JPH089351B2 - How to mount a window glass on a car - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for automatically attaching a window glass to a front window portion or a rear window portion of an automobile body.

(Prior Art) Conventionally, as a method of this kind, as shown in JP-A-58-36779, a transfer station for transferring a window glass to a robot is mounted on the side of a vehicle body conveyance path which is long in the front-rear direction. It is known that the robot is provided with a window glass attached to the window portion of the vehicle body on the conveyance path. However, with this robot, the robot is provided in the front and rear direction and the lateral direction provided on the ceiling portion above the vehicle body conveyance path. It is configured by suspending a jig for holding a window glass on a freely movable robot body via a parallel link that is vertically movable, and the robot body is laterally moved directly above the transfer station. In this state, the window glass is delivered to the jig so that its width direction is oriented in the width direction, that is, the lateral direction of the window portion of the vehicle body on the transport path, and then the robot main body is laterally moved directly above the transport path. Move it back and forth with
The window glass is moved in parallel to a position facing the window portion of the vehicle body on the conveying path, and the window glass is attached.

(Problems to be Solved by the Invention) In the above, since the robot is suspended above the vehicle body transport path, the vehicle body is transported by a conveyor on the floor in order to avoid interference with the robot. There is no choice but to limit the degree of freedom in the design of the automobile assembly line. For example, it is not possible to adopt a line design that conveys the vehicle body on a hanger conveyor and performs window glass installation work and underbody work on the same line. There's a problem.

Further, the window glass is carried into the transfer station via a window glass supply passage which is continuous in the front-rear direction and is long in the front-rear direction, and pretreatment such as application of an adhesive agent is applied to the window glass on the supply passage. In this case, in order to narrow the lateral width of the supply path and reduce the equipment space on the line side, it is desirable to convey the window glass so that the width direction with a large dimension faces the front-back direction. According to this method, it becomes necessary to turn the window glass by 90 degrees so that the width direction thereof faces the lateral direction as described above at the transfer station, which is an obstacle to further improvement in productivity.

An object of the present invention is to provide a mounting method that solves such problems.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention provides a transfer station for transferring a window glass to a robot on the side of a vehicle body conveyance path that is long in the front-rear direction, and uses the robot. In a window glass mounting method in which a window glass is mounted on a window portion of a vehicle body on the transfer path, the robot is extended in a substantially horizontal direction from a robot main body arranged on a side portion of the transfer path on the transfer station side. A jig for holding a window glass is mounted on the tip of the robot arm, and the robot arm is horizontally moved between the mounting position on the transfer path side and the transfer position on the transfer station side. It is possible to swivel approximately 90 ° and conveys the window glass along the window glass supply path that is long in the front-rear direction connected to the transfer station with its width direction facing forward and backward, and adheres to the window glass on the supply path. After applying, the window glass is carried into the transfer station in the same orientation, and the tip of the robot arm that waits at the transfer position by feeding the window glass inward toward the transfer position at the transfer station The window glass was delivered to the jig with the width direction thereof facing forward and backward, and then the window glass was swung to the transportation path side by turning the robot arm to the attaching position so as to be attached to the window portion of the vehicle body. It is characterized by

