JPH0415155B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is applicable to vehicle applications in which, for example, when performing a predetermined work on a vehicle window glass such as an automobile, the window glass is positioned in a predetermined state as a pre-process. This invention relates to a window glass positioning device.

(Prior Art) Conventionally, as an example of such a positioning device,
For example, as disclosed in Japanese Unexamined Patent Publication No. 59-96072, an automobile window glass is shuttled to a predetermined work station, transferred to a fixed lifter installed at this work station, positioned, and then used for subsequent work. There are already known systems in which the window glass is subjected to primer treatment, adhesive application, etc. based on work data previously set by a robot, on the premise that it will be assembled to an automobile body.

However, in the conventional positioning device described above, the work station itself performs both the positioning of the window glass and the application of primer or adhesive to the outer periphery of the window glass, so the positioning work of the window glass is performed. During this time, the work robot must be kept on standby and the work stopped after adhesive application, etc., and the work cycle time cannot be prevented from increasing accordingly.

Therefore, the window glass is placed on a predetermined mounting table and transported (for example, by shuttle transport), and the positioning position of the window glass and the working position are separated in distance and time in the transport direction. , the positioning is carried out in advance on the above-mentioned mounting table by a predetermined positioning drive mechanism, and then the positioning is carried out to the above-mentioned work position while being placed on the above-mentioned mounting table, while the above-mentioned positioning is carried out using a visual sensor. By detecting the actual positioning state (positioning accuracy) at the position and operating the post-work robot etc. in accordance with the actual positioning state based on the detected value, the cycle time of the above work can be reduced. The applicant has proposed a vehicle window glass positioning device that can perform accurate post-work by absorbing and correcting positioning errors as well as shortening the time required (Japanese Patent Application No. 1986-
245976).

(Problems to be Solved by the Invention) However, when a visual sensor is used to detect the actual positioning state of the vehicle window glass as in the latter invention, the following problems occur.

That is, since the visual sensor is electrically highly precise and also has an optical system, it is relatively easy to be damaged and cause failures depending on the working environment. If the visual sensor fails, accurate post-work cannot be performed in accordance with the actual positioning state, and the entire work line thereafter must be stopped and inspected. Therefore, it is conceivable to superimpose the visual sensor in order to back up the visual sensor, but since the visual sensor itself is quite expensive, there is a drawback that the device becomes even more expensive.

(Means for Solving the Problems) The present invention was made for the purpose of solving the above problems, and includes a mounting table on which a vehicle window glass is placed in a flat state, and a A positioning drive mechanism that moves the window glass placed on the mounting table closer to the width within a plane on the mounting table, detects the positional accuracy of the window glass positioned by this positioning drive mechanism, and sends the detected value to the post-work unit. A visual sensor outputs as a source of operation information to the positioning drive mechanism, and detects the amount of mechanical displacement of the movable part of the positioning drive mechanism, and uses the detected value in a predetermined case such as when the visual sensor is out of order. It is equipped with a displacement sensor that outputs the output as a source of operation information to the post-work unit in place of the output.

(Function) According to the above means, when the visual sensor fails, the actual movable part of the positioning drive mechanism that actually positions and drives the window glass on the mounting table is used instead of the detection output of the visual sensor. The amount of displacement is detected by the displacement sensor, and the detected value is supplied as an alternative source of operation information to the post-work unit.

Therefore, even if the visual sensor fails, the actual positioning state of the window glass can be determined based on the detection output of the displacement sensor, and the post-work unit can be operated normally to perform additional work. In addition, since the above-mentioned displacement sensor detects the amount of displacement of the movable part of the positioning drive mechanism that originally exists, the cost is much lower than when backing up the visual sensor with a double configuration. Become.

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

First, FIGS. 1 and 2 show the overall configuration of a positioning device according to an embodiment of the present invention for positioning and transporting an automobile window glass (hereinafter simply referred to as a window glass) A in order to apply a primer to its outer periphery. 1 is a carry-in conveyor, 2 is a carry-out conveyor 2, and 3 is a shuttle conveyance device installed between the two conveyors 1 and 2. On the side of the downstream end of the carry-in conveyor 1, there is a carry-in conveyor 1. A first transfer device 4 for transferring the window glass A carried in by the above to the shuttle conveyance device 3, and a first transfer device 4 for transferring the window glass A carried by the above-mentioned shuttle conveyance device 3 onto the above-mentioned carry-out conveyor 2. A second transfer device 5 is installed respectively.

