JPS62289481A - Window panel assembling method for vehicle - Google Patents
Window panel assembling method for vehicleInfo
- Publication number
- JPS62289481A JPS62289481A JP61131562A JP13156286A JPS62289481A JP S62289481 A JPS62289481 A JP S62289481A JP 61131562 A JP61131562 A JP 61131562A JP 13156286 A JP13156286 A JP 13156286A JP S62289481 A JPS62289481 A JP S62289481A
- Authority
- JP
- Japan
- Prior art keywords
- panel
- robot
- car body
- camera
- visual sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 7
- 238000012937 correction Methods 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 239000005357 flat glass Substances 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000473391 Archosargus rhomboidalis Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 241001674048 Phthiraptera Species 0.000 description 1
- 241000981595 Zoysia japonica Species 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/028—Positioning of sub-units or components with respect to body shell or other sub-units or components by determining relative positions by measurement
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
Description
【発明の詳細な説明】
＆発明の詳細な説明
産業上の利用分野
この発明は、自動車のウィンドパネルの組付方法に関す
る。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a method for assembling a wind panel of an automobile.
従来の技術
自動車組立ラインの自動化の一環として、例えば％願昭
５９−１３９４８８号に示されているよ５に産業用ロボ
ットによるウィンドガラスの自動組み付けが提案されて
いる。上記公報においては、自動車ボディ（以下、単に
ボディという）搬送用のコンベアと同期走行する追従台
車を設け、追従台車とコンベアとの同期走行中において
ボディを−１コンベアから切り離して追従台車側に位置
決めする。そして、追従台車側にボディが位置決めされ
た状態のもとで、追従台車に搭載した産業用ロボットが
ウィンドガラスをボディ備の開口部に組み付けることに
なる。ウィンドガラスの組み付けが完了すると追従台車
はボディの位置決めを解き、ボディをコンベア上の元の
位置に移載することになる。BACKGROUND OF THE INVENTION As part of the automation of automobile assembly lines, automatic assembly of window glasses by industrial robots has been proposed, for example, as shown in Japanese Patent Application No. 59-139488. In the above publication, a following truck is provided that runs in synchronization with a conveyor for transporting automobile bodies (hereinafter simply referred to as the body), and while the following truck and the conveyor are running in synchronization, the body is separated from the -1 conveyor and positioned on the side of the following truck. do. Then, with the body positioned on the side of the follow-up cart, the industrial robot mounted on the follow-up cart will assemble the window glass into the opening of the body. When the windshield assembly is completed, the follow-up truck releases the body positioning and transfers the body to its original position on the conveyor.
この場合、ウィンドガラスを組み付けるべき位置は予め
ロボット側に記憶されて訃シ、したがってボディとロボ
ットとの相対位置関係さえ定まれば、ウィンドガラスは
常にボディの正規位置に組み付けられることになる。In this case, the position at which the window glass should be installed is stored in advance on the robot side, so that as long as the relative positional relationship between the body and the robot is determined, the window glass will always be installed at the normal position on the body.
発明が解決しよりとする問題点
上記のよりな従来の方法においてはいわゆる絶対位置決
め１式をとっているため、ボディを構成しているボディ
パネル相互の組付誤差がそのままウィンドガラスの組付
誤差となって表われることになシ、組付精度の向上をの
ぞめない。Problems to be Solved by the Invention Since the above-mentioned more conventional method uses a so-called absolute positioning system, the assembly error between the body panels that make up the body directly affects the assembly error of the windshield. I cannot hope to improve the assembly accuracy because of this problem.
