JPH0671904B2 - Car window glass mounting device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automobile window glass attachment device capable of automatically attaching a window glass to a front window portion or a rear window portion of an automobile body.

(Prior Art) Conventionally, as this type of device, as disclosed in Japanese Patent Laid-Open No. 58-36779, there is known a device in which a window glass is attached to a vehicle body window portion on a vehicle body conveyance path using a robot, In this case, a window glass set table is arranged on the side of the transport path, and a jig having a suction cup for adsorbing and holding the window glass on its outer surface is mounted on the operating end of the robot, and the primer is pre-bonded on the table. After setting the window glass coated with the agent, the robot moves the jig to a predetermined receiving position facing the table so that the jig receives the window glass. With this operation, the window glass is moved to a predetermined mounting position facing the window portion of the vehicle body and the window glass is inserted into the window portion.

(Problems to be Solved by the Invention) In the above, a window glass in which a primer and an adhesive coating line are provided separately from the window glass mounting line and the primer and the adhesive are coated on the inner peripheral edge portion by the coating line. Is generally conveyed to an arrangement portion of a set table by an appropriate conveying means such as a hanger conveyor, and the window glass is set on the table with the inner surface facing downward. Space efficiency is poor because a coating line is separately provided. In addition, there is a problem that the adhesive easily sticks to the operator's hands or the set table when setting the window glass on the set table, which deteriorates the workability of the set. Consolidating the glass attachment line and the coating line, and enabling the window glass to be delivered to the robot side without resetting it on the set table. Is desired.

It is an object of the present invention to provide a device that meets this need.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention provides a window glass of a vehicle body which is mounted on a window portion of a vehicle body using a robot. The channels are arranged side by side, and the window glass is held on the pallet so that it can be transported along the supply path. The primer coating station and the adhesive coating station are sequentially installed on the supply channel in the transport direction of the pallet. And a transfer station, so that the window glass on the pallet is coated with the primer and the adhesive at each coating station, and the pallet is positioned and held at the working end of the robot. It is characterized in that a jig is mounted and the pallet can be delivered to the jig by a transfer device arranged at the transfer station.

(Operation) The window glass is sucked and held by the pallet on the outer surface of the pallet via a suction cup, and is transported along the window glass supply path of the pallet by a primer coating station and then an adhesive coating station. Transported to and
A primer and an adhesive are sequentially applied to the peripheral edge of the inner surface.

Then, the window glass is delivered together with the pallet to a jig attached to the operation end of the robot by the transfer device when the pallet is transported to the transfer station. In this case, the window glass is transferred by the transfer device. Since it is not necessary to directly grip the transfer device, adhesive or the like does not adhere to the transfer device, and the window glass is accurately positioned on the jig by using positioning members such as positioning pins on the pallet. Can be held,
Even if the window glass is not set again on the setting table, the positional accuracy of the window glass with respect to the jig is secured.

Then, the jig is moved to a predetermined mounting position facing the vehicle body window portion of the vehicle body conveyance path by the operation of the robot, the position is appropriately corrected, and the jig is moved toward the window portion side to move the window glass. Is inserted into the window.

(Embodiment) With reference to FIGS. 1 to 3, (1) shows a vehicle body conveyance path extending in the front-rear direction, (2) shows a window glass supply path arranged in parallel with the conveyance path (1), a is carried by the hanger conveyor (3) along the carrying path (1), and two robots (4 ₁ ) (4 ₁ ) ₂ )
And the front side window glass b ₁ and the rear side window glass b ₂ supplied through the supply path (2) are respectively provided to the front side first robot (4 ₁ ) and the rear side second robot (4 ₁ ). _{With 2} ), the vehicle body a is attached to the front window portion and the rear window portion.

