JPH0440231B2 - - Google Patents

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a setting station at the starting end of a window glass conveyance path where front and rear window glass for automobiles are held horizontally on a pallet and conveyed. The present invention relates to a positioning device for automobile window glass provided in

(Prior Art) Conventionally, it is known that a coating robot automatically applies a primer or adhesive to a window glass that is positioned and supported in a horizontal position on a jig. The ingredients are from 1987-546.
As seen in the publication, it is provided with a plurality of workpiece receivers each having an L-shaped cross section that engages with the upper edge and the lower edge of the window glass, and a window glass width adjustment means, and the window glass width adjustment means Positioning the glass in the width direction,
The workpiece receiver is used to position the upper edge and the lower edge in the opposing direction (hereinafter referred to as the height direction).

However, with this method, the window glass must be transferred one by one to a jig provided at the primer or adhesive application station, which is cumbersome, and the height dimension of the window glass and the workpiece on the upper edge side are difficult. If the spacing between the receiver and the workpiece receiver on the lower edge side does not match, the window glass cannot be positioned and supported, since the height dimension differs between the front window glass and the rear window glass and also differs depending on the car model. , it becomes necessary to adjust the interval between both work receivers according to the type of window glass, which reduces productivity.

In order to solve this problem, the applicant of the present application first provided a window glass conveyance path for conveying window glass while holding it in a horizontal position on a pallet, and installed a primer application station and an adhesive application station in the middle of the conveyance path. The present invention has proposed a method in which the application of primer and adhesive can be performed without replacing the window glass with the pallets positioned at each station.

By the way, in the above-mentioned proposal, when setting the window glass on the pallet at the setting station at the starting end of the window glass conveyance path, it is necessary to position the window glass with respect to the pallet.
It is desirable to be able to perform this positioning quickly without requiring adjustment depending on the type of window glass.

An object of the present invention is to provide a positioning device that meets such demands.

(Means for Solving the Problems) In order to achieve the above object, the present invention is directed to the starting end of a window glass conveyance path in which front and rear window glass for automobiles are conveyed while being held in a horizontal position on a pallet. In the positioning device provided in the setting station, the setting station has a predetermined reference position located on one edge side of the upper edge and the lower edge of the window glass placed on the pallet and facing the one edge. A reference frame that can move forward and backward to a retracted position that is spaced apart from the reference frame, and an extrusion roller that can be pushed freely on the side of the reference frame that is located on the other edge and comes into contact with the other edge are provided, In addition to installing a first reference roller that receives the edge, a pair of second reference rollers that contact the side edges on both sides in the width direction of the window glass are provided so as to be able to move toward each other in the width direction of the window glass in synchronization with each other. Features.

(Function) After placing the window glass on the pallet to be put into the setting station, the reference frame is positioned at the reference position on the upper edge side of the window glass, and a pair of second
The reference roller is moved closer and the pressing roller is pushed toward the reference frame.

According to this, the second reference rollers come into contact with both edges in the width direction of the window glass, the width of the window glass is brought together, and the center in the width direction is brought to the center position of the interval between the second reference rollers. Since the two second reference rollers are moved close to each other in synchronization, the center position remains unchanged, and the widthwise positioning of the glass is achieved regardless of the widthwise dimension. .

Also, the pressure roller comes into contact with the lower edge of the window glass,
The window glass is placed on the side of the reference frame, and its upper edge abuts the first reference roller attached to the reference frame, and the height of the window glass is adjusted based on the first reference roller regardless of the height dimension of the window glass. Positioning in the horizontal direction is performed.

Therefore, the window glass can be accurately and quickly positioned and set in a predetermined positional relationship in the width direction and height direction using the reference frame as a positioning reference with respect to the pallet without having to perform adjustment work according to the type of glass. The pressing roller is disengaged from the lower edge of the window glass, the reference frame is retracted to the retracted position, and the pallet is carried out from the set station.

(Example) Referring to FIGS. 1 to 3, 1 is a main line for conveying the vehicle body a from the rear to the front (from the left to the right in the drawings) by a hanger conveyor 1a; It shows window glass conveyance paths arranged side by side, and two robots 3 ₁ and 3 ₂ (front and rear) are arranged on the side of a predetermined vehicle body stopping position on the main line 1, and window glass is supplied from the front via the conveyance path 2. The front window glass b ₁ and the rear window glass b ₂ are respectively attached to the front and rear windows of the vehicle body a by a first robot 3 ₁ on the front side and a second robot 3 ₂ on the rear side.

