JPH0631031B2 - Car window glass mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to an automobile in which a window glass can be automatically attached to a window portion on a fleet side or a rear side of a vehicle body on a conveyance route by using a robot. The present invention relates to a window glass mounting device.

(Prior Art) As the apparatus of this type, the applicant of the present application previously arranged a window glass supply path in parallel with a vehicle body conveyance path and made it possible to convey a pallet having a suction cup for adsorbing and holding the window glass along the supply path. In addition, a jig for positioning and holding the pallet is mounted on the operating end of the robot, and the window glass set on the pallet at the setting station on the starting end side of the supply path is transferred to the transfer station on the terminating side of the supply path. It has been proposed that a transfer device provided to the jig transfers the entire pallet to the jig, and a window glass sucked and held by the jig through the pallet is attached to the window portion of the vehicle body on the vehicle body conveyance path by the operation of the robot.

(Problems to be Solved by the Invention) According to the above device, the window glass can be gripped on the pallet that is a rigid body and transferred to the robot side, the workability is improved, and the pallet is positioned and fixed on the jig. By doing so, the positional accuracy of the window glass with respect to the robot can be secured,
The window glass can be attached to the window of the car body efficiently and accurately, but since the pallet moves over a wide range, a negative pressure source that applies negative suction pressure to the suction cups on the pallet is connected to the pallet with a tube or the like. The problem is how to apply a negative pressure to the suction cup, and after attaching the window glass to the window part, release the suction of the window glass by the suction cup,
It is necessary to remove the pallet from the window glass, but the problem is how to do this.

It is an object of the present invention to provide an apparatus which solves the above problems in the above-mentioned proposal.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a window glass mounting device in which a window glass is mounted on a window portion of a vehicle body on a vehicle body conveyance path by using a robot. A jig for arranging window glass supply paths in parallel in the transfer path so that a pallet having a suction cup for adsorbing and holding the window glass can be freely conveyed along the supply path, and the pallet is positioned and held at the operating end of the robot. And the window glass set on the pallet at the setting station on the starting end side of the supply path is transferred together with the pallet to the jig by a transfer device provided in the transfer station on the terminal end side of the supply path. In the set, the pallet is provided with a suction port connected to a suction circuit connected to a suction cup on the pallet via a check valve, and an atmosphere opening valve connected to the circuit, The station is provided with a negative pressure introducing member for introducing a negative pressure into the circuit through the suction port, and the jig is provided with a valve operating member for opening and closing the valve.

(Operation) After the window glass is positioned and set on the pallet at the setting station, a negative pressure is applied to the suction cup through the suction port provided in the pallet by the negative pressure introducing member provided in the station, and the window glass is set. Are suction-held on the pallet, and then the pallet is conveyed to the transfer station via the window glass supply path.

At this time, the suction port is separated from the negative pressure introducing member and opened to the atmosphere, but since the suction port is connected to the suction circuit connected to the suction cup via the check valve, the suction port is connected to the negative port. The pressure does not leak and the window glass is connected to the suction cup and adsorbed.

Next, in the transfer station, the pallet is transferred to a jig at the operating end of the robot by a transfer device, and the window glass that is sucked and held by the pallet by the operation of the robot while the pallet is positioned and held by the jig. Is attached to the window part of the vehicle body of the vehicle body transport path.

After attaching the window glass, the valve operating member on the jig is actuated to open the atmosphere release valve provided in the pallet, and atmospheric pressure is introduced into the suction cup on the pallet to attract the window glass by the suction cup. The pallet is released from the window glass by the operation of the robot, and the attachment work is completed.

(Embodiment) Referring to FIGS. 1 to 3, (1) shows a vehicle body conveyance path, (2) shows a window glass supply path arranged in parallel with the conveyance path (1), and
To be transported from the rear to the front (from the left to the right in the drawing) by the hanger conveyor (3) along the transport path (1),
Two front and rear robots (4 ₁ ) (4 ₂ ) are provided on the side of a predetermined vehicle body stop position of the transport path (1), and a front window is supplied from the front via the supply path (2). The glass b ₁ and the window glass b ₂ on the rear side are connected to the front side of the vehicle body a on the transfer path (1) by the first robot (4 ₁ ) on the front side and the second robot (4 ₂ ) on the rear side. It was designed to be attached to the window and the window on the rear side.