As shown in FIGS. 3 and 4, the first transfer device 4 includes a pair of supports 6, 6, and
The support frame 8 is formed in a gate shape with a connecting member 7 bridging the upper end thereof, and the connecting member 7 of the support frame 8 has a generally horizontally L-shaped arm member 11 with its tip end. The arm member 11 extends horizontally and is supported in a cantilevered manner so as to be able to slide between the upper downstream end of the carry-in conveyor 1 and the upper upstream end of the shuttle conveyance device 3, and the base end of the arm member 11 is connected to the connecting member 7. The arm member 11 is attached to a sliding member 10 fitted onto a screw shaft 9 extending in the longitudinal direction, and is moved along the screw shaft 9 from the downstream end of the conveyor 1 to the upstream side of the shuttle conveyor 3 by drive control of a motor (not shown). It is designed to move toward the edge or vice versa. Further, a fluid pressure cylinder 12 having a piston rod 12a extending downward is provided at the tip of the arm member 11, and a bracket 13 which is approximately H-shaped when viewed from above is rotatably supported at the lower end (tip) of the piston rod 12a. has been done. At the projecting ends of this bracket 13, there are rods 15, 15, . Each suction pad 14 is suspended and supported in a state where it is constantly urged downward.
is connected to a vacuum pump (not shown), and by controlling the operation of the vacuum pump, the window glass A
is designed to be held by suction from above.
Further, a swing cylinder 17 having a horizontally extending piston rod 17a is attached to the lower surface of the arm member 11 via a bracket 16, and the tip of the piston rod 17a is connected to the rotating shaft of the bracket 16 via a link (not shown). The suction pads 14 are connected to each other around the rotation axis by the expansion and contraction operation of the swing cylinder 17.
It is configured to rotate by 90 degrees and to move up and down by the expansion and contraction operation of the fluid pressure cylinder 12.

On the other hand, the second transfer device 5 is constructed with the same mechanism as the first transfer device 4, and the same parts shown in the drawings are denoted by the same reference numerals and their structure and structure are indicated. A detailed explanation of the operation will be omitted.

Further, as shown in FIGS. 5 to 7, the shuttle conveyance device 3 includes a conveyor 1 installed to bridge the carry-in conveyor 1 and the carry-out conveyor 2.
The guide rail member 18 is provided with a guide rail member 18 of a strip type, and the guide rail member 18 is located near the upstream end (near the loading conveyor 1).
A first arm 20 whose upper end is pivotally attached via a shaft 19 to the downstream end (near the carry-out conveyor 2), and a second arm whose upper end is pivotably pivoted via a shaft 21 to the downstream end (near the carry-out conveyor 2). It is supported horizontally by two arms 22 at a predetermined height from the floor.

The first arm 20 is bent into a substantially dogleg shape, and the bent portion is connected to a pair of support plate members 2.
3 and 23 so as to be rotatable around a horizontal support shaft 24, and their lower ends are pivotally connected to a connector 25 via a shaft 26 so as to be swingable. One end of the connector 25 is connected to the tip of a piston rod 27a of a horizontally extending hydraulic cylinder 27. Further, another fluid pressure cylinder 28 is disposed opposite the fluid pressure cylinder 27 so as to be able to press the other end of the connector 25 with its horizontally extending piston rod 28a. Then, the first arm 20 is rotated around the support shaft 24 by the expansion and contraction operations of both the fluid pressure cylinders 27 and 28, and the guide rail member 18 is placed at the upper height position when the window glass A is transported, which will be described later. The height is adjusted in three levels up and down: the middle height position during coating work and delivery of the window glass A, and the lower height position during the retreat operation by shuttle transport and positioning of the window glass A. On the other hand, the second arm 22 has its lower end pivotally attached to a pair of support plate members 29, 29 so as to be able to swing freely around a horizontal axis 30, so as to move in conjunction with the swinging movement of the first arm 20. being done.