The conveyance path 2 carries a pallet 4 with a suction cup 4a,
The conveyor rails 2a, 2a are provided on both the left and right sides to support the window glasses b ₁ and b 2 , and the window glasses b 1 and b ₂ are suctioned and held in a horizontal position on each pallet 4.
a, from the front to the rear along the conveyance path 2, and in order from the starting end to the ending end, there are a setting station A, a primer application station B, a first and second drying station C ₁ ,
C ₂ , first adhesive application station D ₁ first transfer station E ₁ , second adhesive application station D ₂
A second transfer station _E2 is installed, and the setting device 5 installed at the setting station A first sets the rear window glass _b2 in a horizontal position on the pallet 4 to be loaded into the station A. Next, the pallet 4 is transported to the primer coating station B, and the coating robot 6 disposed at the station B coats the rear window glass _b2 with the primer, and at the same time, the above-mentioned coating is applied onto the next pallet 4 at the setting station A. Set the front window glass b ₁ in the same way as above, and then set the rear window glass b ₁ .
Palette 4, which has been set, is transferred to the first drying station
After tact conveyance in the order of C ₁ and second drying station C ₂ , the first adhesive application station D ₁ and the first
The pallet 4 with the front window glass _{b 1 set} thereon is transported to the primer application station _B where the window glass b ₁ is applied.
After applying the primer to the first and second drying stations C ₁ and C ₂ , the tactile conveyance is carried out to the first adhesive application station D ₁ , and then to the first and second adhesive application stations D ₁ and D ₂ . The arranged application robots 7 ₁ and 7 ₂ apply adhesive to each window glass b ₁ and b ₂ , and then each pallet 4 is transferred to each transfer station.
It is now transported to E ₁ and E ₂ . Then, each transfer device 8 ₁ arranged at each transfer station E ₁ , E ₂ ,
8 ₂ transfers each pallet 4 to each of the robots 3 ₁ , 3
Each window glass is delivered to a jig 3a attached to the operating end of the robot ₂ , and with each pallet 4 positioned and held by each jig 3a, each window glass is moved by the operation of each robot ₃₁ , ₃₂ .
b ₁ and b ₂ are attached to each window of the vehicle body a, and then empty pallets 4 are transferred from the respective robots 3 ₁ and 3 ₂ to the conveyance path 2 via the respective transfer devices 8 ₁ and 8 ₂ . A pallet loading device 1 which can be raised and lowered unloads empty pallets 4 to a pallet return path 9 provided on the lower side and is returned to the set station A side via the return path 9.
0, the sample was placed in the set station A.

As shown in FIG. 4, the setting device 5 includes a receiving device 12 that receives the front side and rear side window glasses b ₁ and b ₂ as a set from the window glass transport hanger 11.
, a transfer machine 13 that places these window glasses b ₁ and b ₂ one by one on the pallet 4, and a positioning device 14 that positions each of the window glasses b ₁ and b ₂ placed on the pallet 4. The receiving device 12 includes a cart 12a that is movable back and forth in synchronization with the hanger 11.
The work receiver 12c supports the front window glass b ₁ and the rear window glass b ₂ in two stages, upper and lower, on a lifting frame 12b provided above that can be raised and lowered. The transfer machine 1 shall be provided so as to be able to advance and retreat freely to the evacuation position of the transfer machine 1.
Reference numeral 3 is constructed by installing a pair of front and rear workpiece support bars 13c, 13c on a lift frame 13b which can be raised and lowered and which is provided on a cart 13a which can be moved laterally toward the set station A. The support bars 13c, 13c are movable forward and backward from the left side of the set station A.

After positioning the workpiece receiver 12c at the delivery position, the support bars 13c, 13c are advanced to the lower position of the workpiece receiver 12c and raised, and the support bars 13c, 13c support the workpiece receiver 12c at the lower stage. rear window glass b ₂
After lifting the workpiece receiver 12c a little, and retracting the workpiece receiver 12c to the retracted position, the support bars 13c, 13c
Lower the rear window glass b ₂ onto pallet 4.
is placed, and after placement, the support bars 13c, 13c are moved back to the left, and the positioning device 14 performs positioning as described later, completing the work of setting the window glass _b2 on the pallet 4. Then, the palette 4
After transporting the workpiece, the front window glass supported on the upper stage of the workpiece receiver 12c is carried out in the same manner as above.
b ₁ is set on the next palette 4.
Incidentally, each of the window glasses b ₁ and b ₂ is set in a horizontal position on each pallet 4 with its width direction facing the front-rear direction.

