JPH0533492Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention is a method for converting a band-shaped soft object with the same cross-sectional shape, such as a window dam in a vehicle window portion (window glass), to a surface of a window glass. The present invention relates to a pasting device on a single plane of an object to be pasted.

[Prior Art] Conventionally, during the vehicle manufacturing process, window glass is attached to the window frame flange of the vehicle body with a urethane or thiokol adhesive. The adhesive later hardens into a rubber elastic body, allowing the window glass to be elastically supported on the vehicle body.

Therefore, in the window glass installation process of vehicle manufacturing, as shown in FIG. Pretreatment for coating is performed over the entire circumference of the area.

Also, on the inside of the adhesive 2 at the edge of the window glass 1, there is a continuous material that prevents the adhesive 2 from collapsing and protruding inside the window glass 1 when the window glass 1 is attached to the vehicle body. A window dam 3 is pasted all around the edge of the window glass 1, but this work is done before the adhesive 2 is applied.

[Problems to be solved by the invention] By the way, among the above-mentioned pretreatment operations, devices for applying the primer 4 and the adhesive 2 have already been provided, and these operations cannot be performed automatically. However, since the window dam 3 is made of a soft material with an asymmetrical cross-section, it is difficult to paste the window dam 3 in a consistent manner.
It is difficult to dispose of the release paper attached to the window dam 3 to protect the adhesive surface before it is pasted, and there is no device (robot) that can automatically do this work.

That is, the release paper attached to the window dam 3 is coated with a non-adhesive material such as silicone resin so that it does not adhere to the adhesive surface of the window dam 3.

Therefore, in order to separate and store the release silicone paper from the window dam 3, a device that reliably pulls and transfers the release silicone paper is required, regardless of the presence of non-adhesive materials such as silicone resin. .

By the way, by sandwiching the release paper between a pair of rollers, etc.
It is conceivable to transfer the release paper by rotating a roller or the like, but using such conventional means has the following problems.

In other words, non-adhesive materials such as silicone resin tend to slip on the surface due to their function, so in feeding devices such as rollers, they tend to slide against the rollers, making it impossible to transfer them reliably and causing separation. It is also not possible to separate the paper by pulling it.

The present invention is an attempt to solve these problems, and is a soft body that can reliably process release paper that is separably attached to a soft body such as a window dam with a simple structure. The purpose of this invention is to provide an object pasting device.

[Means for Solving the Problems] Therefore, the soft object pasting device of the present invention has an adhesive-applied surface on one side that is continuous in a band shape with the same cross-sectional shape, and is separable into the adhesive-applied surface. In the pasting device for a soft object having a silicone release paper pasted thereon, the silicone release paper processing mechanism separates the silicone release paper from the soft object; a roller that presses the adhesive coated surface of the soft object from which the release paper has been removed by a processing mechanism onto a single plane of the adhered member to adhere the soft object to the single plane of the adhered member; a guide member disposed between the release paper processing mechanism and the roller to guide the soft object from which the release paper has been removed to a position near the roller; The opening at one end is located near the release paper attached to the soft object, extends along the soft object, and directly sucks the release paper attached to the soft object from the opening at one end. a separator paper suction pipe for separating the separator paper from the soft object; and a separator paper suction pipe connected to the other end opening of the separator paper suction pipe and separated from the soft object by the separator paper suction pipe. It is characterized by comprising a release paper storage box for storing paper.

[Effect]

With the above-described structure, the release paper is sucked directly from the soft object by the release paper suction pipe, separated, and stored in the release paper storage box.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings. Figures 1 to 21 show a window glass pretreatment device equipped with a soft material pasting device as an example of the present invention. Figure 1 is a schematic diagram showing the dam release paper separation and storage device, Figure 2 is its overall configuration diagram, Figures 3 to 5 are its positioning device, and Figure 3 is its plan view. , FIG. 4 is a sectional view taken along the - arrow in FIG. 3, and FIG.
It is a sectional view taken along the - arrow in the figure, and Figures 6 to 8 show the window dam pasting device.
The figure is a plan view, FIG. 7 is a front view, FIG. 8 is a side view, FIG. 9 is an enlarged view of a portion of FIG. 8, and FIGS. 11a and 11b are schematic diagrams showing the dam pasting state in the dam pasting device, FIG. 12 is a schematic diagram showing the corner part pasting state in the dam pasting device, and FIG. 13 The figure is a sectional view taken along the - arrow in Fig. 9, and the 14th
The figure is a longitudinal sectional view of the dam guide, FIG. 15 is a front view of the cutter for cutting the dam, and FIGS. 16 a to 16 are schematic diagrams showing the window dam cutting operation, respectively.
17 to 19 show the dam feeding guide pipe, FIG. 17 is a perspective view thereof, FIG. 18 is a view taken along the - arrow in FIG. 17, and FIG. 19 is a perspective view of the guide ball. , FIG. 20 is a sectional view showing the pretreated window glass, and FIG. 21a,
b and c are schematic diagrams showing the dam pasting state at the dam corner portion.

As shown in FIG. 2, a pallet truck 17 is provided for moving the window glass 1 carried in to a required position.

Above the pallet truck 17 is a glass extraction device 2.
1, the glass extraction device 21 extends above the positioning jig 7 disposed adjacent to the pallet truck 17, and moves the window glass 1 on the pallet truck 17 onto the positioning jig 7. It is ready to be transported.

The positioning jig 7 is formed to have the function of moving and adjusting the window glass 1 so that the center of the window glass 1 is aligned with the center line position of the shuttle beam 8a. The center position of each window glass 1 is adjusted to a constant position.

This adjustment work is performed by operating the positioning jig 7 as a positioning device based on a control signal from the sub-operation panel 19a.

Next to the positioning jig 7 is the dam positioning jig 9.
A dam robot 11 attached adjacent to the dam positioning jig 9 performs positioning and fixing for pasting work.

Then, the dam robot 11 performs a dam pasting operation on the window glass 11 fixed to the dam positioning jig 9.

Here, the dam consists of a continuous band-like soft body having the same cross-sectional shape, and one side of the dam is coated with an adhesive, and a release paper is separably attached to the adhesive-coated surface.

That is, the dam pasting work is performed prior to the primer and adhesive application work.

During this work, the dumb robot 11 is controlled by a robot controller 11a.