問題点を解決するための手段
本発明は、ボディ側の車体開口部とウィンドパネルとの
相対位置関係を補正する方法であって、コンベアサイド
の第１の視覚センサーによシボディのフードリンシバネ
ル下端縁を検出してボディの少なくとも高さ方向につい
ての補正量を求め、この補正量に応じ、ロボットハンド
に取り付けられた第２の視覚センサーが検出対象とする
車体開口縁部の検出位ｔｔ−補正する工程と、前記第２
の視覚センサーによシ、ウィンドパネルを組み付けるべ
き車体開口縁部を検出してボディの少なくとも車幅方向
についての補正量を求め、高さ方向および車幅方向のそ
れぞれの補正量に応じて産業用ロボットに支持式れてい
るウィンドパネルの位置を補正して組み付けることを特
徴とするものでるる。Means for Solving the Problems The present invention provides a method for correcting the relative positional relationship between a vehicle body opening on the body side and a wind panel, the method comprising: correcting the relative positional relationship between a vehicle body opening on the body side and a window panel, the method comprising: The lower edge is detected to determine the correction amount at least in the height direction of the body, and according to this correction amount, the second visual sensor attached to the robot hand determines the detection position tt- of the vehicle body opening edge to be detected. a step of correcting; and a step of correcting the second
The visual sensor detects the edge of the opening in the vehicle body where the wind panel should be assembled, determines the amount of correction for the body at least in the vehicle width direction, and adjusts the amount of correction in the height direction and vehicle width direction. It is characterized by correcting the position of the wind panel supported by the robot and assembling it.
第１の視覚センサーによりボディの７−ドリツジパネル
下端Ｍｔ−１出しているのは、ボディｔ−構成している
複数のボディパネルのうちで７−ドリツジパネルが最も
組付精度が良いためである。The reason why the lower end Mt-1 of the 7th dredge panel of the body is exposed by the first visual sensor is that the 7th dredge panel has the highest assembly accuracy among the plurality of body panels making up the body t.
実施列
第１図は本発明の一実Ａ列を示す図であフ、フロントガ
ラスｔ−組み付ける場合について例示している。Practical row FIG. 1 is a diagram showing one embodiment of the present invention, row A, and illustrates the case where the windshield is assembled.
ボディＢはコンベア１により所定速度で連纜的に搬送さ
れるもので′Ｊ）り、そのコンベアサイドにはペース２
上を自走する産業用ロボット（以下、単にロボットとい
う）３が設置されている。ロボット３は、追従センサー
４が飼えばドアＤの前端を監視することでボディＢに追
従して同期走行し、その同期走行中においてハンド５に
支持されているウィンドガラスＧを車体開口部０に組み
付けることになる。Body B is conveyed continuously at a predetermined speed by conveyor 1, and pace 2 is placed on the side of the conveyor.
An industrial robot (hereinafter simply referred to as robot) 3 that runs on its own is installed. When the tracking sensor 4 is activated, the robot 3 follows the body B and travels in synchronization by monitoring the front end of the door D. During the synchronized travel, the robot 3 moves the windshield G supported by the hand 5 to the vehicle body opening 0. It will be assembled.
また、ペース２と隣接する位置にはシーリングステージ
６があ夛、例えば作業者がＡ位置にウィンドガラスＧを
セントすると、このウィンドガラスＧがコンベア７によ
りシーリング位＊Ｂに運ばれ、シーリングロボット８に
よシラインドガラスＧの周縁部に接層剤が塗布される。In addition, there is a sealing stage 6 at a position adjacent to the pace 2. For example, when a worker places a window glass G at position A, this window glass G is carried by a conveyor 7 to a sealing position *B, and a sealing robot 8 An adhesive is applied to the peripheral edge of the shielded glass G.
接層剤が塗布されたウィンドガラスＧは上記のようにロ
ボット３のハンドδに支持されて車体開口部０に組み付
けられる。The window glass G coated with the adhesive is supported by the hand δ of the robot 3 and assembled into the vehicle body opening 0 as described above.
コンベアサイドには第１の視覚センサーとしての２台の
カメラ９，１０が対向配置されておシ、これらのカメラ
９，１０は第１図のほか第３．４図に示すよりにホイー
ルハウス部Ｈがカメラ視野内に入った段階で、７−ドリ
ンジバネルＦの下端縁の画像を図示外の画像処理装置に
取り込む（第６図参照）。そして、左右のフードリッジ
パネルＦ。Two cameras 9 and 10 as first visual sensors are arranged facing each other on the side of the conveyor. When H enters the field of view of the camera, an image of the lower edge of the 7-dringe panel F is captured into an image processing device (not shown) (see FIG. 6). And left and right hood ridge panel F.