The configuration of the positioning device 14 is as clearly shown in FIGS.
The reference frame 15 is provided by being positioned on one edge side of the upper edge and lower edge of b ₁ and b ₂ , for example, on the upper edge side (left side in the drawing), and the reference frame 15 is provided on the lower edge side (right side in the drawing). A pressure roller 16 that comes into contact with the upper edge is movably provided on the side of the reference frame 15, and the reference frame 15 can be moved back and forth between a predetermined reference position facing the upper edge and a retracted position spaced from the upper edge. At the same time as attaching the first reference roller 17 that comes into contact with the edge,
A pair of second plates abutting the side edges on both sides in the width direction of b ₁ and b ₂
The reference rollers 18 and 18 are synchronized with each other to remove the window glass.
The reference frame 15 is provided so as to be movable in the width direction of b ₁ and b ₂ , and to be more detailed, the reference frame 15 is
On the left side bracket 19a of the machine frame 19 disposed at the set station a, there are
The stoppers 15c, 15c are supported by the pair of guide bars 15a, 15a so as to be able to move back and forth in the lateral direction, and are moved from the retracted position outward in the lateral direction by the cylinder 15b.
The first reference roller ₁ is moved forward and backward to _an inner reference position determined by
A pair of guide bars 1 are attached to the reference frame 15, and guide bars 1 are attached to the front and rear ends of the reference frame 15, respectively, and are slidable in the front and rear directions.
the second reference roller 18, via 8a, 18a;
18, and the racks 18b, 18b connected to the guide bars 18a, 18a are attached to the reference frame 15.
A common pinion 18d driven by a motor 18c mounted in the center of the rollers is engaged on one side and the other side of the periphery, and the rotation of the pinion 17d causes the second reference rollers 18, 18 to be synchronized with each other. It is possible to provide an approach motion in the front-rear direction, that is, in the width direction of the window glasses b ₁ and b ₂ . In the drawing, 18e indicates an encoder attached to the motor 18c to detect the amount of movement of the second reference rollers 18, 18.

The pressing roller 16 has parallel links 16a, 16a on a bracket 19b at the lower right side of the machine frame 19.
The two pressure rollers 16, 16 are laterally retracted outward by a cylinder 16b connected to the parallel link 16a. An encoder 16e is provided, which can be freely pushed toward the reference frame 15 from a position, and is connected to a fixed shaft 16c at the lower end of the parallel link 16a via a gear 16d.
The amount of movement of 6 can be detected.

In addition, the set station A is provided with locating pins 20a for positioning the pallet 4 on the left and right sides.
A pair of lifters 20 and a plurality of clampers 21 are provided so that the pallet 4 can be positioned in a constant positional relationship with respect to the reference position of the reference frame 15,
Furthermore, a vacuum port 21a connected to a negative pressure source (not shown) is formed in the clamper 21 as appropriate, and a suction port 4b is connected to a suction cup 4a via a negative pressure holding circuit via a vacuum holding circuit on the clamp seat on the pallet 4 that the clamper 21 comes into contact with. After forming and positioning the window glasses b ₁ and b ₂ , negative pressure was applied to the suction cup 4 a through the suction port 4 b so that the window glasses b ₁ and b ₂ were attracted to the suction cup 4 a. In addition, the above-mentioned primer application station B, first and second drying station C ₁ ,
C ₂ and the first and second adhesive application stations D ₁ and D ₂ are also provided with a lifter 20 and a clamper 21 in the same way as the set station A, so that the pallet 4 can be positioned.

Next, the operation of the positioning device 14 will be explained. First, the pallet 4 placed in the setting station A is positioned, and after placing the rear window glass _b2 on the pallet 4 as described above, the reference frame is 15 is moved laterally inward from the retracted position and positioned at the reference position, and then the pressing rollers 16,
16 from the retracted position toward the reference frame 15, and the pair of second reference rollers 18, 18 are moved toward each other in the width direction of the window glass _b2 in synchronization with each other by the operation of the motor 18c.

According to this, the pressing rollers 16, 16 come into contact with the lower edge of the window glass b ₂ and move the window glass b ₂ to the reference frame 1.
5 side, its upper edge comes into contact with the first reference rollers 17, 17 on the reference frame 15 to position the window glass _b2 in the height direction, and the second reference roller 1
8 and 18 come into contact with both edges of the window glass b ₂ in the width direction, and the width of the window glass b ₂ is adjusted so that the center of the width direction matches the center position of the interval between the second reference rollers 18 and 18. The window glass _b2 is positioned in the width direction.