In this manner, the dam positioning jig 9, the dam robot 11 and the robot controller 11a constitute a window dam mounting device Sd.

A dam workbench 10 is disposed between the positioning jig 7, the dam positioning jig 9, and the dam robot 11, and when the dam positioning jig 9 or the dam robot 11 breaks down, the window dam 3 can be pasted. can now be done manually.

The positioning jig 7 and the dam positioning jig 9 are connected by a shuttle beam 8a, and the window glass 1 positioned in the positioning jig 7 is transferred to the dam positioning jig 9 by the shuttle beam 8a. It's summery.

A primer positioning jig 20 is disposed next to the dam positioning jig 9.
and the primer positioning jig 20 are connected by a shuttle beam 8b.

The primer positioning jig 20 is formed so as to fix the window glass 1 transferred by the shuttle beam 8b in a fixed position.
The primer 4 is applied by the primer robot 13 to the window glass 1 which has been positioned and fixed by the primer positioning jig 20.

During this work, the primary robot 13 is controlled by a robot controller 13a.

In this way, the primer positioning jig 20, the primer robot 13, and the robot controller 1
3a constitutes a primer coating device Sp.

Further, between the dam positioning jig 9 and the primer positioning jig 20, a primer positioning jig 20 is provided.
Alternatively, a primer workbench 12 is provided for manually applying the primer 4 when the primer robot 13 is out of order.

An adhesive positioning jig 15 is disposed next to the primer positioning jig 20, and the primer positioning jig 20 and adhesive positioning jig 15 are connected by a shuttle beam 8c.

The adhesive positioning jig 15 is the shuttle beam 8
The adhesive positioning jig 1 is formed to fix the window glass 1 transferred by the adhesive positioning jig 1 at a predetermined fixed position.
An adhesive robot 16 attached to the adhesive robot 5 performs the application work of the adhesive 2.

During this work, the adhesive robot 16 is controlled by a robot controller 16a.

In this way, the adhesive positioning jig 15, the adhesive robot 16 and the robot controller 16a
The adhesive applicator Sb is configured by:

Further, between the primer positioning jig 20 and the adhesive positioning jig 15, the adhesive positioning jig 1
5 or the adhesive robot 16 is out of order, an adhesive workbench 14 is provided for manually applying the adhesive 2.

Then, the adhesive positioning jig 15 is placed in a direction perpendicular to the lines of the dam positioning jig 9, the primer positioning jig 20, and the adhesive positioning jig 15.
A conveyor 18 is disposed adjacent to the adhesive positioning jig 15 and the conveyor 18 are communicated with each other by a glass transfer device 22.

That is, the window glass 1 which has completed the application work of the adhesive 2 in the adhesive positioning jig 15 and has undergone the pretreatment process is transferred to the conveyor 18 by the glass transfer device 22. Window glass 1 after pretreatment
is becoming more and more stocked.

The window glass 1 stored on the conveyor 18 is moved by a positioning jig 7, a dam positioning jig 9,
The adhesive is transferred by a transfer means (not shown) to the vehicle in a line of the vehicle body formed parallel to the line of the primer positioning jig 20 and the adhesive positioning jig 15, and the pasting operation is performed.

The sub-operation panel 19a, the robot controller 11a, the robot controller 13a, and the robot controller 16a are connected to the main control panel 19, and by mutually adjusting them through the main control panel 19, the overall control of the preprocessing process can be controlled. Adjustment control is now in place.

Further, each of the dam workbench 10, primer workbench 12, and adhesive workbench 14 has a sub-operation panel 19.
b, the sub-control panel 19c and the sub-control panel 19d, respectively.

By the way, the positioning jig 7 is constructed as shown in FIGS. 3 to 5.

That is, a pace plate 32 is fixed to the center of the support base 31, and four window glass support pillars 33 are erected on the base plate 32, and by placing the window glass 1 on the tips of the pillars 33, the window glass 1 is now supported.

In this embodiment, the window glass 1 is placed so that its upper part is directed downward in the figure and its lower part is directed upward in the figure, as shown by the chain line in FIG.

A suction cup type fixing mechanism 34 is attached to the window glass support column 33, and the shuttle beam 8a is fixed to the window glass 1 after the positioning adjustment of the window glass 1 is completed.
A suction cup provided therein prevents the window glass 1 from shifting when the window glass 1 is fixed to the shuttle beam 8a.

The suction cup type fixing mechanism 34 includes an actuator 34b fixed to the window glass support column 33,
It consists of a suction cup 34a installed at the rod tip of the actuator 34b, and the sub-operation panel 1
The suction cup 34a is driven toward the window glass 1 supported on the window glass support column 33 by a control signal from the window glass support column 33.

And a base plate 32 for attaching the window glass width direction center position adjustment mechanism Sw.
a and 32b are fixed to both ends of the upper (lower part in the figure) side of the window glass 1 on the support base 31, and a cylindrical support tube 3 is attached to the base plate 32a.
5c is erected.

The support tube 35c is erected by having a bracket 35b fixed to the lower end thereof fixed to the base plate 32a.

A pawl 35a is inserted through the support cylinder 35c, and the pawl 35a is rotatably attached to the support cylinder 35c.

An arm 35 is fixed to the upper end of the pole 35a so as to face outward, and a roller 36 is rotatably attached to the tip of the arm 35.

A worm wheel 37 is fixed to the lower end of the pole 35a, and the worm wheel 37 is connected to a worm 38.
The rotation of the worm 38 causes the pole 35a and the arm 35 to rotate via the worm wheel 37.

The worm 38 is attached to the motor mounting plate 42
It is connected via a gear mechanism 40 to a drive motor 41 fixed to the parts a and 42b, and the drive motor 41
The worm 38 rotates due to the operation of the arm 35, thereby causing the arm 35 to perform the required rotation.

The gear mechanism 40 is also connected to a worm 38' that extends to the opposite side of the worm 38 (left side in the figure), and the worm 38'
It drives a worm wheel 37', a pole 35'a, an arm 35', and a roller 36', which are rotatably mounted at a position symmetrical to the pole 35a with respect to the center line of the support base 31. .

The arm 35' has a worm 38' and a worm 38.
Since these rotate in opposite directions, the rotation of the arm 35 is symmetrical with the rotation of the arm 35.