Each window glass b ₁ , b ₂ is a pallet (5) having a suction cup (5a).
The pallets (5) are conveyed along the supply path (2) while being sucked and held on the pallet (5). Direction) toward the set station S ₁ , primer application station S ₂ ,
First, second drying station S _3, S _4, first adhesive application station S ₅ for the front side window glass b _1, first transfer station S ₆ for the front side window glass b _1, a rear side window glass
Second adhesive application soot S ₇ for b ₂ , rear window glass b ₂
A second transfer station S ₈ for the rear window glass b _{2 is} installed in the setting station S ₁ by the setting device (6).
The pallet (5) so that its outer surface is attracted to the suction cup (5a).
Set on the top, then convey the pallet (5) to the primer coating station S ₂ , and apply the primer to the inner peripheral edge of the rear window glass b ₂ by the coating robot (7) arranged in the station S _2. Together with the front side window glass b on the next pallet (5) at the set station S ₁ .
After setting ₁ , the pallet (5) on which the rear window glass b ₂ is set is tact-transferred in the order of the first drying station S ₃ and the second drying station S ₄ , and then the first pallet coating station S ₅ The pallet (5) on which the front side glass b ₁ is set is conveyed to the primer coating station S ₂ by passing it through the first transfer station S ₆ to the second adhesive coating 2 station S ₇ , and the window glass After applying the primer to the peripheral edge of the inner surface of b ₁ , this is tact-transferred to the first adhesive applying station S ₅ via the first drying station S ₃ and the second drying station S _4, and each of the applying stations
The coating robots (8 ₁ ) (8 ₂ ) arranged on S ₄ and S ₇ apply adhesive to the inner peripheral edge of each window glass b ₁ and b ₂ , and then each pallet (5) is transferred to each transfer station. and transported to the S _6, S _8,
Each mounting device arranged at each of the transfer stations S ₆ and S _8.
(9 ₁ ) (9 ₂ ) to each pallet (5) to each robot (4 ₁ )
I tried to deliver it to (4 ₂ ). The pallet (5) is rotatably supported by the left and right guide rails (2a) (2b) on the supply path (2), and is not shown between the rails (2a) (2b). It is transported by the shuttle bar as described above, and it is transferred to each of the above stations S ₁ , S ₂ , S ₃ , S ₄ , S ₅ , S ₇ except the first and second transfer stations S ₆ , S ₈ to the _4th station. As shown in FIGS. 6 to 6, a pair of front and rear reference holes (5
b) Opposite the lifter (10) (10) on both sides with a pair of front and rear locate pins (10a) (10a) fitted to (5b) and the clamp seats (5c) at the top four corners of the pallet (5). 4 clampers (11)
Is provided, and each lifter (10) is moved upward by the cylinder (10b), and each clamper (11) is closed by the cylinder (11a) so that the pallet (5) is positioned and fixed.

As shown in FIGS. 7 to 10, each of the robots (4 ₁ ) and (4 ₂ ) has a cylinder (12 a) on which a cylinder (12 a) is mounted on a first slide base (12) which is movable in the front-rear direction, that is, the vehicle length direction. A second slide base (13) movable in the left-right direction, that is, the vehicle width direction is provided by 13a), and a swivel base (13) that can swivel about a vertical axis by a rotary actuator (14a). 1
4) and a lift base (15) which is movable up and down along the guide bar (15b) by the cylinder (15a) on the swivel base (14), and the rotary actuator (16a) is mounted on the lift base (15). A reversible robot arm (16) is installed around a horizontal axis, and a support frame (1) is attached to the tip of the robot arm (16), which is the working end of the robot.
The jig (18) is attached by a cylinder (18a) via a (7), and the jig (18) is attached to the first and second side boards.
(12) (13) and the elevator (15) move in parallel in three directions of vehicle length, vehicle width, and vehicle height, and the swivel base (14) horizontally swivels the arm ( 16) and the jig (18) is turned upside down and swung to the transfer position on the transfer device (9 ₁ ) (9 ₂ ) side shown in FIG. In this state, after transferring the pallet (5) to the jig (18), the jig (18) is inverted to the obliquely downward posture and the mounting position on the vehicle body conveyance path (1) side shown in FIG. A pair of rods (19a) having a rod (19a) abutting against the side frame of the window so that the jig (18) is swung, and then the jig (18) exactly faces the window of the vehicle body a on the transport path (1). 1 The detector (19) (19) uses the jig for the window
A pair of second members having displacements in the vehicle width direction of (18) and tip end engaging elements (20a) and (20b) that abut on the upper edge of the window portion in mutually orthogonal directions.
The detectors (20) (20) detect the vehicle length and vehicle height direction displacement of the jig (18) with respect to the window portion, and the jigs (18) are detected by signals from these detectors (19) (20). After the position correction of (1) was performed, the jig (18) was advanced to the window portion side so that the window glasses b ₁ and b ₂ were inserted and attached to the window portion.