Each windowpane b ₁ , b ₂ is adsorbed and held on each pallet (5) having a plurality of suction cups (5a), and the pallets (5) move from the front to the rear along the supply path (2). To the supply path (2), from the front to the rear, in order from the setting station S ₁ , the primer coating station S ₂ , the first and second drying stations S ₃ , S ₄ , and the first adhesive. The coating station S ₅ , the first transfer station S ₆ , the second adhesive coating solution S ₇ , and the second transfer station S ₈ are arranged, and the rear is first set by the setting device (6) arranged in the setting station S _1. Set the side window glass b ₂ on the pallet (5) with the inner surface facing upward so that the outer surface is attracted to the suction cup (5a),
Then, apply the pallet (5) to the primer coating station S ₂
Coating robot which is transported to the station and placed in the station S _2.
While applying a primer to the inner peripheral edge of the rear side window glass b ₂ by (7), set the front side window glass b ₁ on the next pallet (5) at the set station S ₁ ,
After that, put the pallet (5) with the rear window glass b ₂
After the tact conveyance in the order of the drying station S ₃ and the second drying station S ₄ , this is the first adhesive application station.
S ₅ and the first transfer station S ₆ are passed straight through and transported to the second adhesive coating 2 station S ₇ , while the pallet (5) on which the front raw glass b ₁ is set is transported to the primer coating station S _2. After applying the primer to the peripheral edge of the inner surface of the window glass b ₁ , this is applied to the first and second drying stations.
Each window glass b is conveyed by tact to the first adhesive coating station S ₅ via S ₃ and S _4, and each coating robot (8 ₁ ) (8 ₂ ) arranged at each of the adhesive coating stations S ₅ and S ₇ Adhesive is applied to the peripheral edge of the inner surface of ₁ and b ₂ , and then each pallet (5) is conveyed to each transfer station S ₆ and S ₈ to be transferred to each transfer station.
Each pallet is set by each mounting device (9 ₁ ) (9 ₂ ) provided for S ₆ and S _8.
(5) was transferred to each of the robots (4 ₁ ) and (4 ₂ ).

The pallet (5) is supported by guide rails (2a) (2a) on both the left and right sides of the supply path (2), and a shuttle bar (not shown) provided between the rails (2a) (2a). The pallet (5) is transferred to each of the stations S ₁ , S ₂ , ... Except the first and second transfer stations S ₆ , S ₈ as shown in FIGS. ) A pair of front and rear locating pins (10a) that fit into the front and rear reference holes (5b) and (5b) on both sides of
Lifters (10) (10) on both sides with (10a) attached, and pallet (5)
4 clampers (11) facing the clamp seats (5c) at the four corners of the upper surface of the cylinder are provided, and the lifters (10) are moved upward by the cylinders (10b) and the clampers (11) are moved to the cylinders (11).
a) abut the respective clamp seats (5c),
(5) is positioned and fixed.

As shown in FIGS. 7 to 10, each of the robots (4 ₁ ) (4 ₂ ) has a cylinder (12 a) on which a cylinder (12 a) is mounted on a first slide base (12) which is movable in the front-rear direction, that is, the vehicle length direction. A second slide base (13) that is movable in the left-right direction, that is, the vehicle width direction is provided by 13a), and a rotary base (14a) is mounted on the second slide base (13) and is rotatable around a vertical axis by a rotary actuator (14a). )
Via the cylinder (15a) along the guide bar (15b) in the vertical direction, that is, in the vehicle height direction, to the lift table (15) which is rotatable about the horizontal axis by the rotary actuator (16a). ) Is installed axially, and a jig (18) that can be moved back and forth by a cylinder (18a) is attached to the tip of the robot arm (16), which is the operating end of the robot, via a support frame (17). By the movement of the first and second slide bases (12) and (13) and the lift base (15) on the tool (18), the vehicle length, the vehicle width, and the vehicle height are translated in three directions, and the turning base ( The horizontal turning motion by the armature 14) and the vertical reversing motion by the arm (16) are given, and the jig (18) is reversed to the upward posture and the ninth
Swivel to the transfer position on the transfer device (9 ₁ ) (9 ₂ ) side shown in the figure,
In this state, after transferring the pallet (5) to the jig (18), turn the jig (18) to a diagonal downward position and turn it to the mounting position on the side of the vehicle body conveyance path (1) shown in FIG. And then the jig (18)
By a pair of first detectors (19) (19) having a rod (19a) that abuts on the side frame of the window so that the window exactly faces the window of the vehicle body a on the transport path (1). A pair of second detectors having displacements of the jig (18) with respect to the window portion in the vehicle width direction and engaging elements (20a) (20b) at the tips that abut on the upper edge of the window portion in mutually orthogonal directions ( 2
0) (20) detects the vehicle length and vehicle height direction displacement of the jig (18) with respect to the window, and the position of the jig (18) is detected by signals from these detectors (19) (20). After the correction, the jig (18) was advanced to the window side so that the window glasses b ₁ and b ₂ were inserted into the window.

