KR20220153198A - Glass mounting device - Google Patents

Abstract

Disclosed is a glass mounting apparatus of a vehicle for mounting a glass onto a set glass mounting unit of a vehicle body, may comprise: i) a tool frame mounted at an arm tip of a handling robot; ii) at least one vacuum adsorption module installed on the tool frame, and adsorbing the glass with the vacuum pressure; and iii) at least one glass pressurizing unit installed in the tool frame to be movable in multi-axial directions and pressurizing the glass with the pressure of an air while being spaced apart from the glass surface of the glass located in the glass mounting unit.

Description

Vehicle glass mounting device {GLASS MOUNTING DEVICE}

An embodiment of the present invention relates to a glass mounting system for a vehicle, and more particularly, to a glass mounting device for a vehicle that automatically mounts glass to a vehicle body.

In general, in a design process among automobile manufacturing processes, glass (commonly referred to as 'windshield glass' in the art) is mounted on front and rear glass mounting parts of a vehicle body using a glass mounting device.

A vehicle glass mounting device according to the prior art is mounted on the front end of a robot arm, and the glass is adsorbed by a plurality of vacuum cups. In this glass mounting device, the glass is moved to the glass mounting portion of the vehicle body through the motion of the robot in a state where the glass is clamped by the vacuum cup, and the glass is pressed to the vehicle body by the teaching of the robot and mounted on the glass mounting portion.

However, in the prior art, when the glass loaded on the pallet is adsorbed through vacuum cups and mounted on the glass mounting portion of the vehicle body, the glass cannot be accurately mounted on the glass mounting portion of the vehicle body due to the distribution of the loading position of the glasses and the dispersion of the position of the vehicle body. .

To prevent this, a conventional glass mounting device includes a separate alignment unit for aligning the position of the glass adsorbed to the vacuum cups. Therefore, in the prior art, it may cause an increase in investment cost and production cost of production facilities according to employing a separate sorting unit.

On the other hand, in the conventional glass mounting device, when the glass is mounted on the glass mounting portion of the vehicle body as a robot behavior, even if the glass is pressurized by the robot behavior, the glass is properly pressed against the glass mounting portion of the vehicle body by the cushion of the vacuum cup itself. Since it is not made, it is provided with a separate pressing unit for pressurizing the glass.

However, in the related art, as the glass is directly pressed through the pressing unit, problems such as the mounting position of the glass being distorted or the glass being damaged due to the uneven pressing force of the pressing unit occur.

Matters described in this background art section are prepared to enhance understanding of the background of the invention, and may include matters that are not prior art already known to those skilled in the art to which this technique belongs.

Embodiments of the present invention are intended to provide a vehicle glass mounting device capable of accurately mounting the glass to a glass mounting portion of a vehicle body with a simple configuration.

A glass mounting device for a vehicle according to an embodiment of the present invention is for mounting glass on a set glass mounting portion of a vehicle body, and includes: i) a tool frame mounted on the tip of an arm of a handling robot, and ii) installed on the tool frame, At least one vacuum adsorption module for adsorbing glass with vacuum pressure, and iii) installed in the tool frame to be movable in a multi-axial direction, as air pressure in a state of being spaced apart from the glass surface of the glass located in the glass mounting part It may include at least one glass pressing unit that presses the glass.

In addition, the glass mounting device for a vehicle according to an embodiment of the present invention may further include at least one multi-joint unit installed on an edge of the tool frame so that the glass pressing unit is mounted on a front end of an arm.

In addition, the glass mounting device of the vehicle according to an embodiment of the present invention is mounted on the front end of the arm of the multi-joint unit, detects the position of the glass and the position of the glass mounting part, and outputs a detection signal to the controller A detection sensor may be further included.

In addition, in the apparatus for installing glass of a vehicle according to an embodiment of the present invention, the controller may apply a position control signal to the handling robot and the articulated unit according to a detection signal of the position sensor.

In addition, in the vehicle glass mounting device according to an embodiment of the present invention, the glass pressurization unit includes a compressed air tank for storing compressed air, and an air jet connected to the compressed air tank to spray compressed air to the glass surface. May contain nozzles.