位ａｔ−検出することによシボディＢの高さ方向（２方
向］のずれ量（補正量）と、Ｙ＠回シのボディＢのずれ
ｔ（補正量〕とが求められる。これらの補正量はロボッ
ト３の制御系に転送され、後述するように予め記憶され
ているところのカメラ１３の位置に関する情報を補正す
る。By detecting the position at-, the amount of deviation (correction amount) of the body B in the height direction (two directions) and the deviation t (amount of correction) of the body B in Y @ rotation are determined.These correction amounts is transferred to the control system of the robot 3, and corrects information regarding the position of the camera 13 that is stored in advance as will be described later.
この場合、双方のカメラ９．１０の光軸を互いに平行に
設定した場合、Ｙ＠回９のボディＢの姿勢次第では列え
ばカメラ８の視野内に検出対象であるフードリッジパネ
ルＦと反対側の７−ドリツジバネルＦの下端面が入って
しまりことがある。そのため、第３脂に示すようにカメ
ラ９．１０の光軸全相互に下向きとなるように設定する
ことで、上記の不具合が解消される。１１および１２は
面光源である。In this case, if the optical axes of both cameras 9 and 10 are set parallel to each other, depending on the posture of body B at Y@time 9, if they line up within the field of view of camera 8, the side opposite to hood ridge panel F, which is the detection target. 7- The lower end surface of the dredge panel F may get stuck. Therefore, by setting the optical axes of the cameras 9 and 10 so that they all face downward as shown in the third column, the above-mentioned problem can be solved. 11 and 12 are surface light sources.
ロボット３は、第１図および第６図に示すようにそのハ
ンド５の一部に第２の視覚センサーとしてのカメラ１３
と遮蔽板１４とを備えており、カメラ１３はウィンドガ
ラスＧの組み付けに先立って、フロントピラーＰｏ端面
の３点Ｐ１ ｅ ｐ、 ｅ ＰＳの画像を順次取）込ん
でそれらの点の位置を順次検出する。As shown in FIGS. 1 and 6, the robot 3 is equipped with a camera 13 as a second visual sensor on a part of its hand 5.
and a shielding plate 14, and before assembling the windshield G, the camera 13 sequentially captures images of three points P1, e p, e PS on the end face of the front pillar Po and sequentially determines the positions of these points. To detect.
これら３点Ｐ＊ ｔ Ｐｔ ｔ Ｐｓｔ−検出するにあ
之ってのカメラ１３の位置情報はロボット３の制御系に
予め記憶されているものであるが、前述したようにボデ
ィＢの高さ方向の位置ずれ、およびＹ軸回りの位置ずれ
がおると、カメラ９．１０からの補正指令を受けてカメ
ラ１３の位ｔｉｆｆｉ情報が補正される。したがって、
カメラ１３は常に補正された位置で７０ントビラーＰ上
の３点Ｐ １ｓ Ｐｘ ｍＰｓ ｔ−検出する。この場
合、蓮蔽板１４は、カメラ１３の視野のなかに車室内側
の余分なものが入らないよつに遮る機能をもっている。The positional information of the camera 13 for detecting these three points P* t Pt t Pst is stored in advance in the control system of the robot 3, but as described above, When there is a positional deviation and a positional deviation around the Y axis, the tiffi information of the camera 13 is corrected in response to a correction command from the camera 9.10. therefore,
The camera 13 always detects three points P 1s Px mPs t on the 70-plane camera P at the corrected position. In this case, the lotus shielding plate 14 has a function of blocking unnecessary objects on the inside of the vehicle from entering the field of view of the camera 13.
