JPH0788180B2 - Wind glass mounting method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention automatically attaches a window glass to a window frame forming portion of a vehicle body transported to a window glass attachment station in a vehicle assembly line by using a robot. Regarding the method.

(Prior Art) When automatically attaching a window glass to a window frame forming portion of a vehicle body, a window glass attaching robot is arranged at a window glass attaching station in a vehicle assembly line, and at the window glass attaching station,
The vehicle body after the coating process and the like is supported by a transportation jig provided on a wind glass transportation conveyor and sequentially transported, and a window glass pretreated by applying an adhesive agent is prepared. The glass is held by a robot and transferred to the window frame forming portion of the vehicle body.

However, a vehicle body transported to the windshield glass mounting station usually has a dimensional error in manufacturing the transportation jig and the vehicle body, a positioning error of the vehicle body with respect to the transportation jig, and a transportation error of the vehicle body transportation conveyor (the vehicle body window glass mounting error). This is accompanied by a positional deviation with respect to the robot for mounting the windshield due to (positional deviation of the stop position at the station) or the like. When such a position shift of the robot with respect to the vehicle body occurs, when the robot holds the window glass to be transferred to the window frame forming portion of the vehicle body and operates according to a predetermined operation path, the window glass forms the window frame of the vehicle body. The window glass may not be accurately aligned with the window frame, and as a result, the window glass may not be properly attached to the window frame forming portion.

Therefore, in order to prevent such a situation from occurring, the applicants of the present application have previously proposed that a window glass is formed by a robot into a window frame forming portion of a vehicle body as shown in, for example, Japanese Patent Application No. 60-115375. At the time of mounting to the window glass mounting station, the position of the locking member (stopper) mounted for window glass positioning on the window frame forming part of the vehicle body transferred to the window glass mounting station We proposed to change the movement path when attaching the windshield of the robot based on the detection output from the visual sensor.

(Problems to be Solved by the Invention) However, as described above, the position of the locking member for positioning the windshield is detected by the visual sensor, and based on the detection output, the operation path for attaching the windshield of the robot is set. If it is changed, the visual sensor may not be able to clearly detect the position of the locking member depending on the painting color of the vehicle body, which may lead to a situation in which the window glass cannot be properly attached to the window frame forming portion. is there. That is, when the difference in brightness between the color of the locking member and the paint color around the locking member mounting portion of the vehicle body is extremely small, for example, when the locking member is white and the vehicle body is white or cream color, etc. However, the visual sensor that is currently widely used does not accurately identify the locking member and the vehicle body, and the detection accuracy of the position of the locking member is extremely low, and the operation path when installing the windshield of the robot is properly adjusted. There is a risk that it cannot be changed.

In view of such a point, the present invention detects the position of the locking member for positioning the windshield with a visual sensor when attaching the windshield to the window frame forming portion of the vehicle body using the windshield mounting robot, and thereby, In correcting the operation path of the robot for mounting the windshield on the basis of the obtained detection output, even if the difference in lightness between the color of the locking member and the paint color of the vehicle body is relatively small, the visual sensor is used. An object of the present invention is to provide a window glass mounting method capable of easily setting a state in which the position of the stop member is accurately detected.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention aims to improve the adhesion between the windshield and the vehicle body in the pre-process of attaching the windshield to the window frame forming portion of the vehicle body. The present invention was made by paying attention to a primer applied to a window glass bonding surface portion of a vehicle body window frame forming portion, and a window glass mounting method according to the present invention is a window glass bonding surface portion and a locking member in a vehicle body window frame forming portion. A primer is applied to each of the peripheral portion of the mounting portion by a common coating device so that the difference in brightness between the locking member for positioning the window glass mounted on the locking member mounting portion and the peripheral portion thereof is relatively small. Big and small,
The position of the locking member attached to the locking member mounting portion is detected by a visual sensor to obtain a detection output, and the operation path of the windshield glass mounting robot is corrected based on the detection output, and the operation path is corrected. The window glass attachment robot is used to attach window glass by adhering it to the window glass adhering surface portion of the window frame forming portion to which the primer has been applied.

(Operation) In the window glass mounting method according to the present invention as described above, a primer, for example, a primer, is provided not only on the window glass bonding surface portion of the window frame forming portion of the vehicle body but also on the peripheral portion of the locking member mounting portion. The coating is performed by a common coating unit that is a coating robot, so that the difference in brightness between the locking member attached to the locking member mounting portion and the peripheral portion thereof is large, so that the vehicle body A state in which the position of the locking member is surely detected by the visual sensor is easily set regardless of the coating color of.