In this way, the arms 3 arranged symmetrically on the left and right
5, 35', rollers 36, 36', and their rotation mechanism constitute a window glass width direction center position adjustment mechanism Sw.

The window glass height direction center position adjustment mechanism Sh for the window glass position is configured as described below.

That is, the rollers 52 and 5 can be engaged with each of two locations on the upper end surface of the window glass 1.
A slide bar 49 rotatably mounted on the window glass 1 through the poles 51, 51'
It is placed on the bottom side of the .

The slide bar 49 is supported by guide bars 46, 46' via sliders 50, 50'.

Sliders 50, 50' are guide bars 46, 4
It is slidably attached to slider 5'.
0 and 50' move while being guided by the guide bars 46 and 46', thereby causing the slide bar 49 to move in parallel.

Further, the slide bar 49 is connected to the base plate 3.
The slide bar 49 is connected to the tip of a rod 54 of a hydraulic cylinder 53 supported by the hydraulic cylinder 2, and is configured to move when the hydraulic cylinder 53 is extended or contracted.

On the other hand, on the upper end side of the window glass 1, a pole 47, rollers 48, 48' that can engage with two places on the upper end surface of the window glass 1, respectively.
A slide bar 43 rotatably mounted via 47' is provided.

The slide bar 43 is supported by guide bars 46, 46' via sliders 45, 45'.
Sliders 45, 45' have guide bars 46, 4
It is slidably attached to slider 4'.
5 and 45' move while being guided by guide bars 46 and 46', thereby causing the slide bar 49 to move in parallel.

The guide bars 46, 46' have their both ends supported by brackets 44a, 44'a, 44'a,
44c, 44'c, and a bracket 4 whose intermediate portion is erected on the base plate 32.
4b and 44'b.

Further, the slide bar 43 is slidably inserted into the pinion rack mounting plate 55 through a rack 56'.
The rack 56' is connected to the pinion 57.
It fits perfectly. Further, the pinion 57 meshes with a rack 56 that is slidably inserted through the pinion rack mounting plate 55, and the tip of the rack 56 is connected to the slide bar 49.

That is, the movement of the slide bar 49 causes the pinion 57 to rotate via the rack 56, and the rotation of the pinion 57 drives the slide bar 43 via the rack 56'.

As a result, the amount of movement of the slide bar 49 is transmitted to the slide bar 43 via the pinion 57, and the slide bar 49 and the slide bar 43 are moved in symmetrical directions (mutually opposite directions) with respect to the window glass 1.
It is designed to move in parallel by the same amount to .

In addition, the slide bars 43 and 49
8, 48', rollers 52, 52' are poles 47, 4
7' and the poles 51, 51' so that the slide bars 43, 49 move in parallel, the rollers 48, 48', 52, 52' move in parallel to the upper and lower ends of the window glass 1. After the outer peripheries are engaged, rollers 48, 48',
Slide bar 4 while rolling 52, 52'.
The parallel movement of 3,49 continues, and the slide bar 4
It is designed to be driven to a position where the width of 3,49 is minimized.

Next, the dumb robot 11 will be explained. It is constructed as shown in FIGS. 1, 6 to 19, and 21. As shown in FIGS.
The arm 60 is formed to have a
It is attached to the robot base via an arm 67 and a stand 66, and the stand 66 and door arm 67 rotate in the required horizontal and vertical directions, respectively, in response to control signals from the robot controller 11a, and the hand portion 69 is rotated. It is designed to be moved to the required position.

A dam reel 61 is provided at the base end of the arm 60.
The dam reel shaft 62 is rotatably attached to the dam reel shaft 62 .

The dam reel shaft 62 is rotated as required by a dam reel drive motor 63 fixed to the arm 60 via a motor attachment plate 63a to supply the required window dam 3.

An upper roller 64a and a lower roller 64b constituting a dam level guide 64 are pivotally attached to the intermediate portion of the arm 60, extending in the horizontal direction. An infrared reflective sensor 65a for detection and a reflecting plate 65b are arranged side by side.

Further, a dam support arm 71 is pivotally attached to the upper end of the hand portion 69 via its base 70, and a dam guide auxiliary roller 73, a dam posture control arm 75, a guide hose base end Member 74a and flexible feed guide tube 74b
A dam attitude control section 74 is rotatably mounted.

That is, the dam attitude control arm 75 is pivotally attached to the dam support arm 71 so as to be rotatable in the horizontal direction, and the dam guide auxiliary roller 73 is attached to the dam attitude control arm 75 so as to be rotatable in the vertical direction. ing.

The dam attitude control arm 75 is composed of a vertically extending portion and a horizontally extending portion, and the horizontally extending portion can be adjusted up and down.

Therefore, the window dam 3 is suspended and guided so as to reach the dam guide auxiliary roller 73 via the upper roller 64a or the lower roller 64b, and then the opening of the guide hose base end member 74a. From the flexible feeding guide tube 74
The dam guide 84 at the tip of the hand portion 69 passes through the inside of b.
(See Figure 9).

The flexible feeding guide tube 74b includes the 17th to 1st flexible feeding guide tubes 74b.
The wire 95 is configured as shown in FIG. 9, and is formed into a coil shape using a wire material with relatively low rigidity.
It is formed by a guide ball 96 inserted through the wire 95 so as to be rotatable multiple times, a shape-retaining wire member 97 that strengthens the rigidity of the wire 95, and a fitting 98. And flexible feeding guide tube 7
The wire portions constituting the wire portions 4b are formed such that there is a gap between the guide balls 96 attached to each wire portion.

That is, the window dam 3 passing through the wire 95 is smoothly guided by the rolling of the guide ball 96 without getting caught in the wire 95.

The wire 95 is connected to the shape-retaining wire member 97 via a fitting 98.

Mounting metal fittings 98 and shape-retaining wire member 97
is the outer three parts of the wire 95 and the guide ball 96.
The shape of the wire 95 and the mutual spacing between the guide balls 96 of adjacent wire portions can be maintained sufficiently.

That is, when the window dam 3 passes,
The wire 95 and the guide ball 96 are formed so that they do not hang down from the guide hose proximal end member 74a to the dam guide 84.

Further, the flexible feed guide pipe 74b is configured so as not to be deformed and entangled with the members of the dam robot 11 in the vicinity of the flexible feed guide pipe 74b.

On the other hand, the dam pasting portion 76 to which the dam guide 84 is attached is formed as shown in FIGS. 9 to 15.

