JPS62221982A - Glass pane fixing device for automobile - Google Patents

Abstract

PURPOSE:To make space efficiency so better as well as to secure positional accuracy, by applying a primer and an adhesive to glass pane on the glass pane feed passage installed in parallel with a body conveying passage. CONSTITUTION:A rear side glass pane b2 is set onto a pallet 5 so as to cause the outer surface to be attracted to a suction cup 5a, then a primer is applied to an inner surface peripheral edge of the rear side glass pane b2 by the applying robot 7 set up in a primer applying station S2, while the pallet 5, where the rear side glass pane b2 is set, is conveyed in tact to first and second drying stations S4 in order and then this pallet is conveyed to a second adhesive applying station S7 in making it bypassing a first adhesive applying station S5 and a first transfer station S6, thus an adhesive is applied to an inner peripheral edge of each of glass panes b1 and b2 by applying robots 81 and 82.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automobile window glass attaching device that is capable of automatically attaching a window glass to a front side or rear side window of an automobile body.

(Prior Art) Conventionally, as a device of this type, as seen in Japanese Patent Laid-Open No. 58-36779, a device in which a window glass is attached to a vehicle body window on a vehicle body transport path using a robot is known. In this case, a window glass setting table is placed on the side of the conveyance path, and a jig having a suction cup for suctioning and holding the window glass on its outer surface is mounted on the operating end of the robot.
After setting the window glass coated with primer and adhesive in advance on the table, the robot moves the jig to a predetermined receiving position opposite to the table, and the cough jig receives the window glass. Then, the jig is moved by a robot to a predetermined mounting position facing the window of the vehicle body, and the window glass is inserted into the window.

(Problem to be Solved by the Invention) In the above, a primer and adhesive application line is provided separately from the window glass installation line, and the primer and adhesive are applied to the inner peripheral edge of the window glass at the application line. It is common practice to transport the glass to a setting table using an appropriate transport means such as a hanger conveyor, and set the window glass on the table with the inner surface facing downward.However, since a separate coating line is provided, space efficiency is poor. In addition, when setting the window glass on the setting table, the adhesive tends to adhere to the worker's hands and the setting table, resulting in poor setting work efficiency.In order to further improve productivity, it is necessary to It is desired to consolidate the glass installation line and the coating line, and to be able to deliver the window glass to the robot side without having to reset it on the setting table.

An object of the present invention is to provide a device that meets such demands.

(Means for Solving the Problems) In order to achieve the above object, the present invention uses a robot to attach glass to the window of a vehicle body on a vehicle body conveyance path, in which window glass is supplied to the conveyance path. The windows are arranged in parallel so that the window glass can be freely conveyed while being held on the pallet along the supply path, and a primer application station and an adhesive application station are sequentially installed in the supply path in the direction of conveyance of the pallet. and a transfer station for applying primer and adhesive to the window glass on the pallet at each application station, and a fixture for positioning and holding the pallet at the working end of the robot. It is characterized in that the pallet is loaded with tools and can be freely delivered to the jig by a transfer device arranged at the transfer station.

(Function) The window glass is suctioned and held on the pallet via a suction cup on its outer surface, and the pallet is conveyed along the window glass supply path to a primer application station and then to an adhesive application station. A primer and an adhesive are sequentially applied to the inner periphery.

Next, the window glass is transferred to a jig attached to the operating end of the robot by a transfer device when the pallet is transported to a transfer station, and in this case, the window glass is transferred by the transfer device Since there is no need to directly hold the window glass, adhesive etc. will not adhere to the transfer device U, and the window glass can be accurately placed on the jig using a positioning member such as a positioning bin on the pallet. Positioning can be maintained,
Even without re-setting the window glass on the setting table, the positional accuracy of the window glass with respect to the jig can be ensured.

Next, the jig is moved by the operation of the robot to a predetermined mounting position facing the vehicle body window on the vehicle body transport path, the position is corrected as appropriate, and the jig is advanced toward the window to remove the window glass. into the window.

(Example) Referring to FIGS. 1 to 3, (1) indicates a vehicle body conveyance path extending in the front-rear direction, (2) indicates a window glass supply path arranged in parallel with the conveyance path (1), and A is conveyed by a hanger conveyor (3) along the conveyance path (1), and two robots (41) (front and rear) are placed on the side of a predetermined vehicle body stopping position a on the conveyance path (1). h), and the front window glass b1 and the rear window glass b2 supplied through the supply channel are connected to a 10th bot (41) on the front side and a 20th bot (42) on the rear side, respectively. Therefore, it was installed on the front window and the rear window of the vehicle body a.

