JPH06219352A - Glass mounting system - Google Patents

Abstract

PURPOSE:To provide a glass mounting system to mount glasses on a vehicle after the front and rear glass mounting positions of a vehicle are accurately recognized and cope with the moving speed of an assembly line. CONSTITUTION:A glass mounting device comprises a vision sensor device 3 to detect the window position of a vehicle 1 and a vision sensor; a robot 4 to drive an arm based on a position detecting signal from the vision sensor device 3, suck front and rear glasses 51 and 52 fed from a conveyor device 5 to transfer the glasses, and mount the glasses on a vehicle 1: and a manual operation crane 6 to suck the glasses 51 and 52 fed by the conveyor device 5 and transfer the glasses to the mounting position of the vehicle 1. This constitution causes accurate detection of the window position of the vehicle 1 by means of the vision sensor device 3 and accurate mounting of the glasses 51 and 52 on the vehicle 1. Further, the coordinate work of two systems causes reduction of a mounting work cycle time and coping with the moving speed of an assembly line for the vehicle 1. Further, back up is practicable by means of a manual operation crane 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a glass mounting facility for mounting a windshield and a rear glass on a vehicle in a vehicle assembly line.

[0002]

2. Description of the Related Art In conventional glass installation equipment, workers are
The front window and rear window of the vehicle with adhesive, which had been previously conveyed by the conveyor device, were lifted by operating a crane with an adsorption device at the tip, and the front window and rear window of the vehicle which were further conveyed by the assembly line. It is fixed by transferring it to a position (a mounting position of the windshield and the rear glass), lowering the windshield and the rear glass to these mounting positions, and crimping them to the positions of the front window and the rear window.

[0003]

As described above, in the conventional glass mounting equipment, the worker mounts the glass on the vehicle, but in order to save labor, automation thereof is desired. However, the installation position of the windshield and the rear glass of the vehicle depends on the assembly line because the glass installation stop position of the vehicle conveyed by the assembly line always varies and the front window and the rear window of the vehicle tilt. It is different for each vehicle that has been transported, so automation was difficult. Further, since the moving speed of the assembly line is high, both the visual sensor for detecting the glass mounting position and the glass mounting arm are provided.
There was a problem that one robot could not handle the speed.

The present invention solves the above problems,
It is an object of the present invention to provide a glass attachment facility that accurately recognizes the attachment positions of a windshield and a rear glass of a vehicle to be attached to the vehicle and that corresponds to the moving speed of an assembly line.

[0005]

In order to solve the above problems, the glass installation equipment of the first invention is a glass installation equipment for installing a rear glass and a windshield on a vehicle in an assembly line of a vehicle. A first visual sensor portion that can freely move in and out and that detects the upper end, lower end, and side edge positions of the rear window of the vehicle, and second visual sensor portion that detects the upper end, lower end, and side edge positions of the vehicle front window. A visual sensor robot having: a conveyance means for sequentially supplying the rear glass and the windshield; and a rotatable and movable arm having a pair of the rear glass and the windshield adsorbing means rotatably attached to its tip end, The arm is driven based on the position detection signal of the visual sensor robot, and the rear glass and the windshield are respectively moved by suction means. Adsorbed from feed means, it is characterized in that it comprises a mounting robot to mount the rear window and windshield of the vehicle.

Further, the glass installation equipment of the second invention has a suction means for adsorbing the rear glass and the windshield transferred by the transfer means to the glass installation equipment of the first invention, and transfers it to the vehicle mounting position. It is characterized by the addition of a manually operated crane.

[0007]

According to the structure of the first aspect of the invention, the visual sensor robot detects the upper end, lower end, and side end positions of the rear window and front window of the vehicle, respectively, and the mounting robot drives the arm to convey the vehicle. The rear glass and the windshield supplied by the means are respectively sucked by the suction means, and then the arm is driven based on the position detection signal of the visual sensor robot to attach the rear glass and the windshield to the vehicle.

According to the second aspect of the invention, when the mounting robot cannot be used, the visual sensor robot is retracted, and then the manually operated crane is operated to adsorb the rear glass and windshield supplied from the conveying means. , Install the rear glass and windshield to the vehicle.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a layout view of glass installation equipment according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a vehicle that has been transported to a glass mounting position by a conveyor device (not shown). The vehicle 1 faces the transportation path 2 and is located at an upper end of a rear window 1A of the vehicle 1. Rear window position detection device 3A for detecting the lower and side edge positions and the front window of the vehicle 1
A visual sensor device (robot) having a front window position detection device 3B that detects the top, bottom, and side positions of 1B
3, rear window 1A and front window of vehicle 1
A robot 4 for mounting the rear glass 51 and the windshield 52 is arranged in 1B, and a conveyor device 5 for supplying the rear glass 51 and the windshield 52 to the robot 4 in order is arranged on the side of the robot 4 and further across the transport path 2. A manually operated crane 6 for adsorbing the rear glass 51 and the front glass 52 conveyed from the conveyor device 5 and transferring them to the positions of the rear window 1A and the front window 1B of the vehicle 1 is arranged.