(Operation) Even if the window glass is handed over to the jig at the tip of the robot arm at the transfer position with its width direction facing forward and backward,
When the robot arm is rotated 90 degrees to the mounting position, the width direction of the window glass is lateral, that is, the width direction of the window portion on the front side or the rear side of the vehicle body on the vehicle body conveyance path is oriented, and thus through the window glass supply path. At the transfer station, a window glass is loaded into the transfer station so that the width direction faces the front-back direction.
There is no need to turn 90 degrees, and the time loss required for this turn is eliminated, improving productivity. Furthermore, since the window glass is preliminarily coated with the adhesive on the window glass supply path, the window glass can be attached without causing a loss time due to the application of the adhesive, which further improves the productivity. In this case, when the window glass is conveyed to the window glass supply path with its width direction oriented laterally, the width of the supply path becomes large, and the line including the adhesive coating equipment arranged on the side of the supply path is included. The equipment space on the side becomes large and the space efficiency becomes poor. On the other hand, in the present invention, since the window glass is conveyed to the window glass supply path with its width direction facing forward and backward,
By narrowing the width of the supply path, the equipment space on the line side can be reduced. In order to set the arm rotation angle between the window glass transfer position and the attachment position to 90 degrees, it is necessary to set the transfer position inward of the window glass supply path installed outside the robot placement section. There, the window glass is sent inward toward the transfer position at the transfer station. Therefore, although this feeding takes some time, the moving distance of the robot arm becomes short, and therefore the entire working time required from the loading of the window glass to the transfer station to the attachment of the window glass is not prolonged. Further, since the robot body is arranged on the side of the vehicle body transportation path, the fixing member for the robot including the movement guide of the robot body is not disposed in the space above the transportation path, and the vehicle body is transported by the hanger conveyor. Therefore, the degree of freedom in designing an automobile assembly line is increased.

(Embodiment) Referring to FIGS. 1 to 3, (1) is a vehicle body conveying path that is long in the front-rear direction, and (2) is a window glass that is longitudinally arranged in the conveying path (1). The supply path is shown, and the vehicle body a is conveyed from the rear to the front (from left to right in the drawing) by the hanger conveyor (3) along the transfer path (1), and on the transfer path (1). A first transfer station (2a ₁ ) for the front side window glass b ₁ and a second transfer station for the rear side window glass b ₂ are provided at the end of the supply path (2) located on the side of the predetermined vehicle stop position. The mounting station (2a ₂ ) is arranged in two stages in the front and rear, and the first robot (4 ₁ ) for mounting the front side window glass b ₁ corresponding to each of the transfer stations (2a ₁ ) (2a ₂ ). And a second robot (4 ₂ ) for attaching the rear window glass b ₂
And 2 are arranged in front and rear, and the rear side window glass b ₂ and the front side window glass b ₁ are alternately conveyed to the supply path (2) from the front to the rear, and the respective window glasses b ₁ , B ₂ to the supply path (2)
The starting end of the primer coating station (2b) In the coating robot (5) a primer is applied by subsequently rear window glass b ₂ a first transfer station (2a ₁₎ by passed through the second transfer station ( 2a ₂ ) before the second adhesive application station (2c ₂ ) and the front side window glass b ₁ before the first transfer station (2a ₁ )
After being transported to the adhesive coating station (2c ₁ ), the adhesive is applied to the window glasses b ₁ and b ₂ by the coating robots (6 ₁ ) and (6 ₂ ), and then the window glasses b ₁ and b ₂ and carried into the respective transfer station _{(2a 1) (2a 2)} , each of said transfer station (2a ₁₎ each transfer device is arranged to _{(2a 2) (7 1)} (7 2) by the The robots (4 ₁ ) and (4 ₂ ) are transferred to the robots (4 ₁ ) and (4 ₂ ) to move the window glasses b ₁ and b ₂ to the front and rear sides of the vehicle body a at the vehicle body stop position. I attached it to each window part of.

The robots (4 ₁ ) (4 ₂ ) are arranged in a substantially horizontal direction from a robot body (8) arranged on the side of the transfer stations (2a ₁ ) (2a ₂ ) side of the vehicle body transport path (1). The robot arm (9) comprises a jig (10) for holding the window glasses b ₁ and b ₂ mounted on the tip of the extended robot arm (9).
Is capable of being rotated substantially 90 degrees in the horizontal direction between the mounting position on the side of the transport path (1) and the transfer position on the side of each transfer station (2a ₁ ) (2a ₂ ).

