JPS61122086A - Device of mounting window glass for vehicle - Google Patents

Abstract

PURPOSE:To enable a window glass to be precisely mounted by providing a measuring implement, formed with telescopic measuring piece, on a measuring robot. CONSTITUTION:When a vehicle 1 is carried in, the arm 19 of a measuring robot 8 is operated and the position of a window mounting frame on one side is firstly measured from the center. That is, in a condition where a measuring implement 18 is moved to a predetermined position, a telescopic cylinder 25 for each of measuring pieces 22-24 is operated in expansion. Then, said pieces 22-24 are put in contact with the edge face 4a or the flange face 4b of a window glass mounting part 4, and that position of contact is measured as an offset from a standard position. After measurement by the measuring robot 8, a window glass mounting robot 6 is operated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for attaching an adhesive type windshield to a windshield attachment portion of a vehicle.

(Prior Art) Conventionally, it has been known to use a windshield mounting robot to install a vehicle windshield, as seen in, for example, Japanese Utility Model Application No. 58-196095.

However, the shape, size, and position of the windshield mounting portion of a vehicle differ from vehicle to vehicle due to processing errors such as press working and welding.

Therefore, even if the mounting robot holds the windshield and transports it to a predetermined reference position and presses it against the vehicle's windshield mounting portion, the center of the vehicle windshield mounting portion and the center of the windshield do not align. To,
The gaps formed around the windshield are different, and there is a possibility that a molding or the like to be attached later cannot be installed evenly around the windshield.

Furthermore, the size and position of a vehicle's windshield are different at the front and rear, and the size and position also differ depending on the vehicle model, so it is necessary to install the windshield in an accurate position corresponding to these. It is required to have functions that satisfy the following.

(Object of the Invention) In view of the above circumstances, the present invention is designed to accurately mount a windshield even if there is an error in the dimensions and position of the vehicle windshield mounting portion, in response to changes in the windshield of the vehicle and the vehicle model. The object of the present invention is to provide a mounting device for a vehicle windshield.

(Structure of the Invention) The mounting device of the present invention includes a windshield mounting robot that holds the windshield using a holder and presses it against the windshield mounting portion of the vehicle, and a measuring tool that measures the position of the windshield mounting portion of the vehicle. The measuring robot is equipped with a measuring robot and a mounting robot control means for correcting the mounting position of the mounting robot based on the measurement results, and the measuring tool of the measuring robot is equipped with a measuring tip for measuring both sides of the vehicle windshield mounting portion one by one. , each measuring element is supported so as to be expandable and retractable so as to correspond to the size of the windshield mounting portion.

(Effects of the Invention) According to the present invention, the position of the windshield mounting portion can be efficiently adjusted in accordance with the front and rear windshields and various vehicles using a measuring robot equipped with a measuring tool formed of a retractable measuring head. By measuring the windshield and correcting the windshield mounting position of the mounting robot based on the measurement, the windshield can be accurately mounted on the windshield mounting portion of the vehicle.

In addition, the measuring tool is equipped with a probe that measures one side from the center of the windshield mounting part, and by measuring one side of the windshield mounting part at a time, the measuring tool is smaller than the one that measures both sides at the same time. It has advantages such as a small movement range, a reduction in the number of probes installed, and a reduction in the rigidity of the frame.

(Example) Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a perspective view showing the entire windshield mounting device;
FIG. 2 is a front view showing a measurement state using a measuring tool of a measuring robot, and FIG. 3 is an explanatory diagram showing a measurement position of a vehicle windshield mounting portion.

The vehicle 1 is placed on a conveyor table 2 and conveyed along rails 3. A windshield 5 is attached to the front and rear windshield attachment portions 4 of the vehicle 1.

The windshield mounting device 6 for mounting the windshield 5 on the vehicle 1 includes a windshield mounting robot 7, a measuring robot 8 for the windshield mounting portion 4, and a mounting robot control means 9, and is bonded to the periphery of the windshield 5. An adhesive application robot 10 that applies adhesive and a reversing device 11 that reverses the window glass 5 after applying adhesive.
is attached.

The window glass mounting robot 7 has a holder 13 at the tip of an arm 14 that holds the window glass 5 by suction, and the arm 14 is supported with respect to a base 15 so as to be able to rotate, move up and down, and move back and forth. The holder 13 is provided with suction cups 13b on all sides of a frame 13a, and is held rotatably and rotatably.

Each movement of the arm 14 and the holder 13 to a predetermined position is performed by control signals from the control box 16 of the control means 9.

The measuring robot 8 also has a measuring tool 18 at the tip of an arm 19 for measuring the position of the windshield mounting portion 4 of the vehicle 1 in three directions, and this arm 19 can rotate relative to the base 20. Supported so that it can move up and down and move back and forth,
Furthermore, the measuring tool 18 is held so as to be pivotable and rotatable. Each movement of the arm 19 and measuring tool 18 is performed by control signals from the control box 21.

As shown in FIG. 2, the measuring tool 18 is provided with first to third measuring elements 22, 23, and 24 at three locations at each tip of a letter-shaped frame 18a.

The first and second probes 22 and 23, which are disposed at opposite positions on the straight portion of the frame 18a, are connected to the frame 18a.
The first and second probes 22 and 23 are each attached to a bracket 26 at the tip of a rod 25a of a telescopic cylinder 25 having a multi-stage stop function that telescopically operates along a direction 8a. ing. On the other hand, the 38th I disposed at the other end of the frame 18a
The II constantor 24 is a telescopic cylinder 25 similar to the above, which is disposed in a direction perpendicular to the direction in which this frame 18a extends.
is held by the bracket 27 at the tip of the rod 25a,
The probe 24 is configured to detect the position in this orthogonal direction.

