JPS62241782A - Window glass fitting method for vehicle - Google Patents

Abstract

PURPOSE:To position a window glass to a window section precisely and quickly by providing detectors detecting the displacement of a jig with respect to the position on the vehicle body side corresponding to the positioning point of the window glass on the jig and performing the position correction of the jig. CONSTITUTION:A movable support frame 25c and a detector fitting frame 25d on the support frame 25c are provided on a jig main body 25 positioning and holding a pallet 5 via a cylinder 25b. A pair of the first detectors 26, 26 detecting the displacement of a jig in the vehicle width direction with respect to window section frames on both sides of the vehicle body and a pair of the second detectors 27, 27 detecting the displacement of the jig in the height direction and the vehicle length direction with respect to the upper frame of the vehicle body window section are provided on the detector fitting frame 25d. After the jig is positioned, the first detectors 26 are made to approach the vehicle body by a motor 26c, the displacement in the vehicle width direction is detected, then the jig is moved in the vehicle width direction so that the displacement is made zero to perform position correction. In addition, the jig is position-corrected by the second detectors in the height direction and the vehicle length direction.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a method for installing a window glass in an automobile, in which a robot is used to automatically attach a window glass to a window on the front side of an automobile.

(Prior art) When installing window glass, a primer and adhesive are applied to it in advance, and then the window glass is delivered to a robot and installed on the window of the vehicle body.
As seen in JP-A No. 4677 and JP-A-58-36779, a setting jig for positioning the window glass is arranged at the primer or adhesive application station and the transfer station, and the window glass is placed at each station. Generally, the material is transferred to the set jig for coating work and delivery to a robot, and it takes time to transfer to this set jig, which is an obstacle to improving productivity.

Therefore, the applicant of the present application first positions and sets the window glass on pallet I, transports the pallet through a primer and adhesive application station to a transfer station, and transfers the window glass together with the pallet to the robot. We have proposed a system in which pallets are positioned at each station so that various operations can be carried out efficiently without the need for replacing window glass as described above.

The robot is equipped with a jig at its operating end to position and hold the pallet, and with the jig holding the window glass through the pallet, the robot operates to insert the window glass into the window. That's what I do.

(Problems to be Solved by the Invention) By the way, in the above-mentioned Hikari proposal, after the jig is moved to a pre-teached mounting position facing the window of the vehicle body, the window glass is placed exactly on the window. The position of the jig is corrected so that they face each other, and then the jig is advanced toward the window to attach the window glass to the window. In this case, the displacement of the window glass with respect to the window is directly detected. It is difficult to do this, and the position must be corrected by detecting the displacement of the jig from its normal position facing the window using a detector mounted on the jig. The problem is how to ensure correlation with positional relationships.

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

(Another Means for Solving the Problems) In order to achieve the above object, the present invention provides a window glass with a ballast.
The window glass is attached to the window of the car body with the pallet positioned and held by a jig attached to the operating end of the robot. 1° to the part on the vehicle body side that corresponds to the positioning point of the window glass that serves as the positioning reference.
A detector is mounted to detect the displacement of the jig, and after the jig is moved to the previously taught position f4 facing the window of the car body, the jig is moved by a signal from the detector. The present invention is characterized in that the window glass is inserted into the window portion by performing positional correction.

(Function) The window glass is positioned at a certain position 1r relative to the pallet.
Therefore, the positional relationship between the jig for positioning and holding the pallet and the positioning location is also constant.

Here, the jig position correction is performed by detecting the displacement of the jig with respect to the part on the vehicle body corresponding to the positioning point of the window glass, and as a result, a certain positional relationship with respect to the jig is established. The window glass is positioned on the window of the vehicle body so that the displacement of the positioning point with respect to the position becomes zero, in other words, the positioning reference of the window glass with respect to the pallet and the positioning reference of the jig with respect to the window coincide with each other, and the window glass can be accurately and quickly positioned relative to the window without requiring complicated mil control.