The details are as shown in FIG. 4 to FIG. 7. The robot body (8) has a cylinder (12) mounted on a first slide base (11) movable in the front-rear direction by a cylinder (11a).
a) is provided with a second slide base (12) which is movable in the lateral direction, and a rotary actuator (13a) is mounted on the second slide base (12) via a swivel base (13) which is rotatable about a vertical axis. And the robot arm (9) is provided on the lift table (14), which is vertically movable by the cylinder (14a) along the guide bars (14b) (14b).
And attach the swivel base (13) to the robot arm (9).
By the movement of the first and second slide bases (11) (12) and the lift base (14) by the movement of 90 degrees to the mounting position and the transfer position described above. The robot arm (9) is provided with vertical movement.
A support frame (15) is attached to the tip of the jig, and the jig (10) is supported on the support frame (15) through cylinders (10a) and (10a) so that the jig (10) can be moved back and forth. The robot arm (9) is arranged so that it can be reversed to the upward position as shown in FIG. 6 at the transfer position and the oblique downward position as opposed to the window portion of the vehicle body a at the mounting position as shown in FIG. A rotary actuator (9a) was installed on the lift table (14) so as to be rotatable around a horizontal axis.

By the way, each window glass b ₁ , b ₂ is set on a pallet (16) having a plurality of suction cups (16a) for adsorbing the window glass b ₁ , b ₂ , and the width direction of the window glass supply path (2) extends in the front-back direction. The transfer robots (4 ₁ ) (7 ₂ ) are transported by the transfer devices (7 ₁ ) (7 ₂ ) to the transfer stations (2a ₁ ) (2a ₂ ) in the same direction. 4 ₂₎ leave the pallet (16 cross direction towards the front-rear direction) intended to be your and transfer, in detail this, respective transfer device ₍₇₁₎
(7 _2), each of said transfer station (2a ₁₎ lifter device provided on the side of (2a ₂₎ and (17), the lifter device (17) to the respective transfer station (2a ₁₎ (2a ₂ ) Top pallet (16)
The lifter device (17) includes a feeding device (18) for feeding the lifting frame (1), which is lifted and lowered by a chain (17a).
7b) A slide frame (17c) having an inner / outer double structure that can move back and forth inward in the lateral direction toward the robot placement part is mounted on the transfer station (2a ₁ ) (2a ₂ ). In the pallet (16) that adsorbs and holds the window glasses b ₁ and b ₂ that are carried into the chamber, with the width direction of the pallet (16) directed to the slide frame (17c) with the feeder device (18). Then, after raising the elevating frame (17b), the slide frame (1
7c) is moved inward laterally to move the pallet (16) to the robot arm (9) at the transfer position as shown in FIG.
The jig (10) at the front end of the pallet is conveyed to an immediately upper part, and then the jig (10) is slightly moved upward, and the pallet is provided by a clamp member (10b) shown in FIG. (16)
After the clamps have been clamped, the slide frame (17c) is retracted so that the window glasses b ₁ and b ₂ are transferred to the jig (10) together with the pallet (16) with its width direction facing forward and backward. I chose

After the delivery is completed, the robot arm (9) is moved to the seventh
It is rotated 90 degrees to the mounting position shown in the figure. According to this, the window glasses b ₁ and b ₂ are located on the side of the vehicle body conveyance path (1) and the width direction of the window glass of the vehicle body a on the conveyance path (1). It is transferred so that it faces the width direction of the part.