That is, the window glass b ₂ has the first reference roller 17,
The pallet 4 is positioned in the width direction and the height direction using the reference frame 15 to which the pallet 17 and the second reference rollers 18 and 18 are attached as a positioning reference.

Next, after applying negative pressure to the suction cup 4a of the pallet 4 as described above to suction and hold the window glass _b2 on the pallet 4, the pressing rollers 16, 16 are retracted to remove the lower edge of the window glass _b2 . At the same time, the reference frame 15 is retracted from the reference position to the retracted position, and the first reference rollers 17, 17 and the second reference rollers 18, 18 are moved from the upper edge and side edge of the window glass _b2 . and set pallet 4 at set station A.
Remove from.

Next, the next pallet 4 is carried into the setting station A, and after placing the front window glass b ₁ on the pallet 4, the window glass b ₁ is positioned in the same manner as described above.

Here, although the rear window glass b ₂ and the front window glass b ₁ have different width and height dimensions, the front window glass b ₁ is also aligned with the rear window using the reference frame 15 as a positioning reference. An encoder 18 that can be positioned in the width direction and height direction similarly to the glass b ₂ and also detects the amount of movement of the second reference rollers 18, 18.
e and a signal from the encoder 16e that detects the amount of movement of the pressing rollers 16, 16, the width direction and height direction dimensions are detected to determine the type of window glass, and a primer or adhesive application station is used. Coating robots 6 and 7 placed at B, D ₁ and D _2
1 , 7, ₂ can be activated depending on the type of window glass.

Also, if you position the window glass as described above,
The relative position of the contact point of the upper edge of the window glass to the first reference rollers 17, 17 with respect to the pallet 4 is constant regardless of the type of window glass, and the coating robots 6, 7 ₁ , 7 ₂ use this contact point as a reference point. If teaching is performed, the teaching reference point will be uniquely determined regardless of the type of window glass, and the robot will be easier to control.

(Effects of the Invention) As described above, according to the present invention, various types of window glass can be accurately positioned and set on a pallet using the reference frame as a positioning reference without requiring adjustment work, and the setting work can be performed efficiently. Coupled with the fact that various operations on the conveyance path can be carried out while the window glass is held on the pallet without requiring the conventional work of replacing the window glass, productivity can be greatly improved.

In addition, the relative position of the contact points of the upper and lower edges of the window glass to the first reference roller with respect to the pallet is constant regardless of the type of window glass, and the robot placed at the work station on the window glass conveyance path is referenced to the contact point. By teaching as a teaching point, the teaching reference point is uniquely determined regardless of the type of window glass, making it easier to control the robot.Furthermore, even if there is an error in the outer edge shape of the window glass, the reference point can be Since one of the upper and lower edges of the window glass is always located, the robot can perform work such as applying adhesive to the outer edge of the window glass without making mistakes on at least one edge, making correction work easier.

[Brief explanation of drawings]

Fig. 1 is an overall perspective view of a window glass installation line equipped with the device of the present invention, Figs. 2 and 3 are a side view and a plan view, respectively, and Fig. 4 is a setting station seen from the - line in Fig. 3. , FIG. 5 is an enlarged front view of essential parts during positioning of the window glass, FIG. 6 is a plan view thereof, and FIG. 7 is a sectional view taken along the line -- in FIG. 6. b ₁ , b ₂ ... Window glass, 2 ... Window glass supply path,
A...Set station, 4...Palette, 1
5... Reference frame, 16... Press roller, 17... First reference roller, 18... Second reference roller.

Claims (1)

[Claims] 1. In a positioning device provided at a setting station at the beginning of a window glass conveyance path that transports front and rear side window glass for automobiles while holding it in a horizontal position on a pallet, the positioning device is installed at the setting station to hold the window glass in a horizontal position on a pallet. A reference frame is located on one of the upper and lower edges of the window glass and is movable to a predetermined reference position opposite to the one edge and a retracted position spaced from the reference frame. A press roller that can be freely pushed is provided on the side of the reference frame that contacts the other edge, and a first reference roller that receives the one edge is attached to the reference frame, and the side edges on both sides in the width direction of the window glass are attached to the reference frame. 1. A positioning device for an automobile window glass, characterized in that a pair of second reference rollers that come into contact with the window glass are provided so as to be movable toward each other in the width direction of the window glass in synchronization with each other.