JPH0367788A - Vehicle glass installation device - Google Patents

Abstract

PURPOSE:To conduct accurately installation of glass by means of a robot even if there is some divergence of a vehicle posture by detecting the mounted posture of the vehicle and controlling the positioning posture of a sheet of glass according to this detection outcome. CONSTITUTION:Respective X axis direction and Y axis direction position measuring instruments 50, 60 as posture detection means are respectively fitted to hands of a robot, and by this means, respective positions in an X axis direction and in a Y axis direction at a vehicle window frame on which glass is installed, are detected. And a computing part 70 computes the relative position of a detected position and a reference position according to data from respective position measuring instruments 50, 60, and at the same time, controls according to this operation outcome respectively 1st and 2nd respective actuators 31, 32 to change a glass clamping posture. At this time, the computing part 70 and respective actuators 31, 32 work in mutual co-operation to constitute a posture control means as a whole.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle glass mounting device that can adjust the mounting position of the glass according to the mounting position of the vehicle to which the glass is mounted.

(Prior Art) Glass is attached to a vehicle by a robot, and the glass to be attached is maintained in a predetermined posture by a positioning device.

This positioning device has a configuration as shown in FIG. A crank 10 having four arms is provided in the center of this positioning device, and this crank 10 is connected to a clamp cylinder 11 and a clamp cylinder 12. The clamp cylinders 11 and 12 operate simultaneously to extend and retract their rods. Therefore, when the clamp cylinders 11 and 12 are actuated to extend their rods, the crank 10 will rotate clockwise, whereas when the rods retract, the crank 10 will rotate counterclockwise. Also, each arm of the crank 10 has a rod 1.
3-16 are connected, and these rods 13-16 are also connected to clamping members 17-20. The clamp members 17 to 20 have cylindrical clamp rollers 21 to 2.
6 are provided respectively, and these clamp rollers 21 to 26
Clamp the edge of the glass by. Therefore, when the rod of the clamp cylinder 11.12 is extended, each clamp member 17-20 moves in the direction of the crank 10 and clamps the glass 35 in a predetermined position. on the other hand,
When the rod of the clamping cylinder 11 , 12 is retracted, each clamping member 17 - 20 will move in the opposite direction to unclamp the glass 35 . In the figure, placement parts 27 to 30 located between the crank 10 and each clamp member 17 to 20 are provided to temporarily place a glass 35 during unclamping. It is.

When installing the glass, first, the glass 35 is clamped by the positioning device configured as described above and set in a predetermined posture. Next, a vacuum pad 38A attached to the arm 37 of the robot shown in FIG.
After a predetermined portion of the clamped glass 35 is attracted by ~38D, the glass 35 is unclamped. Then, the glass 35 is transported by the arm 37 of the robot as shown in FIG.
(in the figure, the rear window frame).

(Problem to be Solved by the Invention) However, in such a conventional vehicle glass mounting device, the positioning of the glass by the positioning device is constant regardless of the mounting position of the vehicle. The robot that installs the glass also picks up a predetermined part of the glass regardless of the vehicle's mounting orientation, so the vehicle's mounting orientation that the glass should be mounted on falls within the preset orientation range. If the glass is misaligned significantly, it may not be possible to install the glass in the specified position.
There is a risk that the quality will be poor.

The present invention was made in view of the problems of the prior art, and it is possible to mount the glass in a predetermined position even if there is a slight deviation in the mounting posture of the vehicle to which the glass is to be installed. The purpose of the present invention is to provide a vehicle glass mounting device that can be installed on a vehicle.

(Means for Solving the Problems) To achieve the above object, the present invention includes a positioning means for positioning a glass to be attached to a vehicle in a predetermined attitude, and a positioning means for transporting the glass positioned by the positioning means to transport the glass to be attached to the vehicle. a mounting means for mounting the glass at a predetermined position; a posture detection means for detecting the mounting posture of the vehicle on which the glass is mounted; and a positioning means for positioning the glass based on the mounting posture of the vehicle detected by the posture detection means. and attitude control means for controlling the positioning attitude of the apparatus.

(Operation) In the present invention configured as described above, the mounting attitude of the vehicle is detected by the attitude detecting means, and the attitude controlling means instructs the positioning means to position the glass according to the detection result. Therefore, since the attitude of the glass clamped by the positioning means is adapted to the mounting attitude of the vehicle, the glass can be reliably attached to a predetermined position.