As shown in FIGS. 9, 11 and 12, each of the transfer devices (9 ₁ ) and (9 ₂ ) is provided with a lifter which is provided at the side of each transfer station S ₆ and S _{8 and which} is movable up and down. The lifter device (21) comprises a device (21) and a feeding device (22) for feeding the pallet (5) to the lifter device (21). On the (21b), a first slide frame (21c) which is movable inward and backward toward the robot placement portion side, and the first slide frame (21c).
Front and rear receiving rails (21e) configured to mount a second slide frame (21d) on the slide frame (21c) and supporting the second slide frame (21d) on the front and rear sides of the pallet (5).
(21e) is formed in a substantially U shape in a plan view, and the feeding device (22) is provided on the lifter device (21) side by a cylinder (22a) immediately above each of the transfer stations S ₆ and S _8. A pair of hooks (22c) (22c) that engage with the outer part of the pallet (5) are suspended from the movable frame (22b) that moves inward and backward toward
By moving the movable frame (22b) inward, the pallet (5) is sent between the receiving rails (21e) and (21e), and then the elevating table (21b) is raised. 2 slide frames (21c)
(21d) is moved inward to convey the pallet (5) directly above the jig (18) at the delivery position, and then the lowering table (21b) is moved downward or the jig (18) is moved. ), The jig (18) is joined to the lower surface of the pallet (5), and in this state, the first and second slide frames (21c) and (21d) are retracted to receive the receiving from the pallet (5). The rails (21e) (21e) were detached, and the pallet (5) was delivered to the jig (18).

In the drawing, (21f) shows a clamper on each receiving rail (21e) facing each clamp seat (5d) on both front and rear sides of the upper surface of the pallet (5).

As shown in FIGS. 7 and 13, the jig (18) is a pallet.
A positioning pin (23) having a pair of clamp pieces (23b) (23b) that are fitted into the four positioning holes (5e) formed in (5) and that are opened and closed by a cylinder (23a) at the tip. A window glass which is provided with four pieces, and which holds and positions the pallet (5) by these pins (23) and is sucked and held by the pallet (5).
The positional accuracy of b ₁ and b ₂ with respect to the jig (18) can be ensured.

Here, the window glass b ₁ , b with the suction cup (5a) on the pallet (5)
_For the suction of ₂ , the suction circuit (24) provided with the air filter (24a) as shown in the fourteenth drawing connected to the suction cup (5a) on the pallet (5) and the check valve (25) in the suction circuit (24). Suction port connected via (26)
And a pallet at the set station S ₁
(5) After setting the window glasses b ₁ and b ₂ on the suction port (2) by the negative pressure introducing member (27) provided in the setting station S _1.
This is done by introducing a negative pressure into the suction circuit (24) via 6), and in the illustrated one, the suction port (26) is provided in one of the clamp seats (5c), A vacuum port (11b) to be piped to a negative pressure source (not shown) is formed in the clamper (embodiment) on the station S _{1 which} abuts on the clamp seat (5c), as shown in FIG. The clamper (11) was also used as the negative pressure introducing member.

When a negative pressure is introduced from the suction port (26), the suction port (26) will be
Even if the introduction member (27) is detached from the suction port (26) and the suction port (26) is opened to the atmosphere, the check valve (25) prevents leakage of negative pressure from the suction port (26), The glass b ₁ and b ₂ are continuously adsorbed on the suction cup (5a), but the suction force may decrease with time due to leakage of negative pressure from the suction cup (5a). In the stations other than the set station S ₁ , negative pressure introducing members (27) also serving as clampers (11) are arranged in the same manner as above, and the suction circuit (2) is further provided on the pallet (5).
2nd 3rd which is connected to 4) via each check valve (25 ') (25 ")
The suction ports (26 ') (26 ") of the second suction port (26') are provided here.
As shown in FIG. 4, the pallet (5) is provided on the clamp seats (5d) on the front and rear sides, and the second slide frame is attached to the clamper (21f) on the receiving rail (21e) that abuts against it. (twenty one
d) To form a vacuum port connected to the upper vacuum cylinder (21g) so as to introduce a negative pressure into the suction circuit (24) through the suction port (25 ') during the clamp operation by the clamper (21f). In addition, the third suction port (26 ″) is provided on the lower surface of the pallet (5), and the jig (18) has the suction port (26 ″) as shown in FIGS. 4 and 13. ) Is provided with a vacuum pad (28) closely attached to the cylinder (28a) and a vacuum cylinder (29) connected to the vacuum pad (28), and when the pallet (5) is held by the jig (18), the third suction port ( 26 ") via a so as to introduce a negative pressure into the suction circuit (24), during conveyance of the pallet (5) on the window glass supply channel (2) Te Thus, the transfer device (9 ₁₎ (9
_The suction force of each suction cup (5a) is applied to the window glass when the pallet (5) is transferred by ( ₂ ) and when the window glass is attached by the robot (84 ₁ ) (4 ₂ ). .