In addition, in the vehicle glass installation device according to an embodiment of the present invention, the compressed air tank and the air injection nozzle may be connected through a nozzle valve.

In addition, in the glass installation device for a vehicle according to an embodiment of the present invention, a distance detection sensor for detecting a distance between the air injection nozzle and the glass surface and outputting a detection signal to a controller may be mounted on the air injection nozzle. can

In addition, in the vehicle glass mounting device according to an embodiment of the present invention, the controller may apply a position correction signal to the articulated joint unit according to a detection signal of the distance sensor.

In addition, in the vehicle glass mounting device according to an embodiment of the present invention, the nozzle valve receives a valve control signal through the controller according to a detection signal of the distance sensor, and the compressed air tank and the air injection nozzle of can be selectively opened and closed.

Further, in the glass installation device for a vehicle according to an embodiment of the present invention, the air spray nozzle may include an air guide for guiding the compressed air to the glass surface.

In addition, in the vehicle glass mounting device according to an embodiment of the present invention, the vacuum adsorption module may include a vacuum adsorption pad connected to a vacuum pressure supply unit installed on the tool frame through a support rod.

Embodiments of the present invention can eliminate the separate alignment unit for aligning the mounting position of the glass, it is possible to reduce the investment cost and production cost of the production facility.

In addition, in the embodiment of the present invention, since the glass can be uniformly pressed in a non-contact manner, it is possible to prevent mounting defects and breakage of the glass due to direct pressurization of the glass.

In addition, effects that can be obtained or predicted due to the embodiments of the present invention will be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects expected according to an embodiment of the present invention will be disclosed within the detailed description to be described later.

Since these drawings are for reference in explaining exemplary embodiments of the present invention, the technical idea of the present invention should not be construed as being limited to the accompanying drawings.
1 and 2 are perspective views illustrating a glass installation device for a vehicle according to an embodiment of the present invention.
3 is a side view illustrating a glass installation device for a vehicle according to an embodiment of the present invention.
4 is a view showing a glass pressing unit applied to a glass installation device for a vehicle according to an embodiment of the present invention.
5 to 7 are views for explaining the operation of the vehicle glass mounting device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

Since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to what is shown in the drawings, and the thickness is enlarged to clearly express various parts and regions.

And, in the following detailed description, the names of the components are divided into first, second, etc. to classify them based on the relationship in which the components are the same, and the order is not necessarily limited in the following description.

Throughout the specification, when a part includes a certain component, this means that it may further include other components without excluding other components unless otherwise stated.

1 and 2 are perspective views showing a glass mounting device for a vehicle according to an embodiment of the present invention, and FIG. 3 is a side view showing a glass mounting device for a vehicle according to an embodiment of the present invention.

Referring to FIGS. 1 to 3 , the vehicle glass installation device 100 according to an embodiment of the present invention may be applied to a design assembly line for assembling various design parts to a vehicle body 1 (hereinafter, refer to FIG. 6 ).

Furthermore, the glass mounting device 100 of a vehicle according to an embodiment of the present invention grips (clamps) the glass G (hereinafter, see FIGS. 5 to 7), and sealer is applied to the edge of the glass G. It can be applied to a glass mounting process of mounting the glass G to the glass mounting portion 3 (see FIG. 6 hereinafter) of the vehicle body 1 in the coated state.

In the glass mounting process described above, the glass G is gripped (clamped) through the glass mounting device 100 according to the embodiment of the present invention, and the glass G is placed on the vehicle body 1 through the handling robot R. ) to the glass mounting portion 3, and pressurizing the glass G to go through a process of mounting the glass mounting portion 3.

Here, the glass mounting portion 3 of the vehicle body 1 is a portion where the glass G as a windshield glass is mounted, and is formed to be open in front and rear directions on the front and rear sides of the vehicle body 1.

Hereinafter, an example of mounting the vehicle glass G to the glass mounting portion 3 of the vehicle body 1 through the glass mounting device 100 according to the embodiment of the present invention will be described, but the protection scope of the present invention is necessarily limited thereto It should not be understood that it is, and the technical spirit of the present invention can be applied if glass of various types and purposes is mounted on a predetermined body.