Therefore, even if the position of the window glass mounting robot is displaced with respect to the vehicle body transported to the window glass mounting station, the operation path of the window glass mounting robot is based on the detection output obtained from the visual sensor in the window glass mounting process. Can be properly corrected by using the wind glass mounting robot.
The window glass can be accurately aligned with the window frame forming portion of the vehicle body.

(Example) Hereinafter, the Example of this invention is described with reference to drawings.

FIG. 1 shows a part of a primer coating station STp in which a primer coating operation is carried out in an example of a window glass mounting method according to the present invention.

In FIG. 1, a vehicle body 10 is intermittently conveyed at a predetermined pitch while being mounted on a carriage 14 that slides on a rail 12 arranged along a vehicle assembly line that forms a multi-vehicle mixed flow line. It is stopped at a predetermined position of the coating station STp. In this case, the painted vehicle bodies 10 of different specifications are sequentially transported to the primer coating station STp in the order according to the production plan, and the coating colors of the transported vehicle bodies 10 are not constant, and there are many types. It is said that The vehicle body 10 that has been conveyed to the primer application station STp and stopped is provided with a window frame forming portion 16 to which a rear window glass that is an adhesive fixing type is attached, and a window frame forming portion 16 at the lower side portion of the window frame forming portion 16 is provided. A pair of rectangular locking member mounting holes 18A and 18B are provided side by side at a position separated by a predetermined distance from the center line of the vehicle body 10 to the left and right.

At the primer application station STp, two primer application robots 20A and 20B having the same configuration for applying the primer to the window frame forming portion 16 of the vehicle body 10 are installed. The primer coating robot 20A is on the left half of the window frame forming unit 16, and the primer coating robot 20B is on the window frame forming unit 16.
For applying primer to the right half of each,
A teaching playback multi-joint type robot capable of performing an operation similar to that of a human upper limb, in which an arm 22 is vertically and horizontally with respect to a base 26 fixed to a base 24. The wrist 28 provided at the tip of the arm 22 swings in the forward and backward directions.
It is supposed to oscillate around the axis of 22 and along the axial direction.

A primer application holder 30 having a brush portion 30a at the tip is attached to the wrist 28 of the primer application robots 20A and 20B. The primer application holder 30 is configured such that a black primer that is pressure-fed from a primer supply unit (not shown) is thinly applied to the brush unit 30a, and the primer application robot 20A is provided above the brush unit 30a in the primer application holder 30. And the opening portion 32 for insertion of the brush insertion portion 32 in the primer curing prevention device 40 installed in the vicinity of 20B.
A fixed lid member 34 for covering a is provided.

As shown in detail in FIG. 2, the primer curing prevention device 40 includes the above-described brush insertion portion 32, an opening / closing lid member 36 that covers the insertion opening 32a of the brush insertion portion 32, and the opening / closing lid member 36. The brush insertion portion 32 is supplied with an inert gas from a gas supply (not shown) through the gas introduction portion 44, and is supplied to the brush insertion portion 32. The gas is returned to the gas supply unit via a gas discharge unit (not shown) so as to circulate between the gas supply unit and the brush insertion unit 32. Also, the primer curing prevention device
40 is provided with a photoelectric switch 46 for detecting the passage of the primer coating holder 30, which is composed of a light emitter and a light receiver which are arranged opposite to each other.

Under such a configuration, in order to make the primer coating robots 20A and 20B perform the primer coating work, the operation modes such as the operation speed and the operation route are numerically indicated in advance by manual or numerical control, and the numerical indication is given. The content is stored in the memory of the robot controller 100 for each vehicle type. in this case,
As shown in FIG. 3, the range surrounded by the one-dot chain line and the range surrounded by the two-dot chain line in the window frame forming portion 16 of the vehicle body 10 is the primer application range P, and this primer application range P is the brush part 30a. The movement paths of the robot are indicated so that they are in sliding contact with each other. Here, in the primer application range P, the range Px surrounded by the one-dot chain line is the wind glass adhesive surface portion, and the ranges Pa and Pb surrounded by the two-dot chain line around the locking member mounting holes 18A and 18B are The mounting portion of the locking member and the peripheral portion thereof are mounted as described in (1).