(Example) With reference to FIGS. 1 to 3, (1) is a vehicle body conveyance path, (
9 indicates a window glass supply path arranged in parallel with the conveyance path (1),
The vehicle body a is moved along the conveyor path (1) by the hanger conveyor (3).
) to transport the vehicle from the rear to the front (from the left to the right in the figure), and two robots (41) and (42), front and rear, are installed on the side of a predetermined vehicle body stopping position on the transport path (1). ,
The front side and rear side window glasses b, b2 supplied through the supply (2) are respectively sent to the front tenth bot (41).
and the 20th button h (42) on the rear side, each of which is attached to the window section on the front side V side of the vehicle body a.

The supply path is provided with transport rails (2aH2a) on both left and right sides that support a pallet (5) with a suction cup (5a), and each window glass b1, b2 is suctioned and held in a horizontal position on each pallet (5). The supply path (2) is configured to be conveyed from the front to the rear along the conveyance rails (2a) (2a), and the set station A1 primer is applied to the supply path (2) sequentially from the starting end to the terminal end. Station B1, first second drying station C1, C2, first adhesive application station DIN, first transfer station [I, second adhesive application station R2, second transfer station E2, and the set station First, the rear window glass b2 is placed on the pallet (5) using the setting device (6) located at
), and then the pallet (5) is conveyed to the primer application station B, and the coating robot (1) placed at the station B applies the primer to the window glass b2, and at the same time, the pallet (5) is transferred to the setting station B. The front window glass b is set on the next pallet (5) to be loaded, and the pallet (5) on which the rear window glass b2 is set is then transferred to the first drying station C7 and then to the second drying station C2. After the tact conveyance, the pallet was transported to the second adhesive application station 0□ by passing through the first adhesive application station DI and the first transfer station [,], and the pallet on which the window glass b1 on one front side was set. (5) is conveyed to the primer application station B and a primer is applied to the window glass b1, and then the pallet (5) is tact conveyed to the first adhesive application station D1 via the first drying station C1s and the second drying station C2. Then, each coating robot (81) (82) placed at the six adhesive coating stations D, D2 applies adhesive to each window glass b1, b2, and then each pallet (5) is transferred to each transfer station E. , E, and the transfer device (91) placed at each station F1, E2.
(92) to move each pallet (5) to each robot.
(4+) Prevented delivery to (42).

As shown in FIG. 4, the setting equipment 'e1 (6) is a setting station A that receives the front side and rear side window glasses b1 and b2 as a set from the window glass conveyance hanger aO.
The receiving device at on the right side of the cellar i-station A, which places the window glasses b+ and b2 on the pallet l-(5) one by one, and the transfer machine a2 on the left side of the cellar i-station A, which places the window glasses b+ and b2 on the pallet (5). and a positioning device a3 for positioning each of the placed window glasses b1 and b2. The frame (11b) is provided with a window glass holder (Ilc) that supports the inner window glasses b1 and b2 in two stages, upper and lower, and can be moved left and right. 12a) A pair of front and rear window glass support bars (12cH12c) are attached to the lifting frame (1211) provided above, and the window glass support (11c) allows the front and rear sides to be window glass b
After scooping up the pieces 1 and b2, position them at a delivery position at a predetermined height facing directly above the set station A, and move the support bars (12c) (12c) onto the cart (12c).
By moving right in a), the window glass holder (11c) is raised to protrude to a lower position, and the support bar (12c) (12c
) to slightly lift the rear window glass b2 supported on the lower stage of the window glass holder (11c), then move the window glass holder (11c) to the right, and then lift the support bar (1
2c) (12c) is lowered to place the window glass b2 on the barre l-(5), and after carrying out the pallet (5) from setting station 8, The front window glass b1 supported by the upper stage of the window glass holder (11c) was placed on the pallet (5) in the same manner as described above.

The window glasses b1 and b2 are placed on the pallet (5) with their widths oriented in the front-rear direction and one upper edge facing left.