Conventionally, in the art, the transport direction (front and rear direction) of the vehicle body is referred to as the T direction, the vehicle width direction (left and right direction) as the L direction, and the vehicle body height direction (vertical direction) as the H direction. However, in the embodiment of the present invention, the LTH direction as described above is not used as a reference, but the forward/backward, left/right, and up/down directions are used as a reference.

The definition of the above direction is relative, and since the direction may vary depending on the reference position of the device 100 and the mounting position of the glass, the above reference direction is not necessarily limited to the reference direction of the present embodiment.

Furthermore, the end (one end or the other end) in the following may be defined as either end, or may be defined as a certain portion (one end or the other end) including the end.

The vehicle glass mounting device 100 according to an embodiment of the present invention has a structure capable of accurately mounting the glass G to the glass mounting portion 3 of the vehicle body 1.

To this end, the vehicle glass mounting device 100 according to an embodiment of the present invention basically includes a tool frame 10, a vacuum adsorption module 20, a glass pressing unit 30, an articulated unit 40, and It is configured to include a position detection sensor 50, and this will be described for each configuration as follows.

In the embodiment of the present invention, the tool frame 10 is for mounting various components to be described below, and is fixedly installed at the front end of the arm of the handling robot R. The tool frame 10 may be fixed to the tip side of the arm of the handling robot R or separated from the tip side of the arm of the handling robot R through the tool changer 11 provided at the tip side of the arm of the handling robot R. Accordingly, the tool frame 10 includes a tool coupling part 13 coupled to the tool changer 11 .

The tool frame 10 may include accessory elements such as various brackets, support blocks, plates, housings, covers, and collars. Since the above-mentioned accessory elements are for installing various components to be described below on the tool frame 10, in the embodiment of the present invention, the above-mentioned accessory elements are collectively referred to as the tool frame 10 except for exceptional cases.

Here, the handling robot R is installed on the floor of the workshop. The handling robot R operates along a teaching path set to correspond to the glass mounting portion 3 of the vehicle body 1 . The robot operation of the handling robot R is controlled by a controller 90 which will be described later. And, the handling robot R operates as a robot with the torque set by the controller 90.

The handling robot R may move the arm along the set teaching path and apply the set force along the teaching path through the arm. For example, the handling robot R has a force control (compliance control) and attitude control function capable of applying a set force in a direction set by the controller 90, and a position detection function of the tool center point It can be provided as a 6-axis or more articulated robot with a back.

Since the handling robot R as described above is composed of an articulated robot of known technology widely known in the art, a detailed description of the configuration will be omitted in this specification.

In an embodiment of the present invention, the vacuum adsorption module 20 vacuum-adsorbs the glass surface of the glass G with vacuum pressure, and is installed on the tool frame 10 facing the glass surface.

In one example, the vacuum adsorption module 20 is provided in plural, and furthermore, it may be installed in four on the tool mounting surface of the tool frame 10 . The vacuum adsorption modules 20 are disposed along a direction away from the tool mounting surface of the tool frame 10 .

The vacuum adsorption module 20 may receive vacuum pressure through the vacuum pressure supply unit 21 installed in the tool frame 10 and vacuum the glass G with the vacuum pressure. The vacuum adsorption module 20 includes a vacuum adsorption pad 25 connected to a vacuum pressure supply unit 21 through a support rod 23 .

The vacuum suction pad 25 is connected to the vacuum pressure supply unit 21 through the support rod 23, and the glass surface of the glass G is contracted and deformed by the vacuum pressure provided from the vacuum pressure supply unit 21. can be vacuum adsorbed.

In an embodiment of the present invention, the glass pressurizing unit 30 pressurizes the glass G with air pressure while being spaced apart from the glass surface of the glass G located in the glass mounting portion 3 of the vehicle body 1 is supposed to do

The glass pressing unit 30 has a structure capable of pressurizing the glass G in a non-contact manner using compressed air. The glass pressing unit 30 is provided in plurality in one example, and is movably installed in the tool frame 10 in a multi-axis direction by a multi-joint unit 40 to be described later.