Primer coating robot 20A having the above-described configuration
And 20B, and in the primer coating station STp provided with the primer curing prevention device 40, the primer coating robots 20A and 20B are in a standby state when the vehicle body 10 is not transported to a predetermined position of the primer coating station STp. In such a standby state, the second
As shown by the solid line in the figure, the primer hardening prevention device
A cylinder 42 in 40 is provided with an opening / closing lid member 36 via a link 38.
Is opened, the brush portion 30a is inserted into the brush insertion portion 32 of the primer curing prevention device 40, and the fixed lid member 34 closes the insertion opening portion 32a of the brush insertion portion 32. By doing so, the brush portion 30a is exposed to the inert gas in the brush insertion portion 32 during the period in which the primer coating operation by the primer coating robots 20A and 20B is not performed, whereby the brush portion 30a is exposed. It is prevented that the supplied primer is cured while the primer coating robots 20A and 20B are in the standby state.

Next, when the vehicle body 10 is conveyed to a predetermined position of the primer coating station STp and stopped, the primer coating robot
In order to carry out the primer coating work with 20A and 20B, the robot controller 100 uses the primer coating robot 20A and
A control signal is supplied to 20B. In this case, if the stop position of the vehicle body 10 deviates from the reference position, the primer coating robots 20A and 20B may not be able to properly perform the coating work.
The deviation between the actual stop position of 10 and the reference position is detected, and the teaching content stored in the memory of the robot controller 100 is corrected based on the detection result. Then, when the control signal representing the corrected teaching content is supplied from the robot controller 100 to the primer coating robots 20A and 20B, the primer coating holder 30 is moved up to the vehicle body 10 side after being raised. In synchronism, the primer is supplied from the primer supply section to the brush section 30a of the primer application holder 30. At this time, the photoelectric switch 46 detects that the primer applying holder 30 has moved from the brush insertion portion 32, and thereby the cylinder 42 is extended and the insertion opening 32a of the brush insertion portion 32 is moved to the second position.
As shown by the alternate long and short dash line in the figure, it is closed by the opening / closing lid member 36.

When the primer coating operation is performed by the primer coating robots 20A and 20B, as shown in FIG. 1, the brush portion 30a of the primer coating holder 30 attached to the primer coating robot 20A is attached to the vehicle body 10. Being moved to the upper side portion in the window frame forming portion 16, from such moving position, it is supposed to move counterclockwise so as to trace the left half of the range Px corresponding to the above-mentioned window glass bonding surface portion, Further, the brush portion 30a of the primer applying holder 30 attached to the primer applying robot 20B is attached to the vehicle body 10
The window frame forming portion 16 is moved to the lower side portion and is moved counterclockwise from the moving position so as to trace the right half of the range Px corresponding to the window glass bonding surface portion. Then, after that, the primer application holder 30 attached to the primer application robot 20A
The brush portion 30a moves to trace the range Pa corresponding to the attachment portion of the engagement member and its periphery on the engagement member attachment hole 18A side, and the primer application holder attached to the primer application robot 20B. The brush portion 30a of 30 is moved so as to trace a range Pb corresponding to the attachment portion of the engagement member and its peripheral portion on the engagement member attachment hole 18B side.

By doing so, a black primer is applied to the primer application area P shown in FIG. And
When the primer coating work is completed, the brush portion 30a of the primer coating holder 30 is set to the primer curing prevention device 40 so that the primer coating robots 20A and 20B are in the standby state again.
Returned to. At this time, when the primer application holder 30 is lowered, it is detected by the photoelectric switch 46, whereby the cylinder 42 is pulled in and the brush portion 30a of the primer application holder 30 is placed in the brush insertion portion 32. The opening 32 for insertion of the brush insertion portion 32
a is a fixed lid member 3 provided on the primer application holder 30.
Blocked by 4.