Each of the transfer devices (9 ₁ ) (9 ₂ ) is shown in FIGS.
As clearly shown in the figure, a lifter device (21) provided on the side of each transfer station S ₆ and S ₈ and capable of moving up and down, and the lifter device (21)
The lifter device (21) faces the robot placement part on the lifting table (21b) that is lifted and lowered by the chain (21a). And a first slide frame (21c) that can freely move inward and backward, and the first slide frame (21c).
Front and rear receiving rails (21e) configured to mount a second slide frame (21d) on the slide frame (21c) and supporting the second slide frame (21d) on the front and rear sides of the pallet (5).
(21e) is formed in a substantially U shape in a plan view, and the feeding device (22) is provided on the lifter device (21) side by a cylinder (22a) immediately above each of the transfer stations S ₆ and S _8. A pair of hooks (22c) and (22c) that engage with the outer side of the pallet (5) are suspended from a movable frame (22b) that is moved inward and backward toward
By moving the movable frame (22b) inward, the pallet (5) is sent between the receiving rails (21e) and (21e), and then the elevating table (21b) is raised. 2 slide frames (21c)
(21d) is moved inward to convey the pallet (5) directly above the jig (18) at the delivery position, and then the lowering table (21b) is moved downward or the jig (18) is moved. ), The jig (18) is joined to the lower surface of the pallet (5), and in this state, the first and second slide frames (21c) and (21d) are retracted to receive the receiving from the pallet (5). The rails (21e) (21e) were detached, and the pallet (5) was delivered to the jig (18).

In the drawing, (21f) shows a clamper on each receiving rail (21e) facing each clamp seat (5d) on both front and rear sides of the upper surface of the pallet (5).

As shown in FIGS. 7 and 13, the jig (18) includes a pallet.
Positioning pin (23) fitted with four positioning holes (5e) drilled in (5) and equipped with a pair of clamp pieces (23b) (23b) opened and closed by a cylinder (23a) at the tip. 4 pieces of
A valve operating member for operating the atmosphere release valve (25) on the pallet (5) connected to a negative pressure holding circuit (24) as shown in the fourteenth drawing which is connected to each suction cup (5a) on the pallet (5). 26) is provided so that the pallet (5) can be accurately positioned and held on the jig (18) by the positioning pin (23),
Further, after the window glasses b ₁ and b ₂ are inserted into the windows as described above, the operating member (26) is operated by the cylinder (26a) to open the atmosphere release valve (25), and the suction cups Window glass by (5a)
The adsorption of b ₁ and b ₂ was released.

Then, after the suction is released, the jig (18) is moved to the delivery position again, and then the first and second slide frames (21c) and (21d) of the lifter device (21) are advanced inward to receive the rail ( 21e) (21
After the empty pallet (5) on the jig (18) is inserted and held between e), the positioning pins (23) are moved to the pallet by moving the lifting table (21b) or moving the jig (18). Separated from each positioning hole (5e) of (5), then both slide frames (21c)
(21d) is retracted to lower the lifting table (21b) to the lowermost position, and empty pallets (5) are placed in the pallet return path (27) provided under the window glass supply path (2). Placement device (9 ₁ ) (9
_The payout device (28) provided in the lower part of ₂ ) was used for paying out.

In addition, the pallet (5) has three suction ports (31) which are pipe-connected to the check valves (30) on the suction side of the air filter (29) provided in the negative pressure holding circuit (24). ₁ ) (31 ₂ ) (31 ₃ ) are provided, where the first suction port (31 ₁ ) is the clamp seat (5c).
, And a vacuum port (11b) connected to a negative pressure source (not shown) is formed in the clamper (11) on each of the stations abutting this, and the clamper (11) is formed.
When the clamp is operated by the circuit, the circuit is connected via the suction port (31 ₁ ).
Negative pressure is applied to (24), and the second suction port (31
₂ ) is to be opened in one of the clamp seats (5d), and the clamper (21f) on the receiving rail (21e) that abuts against the clamp seat (5d) is attached to the vacuum cylinder on the second slide frame (21d).
(21g) to form a vacuum port, the clamper
Negative pressure is applied to the circuit (24) through the suction port (31 ₂ ) when the clamp is operated by (21f), and the third suction port (31 ₃ ) is provided on the back surface of the pallet (5). Shall be installed,
The jig (18) to said suction port (31 ₃₎ to the vacuum cylinder (33) which continues from to vacuum pad (32) which are contacted by the cylinder (32a) and a provided pallet according jig (18) When holding (5), a negative pressure is applied to the circuit (24) via the suction port (31 ₃ ), and when the pallet (5) is transferred on the glass supply path (2), it is transferred. Whether the pallets (5) are transferred by the devices (9 ₁ ) (9 ₂ ) or the window glass is attached by the robots (4 ₁ ) (4 ₂ ), sufficient suction of the window glass by each suction cup (5 a) It was designed so that an adsorption force could be obtained.

