JP5155754B2 - Window glass mounting apparatus and mounting method - Google Patents

Description

  The present invention relates to an automobile window glass attachment device and method, and an automobile assembly line including the window glass attachment device.

  The window glass mounting device of an automobile is devised so that the window glass can be accurately mounted on the window frame of the body.

  In the window glass mounting device of Patent Document 1, the window frame of the body is imaged by a plurality of imaging means in a state where the body is temporarily stopped, and the integrated value of the luminance of the imaged data is preliminarily set in the window glass. The window glass attaching means is finely adjusted so as to substantially match the integrated value of each imaging means when accurately positioned.

  The window glass mounting device of Patent Document 2 irradiates a stepped portion of a window frame of a body with slit light by a plurality of light projecting means, and images the periphery of the slit light by visual means, with the body temporarily stopped. To do. Then, based on the position of the curved portion of the image in the captured image, the amount of displacement of the body is detected, and on the basis of the detected value and the captured image of the window frame corner captured by a plurality of television cameras, the window glass attachment The means are tweaked.

  However, the window glass attaching devices of Patent Literature 1 and Patent Literature 2 have a problem that when the window glass is attached, the body needs to be temporarily stopped, and the flow of the production line is divided.

  Therefore, as disclosed in Patent Documents 3 to 5, a window glass mounting device having window glass mounting means that moves at the same speed in synchronization with a body transported by a transport means such as a conveyor has been developed. Has been.

The window glass mounting apparatus disclosed in Patent Documents 3 to 5 includes a rail above the conveyor in parallel with the conveyor, and includes driving means that moves in synchronization with the body along the rail. A window glass attaching means is supported by the driving means, and an operator operates the window glass attaching means to attach the window glass to a predetermined position of the body. In particular, the window glass mounting device disclosed in Patent Document 3 includes a distance measuring sensor that detects a relative position with respect to the body, and based on this measurement value, the driving means is controlled to move in synchronization with the body. The
Japanese Patent No. 3410205 Japanese Patent Laid-Open No. 5-58360 JP 2000-25664 A JP-A-5-229462 JP 2002-52425 A

  The window glass mounting apparatus of Patent Documents 3 to 5 is configured to be able to move the window glass mounting means in synchronization with the body by the driving means. However, the window glass attaching means itself is operated by an operator, and the window glass attaching means is controlled so that the window glass can be attached to the window frame of the body with high accuracy.

  In other words, it is impossible to observe a window glass mounting device that can be controlled to mount the window glass to the window frame of the body while moving the window glass mounting means in synchronization with the body.

  The present invention relates to an automotive window glass mounting apparatus and mounting method that can be controlled to mount a window glass to a window frame of a body while moving the window glass mounting means in synchronization with the body, and the window. An object of the present invention is to provide an automobile assembly line equipped with a glass mounting device.

The window glass mounting device according to the present invention is:
Conveying means for conveying the body of the automobile;
Window glass attachment means for holding a window glass and having an arm for attaching the window glass to the body;
Moving means for moving the window glass attaching means along the conveying means;
A sensor provided in the moving means;
The step portion of the window frame of the body conveyed by the conveying means is detected by the sensor, and based on the detection signal, the window glass attaching means is moved by the moving means so as to be synchronized with the conveying means, Control means for detecting an end of the window glass by the sensor and controlling the arm so that the end of the window glass and the stepped portion of the window frame of the body substantially coincide on a plane;
It has. Thereby, a window glass can be accurately attached to the window frame of the body.

The above-mentioned sensor measures the height with the body at a predetermined measurement timing, and inputs the measured value to the control means.
The control means determines that a step portion of the window frame of the body has been detected when a difference value between the measurement value and the measurement value at the previous measurement timing is equal to or greater than a preset first threshold value. Is preferred.

  Furthermore, in the above-mentioned control means, the end portion of the window glass crosses the measurement wave of the sensor, and the difference value between the measurement value from the sensor and the measurement value at the previous measurement timing is set in advance. It is preferable to determine that the end portion of the window glass has been detected and to control the arm so that the end portion of the window glass is disposed at the crossing position.

  Here, it is preferable that a reference position detection unit that detects a reference position of the body and a movement amount measurement unit that detects a movement amount of the body from the reference position are provided.

  An automobile assembly line according to the present invention includes the above-described window glass mounting device. Thereby, a window glass can be accurately attached to the window frame of the body.

The method of attaching the window glass according to the present invention is as follows.
A step of detecting a step portion of the window frame of the body conveyed by the conveying means by a sensor provided in a moving means for moving the window glass attaching means having an arm for attaching the window glass to the body along the conveying means; ,
Based on the detection signal of the step portion of the window frame of the body, the step of moving the window glass attachment means in synchronization with the transport means by the moving means,
Detecting the edge of the window glass by the sensor, and controlling the arm so that the edge of the window glass and the stepped portion of the window frame of the body substantially coincide on a plane;
It has. Thereby, a window glass can be accurately attached to the window frame of the body.