As shown in FIGS. 2 to 5, the visual sensor device 3 has a conveyance path 2 for the vehicle 1 on the ceiling of a frame-shaped main body 7.
A pair of LM guides 8 are laid in a direction perpendicular to (to be referred to as the front-back direction), and the cylinders 9 fixed to the main body 7 are driven to move in the front-back direction along the LM guides 8 to the transport path 2. A frame body (10) is provided for withdrawing, and the rear window position detecting device (3A) and the front window position detecting device (3B) are provided on the frame body. The rear window position detecting device 3A and the front window position detecting device 3B respectively include a visual sensor unit 11, an elevating unit 12 that vertically elevates the visual sensor unit 11, and a fork that drives the elevating unit 12 in the front-back direction. It is configured to include a section 13. Since the rear window position detecting device 3A and the front window position detecting device 3B have the same configuration, only the rear window position detecting device 3A will be described, and the description of the front window position detecting device 3B will be omitted.

The visual sensor unit 11 is horizontally fixed to the elevating unit 12 and is elevated and lowered, a supporting bar 15 vertically installed at the center of the aluminum bar 14, and attached to the lower end of the supporting bar 15. Further, the proximity sensor 16 for detecting the lower end of the rear window 1A, and the aluminum bar 14 vertically installed at both ends,
The visual sensors 19A and 19B for detecting the upper end of the rear window 1A composed of the illumination lamp 17 and the imaging device 18 and the rear window 1A composed of the illumination lamp 17 and the imaging device 18 suspended from one side of the aluminum bar 14. It is composed of a visual sensor 20 for detecting the side edge.

The elevating part 12 is composed of upper and lower and left and right frames, and a fixed girder-shaped fixed frame 21 which is vertically supported by the fork part 13, and a vertical direction 2 on the surface of the left and right frames 21A of the fixed frame 21. A pair of left and right LM guides 22 laid at different locations, a pair of left and right elevating frames 23 that ascends and descends along the LM guides 22, the shaft ends are fixed to the elevating frames 23, and the main body is fixed to the fixed frame 21. Shaft 24 for supporting the aluminum bar 14 of the visual sensor unit 11 horizontally by a fixed cylinder 24 and a spring 26 having one end fixed on a cylinder body 25 fixed to the outside of the elevating frame 23.
It consists of

Further, the fork portion 13 is a pair of L laid in the front-rear direction along the right end of the lower frame 10A of the frame body 10.
The M guide 28, a high speed cylinder 29 fixed on the lower frame 10A of the frame body 10, a first slider 30 driven by the high speed cylinder 29 and moving in the front-rear direction along the LM guide 28, and a first slider 30 A pair of LM guides 31 laid in the front-rear direction along the right end on the first slider 30, a pinion gear 32 fixed to the center of the left end on the first slider 30, and a rear end on the left end of the first slider 30. Projected stopper 33
And a rack 32A that meshes with the pinion gear 32 along the left end
A second slider 34 that moves in the front-rear direction along the LM guide 31 on the first slider 30 by driving the pinion gear 32 and fixes the elevating part 12 to the front end, and a second slider 34 on the second slider 34. Proximity sensor 1 of visual sensor unit 11 provided in
6, and a cable chain 36 that guides a cable 35 that guides signals from the visual sensors 19A, 19B, and 20 to the upper frame 10B of the frame 10 from the elevating part 12, and a first slider that is hung on the upper frame 10B of the frame 10. It is composed of a damper 37 that restricts the rearward movement of 30.

With the above structure, the visual sensor device 3 normally drives the cylinder 9 to move the frame 10 forward along the LM guide 8, and when the vehicle 2 arrives, the high speed cylinder 29 is driven. Move the first slider 30 forward along the LM guide 28, and this movement causes the pinion gear 32 to move.
Is rotated to move the second slider 34 forward.
Further, the cylinder 24 of the lifting means 12 is driven to lower the visual sensor unit 11, and when the lower end of the rear window 1A is detected by the proximity sensor 16 of the visual sensor unit 11, the cylinder 24 of the lifting means 12 is stopped. Stop the descent of the visual sensor unit 11,
This lower end position is stored, and then the visual sensors 19A, 19B,
20 is driven and the front and rear upper and lower ends and side ends are detected by the visual sensors 19A, 19B and 20, and these upper and lower end positions and side end positions are stored. The front and rear upper edges of this rear window 1A,
When the side edge detection is completed, the high speed cylinder 29 is driven to move the first slider 30 rearward and the second slider 34 rearward, and the robot detects front and rear upper and lower edges and side edge detection signals. Output to 4. When the visual sensor device 3 is not used, the cylinder 9 is driven to move the frame 10 to the rear.
To move.