That is, the first and second measuring probes 22 and 23 measure the position (X-Y direction) of the upper and lower end surfaces 4a on one side from the center of the opening of the windshield mounting portion 4, and the third measuring probe 24 measures the position of the upper and lower end surfaces 4a on one side from the center of the opening of the windshield mounting part 4, and the third measuring probe 24 measures the position of the upper and lower end surfaces 4a on one side from the center As shown in FIG. 3, after measuring one side of the windshield mounting portion 4, the measuring tool 18 is
It rotates once and measures the positions of three points on the other side in the same way.

The telescopic cylinder 25 that telescopically supports the measuring elements 22 to 24 has a multi-stage stopping function.
A structure is used in which magnetic bodies are embedded at predetermined intervals in a, and the magnetic bodies are read by a sensor and stopped at a predetermined extended/contracted position by a brake means. This telescopic cylinder 25 is operated according to the size of the windshield 5, and its stopping position is changed at the front and rear windshield mounting parts 4 of the vehicle, and the stopping position is changed according to the change of the vehicle type. At various stop positions, deviations from the reference position are measured by the probes 22, 23, and 24.

The measurement results by the measuring robot 8 are output from the control box 21 of the measuring robot 8 to the control means 9 of the mounting robot 7, and the control means 9 adjusts the target mounting position of the mounting robot 7 based on the measurement results. The movement operation amount of each part is corrected in accordance with the correction of the mounting position, and the movement operation amount of each part is calculated.

The adhesive coating robot 10 that applies adhesive to the window glass 5 supplied to the mounting robot 7 has an adhesive coating gun 31 at the tip of an arm 30, and controls the rotation, undulation, back and forth movement of the arm 30, and the adhesive coating robot 10. Rotating the coating gun 31;
The adhesive is applied to the periphery of the back surface of the window glass 5 by moving up and down. A reversing device 11 for reversing the window glass 5 coated with adhesive includes a suction holder 32
A lever 33 having a tip thereof is rotatably supported by a shaft 34, and the lever 33 is rotated in the direction in which the adhesive is applied and the back side of the window glass 5 coated with the adhesive is moved to the holder 3.
2, and then rotates the lever 33 to return to the direction in which the lever 33 is pushed down and inverts the window glass 5 so that the front side of the window glass 5 comes to the top. 5 is held by its holder 13.

Next, to explain the effect of the above configuration, when the vehicle 1 is transported by the transport platform 2, the arm 19 of the measuring robot 8 is activated, and the position of the windshield mounting portion 4 on one side from the center is first adjusted. be measured. That is, in a state where the measuring tool 18 is moved to a predetermined position, each measuring element 2
The telescopic cylinder 25 of 2.23.24 is extended and the contact points 22 to 24 are stopped at the front and rear windows of the vehicle 1 or at a stop position that is preset according to the vehicle type. End face 4 of glass mounting part 4
a or 7 flange surface 4b, and its position is measured as a deviation from the reference position. When the measurement on one side of the window glass mounting portion 4 is completed, the measurement tool 18 is moved to the other side and measurement is performed in the same manner. This measurement result is
The signal is output from the control box 21 of the measuring robot 8 to the control means 9 of the mounting robot 7, and calculations for correcting the mounting position are performed.

After the measurement by the measuring robot 8, the window glass mounting robot 7 is activated to rotate the arm 14 toward the reversing device 11, and the window glass 5 is coated with adhesive.
The holder 13 holds the window glass 5 on the vehicle 1.
The window glass mounting portion 4 is moved to a predetermined position and pressed.

At this time, the pressing position of the window glass 5 is corrected by the control means 16 based on the measurement results of the measuring robot 8. Note that the mounting robot 7 is taught the reference stop position of the holder 13 in advance.

According to the above-mentioned windshield mounting device 6, dimensional errors due to processing accuracy of the windshield mounting portion 4, vehicle 1
Even if the windshield mounting position changes due to a change in the front or rear mounting position or a change in vehicle type, this is measured by the measuring robot 8, the mounting position of the mounting robot 7 is corrected, and the windshield 5 is placed in the correct position. Can be installed.

In addition, as the measuring elements 22 to 24 of the measuring tool 18, known position detection sensors such as visual sensors can be used in addition to contact sensors, and the measuring positions thereof can be arbitrarily set as necessary.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the overall configuration of a windshield mounting device according to an embodiment of the present invention, Fig. 2 is a front view showing a measuring tool of a measuring robot in a measuring state, and Fig. 3 is a vehicle windshield mounting part. FIG. 3 is an explanatory diagram showing measurement positions. 1...Vehicle 2...Transfer platform 4...Windshield mounting part 5...Windshield

Claims (1)

[Claims] (1) A device for attaching an adhesive type windshield to a vehicle, which includes a windshield attaching robot that has a windshield holder, holds the windshield and presses it against the vehicle's windshield mounting portion, and a vehicle windshield. a measuring robot equipped with a measuring tool for measuring the position of the attachment part;
and a mounting robot control means for correcting the mounting position of the mounting robot based on the measurement result by the measuring robot. A vehicle windshield mounting device characterized in that it is capable of measuring both sides of a glass mounting portion one by one, and each measuring element is supported so as to be extendable and retractable so as to correspond to the size of the windshield mounting portion of a vehicle.