  According to the present invention, an apparatus and method for attaching a window glass of an automobile having a configuration that can be controlled to attach the window glass to the window frame of the body while moving the window glass attaching means in synchronization with the body, and An automobile assembly line having the window glass mounting device can be provided.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a window glass mounting apparatus and method according to the present invention and an automobile assembly line equipped with the window glass mounting apparatus will be described in detail below with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

  This window glass mounting device 1 includes a transport means 3 for transporting an automobile body 2, a window glass mounting means 4, a moving means 5 for moving the window glass mounting means 4, a sensor 6 provided in the moving means 5, a window Control means 7 for controlling the glass attaching means 4 and the moving means 5 is provided. Furthermore, it is preferable to include a reference position detection unit 8 that detects the reference position of the body 2 and a movement amount measurement unit 9 that detects the movement amount of the body 2 from the reference position.

  The conveyance means 3 is a conveyance means installed in a typical automobile assembly line, and includes a movable carriage 10, a conveyor 11, and the like. The movable carriage 10 is a carriage that is placed on the conveyor 11 and includes a support member and the like that are not shown. The body 2 is supported by the support member, and is conveyed along the conveyor 11 together with the movable carriage 10. Incidentally, the conveyor 11 can use a drive system such as chain drive, roller drive, or friction drive.

  The window glass attaching means 4 includes an arm 12, a window glass holding means 13, and the like. The arm 12 is a link mechanism that can rotate in the direction in which the conveying means 3 extends (that is, in the direction of arrow A). The arm 12 of this embodiment includes two links 12a and 12b. The upper end portion of the link 12a is rotatably connected to the moving means 5 by driving means such as a motor. The lower end portion of the link 12a is rotatably connected to the upper end portion of the other link 12b by driving means such as a motor. The lower end of the link 12b is rotatably connected to the window glass holding means 13 by driving means such as a motor.

  The window glass holding means 13 includes a cross-shaped frame member 14, suction means 15 provided at four corners of the frame member 14, and the like. However, the frame member 14 is not limited to the cross-girder shape, and may be a shape having sufficient rigidity to support the window glass 16.

  Although not shown, the frame member 14 includes a rotation means in the pitch direction, a rotation means in the yaw axis direction, a rotation means in the roll direction, and a movement means in the left-right direction of the body 2. Each rotating means and moving means are connected to the control means 7. As the suction means 15, a normal suction means can be used, and the window glass 16 is sucked by sucking the air in the vacuum pad pressed against the window glass 16.

  The moving means 5 includes a rail member 17, a hanging carriage 18 that moves along the rail member 17, and the like. However, the moving means 5 is not limited to the configuration described below, and can move the window glass mounting means 4 and the sensor 6 in synchronization with the conveying means 3 in the direction in which the conveying means 3 extends. I need it.

  The rail member 17 is H-shaped steel disposed in the space in which the transport unit 3 extends and in the upper space of the transport unit 3. However, the rail member 17 should just be the shape which has a flange part which can hang | suspend the suspension trolley | bogie 18, and can use T type steel etc.

  The suspension carriage 18 includes a frame member 19, a driving means 20, and the like. The frame member 19 includes an inverted L-shaped member 21 and a support member 22 that supports the window glass attachment means 4. The horizontal piece 21 a of the inverted L-shaped member 21 is slidably hooked on the flange portion 17 a of the rail member 17.

  The drive unit 20 includes a roller 23 and a drive unit (not shown) such as a motor for driving the roller 23. The roller 23 is rotatably provided on the vertical piece 21b of the inverted L-shaped member 21 so as to sandwich the flange portion 17a of the rail member 17 together with the horizontal piece 21a. The driving means for driving the roller 23 is connected to the control means 7.

  The support member 22 is connected to the lower end portion of the vertical piece 21 b of the inverted L-shaped member 21. An upper end portion of the link 12a of the window glass attaching means 4 is rotatably connected to the support member 22. Further, the support member 22 is provided with a sensor 6 at a position forward of the link 12a so that a measurement wave is emitted vertically downward.