4 is a view showing a glass pressing unit applied to a glass installation device for a vehicle according to an embodiment of the present invention.

1 to 4, the glass pressurization unit 30 according to an embodiment of the present invention includes a compressed air tank 31 and an air spray nozzle 33.

The compressed air tank 31 stores compressed air and supplies the compressed air. The air spray nozzle 33 is configured to spray the compressed air supplied from the compressed air tank 31 to the glass surface of the glass G through the air spray hole 34 .

Here, the compressed air tank 31 and the air injection nozzle 33 are connected through a nozzle valve 35. The nozzle valve 35 is an automatic opening/closing valve (for example, a solenoid valve) known to those skilled in the art, and can selectively open and close the passage 37 connecting the compressed air tank 31 and the air injection nozzle 33. .

Furthermore, the air spray nozzle 33 includes an air guide 39 for guiding the compressed air sprayed through the air spray hole 34 to the glass surface. In one example, the air guide 39 may have an air blowing hole 34 in the center and an edge portion curved toward the glass surface.

In an embodiment of the present invention, the multi-joint unit 40 is for moving the glass pressing unit 30 in a multi-axial direction to which the glass pressing unit 30 is mounted, and is provided in plurality, and the tool frame 10 installed on the edge of

The multi-joint unit 40 includes a multi-joint arm 43 capable of moving and rotating in multi-axis directions by a driving unit 41 including a motor and a reducer. The multi-joint unit 40 is installed on the opposite surface of the frame surface on which the vacuum adsorption module 20 is mounted in the tool frame 10 . At the front end of the multi-joint arm 43 of the multi-joint unit 40, the above-mentioned glass pressing unit 30 is mounted.

In an embodiment of the present invention, the position detection sensor 50 determines the location of the glass G to be gripped by the vacuum adsorption module 20 and the glass mounting portion 3 of the vehicle body 1 to which the glass G is to be mounted. It detects the position of and outputs the detection signal to the controller 90.

The position detection sensor 50 is mounted on the front end of the multi-joint arm 43 of the multi-joint unit 40. In one example, a mounting bracket 51 fixed to the compressed air tank 31 of the glass pressurization unit 30 ) can be installed.

The position sensor 50 extracts image data of the glass G and the glass mounting portion 3 and transmits the image data to the controller 90 . The position detection sensor 50 may include a vision sensor well known to those skilled in the art.

In the above, the controller 90 controls the positions of the handling robot R and the articulated unit 40 by using the detection signal received from the position detection sensor 50 . For this purpose, the controller 90 may be implemented with one or more processors operating according to a set program. In particular, controller 90 may be implemented with one or more processors implementing image recognition functions known to those skilled in the art.

Furthermore, the controller 90 analyzes the detection signal (image data) received from the position detection sensor 50 and sends a position control signal to the handling robot R and the articulated unit 40 separately from the teaching control signal. can be authorized.

Accordingly, in the embodiment of the present invention, the position of the vacuum adsorption module 20 where the glass G is to be gripped by controlling the robot operation of the handling robot R, the glass gripped by the vacuum adsorption module 20 ( G) can be set. In addition, in an embodiment of the present invention, the position of the glass pressing unit 30 may be set by controlling the multi-joint unit 40 .

On the other hand, in the embodiment of the present invention, the air injection nozzle 33 of the glass pressurization unit 30 detects the distance between the air injection nozzle 33 and the glass surface and outputs a detection signal to the controller 90 A distance detection sensor 60 is mounted.

The distance sensor 60 measures the distance to the object to be sensed, and may include a distance sensor well known to those skilled in the art.

In the above, the controller 90 may analyze the detection signal received from the distance sensor 60 and apply a position correction signal to the multi-joint unit 40 separately from the teaching control signal.

Accordingly, in the embodiment of the present invention, the position of the glass pressing unit 30 is corrected by controlling the multi-joint unit 40, and the air blowing nozzle 33 of the glass pressing unit 30 is set at a distance from the glass surface can be moved to the location where it is placed.