(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a block diagram of a control system of a positioning device constituting the vehicle glass mounting device of the present invention.

An X-axis position detector 50 and a Y-axis position detector 60 attached to the hand of the robot that attaches the glass.
constitutes an attitude detection means, and both position detectors 50.6
0 outputs data for calculating the relative position of the window frame of the vehicle to which the glass is installed with respect to the reference position in the X and Y axis directions. The calculation unit 70 operates on both position detectors 50 and 60.
The relative position between the preset reference position and the actually measured position is calculated based on the data from .

Based on the result of the calculation of the relative position, the calculation unit 70
The above-described positioning device operates the first actuator 31 and the second actuator 32 that change the clamping posture of the glass so that the glass is accurately transported to the position of the window frame of the vehicle when the glass is mounted by the robot. Adjust the placement position of the glass. Note that the calculation unit 70.
The first actuator 31 and the second actuator 32 constitute posture control means.

FIG. 2 shows a state in which the position of a window frame of a vehicle is being measured.

As shown in the figure, the arm 37 of the robot is equipped with an X-axis position detector 50, a Y-axis position detector 60, and vacuum pads 38A to 38D as attachment means for sucking the glass 35. When measuring the position of the window frame of the vehicle 40, as shown in the figure, the X-axis direction position detector 50 is brought into contact with the side edge of the window frame, and the Y-axis direction position detector 50 is brought into contact with the upper end of the window frame. The arm 37 of the robot is moved to a position where the detectors abut, and once this position is determined, the position of the window frame is measured by the respective detectors 50, 60. The results of this measurement are output to the calculation unit 70 shown in FIG. The relative error is calculated. This reference position is equivalent to a standard posture of the vehicle 40 that is set in advance, and more specifically, when a robot that has been taught in advance attaches glass that is clamped in a standard posture by a positioning device. In other words, it refers to the position of the window frame that can be attached to the normal position of the robot and vehicle without making any positional corrections, that is, the posture of the vehicle.

FIG. 3 is a configuration diagram of a positioning device that constitutes the vehicle glass mounting device of the present invention. In this figure, members common to those in FIG. 6 are given the same reference numerals.

This positioning device functions as a positioning means. The configuration is almost the same as the conventional positioning device shown in Fig. 6, except that the clamping positions of two of the four clamping members can be changed. They are different.

The specific configuration is as follows.

A crank 10 having four arms is provided in the center of the positioning device, and this crank 10 is connected to a clamp cylinder 11 and a clamp cylinder 12. The clamp cylinders 11 and 12 operate simultaneously to extend and retract their rods. Therefore, when the clamp cylinders 11 and 12 are operated and their rods are extended, the crank 10 will rotate clockwise, whereas when the rods are retracted, the crank 10 will be rotated counterclockwise. . Further, rods 13 and 14 are connected to two arms of the crank 10, and multi-point positioning cylinders 31 and 32 as first and second actuators are connected to the other two arms. These multi-point positioning cylinders 3
1.32 is a cylinder that has the function of freely setting the distance from the arm of the crank 10 to the clamp member 20 or 19 by adjusting the length of the rods 31A and 32A. The distance, in other words the length of the rod, is adjusted based on the signal from the calculation section 70 shown in FIG. Further, these rods 13 and 14 and multi-point positioning cylinders 31 and 32 are connected to clamp members 17 to 2.
Connected to 0. The clamp members 17 to 20 are provided with clamp rollers 21 to 26, respectively, which are shaped like both sides, and the ends of the glass are clamped by the clamp rollers 21 to 26. Therefore, the clamp cylinder 11.
When the 12 rods are extended, each of the clamp members 17 to 20 moves in the direction of the crank lO, thereby clamping the glass 35 in a predetermined posture.

On the other hand, when the rods of clamp cylinders 11 and 12 are retracted,
Each of the clamp members 17 to 20 moves in the opposite direction to unclamp the glass 35. Further, the attitude of the glass during this clamping is determined according to the degree of change in the lengths of the rods 31A and 32A of the multi-point positioning cylinders 31 and 32, respectively. Furthermore, crank 10
The mounting portions 27 to 30 provided between the clamp members 17 to 20 are designed to hold the glass 3 during unclamping.
5 is provided for temporarily placing it there.

The vehicle glass mounting device of the present invention partially constructed as described above operates as follows to mount the glass on the window frame of the vehicle without error.