As shown in FIG. 9, a plate 77 is fixed to a rod provided vertically on the hand portion 69, and an actuator 81 is attached to the main roller 77 on the plate 77.
8 is attached to move it up and down.

The main roller 78 is supported by the actuator 81 via a rod 82 and a bracket 78a attached to the lower end of the rod 82.

The bracket 78a and the main roller 78 are
Rear rod 7 erected at the upper end of bracket 78a
9a and the front rod 79b are the rod guide portion 80.
By being guided by the rod guide portion 80b and the rod guide portion 80b, the rod is moved up and down in a fixed posture.

Then, the rod 8 in the actuator 81
The stroke of No. 2 is the length at which the main roller 78 appropriately presses the window dam 3 onto the single planar surface of the window glass when pasting the window dam 3 onto the single planar surface of the window glass. is set to .

A dam guide fixing section 83 is attached to the bracket 78a in front of the main roller 78, and a dam guide 84 is attached inside the dam guide fixing section 83.

The dam guide 84 is formed as shown in FIGS. 13 and 14, and has a dam guide hole 84a formed through the center thereof, and has a cross section slightly larger than that of the window dam 3. ing.

Further, the dam guide hole 84a has a dam guide hole 84a.
A large number of air supply holes 84b are provided in the side wall a and communicate with the outer periphery of the dam guide 84.

The air supply hole 84b is connected to the dam guide 84.
The dam guide hole 84a is formed to be upwardly inclined toward the rear end of the dam guide 84 from the outer peripheral side thereof, and by supplying air into the air supply hole 84b from the outer peripheral side, the air is directed toward the rear end of the dam guide 84. This generates a flow of air and generates a thrust capable of driving the window dam 3 toward the rear end of the dam guide 84.

Further, since the air flow exists between the window dam 3 and the side surface of the dam guide hole 84a, a gas film is formed between the circumferential surface of the window dam 3 and the circumferential surface of the dam guide 84, and the window dam 3 is guided and transferred inside the dam guide hole 84a in such a state that it floats from the side surface of the dam guide hole 84a.

Note that air to the dam guide hole 84a is supplied from an air supply source (not shown) to the air supply hole 83 of the fixing part 83.
It is designed to be supplied through a.

As shown in FIG. 11a, the dam guide 84 is attached to the dam guide fixing portion 83 such that the guide surface 84c on the bottom of the dam is inclined at a required angle θ from the horizontal direction.

As a result, when pasting window dam 3, first attach window glass 1 of window dam 3.
The inner edge of the window dam 3 comes into contact with the window glass 1, and then, due to the pressure of the main roller 78, it gradually contacts the window dam 3 from the inner circumference side to the outer circumference side, thereby forming a single plane of the window glass 1. The window dam 3 is smoothly and reliably bonded onto the surface of the window dam 3.

On the other hand, a protrusion 85 extending forward and downward from the dam guide fixing part 83 is provided at the tip of the bracket 78a.
A suction pipe 86b with a release paper suction port 86 is attached to the protrusion 85.

The release silicone paper processing mechanism Sr including the suction pipe 86b with the release paper suction port 86 is configured as shown in FIG. Air near the release paper suction port 86 is sucked into the suction pipe 86b through the paper suction port 86, and the release paper 3a of the window dam 3 is directly sucked.

In addition, the suction pipe 86b is directed from the release paper suction port 86 to the release paper storage box 86a and the release paper 3a.
are provided extending along the guided route.

Thereby, the release paper 3a is stored in a release paper storage box 86a as a release paper storage section connected to the downstream end of the release paper suction port 86.

By the way, a cutter 87 and an auxiliary roller 90 are arranged behind the main roller 78.

The auxiliary roller 90 is connected to an actuator 93 via rods 91 and 94, and is configured to move up and down independently of the up and down movement of the main roller 78 by the operation of the actuator 93.

Further, during this vertical movement, the rod 91 is guided by the rod guide portion 92, so that the auxiliary roller 90 and the rod 91 are maintained in a constant posture.

A cutter 87 is disposed between the auxiliary roller 90 and the main roller 78. Katsuta 8
7 is as shown in Fig. 15, and the rod 8
The arms 87a and 87b are opened and closed by the vertical movement of the cutter 9, and the blade portion 87c at the tip of the cutter 87 is opened and closed so that the window dam 3 can be cut.

The rod 89 is adapted to move up and down by actuating the actuator 88.

Moreover, the cutting edges 87d, 87d in the blade part 87c
Both have their rear sides facing toward the blade portion 87c.
The blade portion 87c is formed to be inclined with respect to the extending plane, and the front surface is formed parallel to the extending plane of the blade portion 87c.

As a result, the cutting edges 87d, 87d make symmetrical cuts in the window dam 3,
It is designed to cut the window dam 3.

By the way, the rotation center B of the dam attachment part 76 with respect to the arm 60 is formed to be located slightly behind the running direction pressing center line A of the main roller 78, and the rotation center B of the dam attachment part 76 with respect to the arm 60 is located slightly behind the running direction pressing center line A of the main roller 78. This makes pasting work easier.

Since the embodiment of the present invention is constructed as described above, the pretreatment work for the window glass 1 is carried out as follows.

As shown in FIG. 2, the window glass 1 carried in is placed on a pallet truck 17, and a specific window glass 1 is transferred to the positioning jig 7 by the glass extraction device 21.

The positioning jig 7 is constructed as shown in FIGS. 3 to 5, and the window glass 1 is first placed on the window glass support column 33.

At this time, the suction cup 3 in the suction cup type fixing mechanism 34
4a is driven downward by an actuator 34b.

Then, the window glass width direction center position adjustment mechanism Sw is operated to adjust the width direction center position of the window glass 1.

That is, by operating the drive motor 41, the arms 35a and 35a are driven through the gear mechanism 40, the worms 38 and 38', and the worm wheels 37 and 37'.
5'a and the arms 35, 35' are made to rotate.

As a result, the outer periphery of one of the rollers 36, 36' comes to engage with one of the opposite ends of the window glass 1.

Thereafter, by further rotating the arms 35, 35', the window glass 1 and one of the rollers 36, 36' are moved toward the other roller 36, 36' that is not engaged with the side edge of the window glass 1. Both are driven.