Furthermore, as shown in FIG. 5, the guide rail member 18 includes a first
A pair of second front and rear transport tables 31 and 32 are connected to each other via a connecting plate 33 and mounted on the conveyor table. Further, a screw shaft 34 is provided below the guide rail member 18 and extends horizontally along its longitudinal direction.
A drive shaft of a motor 35 is connected to one end of the motor. Further, a sliding member 36 is fitted onto the screw shaft 34, and an engaging pin 37 is provided on the sliding member 36 to protrude in the horizontal direction. The engagement groove 38a of the engagement plate member 38 extending downward from the connection plate 33 connecting the bases 31 and 32 is engaged, and the screw shaft 34 is rotated by the operation control of the motor 35, and the sliding member 36 and First and second conveyance tables 31 and 32, which are integral with the guide rail member 18, are shuttle conveyed along the longitudinal direction of the guide rail member 18.

As shown in FIGS. 6 to 9, buffer support members 39, 39 made of an elastic material such as rubber are fixed to the four corners of the upper surfaces of both the transport platforms 31 and 32, and Nearby there are suction pads 40, 40 that suction and hold the window glass A on its back surface.
...is placed. Each of these suction pads 40,
40... on the first conveyance table 31 (the details on the second conveyance table 32 will be omitted).
As shown in enlarged detail in the figure, the rod 41 is fixedly attached to the upper end of the first conveyor table 3.
It is fitted and supported by a cylindrical body 43 facing cutouts 42, 42, . . . formed near the four corners of 1. The cylindrical body 43 is attached to the first carrier 31 via a bracket 44, and a fluid pressure cylinder 45 having a piston rod 45a extending downward is attached to the bracket 44. The tip is the connecting member 4
6 to the lower end of the rod 41, and the suction pad 40 is moved up and down by the expansion and contraction operation of the hydraulic cylinder 45. A coil spring 47 is compressed around the lower half of the rod 41, and the spring force of this spring 47 causes the fluid pressure cylinder 4 to
This prevents the suction pad 40 from moving upward rapidly during the contraction operation. Further, each of the suction pads 40 is connected to a vacuum pump (not shown), and the operation of the vacuum pump causes the window glass A to
It is designed so that it can be held by suction from below. These components constitute a suction and conveyance means that suctions and holds the window glass A and conveys it.

A positioning station 48 for positioning the window glass A is provided on the upstream side of the shuttle conveyance device 3, and an unloading station 49 is provided on the downstream side.
However, a work station 50 for applying a primer to the outer periphery of the window glass A is further installed between the stations 48 and 49, respectively. The intervals between these stations 48, 49, and 50 are set at equal intervals, and when the first conveyance table 31 of the suction conveyance means is located at the positioning station 48, the second conveyance table 32 is positioned at the work station 50. However, when the first conveyance table 31 is located at the work station 50, the second conveyance table 32 is located at the unloading station 49.
It has been decided that it will be located in

In the positioning station 48, as shown in FIG.
As shown in FIGS. 2 and 9, the first conveyance table 31 of the positioning station 48 is carried in by the carry-in conveyor 1 and transferred by the first transfer device 4.
First to fifth positioning devices 51 to 55 are installed as positioning means for positioning the window glass A transferred thereon. 1st above
The positioning device 51 includes an arm member 57 that is attached to a column 56 so as to be movable up and down by an operation mechanism (not shown) and extends horizontally at the center of the positioning station 48. Three rods 58-6 as shown
A guide plate member 61 is fixedly provided through the guide plate member 61.
Inside this guide plate member 61, there are sliding rods 64, 65 which are slidably inserted into two upper and lower sliding holes 62, 62 extending in the horizontal direction, and a rod between the two sliding rod members 64, 65. A large gear 63 is provided which is rotatably supported by a shaft and meshes with rack parts 64a and 65a formed at the longitudinally intermediate portions of each of the sliding rods 64 and 65 through toothed parts 63a. Both the sliding rod members 64, 6 are rotated in forward and reverse directions.
5 are slid in opposite directions. Moreover, rollers 67, 67 are connected to vertical support shafts 68, 68 via brackets 66, 66, respectively, at one end of the sliding rod members 64, 65.
It is rotatably supported around it. Each of the sliding rod members 64 and 65 has a bracket 6 fixed to the other sliding rod member 64 and 65, respectively.
It is loosely fitted into the holes 66a of 6 and 66.