Next, the robot 4 for attaching the rear glass 51 and the windshield 52 to the vehicle 1 will be described with reference to FIGS. The robot 4 has a main body 42 that is self-propelled on a pair of rails 41 laid along the transportation path 2 of the vehicle 1 in a direction along the transportation path 2 of the vehicle 1 (hereinafter, referred to as a left-right direction), and a main body 42.
An arm 43 that is rotatable and can be horizontally and vertically moved (6 degrees of freedom), a pair of adsorption devices 44A and 44B that are rotatably provided around the axis at the tip of the arm 43, and are arranged along the rail 41. It is provided with a cable chain 45 that guides the signal cable and the power cable to the main body 42.

With the above structure, the robot 4 has the arm 43.
By rotating the conveyor device 5 in the direction of the conveyor device 5
With A facing downward, the arm 43 is lowered toward the rear glass 51 conveyed by the conveyor device 5, and the suction device
The rear glass 51 is adsorbed by 44A. Next, after raising the arm 43 once, the other suction device 44B is turned downward,
The arm 43 is lowered toward the windshield 52 that is next conveyed by the conveyor device 5, the windshield 52 is sucked by the suction device 44B, and the arm 43 is raised again.

Next, when the position signals of the lower ends of the rear window 1A and the front window 1B of the vehicle 1, front and rear upper ends, and side edges are input from the visual sensor device 3, the main body 42 is first moved to the vehicle according to the position signals. 1, the arm 43 is rotated between the vehicles 1, and then moved in the front-rear direction so that the rear glass 51 adsorbed to the tip of one adsorbing device 44A is opposed to the rear window 1A position, and the arm 43 is moved to the rear. Window
Lower the rear glass 51 to the 1A position and rear window 1A
Crimp on. Next, raise the arm 43, rotate it,
Windshield adsorbed at the tip of the other adsorption device 44B
The 52 is opposed to the position of the front window 1B, the arm 43 is lowered to the position of the front window 1B, and the windshield 52 is pressure-bonded to the front window 1B. Then the arm
43 is raised and the main body 42 is moved to a predetermined position (the suction position of the rear glass 51 and the windshield 52) to finish.

While the robot 4 is sucking the rear glass 51 and the windshield 52, the rear window position detecting device 3A detects the front and rear upper and lower ends and side edges of the rear window 1A. When the detector 3A moves backward, the rear glass 51 by the robot 4
And the upper and lower front and rear ends and side edges of the front window 1B are simultaneously detected by the front window position detecting device 3B, and the windshield 52 is moved by the robot 4 by retracting the front window position detecting device 3B.
Is installed.

When the visual sensor device 3 or the robot 4 cannot be used, the frame 10 of the visual sensor device 3 is retracted, and then the manually operated crane 6 is operated to move the conveyor device 5 to the rear glass 51 or the rear glass 51. Windshield 52
Is transferred to the position of the rear window 1A or the position of the front window 1B, and the rear glass 51 or the windshield 52 is attached to the vehicle 1.

The conveyor device 5 supports the rear glass 51 and the windshield 52 and sequentially feeds them. The transporter 46 temporarily supports the rear glass 51 and the windshield 52 at a height higher than the conveyance height of the transporter 46. A transfer conveyor device 48 including a supporter (cylinder) 47 that enables returning, and a rear glass 51 and a windshield 52 received from the conveyor device 53 are supported by a pad from four sides to form a rear glass.
It is composed of a transfer device 49 for accurately fixing the 51 and the windshield 52 at the delivery position to the robot 4. 6 and 7, reference numeral 53 is a running fork for taking out the rear glass 51 or the windshield 52 sent by mistake.

As described above, even when the stop position of the vehicle 1 varies due to the visual sensor device 3 and the rear window 1A and the front window 1B of the vehicle 1 are inclined, the rear window 51 of the vehicle 1 and the rear window 51 can be accurately measured. Windshield 52
The mounting position can be detected, and the rear glass 51 and the windshield 52 can be accurately mounted on the vehicle 1 by the robot 4. Moreover, labor saving can be achieved with this automation.