Each window glass b1, b2 has a suction! Each pallet (5a) is suctioned and held on each pallet (5) having the pallet (5a).
5), and a set station S1 and a primer application station are sequentially installed in the supply path (2) in the direction of conveyance (to the left in the drawing) of the pallet (5). S2, first and second drying stations S3, S4, first adhesive application station S5 for the front window pane b1, first adhesive application station for the front window pane b1
Transfer station controller Sli, second for rear window glass b2
An adhesive application station S1 and a second transfer station SR for the rear window glass b2 are provided, and the set device (6) first sucks the rear window glass b2 with its outer surface at the setting station S1. (5a), and then the pallet (5) is conveyed to the primer application station S2, and the application robot (by n) placed on the ψ side window glass is placed in the station S2. At the same time, the primer is applied to the inner peripheral edge of b2, and the next pallet (5
), and then the pallet (5) on which the rear window glass b2 was set is transported by tact to the first drying station S3 and then to the second drying station S4, and then the pallet (5) is transferred to the first adhesive. Application station S5
It passes through the first transfer station SIi and is transported to the second adhesive application 2 station S7, while the pallet (5) with lath b set on the front side is transported to the primer application station S2 and the inner surface of the window glass b+ is transported to the primer application station S2. The primer coated on the peripheral edge is transported by tact to the first adhesive coating station S5 via the first drying station S3 and the second drying station S4, and each coating robot ( 81) (
82) applies adhesive to the inner peripheral edge of each window glass b1, b2, and then transports each pallet (5) to each transfer station S6, S8, and transfers each pallet (5) to each transfer station 5s.
Each pallet (5) is loaded onto each robot (41) (42) by each loading device (91) ('h) placed on 13I.
I decided to hand it over to . The pallet (9) is supported by the left and right guide rails (2aH2a) on the supply path (2aH2a) in a movable manner, and is moved as described above by a shuttle bar (not shown) provided between the two rails (2a) (2a). The above-mentioned stations S3, S2, S3, S4, S6, excluding the first and second transfer station SG sS8,
At S7, as shown in FIGS. 4 to 6, a pair of front and rear locating pins (10a) ( There are two lifters aear1 on both sides to which lifters (IGa) are attached, and four clampers a] facing the clamp seats (5c) at the four corners of the upper surface of the pallet <5>.
b), and each clamper at is closed by the cylinder (11a) to position and fix the pallet (5).

Each of the robots (41) and (42) is shown in FIGS.
As shown in Figure 0, there is a first slide stand (+21) which is movable in the front-rear direction, that is, in the longitudinal direction of the vehicle, using a cylinder (12a), and a second slide stand 03 that is movable in the left-right direction, that is, in the direction of the inside of the vehicle, by means of a cylinder (13a). At the same time, a swivel base <Φ which can be freely rotated around a vertical axis by a rotary actuator (14a) on the second slide base (13), and a swivel base <Φ on the second slide base (13) which can be freely rotated around a vertical axis by a cylinder (15a) along the guide bar (15b) A lifting platform (l!i
A robot arm ae, which can be rotated around a horizontal axis by a rotary actuator (16a), is mounted on the l, and a robot arm aG, which is the operating end of the robot, has a support frame (1) at the tip thereof, which can be moved forward and backward by a cylinder (18a). It consists of a jig ■ attached to which the first and second slide stands (
121 (Movement of I3 and the elevating platform a9 causes parallel movement in three directions of vehicle length, vehicle interior, and vehicle height, horizontal turning operation by the swivel table atb, and vertical reversing operation by the arm Oe) (91) (91) (91) (91) (91) (91)
After turning the pallet (5) to the jig (2) side and delivering the pallet (5) to the jig (2) in this state, the jig (to) is reversed to a diagonally downward position and the vehicle body transfer path ( 1) side, and then the jig [phase] is installed on the conveyance path (
1) A pair of first detectors (1!J) having a rond (19a) that contacts the side frame of the window so as to accurately oppose the window of the vehicle body a (19) Displacement of the tool (2) in the in-vehicle direction and the engagement elements (20a) (20b) at the tips that abut the upper edge of the window from mutually orthogonal directions.
Pair (7) m2 detected! e(21) detects the displacement of the jig (2) in the vehicle length and vehicle height directions with respect to the window, and after correcting the position of the jig (a8) using signals from these detectors (IrJυ), (2) was moved forward toward the window portion, and the window glasses b1 and b2 were inserted into the window portion.