Furthermore, the tip of a piston rod 69a of a horizontally extending fluid pressure cylinder 69 installed on the guide plate member 61 is fixed to one bracket 66 (on the left side in FIG. 10). By rotating the large gear 63, the rollers 67, 67 are brought into contact and separated, and the cylinder 69
When the fluid pressure cylinder 69 is contracted, the large gear 63 is rotated clockwise to move the rollers 67 away from each other.
7 and 67 are simultaneously moved toward each other as shown by imaginary lines, thereby positioning the window glass A in the lateral direction. Note that the large gear 63 has a small diameter gear 70.
When the rollers 67, 67 contact the outer periphery of the window glass A, the contact displacement distance is measured by a pulse encoder (rotary pulse encoder) 86 attached to the small gear 70...
The actual length ₁ of the window glass A in the width direction is measured (calculated from each moving distance of both ends). At this time, the fluid pressure cylinder 69 does not operate.

On the other hand, the second to fifth positioning devices 52 to
Of the 55, as shown in FIG. 9, the second and third positioning devices 52 and 52 are respectively disposed on one side (lower side in the figure) of the guide rail member 18, and are located on the side of the window glass A. On the other hand, the fourth and fifth positioning devices 54 and 55 are placed on the other side (upper side in the figure) of the guide rail member 18, respectively. It serves to position the window glass A, which has been arranged and adjusted to the positioning reference position by the second and third positioning devices 52 and 53, on the first conveyance table 31, and by their cooperation, the window glass A is positioned in the vertical direction.

The second positioning device 52 and the third positioning device 53
are both formed in the same structure, and both the fourth positioning device 54 and the fifth positioning device 55 are also formed in the same structure, so here, only one of the second and fourth positioning devices 52 and 54 will be explained. In this case, the other third and fifth positioning devices 53,
55, the same parts are given the same reference numerals and detailed explanation thereof will be omitted.

That is, the second positioning device 52 includes a sliding bar 73 that is horizontally provided on the fixed table 71 of the positioning station 48 by supporting members 72, 72 in a direction orthogonal to the guide rail member 18.
and a rodless cylinder 74 that moves on the sliding bar 73, and the rodless cylinder 74 has a positioning member 7 that pivotally supports a roller 75.
6 is fixedly installed, and this positioning member 76 moves on the fixed table 71 while being guided by the guide rail 77 by the operation of the rodless cylinder 74, thereby moving the roller 75 to the first conveyance table 3.
It is made to move in the direction toward and away from the outer periphery of the window glass A on the window glass A. Also,
Fixed table 7 on the outside of the positioning member 76
1, there are first and second position sensors 78 and 79, respectively.
are mounted facing each other via mounting members 80, 80, and when the protruding piece 81 of the positioning member 76 comes into contact with the first position sensor 78 during the forward movement of the rodless cylinder 74, the rodless cylinder 74 moves forward. The operation is stopped and the roller 75 is moved to the reference position for positioning the windshield A. On the other hand, when the protruding piece 81 comes into contact with the second sensor 79 during the backward movement, the backward movement of the rodless cylinder 74 is stopped and the roller 75 is moved to the reference position for positioning the windshield A. 75 to the standby position.

Further, like the second positioning device 52, the fourth positioning device 54 is configured to move the roller 75 forward or backward by the operation of a rodless cylinder 74 (the second positioning device 52
Components that are the same as those are indicated by the same reference numerals). Further, a third position sensor 82 is attached to a fixed table 84 behind the roller 75 via a mounting member 83, and the positioning member 76 of the roller 75 is moved to the third position by the backward movement of the rodless cylinder 74. The backward movement of the rodless cylinder 74 that contacts the sensor 82 is stopped, and the roller 75 is moved to the standby position. Further, the positioning member 7 of the fourth positioning device 54
6 is attached with a rack 85, and on the other hand, a pinion 86 that meshes with the rack 85 is rotatably supported on the fixed table 84, and the rollers (reference side) 75a, 75a are connected to the rodless cylinder 74. Upon operation, the rollers first move forward and come into contact with the longitudinal outer periphery of the window glass A, and then the rollers (on the anti-reference side) 75b, 75b similarly move forward and come into contact with the outer periphery of the window glass A on the opposite side. And these anti-reference side rollers 75b, 75b
The displacement distance due to the final contact of the small diameter gear 7
0 and measures the length ₂ (FIG. 9) of the window glass A in the vertical direction. And with ₁ above
The type and shape of the window glass A are determined from both measurement values in _{step 2} .