３点ｐ、 ｓ ＰＳ ｅ Ｐａの位置が求まると、所定
の演算を行なりことによシ、ガラス取付面である車体開
口部Ｏの車幅方向（Ｘ方向ンの位置ずれ！（補正りおよ
びｚ軸回りの位置ずれ量（補正りが求められる。さらに
、これらＸ方向訃よび２軸回夕の補正量に、先の２方向
およびＹ軸回シの補正量を重ね合わせて車体開口部Ｏに
ついての三次元的な最終補正量を演算し、その補正量を
ロボット３の制御系に転送する。Once the positions of the three points p, s PS e Pa are determined, predetermined calculations are performed to determine the positional deviation in the vehicle width direction (X direction!) of the vehicle body opening O, which is the glass mounting surface. The amount of positional deviation (correction) around the Z axis is calculated.Furthermore, the correction amounts for the two directions and the Y axis are superimposed on the correction amounts for the X direction rotation and the two axis rotation. A final three-dimensional correction amount is calculated, and the correction amount is transferred to the control system of the robot 3.
ロボット３の制御系では、予め記憶されているところの
ガラス取付位置に関する位置情報を上記の補正量に応じ
て補正し、ハンド６の向１！を反転させた上で該ハンド
６に支持されているウィンドガラスＧを単体開口部０に
組み付ける。これら一連の作業はボディＢとロボット３
との同期走行中において行なわれることは言５までもな
い。The control system of the robot 3 corrects the pre-stored positional information regarding the glass attachment position according to the above correction amount, and changes the direction of the hand 6 to 1! After inverting the window glass G supported by the hand 6, the window glass G is assembled into the single opening 0. These series of operations are carried out between body B and robot 3.
It goes without saying that this is done during synchronized running with the vehicle.
発明の効果
組上のように本発明によれば、コンベアサイドの固定式
の視覚センサーとロボットハンドに取り付けられた可動
式の視覚センサーとのはたらきにより、ウィンドパネル
取付位置を２段階にわたって補正するようにしたため、
車体開口部とウィンドパネルとがいわゆる相対位竜決め
方式となるが故にボディパネル相互の組付誤差の影響を
受けることがなく、ウィンドパネルの組付精度が向上す
る。Effects of the Invention As described above, according to the present invention, the wind panel mounting position is corrected in two stages by the action of the fixed visual sensor on the conveyor side and the movable visual sensor attached to the robot hand. Because of this,
Since the vehicle body opening and the wind panel are positioned relative to each other, the wind panel is not affected by assembly errors between the body panels, and the wind panel assembly accuracy is improved.
第１１Ｎは本発明の一実施例を示す図で第２図のＪ！ｉ
部拡大図、第２図は同じく全体の説明図、誦３図（′ｉ
左カメラ配ｕｔを示す説明図、第４図はボディのホイー
ルハウス部の拡大図、第６図はフロントピラーの認黛状
悪の説明図、第６因は画像地理系の７ｏ−チャートであ
る。
１・・・コンベア、３・・・産業用ロボット、６・・・
ハンド、９．１０・・・第１の視覚センサーとしてのカ
メラ、１３・・・落２の視覚センサーとしてのカメラ、
Ｂ・・・自鯛単ボディ、０・・・車体開口部、Ｆ・・・
７−ドリンジパネル、Ｇ・・・ウィンドガラス（ウィン
ドパネルノ。
第１図
１ ・・・・コンヘア
３−・・彦−Ｓ用υホ”ツ）
５・・・・ハンＹ
９、ＩＱ・・・・カメラ
１３・・・・カメラ
Ｂ・・・・ 目Ｍ、虱爪゛テ”４
０・・・参体藺口１
Ｆ・・・・ ブードリーｌシバ・＾ル
Ｇ−・ ワ＾ンド丁ヲス
第３図No. 11N is a diagram showing an embodiment of the present invention, and J! i
Figure 2 is also an explanatory diagram of the whole section, Figure 3 ('i
An explanatory diagram showing the left camera layout, Fig. 4 is an enlarged view of the wheel house of the body, Fig. 6 is an explanatory diagram of the front pillar's fraying condition, and the sixth cause is a 7o-chart of the image geography system. . 1... Conveyor, 3... Industrial robot, 6...