By the way, after the window glasses b ₁ and b ₂ are attached to the blind of the vehicle body a, the adsorption of the window glass b ₁ and b _{2 by} the adsorption (5a) is released, and the pallet (5) is attached to the window glass b. It is necessary to separate from ₁ , b ₂ and there, the atmosphere release valve (30) connected to the suction circuit (24) in the pallet (5), and the valve (3
Valve operating member (31) for opening and closing (0), and after mounting the window glass, the operating member (31) is operated by the cylinder (31a) to open the valve (30), and the suction circuit (24 ) Was introduced into the atmosphere so that adsorption of the window glasses b ₁ and b ₂ by the suction cup (5a) could be released.

After releasing the suction, the jig (18) is again moved to the delivery position shown in Fig. 9 while holding the pallet (5), and the lifter device ( 21) the pallet (5) is delivered to the lifter device (21), then the lifting table (21b) of the lifter device (21) is lowered to the lowest position, and a pallet return path provided under the window glass supply path (2)
In the (32), the pallet (5) is dispensed by a dispensing device (34) provided at the bottom of each placing device (9 ₁ ) (9 ₂ ) and the pallet (5) is routed through the return path (32). I sent it back to the set station S ₁ .

(Effect of the Invention) As described above, according to the present invention, a negative pressure is applied to the suction cup from the suction port formed in the pallet at the set station through the check valve to suck and hold the window glass on the pallet, and the suction is performed. While maintaining the pallet, the pallet can be attached to the working end of the robot via the window glass supply path and the transfer device, and the window glass can be attached to the window portion of the vehicle body accurately. The valve operating member provided on the jig can open the atmospheric release valve on the pallet to release the adsorption of the window glass, and the window glass can be attached efficiently with a simple structure, improving the productivity. Have an effect.

[Brief description of drawings]

FIG. 1 is a perspective view of an example of the device of the present invention, FIGS. 2 and 3 are side views and a plan view thereof, FIG. 4 is an enlarged plan view of a main part of a window glass supply passage, and FIG. Side view, FIG. 6 is of FIG.
VI-VI line sectional front view, FIG. 7 is an enlarged front view of the robot seen from the line VII-VII of FIG. 3, FIG. 8 is its plan view, and FIG.
The figure is a front view showing the relationship between the robot and the transfer device when delivering the pallet, FIG. 10 is a side view of the robot when the window glass is attached, FIG. 11 is an enlarged side view of the transfer device, and FIG. FIG. 13 is a plan view, FIG. 13 is an enlarged sectional view of an essential part of a jig cut along line XIII-XIII in FIG. 7, and FIG. 14 is a diagram showing a suction circuit on a pallet. a …… Body b ₁ , b ₂ …… Window glass (1) …… Car body transportation path (2) …… Window glass supply path S ₁ …… Set station S ₆ , S ₈ …… Transfer station (4 ₁ ) (4 ₂ ) …… Robot (5) …… Pallet (5a) …… Sucker (5b) …… Clamp seat (9 ₁ ) (9 ₂ ) …… Transfer device (11) …… Clamper (11b) …… Vacuum port (18) …… Jig (24) …… Suction circuit (25) …… Check valve (26) …… Suction port (27) …… Negative pressure introducing member (30) …… Atmosphere release valve (31) ) …… Valve operating member

Claims (2)

[Claims] 1. A window glass attaching device in which a window glass is attached to a window portion of a vehicle body on a vehicle body conveyance path by using a robot, and a window glass supply path is provided in parallel with the conveyance path to adsorb the window glass. A pallet having a suction cup to be held can be conveyed along the supply path, and a jig for positioning and holding the pallet is mounted on the operating end of the robot, and the pallet is placed on the pallet at a set station on the starting end side of the supply path. When the window glass set in the above is transferred to the jig together with the pallet by the transfer device provided in the transfer station on the terminal side of the supply path, the pallet is not reversely connected to the suction circuit connected to the suction cup on the pallet. A suction port connected via a valve,
An atmosphere release valve connected to the circuit is provided, and a negative pressure introducing member for introducing a negative pressure into the circuit through the suction port is provided in the set station, and the valve is provided in the jig. An automobile window glass mounting device comprising a valve operating member for opening and closing. 2. A clamper for positioning and fixing the pallet by contacting a clamp seat formed at a proper position of the pallet at the set station, the suction port being formed at the clamp seat, and a negative pressure source for the clamper. The window glass mounting device for an automobile according to claim 1, wherein a continuous vacuum port is formed and the clamper is also used as the negative pressure introducing member.