Further, the visual sensor device 3 and the robot 4 are connected to each other.
By using the stand to perform joint work, the cycle time of the work of attaching the rear glass 51 and the windshield 52 can be reduced, and even if the moving speed of the vehicle 1 (assembly line) is fast, it can handle the speed, and the whole work can be performed. Efficiency can be maintained or improved. Further, since the visual sensor device 3 is independent of the robot 4, it is possible to suppress the occurrence of vibration such as that generated in the arm 43 of the robot 4, and it is possible to suppress an error in position detection, and to accurately detect the rear glass 51 and the front. The glass 52 can be attached. Further, by providing the proximity sensor 16 in the visual sensor device 3, the positions of the visual sensors 19A, 19B, 20 (frame position of the imaging device 18)
Can be set quickly, and quick position detection can be performed.
The overall work efficiency can be maintained or improved.

When the robot 4 cannot be used, the visual sensor device 3 is completely retracted from the assembly line by the cylinder 9, and the manually operated crane 6 is operated in this state to operate the rear glass 51 supplied from the conveyor device 5. The windshield 52 can be attached to the vehicle 1, and the assembling work of the vehicle 1 can be continued without stopping the assembling line and the operating rate can be maintained.

The visual sensor device 3 is attached to the suction device 44.
Instead of A and 44B, a robot 4 having a rear window position detecting device 3A and a front window position detecting device 3B attached thereto can be used.

[0026]

As described above, according to the first invention,
The visual sensor robot can accurately detect the top, bottom, and side edge positions of the front window and rear window of the vehicle, even if the vehicle stop position varies and the rear window and front window of the vehicle tilt. Therefore, the mounting robot can accurately mount the windshield and the rear glass on the vehicle by driving the arm based on the position detection signal of the visual sensor robot. Moreover, labor saving can be achieved with this automation. Also, by using two visual sensor robots and a mounting robot to perform joint work, the cycle time for mounting the rear glass and windshield can be reduced,
Even if the speed of the vehicle assembly line is high, the speed can be accommodated and the overall work efficiency can be maintained.

Further, according to the second aspect of the present invention, when the mounting robot cannot be used, the manually operated crane can be operated to accurately mount the windshield and the rear glass supplied from the conveying means, and stop the assembly line. Without this, the assembly work of the vehicle can be continued and the operating rate can be maintained.

[Brief description of drawings]

FIG. 1 is a device layout view of a glass installation facility according to an embodiment of the present invention.

FIG. 2 is a front view of the visual sensor device of the glass installation equipment.

FIG. 3 is a plan view of a visual sensor device of the glass installation equipment.

FIG. 4 is a side view of the visual sensor device of the glass installation equipment.

FIG. 5 is an enlarged front view of a main part of the visual sensor device of the glass installation equipment.

FIG. 6 is a front view of a robot of the same glass mounting facility.

FIG. 7 is a plan view of a robot of the glass installation equipment.

FIG. 8 is a side view of a robot of the glass installation facility.

[Explanation of symbols]

1 Vehicle 1A Rear window 1B Front window 2 Conveyance route 3 Visual sensor device (visual sensor robot) 3A Rear window position detection device (first visual sensor part) 3B Front window position detection device (second visual sensor part) 4 ( Installation) Robot 5 Conveyor device (conveying means) 6 Manual operation crane 7 Visual sensor device main body 10 Visual sensor frame 11 Visual sensor part 12 Elevating part 13 Fork part 16 Proximity sensor 19A, 19B, 20 Visual sensor 42 Robot main body 43 Arm 44A , 44B Adsorption device 51 Rear glass 52 Windshield

Claims (2)

[Claims] 1. A glass installation facility for installing a rear glass and a windshield on a vehicle in an assembly line of a vehicle, which is capable of retracting into and out of the assembly line and detects upper end, lower end and side end positions of a rear window of the vehicle. A visual sensor robot having a first visual sensor portion, a second visual sensor portion for detecting an upper end, a lower end, and a side end position of a front window of the vehicle; and a transporting means for sequentially supplying the rear glass and the windshield. It has a rotatable / movable arm having a pair of the rear glass and windshield suction means rotatably attached to its tip, and drives the arm based on the position detection signal of the visual sensor robot. Attachment that attaches the rear glass and windshield to the vehicle by adsorbing the rear glass and windshield from the transporting means. Glazing equipment characterized by comprising a robot. 2. The glass installation equipment according to claim 1, further comprising a suction means for adsorbing the rear glass and the windshield transferred by the transfer means, and a manually operated crane for transferring to the mounting position of the vehicle.