Hand, 9.10... Camera as first visual sensor, 13... Camera as second visual sensor,
B... Own sea bream single body, 0... Car body opening, F...
7- Dringe panel, G... Wind glass (Wind panel. Fig. 1 1... Conhair 3-... Hiko-S υ hole) 5... Han Y 9, IQ...・Camera 13... Camera B... Eyes M, lice claws ``4 0... Participation mouth 1 F... Boudry l Shiba ＾le G-・ Wa nd Dingwosu Figure 3
Claims (1)
し、産業用ロボットによりウインドパネルを組み付ける
にあたり、自動車ボディ側の車体開口部とウインドパネ
ルとの相対位置関係を補正する方法であつて、コンベア
サイドの第１の視覚センサーにより自動車ボディのフー
ドリツジパネル下端縁を検出して自動車ボディの少なく
とも高さ方向についての補正量を求め、この補正量に応
じ、ロボットハンドに取り付けられた第２の視覚センサ
ーが検出対象とする車体開口縁部の検出位置を補正する
工程と、前記第２の視覚センサーにより、ウインドパネ
ルを組み付けるべき車体開口縁部を検出して自動車ボデ
ィの少なくとも車幅方向についての補正量を求め、高さ
方向および車幅方向のそれぞれの補正量に応じて産業用
ロボットに支持されているウインドパネルの位置を補正
して組み付けることを特徴とする自動車のウインドパネ
ル組付方法。(1) A method for correcting the relative positional relationship between the car body opening on the car body side and the wind panel when the wind panel is assembled by an industrial robot to the car body being conveyed by the conveyor. The first visual sensor detects the lower edge of the hood rigid panel of the car body to determine a correction amount at least in the height direction of the car body, and the second visual sensor attached to the robot hand detects the correction amount at least in the height direction of the car body. correcting the detected position of the edge of the vehicle body opening to be detected, and detecting the edge of the vehicle body opening to which the window panel is to be assembled by the second visual sensor, and correcting the amount of correction at least in the vehicle width direction of the vehicle body. A method for assembling an automobile wind panel, characterized in that the position of the wind panel supported by an industrial robot is corrected and assembled according to correction amounts in the height direction and the vehicle width direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61131562A JPH078664B2 (en) | 1986-06-06 | 1986-06-06 | How to assemble an automobile wind panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61131562A JPH078664B2 (en) | 1986-06-06 | 1986-06-06 | How to assemble an automobile wind panel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62289481A true JPS62289481A (en) | 1987-12-16 |
| JPH078664B2 JPH078664B2 (en) | 1995-02-01 |
Family
ID=15060965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61131562A Expired - Lifetime JPH078664B2 (en) | 1986-06-06 | 1986-06-06 | How to assemble an automobile wind panel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH078664B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63235184A (en) * | 1987-03-25 | 1988-09-30 | Mazda Motor Corp | Work position detecting method in assembling line |
| JPH01218984A (en) * | 1988-02-26 | 1989-09-01 | Honda Motor Co Ltd | Radiator assembler |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5836779A (en) * | 1981-08-06 | 1983-03-03 | レジ−・ナシヨナル・デ・ユジ−ヌ・ルソ− | Device and method of automatically mounting window glass, roof member or similar article |
| JPS6121873A (en) * | 1984-07-11 | 1986-01-30 | Mazda Motor Corp | Car parts installing device |
-
1986
- 1986-06-06 JP JP61131562A patent/JPH078664B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5836779A (en) * | 1981-08-06 | 1983-03-03 | レジ−・ナシヨナル・デ・ユジ−ヌ・ルソ− | Device and method of automatically mounting window glass, roof member or similar article |
| JPS6121873A (en) * | 1984-07-11 | 1986-01-30 | Mazda Motor Corp | Car parts installing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63235184A (en) * | 1987-03-25 | 1988-09-30 | Mazda Motor Corp | Work position detecting method in assembling line |
| JPH01218984A (en) * | 1988-02-26 | 1989-09-01 | Honda Motor Co Ltd | Radiator assembler |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH078664B2 (en) | 1995-02-01 |
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