Next, from this state, the second and third positioners 52 and 53 on the longitudinal side of the window glass A move forward to move the window glass A positioned as described above by the suction pad 40 to the position. Fix by suction. After this fixation is completed, each of the rollers 75a, 75a, 75b, and 75b retreats to prepare for the next operation.

Further, on the side of the positioning station 48, the positions of the window glass A positioned by the first to fifth positioning devices 51 to 55 (specifically, the positions and heights of the four corners of the window glass A) are displayed. ) four visual sensors 87, 87, . . . consisting of image sensors serving as position detection means for detecting
... are arranged respectively, and the actual position of the window glass A after the positioning detected by these visual sensors 87, 87... is transmitted to the control unit 200, and the control signal output from this is sent to the work station 50. The signal is outputted as a correction signal to a multi-joint working robot 88 which is provided as a rear working means.

In other words, the window glass A that has been positioned above is actually subject to various circumstances (including manufacturing errors).
Errors occur due to this, and it is impossible to always position the target set position. From this point of view, the visual sensors 87, 87... perform image processing on the position and height of each corner of the once positioned window glass A, and then
Convert and display values in the Y plane coordinate system, compare the values with preset data on a map, calculate the amount of error, and perform the multi-joint work with multiple correction patterns according to the calculated values. A predetermined correction signal is applied to the controller-side work pattern of the robot 88. As a result, the multi-joint work robot 88 performs appropriate work corresponding to the actual positioning state.

On the other hand, a visual sensor 87 that performs such correction,
87... itself may exhibit an abnormal state due to some reason such as a failure, and this abnormal state may occur, for example, when the positioning rollers 75a, 75a, 75b, 7
The determination can be made based on the relationship with the actual movement amount of 5b (of course, a self-diagnosis function can also be provided by comparison with a certain reference value). Therefore, in this embodiment, when the visual sensors 87, 87... become abnormal, the positioning rollers 75a, 75
A backup function for position correction is also provided in place of the outputs of the visual sensors 87, 87, .

FIG. 13 shows the electrical system configuration of the position correction control device configured in this manner.

First, reference numerals 87, 87, .
The above-mentioned visual sensor (image sensor) is positioned facing the point d), and this visual sensor 87, 87...
Each of the above points a of the window glass A in the state shown in Figure 4
An analog signal corresponding to the images of ~d is output for each frame. This output signal is then amplified to a predetermined level by an analog amplifier 100 having a filter function, and then input to a clamp circuit 101 to reproduce its DC component.
The signal is input to the D converter 102. A/D converter 10
2 converts the output of the clamp circuit 101 into a digital signal for each frame corresponding to the points a to d suitable for image processing by sampling and quantizing the output according to a certain degree of gradation. , the converted digital signals for each frame are sequentially written into the image memory 103 at the next stage. The image memory 103 includes a main memory 104,
Sub memory 105 and interface circuit 1
The digital signal once stored in the image memory 103 is connected to a control unit 200 constituted by a CPU 110 equipped with _a CPU ₁₁₀ having a CPU 110 equipped with a CPU 110. The data is further input to the main memory 104 of the control unit 200 via the data bus _B2 and stored therein. The digital signals stored in the main memory 104 are sequentially read out by the control operation of the CPU 110, and the digital signals a to
First, a comparison calculation circuit 107 is used together with a glass position reference signal set in advance corresponding to each point of d.
are input respectively.

In the comparison calculation circuit 107, the sub-memory 10
These reference position signals Sa to Sd and the visual sensors 87, 87 are based on the reference position signals Sa to Sd corresponding to the reference positions (target positions) of each of the a to d of the window glass A read from 5. The detected position signals Sa' to Sd' corresponding to the actual reference points a to d detected in . In this case, the reference position and the actual detected position are compared by sequentially reading the stored data from point a to point d, for example. Therefore, each of the memories described above can be constructed easily and inexpensively by using a shift register and combining it with a ring counter.

The deviation value output signal of the comparison calculation circuit 107 is input as a work data correction signal to a control circuit 120 of the work robot 88, which will be described below.