  The sensor 6 is a conventional laser displacement meter that uses a laser beam as a measurement wave, and includes a light projecting unit 6a, a light receiving unit 6b, and the like as shown in FIG. This sensor 6 measures the height H of the body 2 with respect to the roof surface 2 a and inputs the measured value to the control means 7. However, the sensor 6 is not limited to a laser displacement meter, and a laser sensor, an ultrasonic distance sensor, or a laser distance sensor can be used. Moreover, although the said sensor measures the distance to a predetermined point, the sensor which takes the distance profile of a two-dimensional shape or a line can also be used. In short, the sensor 6 only needs to be configured to recognize the shape of the body 2. Incidentally, the sensor 6 is preferably a sensor using a laser beam that is strong against disturbance light.

  The control means 7 causes the sensor 6 to detect a step B at the boundary between the roof surface 2a of the body 2 and the window frame 2b conveyed by the conveying means 3, and based on the detection signal, the moving means 5 detects the window glass. The attaching means 4 is moved so as to be synchronized with the conveying means 3. And the control means 7 makes the sensor 6 detect the front-end part of the window glass 16, and as shown in FIG. 3, the front-end part of the window glass 16 and the level | step-difference part B of the window frame 2b of the body 2 are on a plane. The arm 12 is controlled so as to substantially match.

  The reference position detecting means 8 is a usual roller lever type limit switch including a contact 8a and the like. When the contact 8 a comes into contact with the front end of the movable carriage 10, the reference position detection unit 8 inputs a contact signal to the control unit 7. However, the reference position detection means 8 is not limited to a limit switch, and a non-contact type sensor such as an infrared sensor or a laser sensor can be used. In short, the reference position detecting means 8 may be configured to be able to detect that the mobile carriage 10 has passed and passed.

  The moving amount measuring means 9 is a usual optical rotary encoder provided with a contact 9a and the like. When the contact 9 a comes into contact with the side surface of the moving carriage 10, the movement amount measuring unit 9 inputs the movement amount derived based on the rotation of the contact 9 a to the control unit 7. However, the movement amount measuring means 9 is not limited to the rotary encoder. In short, any configuration that can detect the moving amount of the moving carriage 10, that is, the body 2 may be used.

  The window glass attaching device 1 having such a configuration operates as follows to attach the window glass 16 to the window frame 2 b of the body 2.

  First, when the contact 8 a comes into contact with the front end of the movable carriage 10, a detection signal is input to the control means 7 by the reference position detection means 8. Accordingly, the control unit 7 starts measurement by the movement amount measuring unit 9. Further, as shown in FIG. 4, the sensor 6 is caused to measure the height H of the body 2 with respect to the roof surface 2 a for every predetermined movement amount of the body 2. However, the height H of the body 2 with respect to the roof surface 2a may be measured by the sensor 6 at every predetermined time.

  The measured value input to the control means 7 by the sensor 6 is stored in the control means 7 together with the movement amount L of the body 2. In other words, the control means 7 assumes that a certain position in the transport means 3 is (P), and the movement amount L (P) of the body 2 measured by the movement amount measurement means 9 and the roof surface of the body 2 at this time The height H (P) with 2a is continuously measured and stored. At the same time, the control means 7 determines the difference value dH (H (P) −H) between the height H (P) and the height H (P−1) at the position (P−1) immediately before the position (P). (P-1)) is calculated, and the difference value dH is compared with a preset first threshold value T1. When the difference value dH is equal to or greater than the threshold value T1, the roof surface 2a and the window frame 2b of the body 2 It is determined that the step portion B is detected.

  The control means 7 that has detected the step controls the driving means of the roller 23 so that the suspension carriage 18 of the moving means 5 moves in synchronization with the moving speed of the body 2. At this time, since the moving means 5 moves in synchronization with the moving speed of the body 2, the sensor 6 is always maintained in a state where the stepped portion B of the window frame 2b of the body 2 is captured.

  Under this state, the control means 7 controls the drive means of the arm 12 of the window glass mounting means 4 so as to hold the window glass 16 at a predetermined height. Then, the control means 7 moves the window glass 16 in parallel while maintaining a predetermined height, and controls the drive means of the arm 12 so that the front end portion of the window glass 16 crosses the laser beam of the sensor 6. At this time, since the height H of the sensor 6 changes abruptly and the difference value dH becomes equal to or greater than a preset second threshold value T2, the control means 7 determines that the front end of the window glass 16 has been detected. Further, the control means 7 controls the drive means of the arm 12 so that the front end portion of the window glass 16 is disposed at the crossing position, and the step portion B between the front end portion of the window glass 16 and the window frame 2 b of the body 2. Are substantially matched on the plane. Finally, the control means 7 controls the drive means of the arm 12, and the window glass 16 is moved in a state where the front end portion of the window glass 16 and the stepped portion B of the window frame 2b of the body 2 are substantially aligned on a plane. Lower and attach to the window frame 2b.