Each of the transfer devices (91) (92) is shown in FIGS. 9 and 11.
As clearly shown in the figure and Fig. 12, each transfer station S
, , S, a vertically movable glue lid device a@ installed on the side, and a feeding device ra■ that feeds the pallet (5) into the lifter device■.
The lifter device (2) consists of a chain (21
On the lifting table (21b) that is raised and lowered by a), there is a first slide frame (21C) that can freely advance and retreat inwardly toward the robot placement section, and a second slide frame on the first slide frame (21c). (2?d), and the second
The front and rear supports that support the slide frame (21d) and the pallet (5) on both front and rear sides are rails (21e).
(21e) in a substantially U-shape in plan view, and the feeding device is arranged inwardly toward the lifter device (2) by a cylinder (22a) directly above each transfer station Ss, S. A pair of hooks (22c) (2
2c) is suspended, and by moving the movable frame (22b) inward, the pallet (5) is sent between the rails (21e) and the lifting table (21e). 21b), the first and second slide frames (
21c) (21d) inward to transport the pallet (5) directly above the jig (18) located at the above-mentioned delivery position, and then move the elevated table (21b) downward or move the jig The jig CI& is joined to the lower surface of the pallet (5) by the upward movement of (2), and in this state, the first and second slide frames (21cH21d) are retreated, and the receiver is moved from the pallet (5) to the rail (2113). (21e) was removed from the M and the pallet (5) was delivered to the jig a9.

In the drawing, (20) is a rail (21e) that faces each clamp seat (5d) on both front and rear sides of the upper surface of the pallet (5).
) shows the clamper on top.

As shown in FIGS. 7 and 13, the jig (to) is fitted with four positioning holes (5e) drilled in the pallet (5), and has a cylinder (23a) at the tip! 71r
A pair of Franz pieces (23b) (23b) that are r1 (
4 positioning bins by fi and the pallet (5)
A valve operating member (■) for operating an atmosphere release valve (■) on the pallet (5) connected to a negative pressure holding circuit @ as shown in Figure 14 connected to each suction cup (5a) above is provided,
Place the pallet (5) in the jig [phase] using the positioning bin ■.
After inserting the window glass bhb2 into the window as described above, the operating member
is actuated by the cylinder (26a) to open the atmospheric release valve (2), and the 8 suction! l! The adsorption of window glasses b3 and b2 due to (5a) can be released.

After the suction is released 8, the jig (2) is moved to the delivery position again, and the first and second slide frames (21C) (21d) of the lifter device (2) are advanced inwardly so that the receiver is placed on the rail (21eH21e). After inserting and holding the empty pallet (5) on the jig ■ between them, each (O positioning bin ■
+m out of each positioning hole (5e) of the pallet (5), then both slide frames (21C) (21d) are retreated to lower the lifting table (21b) to the lowest position, and the window glass supply Empty pallets (5) are placed on each loading device* (91
) At the bottom of (92), there is a dispensing device (■) with a number on it.

In addition, the pallet (5) has three suction ports (311) (312) (313) connected to each check valve ω on the suction side of the air filter (■) installed in the negative pressure holding circuit @.
), where the first suction port (31+) is opened in one of the clamp seats (5C),
The clamper Ov on each station that comes into contact with this
A vacuum port (11b) connected to a negative pressure source that does not cause damage is formed, and negative pressure is applied to the circuit @ through the suction port (31t) when the clamper 0 operates the clamp. The suction port (312) shall be opened in one of the clamp seats (5d), and the said receiver that comes into contact with this is connected to the clamper (21f) on the rail (21e) on the second slide frame (21d). Vacuum cylinder (2)
1o), and when the clamper (20) operates the clamp, the suction port (312) is connected to the suction port (312).
Negative pressure is applied to the circuit [phase] through (31
3) is provided with a vacuum pad (■) that is closely contacted by a cylinder (32a) and a vacuum cylinder (■) connected thereto, and when the pallet (5) is held by the jig ('le), a Negative pressure is applied to the circuit (2), and the pallet (5) is placed on the glass supply path (2).
The multi-lens 1 (5a
) to ensure sufficient suction power for window glass.