After being positioned at the positioning station 48, the work robot 88 moves onto the first transport platform 31.
A primer for applying an adhesive is applied to the outer periphery of the window glass A which has been shuttled to the work station 50 on the side of the work robot 88. The regular work position data of the glass A at the work station 50 is stored in correspondence with the target position for positioning, and the coating work is performed on the window glass A based on this regular work position data. There is. Then, prior to this coating operation, the control circuit 120 performs each visual sensor 8 as described above.
The regular working position data is corrected by the working position data correction signal based on the actual positioning signal at the positioning station 48 of the windshield A inputted from 7, 87, . . . respectively, and then final positioning data is obtained. The work robot 88 is determined based on this final positioning data.
to perform appropriate work. This corrected regular work position data is input to the drive unit of the work robot 88 before the positioned window glass A is shuttled to the work station 50.

On the other hand, reference numerals 86, 86, . . . are the rotary pulse encoders already mentioned, and these rotary pulse encoders 86, 86, .
The visual sensors 87, 87... detect the actual mechanical movement amount (displacement amount) of the window glass A, 75a in the form of a pulse signal, and determine the actual positioning state of the window glass A from the detected value during width closing. This is for separate detection.

This rotary pulse encoder 86, 86...
The output is first counted by a pulse counter 121 and converted into a signal corresponding to the actual movement amount of the positioning rollers 75a, 75a. The output of this counter 121 is once stored in the buffer memory 1.
22 and then input to the main memory 104 of the control unit 200 via the address bus _B3 and data bus _B4 . Detection of the positioning state by the rotary pulse encoders 86, 86, . . . is performed by the control unit 200, for example, by the visual sensors 87, 8.
The above-mentioned visual sensors 87, 87... are used to correct the work position data of the work robot 88 in place of the detection signals of the visual sensors 87, 87... used in the same way as the signal.

Therefore, in the case of this embodiment, if the visual sensor 8
Even if 7, 87, . . . breaks down, additional work can be appropriately performed without stopping the post-work system.

Note that the reference positions of each of the reference points a to d in the above are selected based on, for example, standard values (size, shape, thickness, etc.) and the type and shape of the window glass A (this is determined at the time of positioning as described above). )
automatically read out and applied accordingly. Therefore, the work position data is corrected using each of the position detection signals in a plurality of patterns depending on the type and shape of the window glass A.

Next, on the work station 50, as shown in FIG. 9, a plurality of suction pads 89, 89, .
Transport platform 31) is attached to fixed tables 93, 94 on the sides. Each suction pad 89 has an 11th
The cylinder 90 is shown in enlarged detail in FIG.
The cylindrical body 90 is attached to the fixed tables 93 and 94 via a bracket 92 so that the suction pad 89 projects above the fixed tables 93 and 94. There is. Further, a fluid pressure cylinder 95 having a piston rod 95a extending downward is attached between the two cylindrical bodies 90, 90 of the bracket 92.
a connects each of the above rods 91, 9 via a connecting member 96.
1 and is connected to the lower end of the hydraulic cylinder 95
The two suction pads 89, 89 are moved up and down by the expansion and contraction operation of the suction pads 89, 89. When each of the suction pads 89 rises due to the contraction operation of each fluid pressure cylinder 95, the window glass A is suctioned and held on the first conveyance table 31 on which the coating work has been completed by the robot 88 at the work station 50, and is moved upward. While lifting each hydraulic cylinder 95
When the suction pads 89 are lowered by the extension operation, the suction action of each suction pad 89 is released to transfer the suction-held window glass A onto the second conveyance table 32. The suction pad 89 is also connected to a vacuum pump (not shown), and is configured to suction and hold the window glass A from below by controlling the operation of the vacuum pump. Further, a coil spring 97 is fitted in the lower half of each of the rods 91, 91 to prevent the suction pad 89 from rapidly moving upward when the fluid pressure cylinder 95 is contracted. moreover,
98 is a sensor for setting the lowering position of the suction pad 89.

Next, the operation of the positioning device will be explained.