The positioning device a (13 is a window glass b1 placed on a pallet (5) as shown in FIGS. 5 and 6).
, the upper edges of the window glasses b1 and b2 are spaced apart in the width direction of the window glasses b1 and b2 on a reference frame aΦ that can be moved forward and backward by a cylinder (14a) between a predetermined operating position facing the upper edge of b2 and a retracted position on the left outside thereof. At the same time, a pair of first reference rollers (+51 (+5)) are attached, and a pair of second reference rollers ae ae that contact the side edges on both sides in the middle direction of the window glasses b1 and b2 are moved by a common motor (16a). (16b) are provided so that they can move toward each other in the width direction in synchronization with each other via racks (16c), and furthermore, a window glass b is provided on the right side of the setting station.
1, a pair of pressure rollers (171■
parallel link (17bH17) by cylinder (17a)
After positioning the reference frame 11/D at the operating position, the second reference rollers ae and ae are brought closer together, and the pressing roller (17) was moved to the left to position the window glasses b1 and b2 with respect to the pallet (5) in the middle direction and the height direction (the direction in which the upper and lower edges face each other).

That is, by the approaching movement of the second reference roller ae ae, it comes into contact with both sides of the window glasses b1 and b2 in the middle direction, and with this contact point as the positioning information W, W in the width direction, the center point between the positioning points W, W is set. The direction center position is the second reference roller ae
(The window glasses b1 and b2 are positioned in the middle direction so as to coincide with the midpoint between Ie, and the upper edges of the window glasses b7 and b2 are pressed against the pressure roller (17) (by the pressing force of +71) The roller (+51 (+!i+) contacts the roller (+!i+), and uses this contact point as a positioning point, h, to position the window glasses b1 and b2 in the height direction.

Also, at the set station A, there is a pair of left and right glue lids with locating pins (18a) for positioning the pallet (5), and a plurality of clampers 0! J and
The pallet (5) is set to a certain degree nOQ with respect to the reference frame aΦ.
In addition, use an appropriate clamper 0.
9 is a vacuum port (19a) connected to a negative pressure source (not shown)
At the same time, a suction port (5b) is formed on the clamp seat on the pallet (5) on which the clamper 19 comes into contact, which is connected to the suction cup (5a) via a negative pressure holding circuit, and the window glass is After positioning b7 and b2, the suction port (5b)
Suck it through! 8 (5a) by applying negative pressure to the window glass b
1, b2 was made to be adsorbed to a suction cup (5a).

In addition, the above-mentioned brimer application station B, the first and second
The drying stations C1, C2 and the first and second adhesive application stations D1.02 are also equipped with lifters ae and clampers (19) in the same way as the set station controller △, and pallets (5
) to ensure proper positioning.