As described above, after the primer is applied, in the primer application station STp or the next station, at the site where the locking member attachment holes 18A and 18B are provided in the lower side of the window frame forming part 16, Locking member 50A for positioning the windshield as shown in FIG.
And 50B are installed by the operator. The locking members 50A and 50B each include a white main body 51 made of rubber or the like, and a white retainer 52 made of plastic or the like for fixing the main body 51 to the window frame forming portion 16 of the vehicle body 10. The pressing portion 52 has a plate-shaped portion 52a whose upper surface is tapered,
Locking member mounting hole 18A protruding downward from this plate-shaped portion 52a
And a rectangular tubular portion 52b having a rectangular cross-sectional outer shape corresponding to 18B, the angular tubular portion 52b can be projected from the outer surface in the front-rear direction of the vehicle body 10 and can fall inside the rectangular tubular portion 52b. An elastic locking piece 52c forming a pair is provided. When such locking members 50A and 50B are attached to the window frame forming portion 16, the receiving seat 53 is arranged below the main body portion 51, and the main body portion 51 is provided.
And the pressing portion 52 in the insertion holes 54 and 55 provided in the receiving seat 53.
With the square tubular portion 52b of the above, the square tubular portion 52b is inserted into the window frame forming portion.
Insert into the locking member mounting holes 18A and 18B provided on the lower side of the 16, respectively. As a result, the elastic locking piece 52c falls down inside the rectangular tube portion 52b, then projects outward, and the locking members 50A and
OB is fixed to the upper surface of the primer 8 applied to the window frame forming portion 16. In this case, the attached locking member 50A
The upper surfaces of 50B and 50B form surfaces parallel to both side surface portions of the window frame forming portion 16. Before or after the locking members 50A and 50B are attached, the weather strip 9 is attached to the inner peripheral line portion of the window frame forming portion 16 and the window frame is formed as indicated by a chain line in FIG. The dam rubber 7 is attached and fixed along the wind glass bonding surface portion of the forming portion 16.

In this way, after the locking members 50A and 50B are attached to the lower side portion of the window frame forming portion 16, the vehicle body 10 moves to the fifth
Wind glass mounting station as shown
It is transported to STw and stopped. At the window glass mounting station STw, a urethane-based adhesive is applied to the vehicle-glass-side conveyer 61 and the peripheral portion of the window glass W which is conveyed by the window-glass conveyer 61 and is positioned at a predetermined position and stopped. An adhesive application robot 65 for applying the agent and a window glass attachment robot 70 for attaching the window glass W by suction and attaching it to the window frame forming portion 16 of the vehicle body 10 are installed. Here, the window glass W carried by the window glass carrying conveyor 61 is adapted to the specifications of the vehicle body 10 carried to the window glass mounting station STw, and the primer 2 is applied in advance to the peripheral portion thereof. Moreover, a dam rubber 4 is attached and fixed on the inner peripheral side of the coating surface of the primer 2. Then, an adhesive is applied to the upper surface side of the primer 2 of the wind glass W by the adhesive application robot 65, and the adhesive 5 is applied to the wind glass W.
However, the window glass reversing device 75
It is reversed by and is supplied to the wind glass attaching robot 70 side. In addition, the robot 70 for attaching the wind glass
The window glass W supplied to the side is positioned at a predetermined position, and the window glass mounting robot 70
It is assumed that there is almost no displacement with respect to.

The window glass mounting robot 70 is a teaching playback type articulated robot having the same configuration as the primer coating robots 20A and 20B described above, and an arm 72 with respect to a base 76 fixed to a base 74. In addition to swinging in the up-down direction, the left-right direction, and the front-rear direction, the wrist 78 provided at the tip of the arm 72 swings around and along the axis of the arm 72.

A suction holding device 80 for sucking and holding the wind glass W is attached to the list 78 of the wind glass mounting robot 70. As shown in detail in FIG. 6, the suction-holding device 80 includes a base body 82 mainly assembled in a substantially H shape and connected to the wrist 78 at its central portion, and both side portions 82a and 82b of the base body 82. Four suction pad members arranged at the ends
84, a cylinder 86, a link 87, a claw for selectively causing the suction pad member 84 to be in a floating state in which the vertical displacement of the base body 82 is allowed and a restricted state in which the displacement is not allowed. Variable support mechanism composed of members 89 etc.
It consists of 85 and. It should be noted that the suction pad member 84 is supplied with a negative pressure via an electromagnetic switching valve from a negative pressure supply means (not shown) so as to have an adsorption state.
Atmosphere is supplied to the suction pad member 84 through the electromagnetic switching valve so that the suction release state is obtained. Furthermore, in order to absorb manufacturing errors such as the degree of warp in the windshield W, the variable support mechanism 85 allows the windshield mounting robot 70 to mount the windshield W on the vehicle body as described below.
When positioning and pressing against the window frame forming portion 16 of 10, the suction pad member 84 is supported in a floating state, and in other cases, the suction pad member 84 is supported in a restricted state.

Further, two visual sensors 91 and 92 are attached to the base 82 of the suction holding device 80 via a bracket 94.
The visual sensors 91 and 92 are composed of a small camera using a CCD image sensor or the like.
Is a bracket which is separated by an equal distance from the distance between the locking members 50A and 50B so as to detect the positions of the locking members 50A and 50B attached to the window frame forming member 16 of the vehicle body 10. It is fixed at 94.