First, the empty first conveyance table 31 is placed on the positioning station 48, and the second conveyance table 3 on which the window glass A after positioning is placed is placed on the work station 50.
2 are respectively located, and the guide rail member 18 is assumed to be located at the middle position. Then, when the window glass A is conveyed to the downstream end of the carry-in conveyor 1, the first transfer device 4
Each of the suction pads 14 is lowered by the extension operation of the fluid pressure cylinder 12 and suction-holds the window glass A from above by its suction action. and,
After the window glass A is lifted upward by the contraction operation of the fluid pressure cylinder 12, the arm member 11 is moved to the positioning station 4 by driving the motor.
8, and then the window glass A is transferred onto the first conveyance platform 31 by the extension operation of the fluid pressure cylinder 12.

Next, the first transfer device 4 picks up each suction pad 14.
After releasing the suction action, it returns to its original position by performing the opposite operation to the above. Then, with the guide rail member 18 lowered to the lower position by the operation of the fluid pressure cylinder 27, first, each rodless cylinder 74 of the second and third positioning devices 52, 53 is operated forward to move each roller 75. Move to the positioning reference position. Next, the arm member 57 of the first positioning device 51 is lowered, the fluid pressure cylinder 69 is contracted, and each roller 67 pinches the window glass A to position it in the lateral direction. Thereafter, the rodless cylinders 74 of the fourth and fifth positioning devices 54 and 55 were operated forward to bring each roller 75 into contact with the outer periphery of the window glass A, thereby positioning the window glass A in the vertical direction. After that, each fluid pressure cylinder 45 of the first conveyance table 31
is extended to cause each suction pad 40 to protrude upward, and the suction action of each suction pad 40 suction-holds the window glass A from below. Then, the position of the window glass A thus positioned is detected by the visual sensors 87, 87... or the rotary pulse encoders 86, 86...
The control circuit 120 of the rear work robot 88 further outputs this detection signal to the robot 88 of the work station 50.

Thereafter, the guide rail member 18 is raised to the upper position by the operation of the fluid pressure cylinder 27, and the motor 3
5, the sliding member 36 is slid along the longitudinal direction of the screw shaft 34, and the second conveyance table 32 is moved from the work station 50 to the unloading station 49, and the first conveyance table 31 is moved from the positioning station 48 to the work station 50. Shuttle transport to each location.

Then, the guide rail member 18 is lowered to the middle position again, and the first conveyor 3 is moved to the work station 50.
A work robot 8 is placed around the periphery of the window glass A above 1.
Apply primer according to step 8.

At this time, since the window glass A positioned at the positioning station 48 is conveyed to the work station 50 while maintaining its position,
Deterioration in positioning accuracy due to transportation and delivery of the window glass A can be avoided. Moreover, the control circuit 120 includes a positioning station 4 for the window glass A using each of the visual sensors 87.
After correcting the regular work position data stored in advance based on the actual position signal at 8, the robot 88 is properly driven. Therefore, the positioning station 48
Even if the position of the window glass A is shifted for some reason, the work station 50
The coating work by the robot 88 can be performed accurately without excess or deficiency.

Meanwhile, at the unloading station 49, the second
The window glass A on the conveyor table 32 is carried out to the carry-out conveyor 2 by the second transfer device 5. Since this procedure is performed in the same manner as the first transfer device 4 described above, detailed explanation thereof will be omitted.

In addition, in the above, the positioning station 48
After receiving the window glass A, the first transfer device 4 suction-holds the next window glass A carried in by the carry-in conveyor 1 in the same manner as described above, and waits above the positioning station 48.

Thereafter, the window glass A on which the coating work has been completed is adsorbed by a plurality of suction pads 89, 89, . Thus, interference with the first and second conveyance tables 31 and 32, which are shuttle conveyed on the guide rail member 18, is avoided.

Next, the guide rail member 18 is lowered to the lower position, and the empty first conveyance table 31 is shuttled from the work station to the positioning station 48, and the empty second conveyance table 32 is shuttled from the unloading station 49 to the work station 50. do. Then, after raising the guide rail member 18 to the middle position again, the window glass A waiting above the positioning station 48 is transferred onto the first conveyance table 31, while being pushed up above the fixed tables 93, 94. The rolled window glass A is lowered by the extension operation of the fluid pressure cylinder 95 and moved to the second conveyor table 32.
After holding it by suction, the robot 88 performs the coating operation in the same manner as above. Thereafter, the plurality of window glasses A, A, . . . are sequentially positioned by the shuttle transport of the first and second transport tables 31, 32 in the manner described above, and then the coating operation is performed.