During this drive, one of the rollers 36, 36' engaged with the window glass 1 rolls along the side edge of the window glass 1 along with the above-mentioned drive.

Then, both the rollers 36 and 36' come to engage with both ends of the window glass 1, and the rotation of the arms 35 and 35' is stopped.

At this time, since the rotation of the arms 35, 35' is symmetrical, the positions of the rollers 36, 36' after rotation are line symmetrical with respect to the center line in the width direction of the positioning jig 7, and the window glass 1 is The positioning jig 7 is placed at a position that is approximately symmetrical with respect to the widthwise center line of the positioning jig 7.

As a result, the center line of the window glass 1 in the left-right direction and the center line of the positioning jig 7 in the width direction almost coincide with each other.

Next, the vertical center position of the window glass 1 is adjusted by the window glass vertical center position adjustment mechanism Sh.

That is, the hydraulic cylinder 53 is driven to move the slide bar 49 in parallel, and the movement of the slide bar 49 moves the rack 56 and pinion 5.
7. Move the slide bar 43 in parallel via the rack 56', and attach the rollers 52, 52' and the rollers 48, 4 to either the upper or lower ends of the window glass 1.
8' to be engaged.

Thereafter, the hydraulic cylinder 53 is further operated to further move the slide bar 49 and the slide bar 43.

As a result, the rollers 52, 52' and the roller 4 which are not engaged with the upper and lower ends of the window glass 1 are removed.
8, 48' toward one side, window glass 1,
The slide bar 49 and the slide bar 43 are driven together, and all of the rollers 52, 52', 48, and 48' engage with the upper and lower ends of the window glass 1.

Note that when adjusting the window glass 1 in the vertical direction, the window glass 1 and the rollers 36, 36' should be adjusted in order to prevent damage to the window glass 1.
The state of engagement with the device should be released.

In such vertical adjustment of the window glass 1, the amount of movement of the slide bar 49 is directly transmitted through the rack 56, pinion 57, and rack 56'. The slide bar 43 now moves line symmetrically, and even after adjustment, the positions of the slide bar 49 and the slide bar 43a are line symmetrical with respect to the vertical center line of the positioning jig 7, so the positioning jig 7 The vertical center line of the window glass 1 almost coincides with the vertical center line of the window glass 1.

In this way, the vertical center line and the horizontal center line of the window glass 1 coincide with the vertical center line and the width direction center line of the positioning jig 7, respectively.

Note that the above-mentioned center lines coincide with each other when the window glass vertical center position adjustment mechanism Sh and the window glass width direction center position adjustment mechanism Sw are operated at the same time, each roller 52, 52', 48,
48', 36, 36' are all window glass 1
It is confirmed whether or not they are engaged with the end faces of the two, and if they do not match, the above-mentioned operation is repeated.

Then, the window glass 1 positioning jig 7
After the positioning on the window glass 1 is completed, the suction cup 34a is fixed to the window glass 1 by the suction cup type fixing mechanism 34.
It is driven toward the lower surface to maintain the position of the window glass 1.

Next, the window glass 1 is held by a holding device with a suction cup (not shown) provided on the shuttle beam 8a (see FIG. 2), and the suction cup 34 is held.
The window glass 1 is transferred onto the shuttle beam 8a so as to release the holding state by a.

Note that these operations are performed by control signals output from the sub-operation panel 19a based on signals from the main operation panel 19.

Then, as shown in FIG. 2, the window glass 1 transferred to the shuttle beam 8a is transferred to a position above the dam positioning jig 9, and placed on the dam positioning jig 9.

The window glass 1 has its widthwise center line adjusted by a dam positioning jig 9, and is fixed to the dam positioning jig 9.

Next, the dam robot 11 constructed as shown in FIGS. 1 and 6 to 19 performs the work of pasting the window dam 3 along the outer periphery of the single surface of the window glass 1.

That is, the required amount of window dams 3 is loaded onto the dam reel 61.

Then, the window dam 3 has an upper roller 64
a and the lower roller 64b,
Dam guide auxiliary roller 73, guide hose base end member 7
4a and the flexible feeding guide tube 74b, and is inserted manually into the dam guide hole 84a of the dam guide 84 so that its end reaches below the main roller 78.

Next, the window glass 1 is adjusted by adjusting the posture of the stand 66, arm 67, and arm 60 based on the control signal of the robot controller 11a.
The main roller 78 is positioned above the window dam 3 pasting start position.

The main roller 78 is driven downward by the operation of the actuator 81, and at this time, the end portion of the window dam 3 is held between the main roller 78 and the window glass 1.

Thereafter, the postures of the stand 66, arm 67, and arm 60 are adjusted based on the control signal from the robot controller 11a, and the main roller 78
moves along the edge of the window glass 1 where the window dam 3 is attached.

At the same time, the dam reel drive motor 63 is driven, the dam reel 61 rotates, and the window dam 3 is supplied in the direction of the dam level guide 64. The window dam 3 is operated while its attitude and supply amount are adjusted by the dam holding amount detection bar 68, the dam support arm 71, the dam support arm stopper pin 72, the dam attitude control section 74, and the guide hose base end member 74a. It is supplied to the guide 84. The window dam 3 is inserted into the dam guide hole 84a, but the dam guide fixing portion 83 is supplied from an air source (not shown) into the dam guide hole 84a.
Pressurized air is supplied through the air supply hole 83a of the dam guide 84 and the air supply hole 84b of the dam guide 84.

The window dam 3 is in a floating state from the inner peripheral surface of the dam guide hole 84a, and even when the window dam 3 and the dam guide 84 are displaced relative to each other, the window dam 3 and the dam guide 84 are prevented from coming into direct contact with each other. become.

In addition, since the air supply hole 84b is inclined toward the rear end of the dam guide 84, the air supplied from the air supply hole 84b is smoothly discharged from the rear end of the dam guide hole 84a. Thus, a required thrust force acts on the window dam 3 in the direction of the rear end of the dam guide 84.

This allows the window dam 3 to move into the dam guide hole 8.
It will now be rolled out smoothly from within 4a.

That is, the window dam 3 is connected to the dam guide 8.
4 is moved relatively backward from the rear end of the dam guide 84, but as mentioned above, it is floating from the dam guide hole 84a, so the friction when sliding inside the dam guide hole 84a In order to significantly reduce resistance and apply thrust toward the rear end of the dam guide 84 to the window dam 3,
When moving the dam guide 84, the main roller 78
No stretching force is applied to the portion of the window dam 3 from below to the rear end of the dam guide 84, and the dam guide 84 is smoothly displaced with respect to the window dam 3.