Furthermore, the controller 90 may apply a valve control signal to the nozzle valve 35 of the glass pressing unit 30 by analyzing the detection signal received from the distance detection sensor 60 . Accordingly, the nozzle valve 35 may selectively open and close the passage 37 of the compressed air tank 31 and the air injection nozzle 33 by receiving a valve control signal from the controller 90 .

Hereinafter, the operation of the vehicle glass mounting device 100 according to an embodiment of the present invention configured as described above will be described in detail with reference to FIGS. 1 to 4 and 5 to 7 .

5 to 7 are views for explaining the operation of the vehicle glass mounting device according to an embodiment of the present invention.

Referring to FIG. 5 , in the embodiment of the present invention, first, the tool frame 10 is moved to the upper side of the pallet P on which the glasses G are loaded by the robot behavior of the handling robot R. At this time, the tool frame 10 moves along the set teaching path of the handling robot R, and the glass pressing unit 30 and the position sensor 50 also move along the set teaching path of the multi-joint unit 40 is in a state of being

In this state, in the embodiment of the present invention, the glass (G) located on the uppermost side of the pallet (P) is detected through the position sensor 50, and the detection signal is output to the controller (90).

Then, the controller 90 analyzes the detection signal received from the position detection sensor 50 and applies a position control signal to the handling robot R. Accordingly, in the embodiment of the present invention, the position of the vacuum adsorption module 20 to which the glass G is gripped is set (set) by controlling the robot operation of the handling robot R.

Next, in the embodiment of the present invention, the vacuum suction pads 25 of the vacuum suction modules 20 are brought into close contact with the glass surface of the glass G by the robot behavior of the handling robot R. Accordingly, the vacuum adsorption pad 25 receives vacuum pressure through the vacuum pressure supply unit 21 and is contracted and deformed to vacuum the glass surface of the glass G.

Then, in the embodiment of the present invention, as shown in FIG. 6, the robot behavior of the robot R handling the tool frame 10 in which the glass G is gripped (clamped) in the vacuum adsorption module 20 to the glass mounting part 3 of the vehicle body 1. In this process, in the embodiment of the present invention, a sealer may be applied to the edge portion of the glass (G).

As described above, when the tool frame 10 is located on the side of the glass mounting part 3, in the embodiment of the present invention, the glass mounting part 3 is detected through the position detection sensor 50, and the detection signal is transmitted to the controller 90 ) is output as

Then, the controller 90 analyzes the detection signal received from the position detection sensor 50 and applies a position control signal to the handling robot R. Accordingly, in the embodiment of the present invention, the position of the gripped glass G in the vacuum adsorption module 20 is set (set) by controlling the robot operation of the handling robot R.

In addition, the controller 90 analyzes the detection signal received from the position detection sensor 50 and applies a position control signal to the multi-joint unit 40 . Accordingly, in the embodiment of the present invention, the multi-joint unit 40 is controlled to set (set) the position of the glass pressing unit 30.

Next, in the embodiment of the present invention, the edge portion of the glass G is brought into close contact with the glass mounting portion 3 by the robot behavior of the handling robot R.

During this process, in the embodiment of the present invention, the distance between the air spray nozzle 33 and the glass surface is detected through the distance sensor 60, and a detection signal is output to the controller 90.

Then, the controller 90 analyzes the detection signal received from the distance detection sensor 60 and applies a position correction signal to the multi-joint unit 40 . Accordingly, in the embodiment of the present invention, by controlling the multi-joint unit 40, the air spray nozzle 33 of the glass pressure unit 30 is moved to a position at a set distance from the glass surface.

In addition, the controller 90 analyzes the detection signal received from the distance sensor 60 and applies a valve control signal to the nozzle valve 35 of the glass pressurization unit 30 . Accordingly, in the embodiment of the present invention, the compressed air tank 31 of the glass pressurization unit 30 and the flow path 37 of the air spray nozzle 33 are opened.

As the passage 37 of the compressed air tank 31 and the air injection nozzle 33 is opened as described above, in the embodiment of the present invention, as shown in FIG. 7 , compressed air supplied from the compressed air tank 31 Air is injected into the glass surface of the glass G through the air injection hole 34, and the edge portion of the glass G is pressed in a non-contact manner by the pressure of the compressed air.