With the above steps, one cycle of positioning with respect to the window glass A and subsequent primer application work is completed, and the same operations as described above are repeated thereafter.

Therefore, in this case, the window glass A that has been positioned at the positioning station 48 is transported in that position to the work station, and primer is applied to the periphery of the window glass A, so that the previous window glass A is not primed at the work station 50. While the coating is being applied, the positioning for the next window glass A can be performed, and the positioning of the window glass A and the primer application can be performed in parallel, and the work cycle time can be substantially reduced to the primer application time. It can be shortened accordingly.

In addition, in the above embodiment, a case was explained in which a primer was applied to an automobile window glass A, but the present invention is also applicable to various cases in which various operations are performed by positioning a plate-shaped member. Of course you can.

(Effects of the Invention) As explained above, the vehicle window glass positioning device of the present invention includes a mounting table on which a vehicle window glass is placed in a flat state, and a window glass placed on the mounting table. a positioning drive mechanism that moves the glass closer to the width within a plane on the mounting table;
A visual sensor that detects the positional accuracy of the window glass positioned by the positioning drive mechanism and outputs the detected value as a source of operation information to the post-work unit; and a mechanical displacement amount of the movable part of the positioning drive mechanism. and a displacement sensor that outputs the detected value as a source of operation information to a subsequent work unit in place of the detected output of the visual sensor in a predetermined case such as when the visual sensor fails. That is.

Therefore, according to the present invention, when a visual sensor malfunctions, the actual displacement of the movable part of the positioning drive mechanism that actually positions and drives the window glass on the mounting table is used instead of the detection output of the visual sensor. The quantity is detected by the displacement sensor, and the detected value is alternatively supplied as a source of operating information to the post-working unit.

Therefore, even if the visual sensor fails, the actual positioning state of the window glass can be determined based on the detection output of the displacement sensor, and the post-work unit can be operated normally to perform additional work. In addition, since the above-mentioned displacement sensor detects the amount of displacement of the movable part of the positioning drive mechanism that originally exists, the cost is much lower than when backing up the visual sensor with a double configuration. Become.

[Brief explanation of drawings]

The drawings show a vehicle window glass positioning device according to an embodiment of the present invention, FIG. 1 is a plan view showing a schematic configuration of a conveyance section of the positioning device, FIG. 2 is a front view of the same, and FIG. FIG. 4 is an enlarged plan view of the main parts of the first transfer device in the example device, FIG. 5 is an enlarged front view of the shuttle conveyance device in the example device, and FIG. 6 is the main part. FIG. 7 is an enlarged longitudinal sectional side view of the same, FIG. 8 is an enlarged front view of the main part showing the suction pad arrangement part of the first conveyance table in the apparatus of the above embodiment, and FIG. 9 is an enlarged front view of the apparatus of the above embodiment. FIG. 10 is an enlarged front view of the positioning station portion and work station portion inside, and FIG.
Fig. 1 is an enlarged front view showing the suction pad arrangement portion of the fixed table on the work station side of the above embodiment device, Fig. 12 is an enlarged side view of the same, and Fig. 13 is a system of the positioning correction control circuit in the above embodiment device. The block diagram in FIG. 14 is an explanatory diagram of the system. 18...Guide rail member, 31...First transfer platform, 32...Second transfer platform, 40...Suction pad,
48...Positioning station, 50...Working station, 51-55...First to fifth positioning devices, 67, 75...Positioning roller, 86...
Rotary pulse encoder, 87...Visual sensor, 88...Work robot, 103...Image memory, 104...Main memory, 105...Sub memory, 107...Comparison calculation circuit, 110...
CPU, 120... Control circuit, 200...
...control unit.

Claims (1)

[Claims] 1. A mounting table on which a vehicle window glass is placed in a flat state, a positioning drive mechanism that moves the window glass placed on the mounting table closer to its width within the plane of the mounting table, and this positioning drive. A visual sensor detects the positional accuracy of the window glass positioned by the mechanism and outputs the detected value as a source of operation information to a post-work unit, and a visual sensor detects the amount of mechanical displacement of the movable part of the positioning drive mechanism. ,
A vehicle window glass positioning device comprising: a displacement sensor that outputs the detected value as a source of operation information to a rear work unit in place of the detection output of the visual sensor in a predetermined case such as when the visual sensor fails.