Further, the window dam 3 will not get caught in the inner surface of the dam guide hole 84a.

In this way, the window dam 3 made of a soft material is pasted onto the window glass 1 without being damaged or forced to undergo excessive deformation.

By the way, as shown in FIG. 11, the dam guide 84 has a guide surface 84c on the bottom surface of the dam, which faces the bottom surface of the window dam 3, with respect to a horizontal plane (the surface where the window glass 1 extends in the part where the window dam 3 is attached). It is attached to the dam guide fixing part 83 with an inclination of a required angle θ.

That is, the inner edge of the window dam 3 that is attached to the window glass 1 contacts the window glass 1 first, and then the window dam 3
As the main roller 78 passes over and presses the window dam 3, the window dam 3 is gradually bonded to the window glass 1 from the inner circumference side to the outer circumference side.
The outer circumferential side is glued last.

By doing this, the window dam 3 formed of a soft material having a left-right asymmetric cross section
Now, the position tilted at a certain angle with respect to the window glass 1 can be maintained constant, and the position and posture when contacting the window glass 1 can be kept constant, and the window dam 3 can be kept constant. You can paste it in the position of

In addition, uneven expansion and contraction of the window dam 3 will not occur, and folds that tend to occur when pasting will be avoided.
This will no longer occur.

The means for pasting this window dam 3 is the first
As shown in FIG. 1b, the guide surface 84 on the bottom of the dam is brought into contact with the outer peripheral side of the window dam 3 first.
c in the opposite direction to that in Figure 11a, and set the required angle θ
A similar effect can be obtained even if the device is installed at an angle.

Furthermore, the above-mentioned effect is particularly effective in pasting work at corner portions as shown in FIG. 12.

In other words, the inner and outer circumferential sides of the window dam 3 will have different lengths at the corners after being pasted, but if the window dam 3 is pasted without tilting, the inner circumference Since there is no difference in adhesion time between the side and the outer peripheral side, it is difficult to control the adhesion to allow for the difference in length.

However, if the window dam 3 is pasted at an angle as in this embodiment, the shape of the window dam 3 corresponding to the shape of the corner portion will be maintained in the inclined position immediately before adhesion. Become. Therefore, the inner circumferential side is slightly contracted and the outer circumferential side is slightly expanded, and the length is automatically adjusted.

In addition, in the pressing operation by the main roller 78, there is a difference in adhesion time from the inner circumference side to the outer circumference side of the window dam 3, so the window dam 3 is bonded with the outer circumference side gradually expanding. .

In this way, the window dam 3 made of a soft material can be smoothly applied to the corners without forming creases or the like.

Note that the above-mentioned effects are the same even if the cross section of the window dam 3 is the window dam 3' formed as shown in FIG. 10b or the window dam 3'' formed as shown in FIG. 10c. can be obtained.

By the way, the work of terminating the window dam 3 in the pasting work of the window dam 3 is performed as shown in FIGS. 16a to 16e.

First, as shown in FIG. 16a, the main roller 7
8 reaches the position just before the end of the window dam 3.

The auxiliary roller 90 is driven upward until the main roller 78 reaches the position just before the end of the window dam 3. When the auxiliary roller 90 reaches the position immediately before the end of the window dam 3, the actuator 93 is actuated to drive it downward, thereby moving the window dam 3. Make sure to press it.

Thereafter, as shown in FIG. 16b, the actuator 88 is actuated to open the blade portions 87c, 87c, and then the actuator 81 is actuated to drive the main roller 78 upward.

Next, move the blade parts 87c, 87c forward a little,
The cutting edges 87d, 87 are located at the end position of the window dam 3.
d.

Then, the actuator 88 is operated to close the blade portions 87c, 87c, and the blade edges 87d, 87c are closed.
87d cuts the window dam 3.

At this time, the cutting edges 87d, 87d are formed so that their inclined surfaces face the rear side of the cutter 87, and the blade portions 87c, 87c extend so that the front surfaces are flush with each other when the cutting edges 87d, 87d are engaged. Because it is formed parallel to the direction in which the window dam 3
In addition to being able to cut the length accurately, the blade part 87
The relative displacement between c and 87c prevents the window dam 3 from being pinched between the cutting edges 87d and 87d, thereby preventing the window dam 3 from being cut unreliably, thereby ensuring that the window dam 3 can be cut at an accurate position.

Next, as shown in FIG. 16d, the auxiliary roller 9
By moving the window dam 3 toward the end of the window dam 3, the window dam 3 separated from the window glass 1 is pressed and bonded to the window glass 1 from the position immediately before the end pressed by the main roller 78 to the end, and When it reaches the point, the actuator 93 is activated to drive the auxiliary roller 90 upward.

This completes the pasting work at the end portion of the window dam 3.

After this, as shown in FIG. 16e, the actuator 81 is moved in preparation for the next pasting operation.
to drive the main roller 78 downward,
The tip of the window dam 3 is positioned below the main roller 78.

Next, the dam guide hole 84 is passed from the guide hose base end member 74a to the flexible feeding guide tube 74b.
Dam feed guide mechanism of window dam 3 leading to a
To explain the guiding operation in Sg (see Fig. 7), the flexible feeding guide tube 74b of the dam feeding guide mechanism Sg is configured as shown in Figs. be provided.

During this feeding, the side surface of the window dam 3 is engaged with and supported by the circumferential surface of a large number of guide balls 96.

Since the guide ball 96 is rotatable with respect to the wire 95, the guide ball 96 rolls as the window dam 3 is fed, and the window dam 3 is guided without any trouble.

That is, since the window dam 3 is made of a soft material, it is easy to get caught in the guide member, but since it is guided in many places by the rolling of the guide balls 96 that function as many rollers, excessive force is not applied to a specific place. This prevents the window dam 3 from being caught in the guide member.

Further, since the wire 95 is supported by the shape-retaining wire member 97 via the attachment fitting 98, even if the wire 95 is formed of a wire material with relatively low rigidity, the rigidity of the entire dam feed guide mechanism Sg is maintained. drooping

Therefore, the dam robot 11 that occurs due to deformation of the dam feed guide mechanism Sg when the rigidity is low.
Entanglement in various mechanisms is prevented.