Next, the overall operation of the above embodiment will be explained.
First, the set station controller SI is sent via the pallet return route.
Set the rear window glass b2 on the pallet (5) to be returned to the window glass supply path ( The front window glass b1 is set in the same manner as above on the next pallet (5) which is transported along the road and returned to the setting station S1, and then the pallet (5)
is conveyed along the supply path (2).

After applying a primer at the primer application station S2 and an adhesive at the second adhesive application station S7 to the inner peripheral edge of the rear window glass b2, the window glass b2 is transferred to the second transfer station S8.
is delivered along with the pallet (5) to the jig (2) provided in the 20th bottle (42), and the robot (42) operates to move the window glass b2 to the window on the rear side of the vehicle body a on the vehicle body transport path (1). After installation, the primer is applied to the inner peripheral edge of the front window glass b1 at the primer application station S2 in the same manner as described above, and then the adhesive is applied at the first dressing material application station S5, and then the first transfer station S! , the window glass b1 is delivered to the jig (to) provided in the 20th bottle (41) together with the pallet (5), and this is transferred to the jig (to) provided in the 20th bottle (41).
Attach it to the front window of the vehicle body a by operating the 0 button (41).

Next, the empty pallets (5) held in the jig (2) of each robot ('h) (42) are delivered to the pallet return path, and the above operations are repeated to move the empty pallets (5) along the vehicle body transport path (1). Front and rear window glasses b1 and b2 are attached to each vehicle body a that is intermittently transported.

(Effects of the Invention) As described above, according to the present invention, the primer and adhesive can be applied to the window glass on the window glass supply path installed parallel to the vehicle body conveyance path, which is different from the conventional apparatus in which a separate application line is provided. It is more space efficient, and since the window glass is not delivered from the supply path to the jig on the robot along with the pallet that holds it, there is no need to hold the window glass during delivery. The transfer can be carried out efficiently without adhesives adhering to the equipment or robot, and in order to use the jig to position and hold the window glass on a rigid pallet, a set table like in conventional equipment can be used. Even without using the jig, the positional accuracy of the window glass with respect to the jig can be ensured, the window glass can be accurately attached to the window portion of the vehicle body, and productivity is improved.

[Brief explanation of drawings]

Figure 1 is a perspective view of one example of the VT cycle of the present invention, Figures 2 and 3.
The figure is a side view and a plan view, Figure 4 is an enlarged plan view of the main part of the window glass supply channel, Figure 5 is a side view, and Figure 6 is a cross-sectional view of the vr-■aa section of Figure 4. FIG. 7 is an enlarged front view of the robot seen from the line ■-■ in FIG. 3, FIG. 8 is a plan view thereof, and FIG. 9 is a front view illustrating the relationship between the robot and the transfer device during pallet delivery. Figure 10 is a side view of the robot when installing the window glass, Figure 11 is an enlarged side view of the transfer device, and Figure 12 is a side view of the robot when installing the window glass.
The figure is a plan view thereof, FIG. 13 is a cutaway plan view of the jig taken along the line xm-xm in FIG. 7, and FIG. 14 is a pictorial diagram of the 9-pressure holding circuit provided in the pallet. (1)...Vehicle body conveyance path (h...Window glass supply path S2...Primer application station S5, ST...
・Adhesive application station S6, S! ...Transfer station (41) (42)...Robot (5)...Pallet (91) (92)...Transfer device 0e...Jig a...Vehicle body bl, b2.・・Window glass and 2 others 6th cause

Claims (1)

[Claims] In a system in which glass is attached to the window of a car body on a vehicle body transport path using a robot, a window glass supply path is installed in parallel with the transport path, and the window glass is held on a pallet while being attached to the supply path. A primer coating station, an adhesive coating station, and a transfer station are sequentially disposed in the supply path in the direction of conveyance of the pallet, and each coating is applied to the window glass on the pallet. A primer and adhesive are applied at the station, and a jig for positioning and holding the pallet is mounted on the operating end of the robot, and a transfer device placed at the transfer station transfers the pallet to the jig. An automobile window glass mounting device characterized in that it can be freely delivered to a tool.