Under such a configuration, the window glass mounting robot
In order to allow the window glass to be attached to the window 70, operation modes such as the operation speed and the operation path are taught in advance by manual or numerical control, and the teaching contents are stored in the memory of the robot controller 200 for each vehicle type. Then, when the vehicle body 10 is conveyed to a predetermined position of the windshield mounting station STw and stopped, the positions of the front pillars and the rear pillars of the vehicle body 10 are detected by the visual sensors 96 and 97 installed at the windshield mounting station STw. The detection signals Sa and Sb are supplied to the image processing unit 150, as shown in FIG. The visual sensors 96 and 97 have the same configuration as the visual sensors 91 and 92 described above. The image processing unit 150 calculates the amount of positional deviation from the normal stop position in the direction along the transport direction L of the vehicle body 10 based on the detection signals Sa and Sb,
The signal Da corresponding to the calculation result is sent to the robot controller 20
Supply to 0. The robot controller 200 sends the signal
Based on Da, the teaching content stored in the memory is corrected, and the control signal Ca is supplied without displaying the corrected teaching content so that the window glass mounting robot 70 can perform the window mounting operation.

As a result, the window glass mounting robot 70 presses the suction pad member 84 of the suction holding device 80 against the vehicle outer side surface of the wind glass W supplied by the wind glass reversing device 75 to suck and hold the wind glass W, Control signal Ca
According to the operation mode represented, the fifth window glass W is
As shown in the figure, the vehicle body 10 is transported to a predetermined position (viewing position) in the vicinity of the window frame forming portion 16 and stopped for a moment.
In such a state, the peripheral edge portion of the window glass W faces the window frame forming portion 16, and the visual sensors 91 and 92 have the locking members 50.
The visual sensors 91 and 92 are placed in a state of facing the A and 50B, respectively, and a range including the locking members 50A and 50B of the vehicle body 10 is visually captured to visually detect the positions of the locking members 50A and 50B. The detection signal Sc and the detection signal Sc
Sd is supplied from the visual sensors 91 and 92 to the image processing unit 150.

In this example, the locking members 50A and 50B are white, and the peripheral portions of the locking members 50A and 50B are also coated with a black primer (see FIGS. 3 and 4). 91
Within the range including the locking members 50A and 50B captured by the locking members 50 and 92, the difference in brightness between the locking members 50A and 50B and its peripheral portion is significantly increased, and the locking members 50A and The 50B and the vehicle body 10 can be easily distinguished from each other. Therefore, the visual sensors 91 and 92 can properly detect the positions of the locking members 50A and 50B regardless of the coating color of the vehicle body 10.

Then, as described above, the positions of the locking members 50A and 50B are detected by the visual sensors 91 and 92, and when the detection signals Sc and Sd representing the detection results are supplied to the image processing unit 150, the image processing unit 150. Is based on such detection signals Sc and Sd, the amount of deviation of the actual positions of the locking members 50A and 50B from the regular positions of the locking members 50A and 50B, that is,
The amount of positional deviation of the window glass W with respect to the window frame forming portion 16 in the up-down direction and the left-right direction, and the amount of tilt are calculated,
Signals Db, Dc and Dd representing the calculation result are supplied to the robot controller 200. Robot controller 200
Is based on the signals Db, Dc and Dd, corrects the teaching content of the window glass mounting robot 70 stored in the memory, and sends the control signal Ca representing the corrected teaching content to the window glass mounting robot 70. Supply to.

As a result, the movement path and the like of the windshield mounting robot 70 when the windshield W is mounted are corrected,
The window glass W is moved from the above-mentioned viewing position to the window frame forming portion 16 side in accordance with the corrected operation path, and is pressed to the regular mounting position in the window frame forming portion 16. At this time, the lower edge of the window glass W is locked to the locking members 50A and 50B.
Since the variable support mechanism 85 supports the suction pad member 84 in a floating state, even if there is a manufacturing error in the degree of warp of the windshield W, the windshield W will not contact the window frame. It is properly positioned and attached to the forming portion 16. And wind glass W
After being attached to the regular attachment position of the window frame forming part 16,
When the suction pad member 84 is in the suction release state, the suction holding device
80 is detached from the window glass W, and the window glass mounting robot 70 is returned to the original state to perform the next window glass mounting operation. When the suction holding device 80 is detached from the window glass W, if the adhesive 5 is not cured, the window glass W may shift downward, but as described above, the lower edge of the window glass W is Since the locking members 50A and 50B are in contact with each other, the window glass W is securely attached in a state of being positioned at the regular attachment position in the window frame forming portion 16.