Since the wire 95 can be formed from a wire material with low rigidity, it is easy to manufacture the wire 95, and the distance between adjacent coils of the wire 95 can be easily set in a state where the spring constant is low.

Furthermore, to explain the operation of the soft object pasting apparatus as an embodiment of the present invention, as shown in FIG. By a means (not shown), the air near the release paper suction port 86 is sucked in, whereby the release paper 3a is directly sucked together with the air and stored in the release paper storage box 86a.

That is, the release paper 3a is the window dam 3.
Immediately after the is let out from the dam guide hole 84a, the suction pipe 86b with a release paper suction port 86
Then, they are separated by the suction force of an air suction means (not shown).

The release paper 3a is sucked in through the suction pipe 86b with a release paper suction port 86 provided in front of the dam guide hole 84a, and the release paper 3a is smoothly prevented from getting entangled with other mechanisms. It is processed.

This method is necessary because silicone resin as a non-adhesive agent is applied to the surface of the release paper 3a to make it easier to peel off the release paper 3a from the window dam 3. In a mechanism for feeding the silicone release paper 3a using a roller or the like, the silicone release paper 3a and the rollers become slippery due to the silicone resin, making it impossible to feed the silicone release paper 3a, making it difficult to process the silicone release paper 3a. Can not.

According to the means of this embodiment, the silicon release paper 3a can be reliably processed regardless of whether or not the surface of the silicon release paper 3a is coated with silicone resin.

In addition, a suction pipe 86b with a release paper suction port 86
By arranging the window dam 3 so that the angle φ with respect to the extending direction satisfies φ≦90°,
The operations described above are carried out without any problems.

Incidentally, the pasting at the corner portions of the window dam 3 is performed as shown in FIGS. 21a to 21c.

As shown in FIG. 21a, when the pressing center line A of the main roller 78 in the running direction reaches the corner, the actuator 81 is actuated to drive the main roller 78 upward and release the pressed state of the window dam 3.

Then, as shown in FIG. 21b, the dam attachment part 76 is further advanced, and the rotation center B of the dam attachment part 76 with respect to the arm 60 (see FIG. 6) is
so that it reaches the longitudinal center line of the part where the window dam 3 is to be pasted.

As a result, the window dam 3 is inclined upward from the position of the center line A along the traveling direction as shown in FIG. 21a.

Then, as shown in FIG. 21c, the center of rotation B
Rotate the dam attachment part 76 by 90 degrees around .

Then, the actuator 81 is actuated to drive the main roller 78 downward so that the main roller 78 presses the window dam 3 against the window glass 1, and the actuator 93 is actuated to also drive the auxiliary roller 90 downward. do.

From this state, by advancing the dam pasting section 76 in the direction of the window dam 3, the main roller 78 performs pasting work in the normal straight line area of the window dam 3, and the auxiliary roller 90 moves the dam pasting section 76 toward the window dam 3 at the corner. Pressure adhesion work is performed on the window glass 1, and the pasting of the window dam 3 at the corner portions is completed.

Thereafter, the actuator 93 is actuated to drive the auxiliary roller 90 upward, and the auxiliary roller 90 is placed in the retracted state, and the main roller 78 continues to work in the normal linear range.

In this way, the arm 60 of the dam attachment part 76
By arranging the rotation center B of the main roller 78 at a position slightly rearward from the running direction pressing center line A, the inner circumference side of the window dam 3 contacts the window glass 1 at the corner portion, and the outer circumference side contacts the window glass 1. , the tilted posture is reliably formed so as to be gradually lifted from the position of the pressing center line A in the traveling direction shown in FIG. 21a.

For this reason, the length of the inner and outer circumferential sides of the window dam 3 formed of a soft material is automatically adjusted to suit the above-mentioned posture, and the generation of folds etc. after pasting is prevented. Ru.

Further, since the corner portions of the window dam 3 are pressed and bonded with both ends of the corner portions being bonded together by the auxiliary roller 90, pasting is completed easily and reliably.

In this way, the window dam pasting device Sd
As a result, window 3 is performed as preprocessing.

The window glass 1 with the window dam 3 pasted in this way is transferred to the primer positioning jig 20 by the shuttle beam 8b.

Primer robot 13 applies primer 4 to the outer circumferential side of window dam 3 on window glass 1 which has been positioned and fixed in primer positioning jig 20 .

In this way, the primer coating device Sp performs pretreatment for primer coating.

Thereafter, the window glass 1 is transferred to the adhesive positioning jig 15 by the shuttle beam 8c.

The adhesive robot 16 applies the adhesive 2 to the upper part of the primer 4 on the window glass 1 which has been positioned and fixed by the adhesive positioning jig 15 .

In this way, the pretreatment for adhesive application is performed by the adhesive application device Sb.

In this way, the window glass 1 that has undergone the pretreatment work of pasting the window dam 3, applying the primer 4, and applying the adhesive 2 is transferred to the conveyor 18 by the glass transfer device 22, and is transferred to the main body (not shown). Wait at the line until it is pasted on the car body.

[Effects of the invention] As detailed above, according to the soft object pasting device of the present invention, the following effects and advantages can be obtained with a simple configuration.

(1) Immediately after the soft material is fed out from the guide member, the release paper is directly sucked into the release paper suction tube along with air to separate it from the soft material, and immediately after that, the soft material is transferred to the surface to be adhered using a roller. Since soft objects are pasted by pressing, the release paper can be reliably pulled and processed without problems regardless of the presence or absence of non-adhesive objects, and the soft object can be firmly attached to the surface to be adhered while separating the release paper. It has the advantage of being able to be pasted into

(2) The release paper processing mechanism that separates the release paper from the adhesive-coated surface of the soft object is made by sucking the release paper directly from the soft object through the release paper suction pipe without using any mechanical mechanism. By adopting the separation structure, there is no need for a mechanism to synchronize the pasting speed of the soft object and the separation speed of the silicon release paper, which would be required if the release paper processing mechanism was configured with a mechanical mechanism, so it is simple. This structure has the advantage of reliably separating the release paper from the soft object.

Additionally, due to the above-mentioned advantages, it is now possible to provide an automatic window dam pasting device that requires reliable processing of release paper, thereby improving the quality of vehicle windows and improving the quality of vehicle windows. In addition to speeding up the production line, this has the advantage of contributing to lower production costs.