Each of the robots (41) ('h) is shown in Figures 7 and 8.
As shown in the figure, a cylinder (20a) is placed on a first slide table (20a) which is movable in the front-rear direction, that is, in the mid-longitudinal direction.
21a), the second
A slide table (2) is provided, and a lifting table (2) is provided on the second slide table (2), which can be raised and lowered by a cylinder (23a) via a swivel table (2) which can be rotated vertically by a rotary actuator (22a). The robot arm is equipped with a rotary actuator (24a) that can freely rotate around a horizontal axis, and a jig Q9 is attached to the tip of the robot arm, which is the operating end of the robot. The robot arm (2) is turned upside down by the reversal operation, and the rotating base (2) is rotated to move it to the transfer position on the side of the transfer device (91) (92) shown in Fig. 9, and in this state, the transfer The lifting frame (9a) provided in the device (91) (92) is raised, and the pallet receiver (9b), which can be moved laterally on the lifting frame (9a), is projected directly above the jig R, and the lifting frame (9a) is raised. Before the upper limit of the frame (9a), the pallet (5) placed in the pallet receiver (9b) is placed in the jig ■
Then, with the jig (2) facing diagonally downward, the swivel table (2) rotates 90 degrees to move the vehicle body to the vehicle body transfer path (1).
At the same time, move the first and second slide tables ■■ and the elevating table so that they face the window of the vehicle body a in the Y-axis direction, which is the normal direction thereof, as shown in FIG. The jig (2) was moved to the mounting position, and the jig (2) was then corrected as described later, so that the window glasses b, b2 were inserted into the windows. The jig (2) shown in the figure consists of a jig main body (25a) that positions and holds the pallet (5), a support frame (25c) that supports this so that it can move forward and backward via a cylinder (25b), and a jig main body (25a) that positions and holds the pallet (5). and a detector mounting frame (25d) on a support frame (25c), and after positioning the jig (2), use the cylinder (25b) to move the jig main body (25a) toward the window in the Y-axis direction. Move forward to the window glass b! ,b
2, and on the side of the car body a corresponding to the positioning points W and W, which serve as the reference for positioning the window glasses b1 and b2 in the width direction with respect to the pallet and g (5) in the mounting frame (25d). A pair of first detectors ■ for detecting the displacement of the jig ■ in the vehicle interior direction with respect to the parts, that is, the parts W on both sides of the window part, side frame parts w' and w' having the same height as W; (2) and the above-mentioned positioning point that serves as a positioning reference in the height direction, the part on the side of the vehicle body a corresponding to h, that is, the corresponding part of the window, +i1 equivalent to h.
A pair of second detectors ■■ detecting the displacement of the jig ■ in the height direction and mid-length direction with respect to the upper part h', h' of the direction position.
The position of the jig (2) is corrected based on the signals from these detectors (2).

To explain this in more detail, the six first detectors (1) extend in the Y-axis direction right beside each of the positioning points W, and each of the side frame portions W.
° car 1] A swingable detection bar that comes into contact with you from the outside (
26a) and an encoder (26b) that detects the swing angle of the bar (26a).
The motor (26c) on the mounting frame (25d) allows the bars (2) to move toward the interior of the vehicle in synchronization with each other via the binion (26d) and the rack (26e), and each bar ( 26a) Detect the displacement of the jig ■ in the direction of the inside of the car with respect to the side frames w' and w', and move the jig ■ in the direction of the inside of the car so that this displacement becomes zero. Then, the position in the direction of the vehicle was corrected.

Further, as shown in FIGS. 11 to 13, each of the second detectors has a first engaging member that abuts on the recessed step surface of each of the upper frame portions h from the X-axis direction perpendicular to the Y-axis direction. A detection arm (27c) is attached to its tip with an interlocking element (27a) and a second engaging element (27b) that abuts its outer edge from the Y-axis direction.
The movement of the arm (27c) in the X-axis direction and the Y-axis direction is controlled by a pair of first and second encoders (27c).
76) C278) is configured for detection 1. To explain this in more detail, a holder (27f) fixed to the mounting frame (25d) is provided with a holder (27f) that is movable in the Y-axis direction via a guide bar (270). Attach the bracket (27h) and attach the guide bar (27i) to the bracket (27h).
), the arm (27c) is supported movably in the X-axis direction, and the bracket (27b) is equipped with a first encoder (27d), and the holder (27'') is equipped with a second encoder (27e). Attach the first encoder (27
The arm (27c) is connected to the input shaft pin (27j) of d).
) and a Y-axis rack (27k) connected to the bracket (27h) to the binion (271) of the input shaft of the second encoder (27e).
7m), and thus the first encoder (27
d) enables the movement of the arm (27c) in the X-axis direction and the second encoder (27e) to detect the movement of the arm (27c) in the Y-axis direction; A spring (27n) biases the first engager (27a) obliquely upward in the X-axis direction so that the first engager (27a) comes into contact with the stepped surface, and the bracket (27h)
The engaging element (27b) was urged diagonally downward in the Y-axis direction by a spring (27o) so as to come into contact with the outer edge. In the drawing (27
p) is a cylinder that pushes the first engager (27a) to the lower release position in the X-axis direction, and (27q) is a cylinder that pushes the second engager (27a)
7b) to the disengaged position upward in the Y-axis direction.