First, when the vehicle 40 is transported, a robot serving as a mounting means (not shown) moves the arm 37 so that the X-axis direction position detector 50 is placed at the position shown in FIG. The Y-axis direction position detector 60 is set at a position where the Y-axis direction position detector 60 contacts the upper end of the window frame. When the position of the window frame is measured at this position by the X-axis position detector 50 and the Y-axis position detector 60, the calculation unit 70
calculates the relative error with respect to the reference position of the window frame based on the 7Ill determination result, and further calculates the lengths of the rods 31A and 32A of the multi-point positioning cylinders 31 and 32 so that the relative error becomes 0. Adjust the brightness.

After this adjustment, when the glass 35 is clamped, the posture of the clamped glass 35 will be such that it matches the position of the window frame when installed.

Next, this glass 35 is sucked by vacuum pads 38A to 38D attached to the arm 37 of the robot, the glass 35 is unclamped, and the glass 35 is transported by the robot to a mounting position on the vehicle. This glass 35 is then attached to the window frame of the vehicle.

In other words, as shown in FIG.
0 and the position of the window frame measured by the Y-axis direction position detector 60 with respect to the reference position (this error is caused by the vehicle transport vehicle and the vehicle mounted on the transport vehicle). (This is determined by the placement accuracy, and it is technically very difficult to reduce the error to 0). It is necessary to To reduce this error to O, either change the attitude of the vehicle 40 so that the window frame is at the reference position, or have the robot that installs the glass perform coordinate transformation to adjust the attitude of the glass to the vehicle 40. The only way to do this is to match the orientation of the glass, or to change the transport orientation of the glass in the robot, but the present invention uses the last method.

In other words, when the actual position of the window frame is at the position indicated by the dotted line as shown in FIG. are being adjusted. Note that 38A° to 38D in FIG.

The parts marked with are vacuum pads 38A to 38.
D indicates the portion to be attracted, and the positional relationship between this attraction position and the reference position is always constant regardless of the attraction posture of the glass 35.

In the above embodiment, a horizontal multi-point positioning cylinder was used to adjust the attitude of the glass 35 during clamping, but it is possible to use a conventional positioning device without using such a cylinder. Instead of the attached fixed clamp roller, a ramp member as shown in FIG. 4, in which a conical clamp roller 46 is attached to a cylinder 45, may be used. In this case, it goes without saying that the length of the rod 47 of the cylinder 45 is adjusted in accordance with the measured position of the window frame to change the posture of the glass 35 when it is clamped.

Moreover, it goes without saying that this clamp member must be used at least two places.

(Effects of the Invention) As described above, according to the present invention, the error from the reference position that occurs when installing the glass to the window frame of a vehicle can be absorbed by changing the mounting posture of the glass. This makes it possible to effectively use a conventionally used robot that does not have a coordinate transformation function.

Moreover, the cost of capital investment can be kept to a minimum.

[Brief explanation of drawings]

FIG. 1 is a block diagram of the control system of the positioning device that constitutes the vehicle glass mounting device of the present invention, FIG. 2 is a diagram showing the state in which the position of the window frame of the vehicle is being measured, and FIG. , a configuration diagram of a positioning device constituting the vehicle glass mounting device of the present invention, FIG. 4 is a diagram showing another embodiment of the positioning device, and FIG. 5 is an operation explanation of the vehicle glass mounting device of the present invention FIG. 6 is a block diagram of a positioning device constituting a conventional vehicle glass mounting device, and FIG. 7 is an explanatory diagram of a glass mounting state. 17-20... Clamp part (positioning means), 31
...Multi-point positioning actuator, first actuator (attitude control means), 32...Multi-point positioning actuator, second actuator (attitude control means), 37...Arm (attachment means), 38A to 38D...・Vacuum pad (attachment means) 5
0...X-axis direction position detection device (posture detection means), 60
... Y-axis direction position detection device (posture detection means), 70.
...Arithmetic unit (attitude control means).

Claims (1)

[Scope of Claims] Positioning means for positioning a glass to be attached to a vehicle in a predetermined attitude; mounting means for transporting the glass positioned by the positioning means and mounting it at a predetermined position on the vehicle; and an attitude control means for controlling the positioning attitude of the glass by the positioning means based on the mounting attitude of the vehicle detected by the attitude detection means. Characteristics of vehicle glass installation equipment.