In such an attached state, as shown in FIG. 8, the primer 2 applied to the window glass W and the window frame forming portion 16 of the vehicle body 10 are coated.
Primer 8, dam rubbers 4 and 7, and locking member 50 applied to
The adhesive 5 is filled between A and 50B and cured, and the window glass W is fixed to the window frame forming portion 16. The window frame forming portion 16 and the upper portion of the peripheral portion of the window glass W are covered with a molding 6 in a later step, as indicated by a dashed line in FIG.
8, the dam rubbers 4 and 7, the adhesive 5, the locking members 50A and 50B, etc. are made invisible from the outside.

In the above example, the primer 8 is attached to the window frame forming portion 16.
After applying, the locking members 50A and 50B are attached, but conversely, the locking members 50A and 50B are attached to the window frame forming portion 16.
After attaching A and 50B, the primer 8 may be applied. In the above example, the locking member 50A
Robots 70 for attaching the wind glass by attaching the visual sensors 91 and 92 for detecting the positions of 50B and 50B to the suction holding device 80.
Although the viewing position is moved by the above method, the window glass mounting method according to the present invention does not necessarily have to be in this way, and the visual sensors 91 and 92 can be viewed by means other than the window glass mounting robot 70. It may be moved to the position, and the visual sensors 91 and 92 may be fixed.

(Effects of the Invention) As is apparent from the above description, according to the window glass mounting method of the present invention, not only in the window glass bonding surface portion of the window frame forming portion of the vehicle body but also in the peripheral portion of the locking member mounting portion, The primer is applied by a common application means to each other, so that the difference in brightness between the engaging member attached to the engaging member attaching portion and its peripheral portion becomes large, so that the vehicle body is painted. It is possible to easily set a state in which the position of the locking member can be reliably detected by the visual sensor regardless of the color. For this reason, even if the position of the window glass mounting robot with respect to the vehicle body is displaced, the operation path of the window glass mounting robot can be appropriately corrected based on the detection output obtained from the visual sensor. As a result, it becomes possible to accurately attach the wind glass to the proper attachment position in the window frame forming portion of the vehicle body.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a part of a primer coating station in which a primer coating operation is performed in an example of a wind glass attaching method according to the present invention, and FIG. 2 is installed in the primer coating station shown in FIG. FIG. 4 is a front view showing the primer curing prevention device, FIG. 3 is a diagram used for explaining the primer applying step in the above-mentioned example, and FIG. 4 is a diagram used for explaining the locking member attaching step in the above-mentioned example. FIG. 5 is a schematic perspective view showing a part of a window glass mounting station in which the window glass mounting work is performed in the above-mentioned example, and FIG. 6 is a detailed view showing a suction holding device shown in FIG. FIG. 8 is a block diagram showing a control system of the window glass mounting robot shown in FIG. 5, and FIG. 8 is a sectional view showing a state in which the window glass is mounted on the window frame forming portion of the vehicle body. . In the figure, 10 is a vehicle body, 16 is a window frame forming portion, 20A and 20B are primer coating robots, 30 is a primer coating holder, and 30a.
Is a brush portion, 40 is a primer hardening preventing device, 50A and 50B are locking members, 65 is an adhesive application robot, 70 is a wind glass attaching robot, 75 is a wind glass reversing device, 80 is a suction holding device, 91 and Reference numeral 92 is a visual sensor, 100 and 200 are robot controllers, 150 is an image processing unit, W is wind glass, P is a primer application range, STp is a primer application station, and STw is a wind glass attachment station.

Continuation of the front page (56) Reference JP 61-132477 (JP, A) JP 60-213438 (JP, A) JP 61-219537 (JP, A) JP 59-96072 (JP , A)

Claims (1)

[Claims] 1. A primer is applied to each of a window glass bonding surface portion and a peripheral portion of a locking member mounting portion of a window frame forming portion of a vehicle body by a common coating means, and the primer is mounted to the locking member mounting portion. The lightness difference between the locking member for positioning the window glass and the peripheral portion is made relatively large, and the position of the locking member attached to the locking member mounting portion is detected by the visual sensor to detect the detection output. Then, the operation path of the wind glass attachment robot was corrected based on the detection output obtained from the visual sensor, and the wind glass was applied with the primer using the wind glass attachment robot with the operation path corrected. A method for attaching a window glass, which is characterized in that the window glass forming portion is attached by adhering to a window glass adhering surface portion.