Next, to explain the overall operation of the above embodiment,
First, set station S ₁ via the pallet return path (27)
The rear side window glass b ₂ is set on the pallet (5) returned to the pallet (5) so that the outer surface thereof is adsorbed by the suction cups (5a) on the pallet (5), and the pallet (5) is connected to the window glass supply path. The front side window glass b ₁ is set in the same manner as above on the next pallet (5) returned to the setting station S ₁ while being conveyed along (2), and the pallet (5) is fed to the supply path. Carry along (2).

Then, the primer is applied to the inner peripheral edge of the rear window glass b _{2 at} the primer application station S ₂ and the adhesive is applied at the second adhesive application station S ₇ , and then the second
At the transfer station S ₈ , the window glass b ₂ is palletized.
(5) per second transfer robot (4 ₂₎ jig provided in (18),
The robot (4 ₂₎ Body conveying path glazing b ₂ by operation of (1)
It is attached to the rear window of the upper vehicle body a, and the primer is applied to the inner peripheral edge of the front window glass b ₁ in the primer application station S ₂ as described above, and then the adhesive is applied in the first adhesive application station S ₅ . After applying and
At the transfer station S ₆ , the window glass b ₁ is palletized.
Deliver each (5) to the jig (18) provided for the second robot (4 ₁ ),
This attachment to the window portion of the front side of the vehicle body a by operation of the second robot (4 _1).

Then, respective robot (4 ₁₎ (4 ₂₎ Body conveying path payout, a repetition of the above operation the empty pallet is held in the jig (18) and (5) respectively pallet return path (27) of ( The front and rear window glasses b ₁ and b ₂ are attached to each vehicle body a that is intermittently transported along 1).

(Effects of the Invention) As described above, according to the present invention, it is possible to apply the primer and the adhesive to the window glass on the window glass supply path juxtaposed to the vehicle body conveyance path, and to provide a conventional apparatus having a separate application line. Space efficiency is improved, and since the window glass is delivered together with the pallet holding it from the supply path to the jig on the robot, it is not necessary to grip the window glass at the time of delivery, and it is applied to this. Adhesion, etc. does not adhere to the transfer device or robot, and the transfer can be performed efficiently, and since a jig is used to position and hold the window glass on the pallet, which is a rigid object, a set table like the conventional device can be used. Even if it is not used, the positional accuracy of the window glass with respect to the jig can be secured, the window glass can be accurately attached to the window portion of the vehicle body, and the productivity can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view of an example of the device of the present invention, FIGS. 2 and 3 are side views and a plan view thereof, FIG. 4 is an enlarged plan view of a main part of a window glass supply passage, and FIG. Side view, FIG. 6 is of FIG.
VI-VI line sectional front view, FIG. 7 is an enlarged front view of the robot seen from the line VII-VII of FIG. 3, FIG. 8 is its plan view, and FIG.
Figure is a front view explaining the relationship between the robot and the transfer device when delivering pallets, Figure 10 is a side view of the robot when the window glass is attached, Figure 11 is an enlarged side view of the transfer apparatus, and Figure 12 is Its plan view, FIG. 13 is a plan view of a jig cut along the line XIII-XIII in FIG. 7, and FIG. 14 is a diagram of a negative pressure holding circuit provided in a pallet. (1) …… Vehicle transport path (2) …… Window glass supply path S ₂ …… Primer coating station S ₅ , S ₇ …… Adhesive coating station S ₆ , S ₈ …… Transfer station (4 ₁ ) ( 4 ₂₎ ...... robot (5) ... pallet (9 ₁₎ (9 ₂₎ ...... transfer device (18) ...... jig a ...... body b _1, b ₂ ...... glazing

Claims (1)

[Claims] Claims: 1. A glass body is attached to a window portion of a vehicle body on a conveyance path by using a robot, and a window glass supply path is arranged in parallel with the conveyance path to hold the window glass on a pallet. On the pallet, a primer coating station, an adhesive coating station, and a transfer station are sequentially arranged in the pallet conveying direction along the pallet. A transfer device arranged on the transfer station such that a window glass is coated with the primer and the adhesive at each coating station, and a jig for positioning and holding the pallet is mounted on the operating end of the robot. A window glass mounting device for an automobile, characterized in that the pallet can be freely transferred to the jig.