front windshield 11 is read out from the central information processing device 1. According to the map information based on the work information, the front windshield 11
While the adhesive is being applied to the surface of the windshield, the nozzle 24 is operated in a vertical and linear motion that maintains a predetermined distance from the circumferential surface of the windshield 11, as shown in FIG. On the other hand, the nozzles are controlled so as to perform only an inclination adjustment movement that causes the nozzles to face each other at right angles.

In addition, 26, 26 is the front window glass 1
Turntable pedestal 3 so as to sandwich the outer periphery of 1.
is a positioning cylinder disposed on the upper outer periphery of the industrial robot 23, which is used to attach the front windshield 11 to a lower point (fixed point D) of the nozzle 24 of the industrial robot 23 when each type of front windshield 11 is placed. It is positioned so that the agent application start position is reached. Further, 27 is a lock release cylinder that releases the engagement between the vacuum coupler 10 and the window mounting jig 9 when the adhesive application work is completed to the mounted front windshield 11;
8 and 28 are vacuum surge tanks provided on the window mounting jig 9.

Next, the operation of the above embodiment will be explained.
The front window glass 11 that has been transported on a window transport conveyor (not shown) in accordance with the mounting order of the central information processing unit 1 is placed on the window mounting jig 9 of the turntable device 2 by an operator when the turn comes around. When the front window glass 11 is placed on the window mounting jig 9, the front window glass 11 is guided by the positioning cylinder 26 and positioned accurately, and then the suction cup 8,
8 and is fixed by suction.

Thereafter, the turntable device 2 operates the servo motors 7, 16 for rotation, X direction movement, and Y direction movement based on the work information sequentially read out from the central information processing device 1 according to the mounting order. 2
2 will be driven and controlled. As a result, the front windshield 11 placed above
, a predetermined rotational movement centering on the central portion O and a predetermined linear movement in the X direction and the Y direction are performed, and as a result, the front windshield 1
1, the central part O draws a semicircular trajectory as shown in FIG.
The nozzle 24 performs an irregular rotational movement such that it is located at the lower point (fixed point D).

At the same time, the industrial robot 23 controls the operation of the nozzle 24 in accordance with map information based on work information sequentially read out from the central information processing unit 1. As a result, the nozzle 24 performs a predetermined vertical linear movement and an inclination adjustment movement at a fixed point D, and the front windshield 11 which is making the above-mentioned irregular rotational movement.
The adhesive is applied to the peripheral surface located below the nozzle 24, with the nozzle facing perpendicularly to the glass surface while always maintaining a constant distance. As a result, when the front window glass 11 sequentially moves from A to E as shown in FIG. This means that the adhesive has been applied to the front window glass 11, and the work of applying the adhesive to the front window glass 11 is completed.

Thereafter, when the vacuum coupler 10 and the window mounting jig 9 are disengaged by the operation of the lock release cylinder 27, the worker holds the window mounting jig 9 and moves the front window glass 11 to the window assembly workshop. The work of transporting it to Then, each time a subsequent windshield 11 is placed on the turntable device 2, the same operation as described above is repeated, and the predetermined adhesive application work according to the specifications of each windshield 11 is automatically performed. It will be carried out accordingly.

In this case, the accuracy possessed by the industrial robot 23 allows the nozzle 24 to be positioned perpendicularly to the glass surface with a certain distance, so that the adhesive can be applied to the window glass surface. The adhesive can be applied to the glass circumferential surface in a uniform approximately triangular cross section without damaging the front window glass 11, and the adhesive application work can be performed automatically and accurately.

Further, the turntable device 2 has a function of performing linear movement in the X direction and the Y direction in addition to rotational movement, so that the nozzle 24 has the function of performing linear movement in the X direction and the Y direction, so that the peripheral surface of the front windshield 11 is always fixed in the X direction and the Y direction.
Since the nozzle 24 is made to perform an irregular rotational movement so as to be located at a lower point, the movement of the nozzle 24 of the industrial robot 23 is
This can be simplified by requiring only a vertical linear movement to keep the distance between the tip and the surface of the window glass 11 at a predetermined distance and an inclination adjustment movement to make the nozzle 24 face perpendicular to the window glass 11, and the burden on the robot 23 can be reduced. Adhesive application work can be performed in a short time, thereby increasing the efficiency and takt time of adhesive application work.

In the above embodiment, an automatic adhesive applicator for a front window glass was described, but it goes without saying that the present invention can be similarly applied to various other window glasses such as a rear window glass.

(Effects of the Invention) As explained above, according to the present invention, when an industrial robot automatically applies adhesive to various windshields with different specifications for each vehicle, turn The table device is rotated around the center of the window glass and linearly moved in the X and Y directions, and on the industrial robot side, the nozzle is moved in the X and Y directions. The nozzle can be fixed against the surface of the windshield, and only requires vertical movement to keep it at a constant interval with respect to the window glass coating surface, and tilt adjustment movement to oppose it at right angles, reducing the burden on the robot in controlling the position of the nozzle. On the other hand, the adhesive can be applied with a uniform approximately triangular cross section with high positional accuracy, and the takt time of the adhesive application work can be increased, greatly contributing to the automation and labor saving of the adhesive application work for window glass. It is something.

[Brief explanation of drawings]

The drawings illustrate embodiments of the present invention, in which Fig. 1 is a general plan view, Fig. 2 is a plan view of the turntable device, Fig. 3 is a longitudinal sectional front view thereof, and Fig. 4 is a diagram of the nozzle of an industrial robot. FIG. 5 is an explanatory diagram of the operation of the turntable device. 1... Central information processing unit, 2... Turntable device, 5... Turntable, 7, 16, 22
... Servo motor, 9 ... Window installation jig, 1
1...Front window glass, 12...Slide base, 14...X direction screw rod, 18...Base,
20...Y direction screw rod, 23...Industrial robot,
24...Nozzle.

Claims (1)

[Claims] 1. A central information processing unit in which the order of placing various windshields with different specifications for each vehicle model and work information for each windshield are stored, and a central information processing unit in which the various windshields are placed in the order of placement of the central information processing unit; The work information for each window glass is read out from the central information processing unit in accordance with the mounting order, and is bonded to a turntable device that operates based on the work information and to the peripheral surface of the window glass that rotates on the turntable device. It has a nozzle for applying the agent,
and an industrial robot that reads work information for each window glass from the central information processing unit in accordance with the order of placement and controls the operation of the nozzle based on the work information, the turntable device comprising:
By performing rotational movement around the center of the window glass and linear movement in the X direction and the Y direction perpendicular to the X direction, the peripheral surface of the window glass is always fixed in the X and Y directions. The nozzle of an industrial robot makes an irregular rotational movement so that it is located at the lower point of the nozzle.When applying adhesive, the nozzle of an industrial robot has a vertical movement that keeps the distance between the nozzle tip and the window glass surface at a predetermined distance. An automatic adhesive application device for a window glass, characterized in that it is configured to perform only a linear movement and an inclination adjustment movement of the nozzle to keep the nozzle perpendicularly opposed to the window glass surface.