Here, according to the contact of both the engaging elements (27aH27b) with the step surface and the outer edge, the position of the arm (27c) in the X-axis direction and the Y-axis direction is determined, and the normal position of the arm (27c) is determined. By detecting the displacement in the X-axis direction and the Y-axis direction from the position and converting the coordinates, the displacement in the height direction and vehicle length direction of the jig 2 with respect to each upper frame portion h° can be found, and if this displacement is zero, Correct the position of the jig (2) in the height direction and vehicle length direction so that

By the way, each of the positioning points w and h are pallets (5)
maintain a constant positional relationship with respect to the pallet (5).
The position Nl'Il relative to the jig (2) for positioning and holding is also constant, and each of the side frame portions W corresponding to the multiple locations w and h
If the position of the jig ■ is corrected as described above with reference to ° and each upper frame part h°, each side frame part W of each position w and h is corrected.
The window glasses b1 and b2 are accurately positioned relative to the window so that the displacement with respect to the angle and each upper frame h° becomes zero, and the window glasses b1 and b2 can be positioned accurately and quickly. °I can.

If the second detector ■■ is to detect the position of the upper part that does not correspond to the positioning point h, it will be inserted into this upper frame part according to the shape of the upper edge of the window glasses b2, b2. Pallet (4) at the upper edge of window glass b1 and b2
Since the position with respect to the window glass changes, it becomes necessary to change the criterion for displacement detection by the second detector 127)o depending on the type of window glass, making the ailJ 611 complicated and easily causing a single difference.

In addition, when inserting the window glass b11b2, the window glass b1, b2 is moved to the upper evacuation position in the X-axis direction where it does not interfere with Place the mounting frame (25d) against the cylinder (25c) so that it does not get in the way.
5e) allows it to be swung downwards as shown in Figure 9.

Also, after inserting the window glasses b, b2 into the windows as described above, the used pallet (5) is transferred to the transfer device (91) (92).
The pallet (5) is delivered to the pallet return path below the window glass supply path (2) via the return path (2), and is returned to the setting station 8 via the return path (2).

(Effects of the Invention) As described above, according to the present invention, the positioning reference of the window glass with respect to the pallet and the positioning reference of the jig with respect to the window portion match, and the window glass can be moved accurately and quickly without requiring complicated control. It has the effect of improving positioning and productivity.

[Brief explanation of drawings]

Fig. 1 is a perspective view of a window glass mounting device used in carrying out the method of the present invention, Figs. 2 and 3 are a side view and a plan view thereof, respectively, and Fig. 4 is a view taken from the line ■-■ in Fig. 3. Fig. 5 is an enlarged circumferential view of the main parts to explain the positioning operation of the window glass with respect to the pallet, Fig. 6 is its plan view, and Fig. 7 is taken from the line ■-■ in Fig. 3. Figure 8 is a front view of the robot as seen, Figure 8 is its plan view, Figure 9 is a pallet to the robot] - A dimensional front view showing the relationship between the robot and the transfer device during delivery, Figure 10 is a window glass installation. Figure 11 is an enlarged cross-sectional side view of the second detector mounted on the jig, Figures 12 and 13 are the ℃-M line and ■-XI line of Figure 11, respectively. Disconnection diagram sectional view. a... Vehicle body S1, b2... Window glass w, h... Window glass positioning point W°, ho... Portion on the vehicle body side corresponding to the positioning point ('h) (42)... Robot (5)...Pallet■...Jig■...Detector and 2 other people-

Claims (1)

[Claims] The window glass is positioned and set on a pallet, and the window glass is attached to the window of the vehicle body with the pallet being positioned and held by a jig attached to the operating end of the robot, and the window glass is attached to the jig. It is equipped with a detector that detects the displacement of the jig with respect to the part on the car body side corresponding to the positioning point of the window glass, which is the positioning reference for the pallet of A method for attaching a window glass to an automobile, characterized in that, after the jig is moved to a certain position, the position of the jig is corrected based on a signal from the detector, and the window glass is inserted into the window part.