Next, in order to accurately position the window glasses b ₁ and b _{2, that} is, the jig (10) at a position facing the window portion of the vehicle body a, there is provided a pair of the first pair having a rod (19a) that abuts the side frame of the window portion. Detector (1
9) A pair of lateral displacements of the jig (10) with respect to the window portion due to (19), and a pair of tip engaging elements (20a) (20b) abutting the upper edge of the window portion in mutually orthogonal directions. Second detector (20)
The displacement of the jig (10) with respect to the window in the front-back direction and the vertical direction is detected by the (20), and these detectors (19) (20) are detected.
After the position of the jig (10) is corrected by the signal from, the jig (10) is moved forward by the cylinders (10a) and (10a) to attach the window glasses b ₁ and b ₂ to the window portion. did.
In addition to the above-mentioned clamp member (19), the jig (10) is connected to a suction cup (16a) on the pallet (16) through a suction pressure holding circuit (16a) on the back side thereof. The vacuum pad (10c) that is in close contact with it, the vacuum cylinder (10d) connected to it, and the atmosphere release valve (16c) on the pallet (16) connected to the circuit are operated to apply a negative pressure to the suction cup (16a). A valve operating member (10e) for unwinding, and after the window glasses b ₁ and b ₂ are attached to the window as described above, the sucker (16a) is operated by operating the valve (16c) by the operating member (10e). Release the adsorption of the window glass b ₁ and b ₂ by, and then turn the robot arm (9) to the transfer position,
The slide frame (17c) is moved forward so that the empty pallet (16) on the jig (10) is received by the slide frame (17c), and then the slide frame (17c) is retracted to move the elevating frame (17b). To the lowest position, and in this state, the empty pallets (16) are transferred to the pallet return paths (20) provided under the window glass supply path (2) to transfer devices (7 ₁ ) (7 ₂ ). The dispensing device (22) provided in the lower part of the dispenser is used.

(Effects of the Invention) As described above, according to the present invention, the window glass is conveyed to the window glass supply path so that the width direction thereof faces the front-rear direction, and the window glass is coated with the adhesive on the supply path. The robot arm is transferred to the transfer station in the same direction as it is, and the robot arm is transferred to the jig at the tip, then the window glass is swung to the vehicle body conveyance path side by the robot arm's 90-degree turning operation, and the window of the vehicle body on the conveyance path is transferred. It is possible to reduce the equipment space on the line side and improve productivity because it is attached to the section, and it is also possible to convey the car body on the car body transfer path by a hanger conveyor, which allows freedom of design of the car body assembly line. Has the effect of increasing the frequency.

[Brief description of drawings]

FIG. 1 is a perspective view of an apparatus used for carrying out the method of the present invention, and FIG.
Fig. 3 and Fig. 3 respectively show a side view and a plan view, and Fig. 4 shows a third view.
An enlarged front view of the robot seen from the line IV-IV in the figure, FIG. 5 is its plan view, FIG. 6 is a front view of the lot and the transfer device at the time of window glass transfer, and FIG. 7 is when the window glass is attached. 8 is a side view of the robot of FIG. 8 and FIG. 8 is an enlarged cross-sectional view of the main part of the jig cut along the line VIII-VIII in FIG. a …… vehicle body, b ₁ , b ₂ …… window glass (1) …… vehicle body conveyance path, (2) …… window glass supply path (2a ₁ ) (2a ₂ ) …… transfer station (4 ₁ ) ( 4 ₂ ) …… Robot, (8) …… Robot body (9) …… Robot arm, (10) …… Jig

Claims (1)

[Claims] 1. A transfer station for transferring a window glass to a robot is provided on the side of a vehicle body conveyance path which is long in the front-rear direction, and the window glass is attached to the window portion of the vehicle body on the conveyance path by the robot. In the window glass mounting method, a jig for holding the window glass is mounted on the tip of a robot arm that extends in a substantially horizontal direction from a robot main body that is disposed on the side of the transfer path on the transfer station side of the robot. In addition to the above, the robot arm can be horizontally swiveled by approximately 90 ° between the mounting position on the transfer path side and the transfer position on the transfer station side. The window glass is conveyed along the long window glass supply path with its width direction facing forward and backward, and after applying the adhesive to the window glass on the supply path, the window glass is transferred in the same direction as it is. The window glass to the jig at the tip of the robot arm that waits at the transfer position by feeding the window glass inward toward the transfer position at the transfer station. A method for attaching a window glass of an automobile, characterized in that the window glass is transferred to the window portion of the vehicle body by passing the window glass to the transportation path side by turning the robot arm to the attachment position.