[Brief explanation of the drawing]

1 to 21 show a window glass pretreatment device equipped with a soft material pasting device as an embodiment of the present invention, and FIG. 1 is a schematic diagram showing the dam separation paper separation and storage device. , FIG. 2 is its overall configuration diagram, and FIGS. 3 to 5 show its positioning device. FIG. 3 is a plan view thereof, FIG. The figure is a sectional view taken along the - arrow in FIG. 3, and FIGS. 6 to 8 show the window dam pasting device. FIG. 6 is a plan view, FIG. 7 is a front view, and FIG. is a side view thereof, FIG. 9 is an enlarged view of the part shown in FIG. 8, FIGS. 10 a, b, and c are sectional views of the window dam, and FIGS. 12 is a schematic diagram showing the dam pasting state in the dam pasting device; FIG. 12 is a schematic diagram showing the corner part pasting state in the dam pasting device;
The figures are a sectional view taken along the - arrow in Fig. 9, Fig. 14 is a longitudinal sectional view of the dam guide, Fig. 15 is a front view of the cutter for cutting the dam, and Figs. 16 a to e show the window dam cutting operation. Schematic diagram shown, 1st
Figures 7 to 19 show the dam feed guide pipe.
FIG. 17 is a perspective view thereof, FIG. 18 is a view taken along the - arrow in FIG. 17, FIG. 19 is a perspective view of the guide ball, and FIG. 20 is a sectional view showing the pretreated window glass. , Figure 21 a, b, c
FIG. 2 is a schematic diagram showing a state in which the dam is attached at the dam corner portion. 1...Window glass, 2...Adhesive, 3,
3', 3''...Window dam as a continuum, 3
a...Release paper, 4...Primer, 7...Positioning jig, 7a...Operation unit, 8a, 8b, 8c...
...Shuttle beam, 9...Dam positioning jig, 1
0...Dam workbench, 11...Dam robot, 11
a... Robot controller, 12... Primer workbench, 13... Prima robot, 13a...
Robot controller, 14...Adhesive workbench,
15... Adhesive positioning jig, 16... Adhesive robot, 16a... Robot controller, 17
...Pallet truck, 18...Conveyor, 19...
Main control panel, 19a, 19b, 19c, 19d...
Sub-operation panel, 20...Primer positioning jig, 21
...Glass extraction device, 22...Glass transfer device,
31...Support stand, 32...Base plate, 32
a, 32b... Base plate, 33... Window glass support column, 34... Suction cup type fixing mechanism,
34a...Sucker, 34b...Actuator, 3
5, 35'... Arm, 35a, 35'a... Pole, 35b... Bracket, 36, 36'... Roller, 37, 37'... Worm wheel, 38,
38'... Worm 39a, 39'a, 39b, 3
9'b...support member, 40...gear mechanism, 41...
...Drive motor, 42a, 42b...Motor mounting plate, 43...Slide bar, 44a, 4
4'a, 44b, 44'b, 44c, 44'c...
Bracket, 45, 45'...Slider, 46,
46'...Guide bar, 47,47'...Pole,
48, 48'...Roller, 49...Slide bar,
50, 50'...Slider, 51, 51'...Pole, 52, 52'...Roller, 53...Hydraulic cylinder, 54...Rod, 55...Pinion rack mounting plate, 56, 56'...Rack , 57...
... Pinion, 60 ... Arm, 61 ... Dam reel, 62 ... Dam reel shaft, 63 ... Dam reel drive motor, 63a ... Motor mounting plate, 64
...Dam level guide, 64a ... Upper roller,
64b...lower roller, 65a...infrared reflective sensor, 65b...reflector, 66...stand,
67... Arm, 68... Dam holding amount detection bar,
69...Hand portion, 70...Base, 71...Dam support arm, 72...Dam support arm stopper pin, 73...Dam guide auxiliary roller, 74...Dam posture control unit, 74a...Guide hose base end Part, 7
4b...Flexible feeding guide tube, 75...Dam attitude control arm, 76...Dam pasting part, 77
...Plate, 78...Main roller, 78a...
...Bracket, 79a...Rear rod, 79b...
...Front rod, 80a, 80b... Rod guide section, 81... Actuator, 82... Rod,
83...Dam guide fixing part, 83a...Air supply hole, 84...Dam guide, 84a...Dam guide hole, 84b...Air supply hole, 84c...Dam bottom guide surface, 85...Protrusion part, 86...Release release paper suction port, 86a...Release release paper storage box as a release silicone paper storage section, 86b...Suction pipe, 86c...
Air suction means, 87... Katsuta, 87a, 87b
...Arm, 87c...blade section, 87d...blade tip,
88... Actuator, 89... Rod, 90
... Auxiliary roller, 91 ... Rod, 92 ... Rod guide section, 93 ... Actuator, 94 ... Rod, 95 ... Wire, 96 ... Guide ball, 9
7...Shape retaining wire member, 98...Mounting metal fittings,
A...Press center line in running direction, B...Rotation center,
Sb...Adhesive applicator, Sd...Window dam pasting device, Sg...Dam feed guide mechanism, Sh...
...Window glass vertical center position adjustment mechanism,
Sp... Primer application device, Sr... Release paper separation and storage device, Sw... Window glass width direction center position adjustment mechanism.

Claims (1)

[Scope of utility model registration request] In a pasting device for a soft object, which has the same cross-sectional shape, continues in a band shape, has an adhesive coated surface on one side, and has a release paper separably attached to the adhesive coated surface, the release paper is attached from the soft object to the release paper. A release paper processing mechanism for separating the paper; and a release paper processing mechanism provided behind the release paper processing mechanism to apply adhesive to the adhesive coated surface of the soft object from which the release paper has been removed by the release paper processing mechanism. A roller that presses the soft object onto a single plane of the member to adhere it to a single plane of the adhered member, and a roller that is disposed between the release paper processing mechanism and the roller to peel off the release paper. a guide member for guiding the soft object to a position near the roller; a release paper suction tube that extends along the soft object and directly sucks the release paper attached to the soft object from the opening at one end to separate the release paper from the soft object; and a release paper storage box connected to the other end opening of the suction pipe and storing the release paper separated from the soft object by the release paper suction pipe. Included device.