Therefore, in the embodiment of the present invention, through a series of processes as described above, the glasses G loaded on the pallet P can be automatically mounted on the glass mounting portion 3 of the vehicle body 1.

According to the glass mounting apparatus 100 of a vehicle according to an embodiment of the present invention as described so far, when taking out the glass G loaded on the pallet P, the glass G through the position sensor 50 It is possible to precisely regulate the position of the glass (G), and since it is possible to accurately mount the glass mounting portion (3) of the vehicle body (1), it is possible to eliminate a separate alignment unit according to the prior art. Thus, in the embodiment of the present invention, it is possible to reduce the investment cost and production cost of production facilities.

Furthermore, in the embodiment of the present invention, the glass G mounted on the glass mounting portion 3 of the vehicle body 1 can be uniformly pressurized in a non-contact manner using the pressure of compressed air by the glass pressurizing unit 30. . Therefore, in the embodiment of the present invention, it is possible to prevent mounting defects and breakage of the glass (G) due to direct pressurization of the glass (G).

Although the embodiments of the present invention have been described above, the technical idea of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the technical idea of the present invention can configure within the scope of the same technical idea. Other embodiments can be easily proposed by adding, changing, deleting, or adding elements, but this will also fall within the scope of the present invention.

1: body
3: glass mounting part
10: tool frame
11: Tool changer
13: tool joint
20: vacuum adsorption module
21: vacuum pressure supply unit
23: support rod
25: vacuum suction pad
30: glass pressing unit
31 compressed air tank
33: air blowing nozzle
34: air injection hole
35: nozzle valve
37: Euro
39: air guide
40: multi-joint unit
41: driving unit
43: multi-joint arm
50: position detection sensor
51: mounting bracket
60: distance detection sensor
90: controller
G: glass
P: Palette
R: handling robot
100: glass mounting device

Claims (11)

As a vehicle glass mounting device configured to mount the glass to a set glass mounting portion of the vehicle body,
A tool frame mounted on the tip of the arm of the handling robot;
at least one vacuum adsorption module installed on the tool frame and adsorbing glass with vacuum pressure; and
at least one glass pressurizing unit installed on the tool frame to be movable in multi-axis directions and pressurizing the glass with air pressure while being spaced apart from the glass surface of the glass located in the glass mounting part;
Vehicle glass mounting device comprising a. According to claim 1,
At least one multi-joint unit installed on the edge of the tool frame so that the glass pressing unit is mounted on the front end of the arm
Glass mounting device of a vehicle further comprising a. According to claim 2,
A position detection sensor mounted on the front end of the arm of the multi-joint unit, detecting the position of the glass and the position of the glass mounting part, and outputting a detection signal to the controller
Glass mounting device of a vehicle further comprising a. According to claim 3,
The controller,
A vehicle glass mounting device for applying a position control signal to the handling robot and the multi-joint unit according to the detection signal of the position sensor. According to claim 2,
The glass pressing unit,
A compressed air tank for storing compressed air;
An air spray nozzle that is connected to the compressed air tank and sprays compressed air to the glass surface
Vehicle glass mounting device comprising a. According to claim 5,
The glass mounting device of a vehicle in which the compressed air tank and the air injection nozzle are connected through a nozzle valve. According to claim 6,
A glass mounting device for a vehicle in which a distance detection sensor for detecting a distance between the air injection nozzle and the glass surface and outputting a detection signal to a controller is mounted on the air injection nozzle. According to claim 7,
The controller,
Vehicle glass mounting device for applying a position correction signal to the multi-joint unit according to the detection signal of the distance sensor. According to claim 7,
The nozzle valve,
A glass mounting device for a vehicle that receives a valve control signal through the controller according to a detection signal of the distance detection sensor and selectively opens and closes a flow path of the compressed air tank and the air injection nozzle. According to claim 5,
The air injection nozzle,
A glass installation device for a vehicle comprising an air guide for guiding the compressed air to the glass surface. According to claim 1,
The vacuum adsorption module,
A vacuum adsorption pad connected to the vacuum pressure supply unit installed on the tool frame through a support rod.
Glass mounting device of a vehicle comprising a.

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