  At this time, the position adjustment of the window glass 16 in the left-right direction is performed by controlling the rotating means and moving means of the window glass holding means 13 by the control means 7. As a position adjustment method, position adjustment using a normal image processing technique or position adjustment using a sensor can be used.

  The threshold values T1 and T2 can be set by experiment, simulation, or the like. The threshold values T1 and T2 can be used properly based on the movement amount of the body 2 from the movement amount measuring means 9. When the movement amount measuring means 9 is not provided, the thresholds T1 and T2 can be used properly based on the height data of the body 2 obtained by experiments, simulations, or the like.

  Thus, in the window glass mounting apparatus 1 and the mounting method, the window glass mounting means 4 is moved in synchronization with the body 2 by the moving means 5. In order to attach the window glass 16 to the window frame 2 b of the body 2, the control means 7 controls the arm 12 of the window glass attachment means 4. Therefore, the window glass 16 can be attached to the window frame 2b of the body 2 with high accuracy. In particular, the control means 7 controls the arm 12 so that the front end portion of the window glass 16 and the stepped portion B of the window frame 2b of the body 2 substantially coincide with each other on the plane. be able to.

  Moreover, since the detection of the stepped portion B of the window frame 2b of the body 2 and the detection of the front end portion of the window glass 16 are performed by the common sensor 6 without using a plurality of sensors, there is no error, and the window glass 16 can be attached with high accuracy by the window frame 2 b of the body 2. It also contributes to cost reduction. Furthermore, it is not necessary to adjust or maintain the position between a plurality of sensors.

  When the contact 8 a of the reference position detection unit 8 is separated from the moving carriage 10, the signal is input to the control unit 7. The control means 7 stops the measurement work of the sensor 6 and the movement amount measuring means 9. And the control means 7 controls the drive means of the roller 23 of the moving means 5 in order to move the suspension carriage 18 of the moving means 5 to the original position. By repeating the steps as described above, the window glass 16 can be attached to the window frame 2b of the body 2 without dividing the flow of the production line. In addition, since the position of the sensor 6 is hardly displaced with respect to the conveyed body 2, the window glass 16 can be attached to the window frame 2b of the body 2 with high accuracy.

  The assembly line of the automobile provided with the window glass mounting device 1 having such a configuration can enjoy the above-described functions and effects.

  In this embodiment, the reference position detection means 8 and the movement amount measurement means 9 are provided, but may be omitted. In this case, the height data of the body 2 conveyed by the conveying means 3 may be acquired in advance, and the stepped portion B of the window frame 2b of the body 2 may be detected based on the height data.

  In the present embodiment, the window glass 16 is attached to the window frame 2b of the body 2 by the arm 12, but this is not restrictive. That is, the window glass 16 is lowered by the arm 12 to the vicinity of the window frame 2b of the body 2, and finally the window glass holding means 13 is manually operated by an operator so that the window glass 16 is moved to the window frame 2b of the body 2. It may be attached.

  In the present embodiment, the control means 7 compares the difference value dH with the threshold value, but this is not restrictive. That is, the differential value DH and the threshold value obtained by dividing the difference value dH by a predetermined movement amount dL (L (P) -L (P-1)) from the position (P-1) to the position (P). May be compared.

  In the present embodiment, the sensor 6 measures the height H of the body 2 with respect to the roof surface 2a. That is, when the front window glass is attached, the height from the bonnet surface is measured.

  In the present embodiment, the front end portion of the window glass 16 is detected by the sensor 6, but the rear end portion of the window glass 16 may be detected.

  Although the embodiments of the window glass mounting device and method and the automobile assembly line equipped with the window glass mounting device according to the present invention have been described above, various design changes can be made without departing from the scope of the present invention. Is possible.

It is the side view which showed roughly the attachment apparatus of the window glass of this invention. It is the side view which showed a mode that the sensor measured the height with a body roughly. It is the top view which showed roughly a mode that the front-back position of a window glass was adjusted using a sensor. (A) is the figure which showed the measurement timing of the sensor. (B) is the figure which showed the height measured with the sensor. (C) is the figure which showed the difference value of the height measured with the sensor, and the height measured at the last measurement timing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Window glass attaching apparatus 2 Body 2a Roof surface 2b Window frame 3 Conveying means 4 Window glass attaching means 5 Moving means 6 Sensor 7 Control means 8 Reference position detecting means 9 Movement amount measuring means 10 Moving carriage 12 Arm 16 Window glass B Step Part T1 Threshold value T2 Threshold value dH Difference value L Movement amount

Claims (6)

Conveying means for conveying the body of the automobile;
Window glass attachment means for holding a window glass and having an arm for attaching the window glass to the body;
Moving means for moving the window glass attaching means along the conveying means;
A sensor provided in the moving means for emitting light at one point ;
The step portion of the window frame of the body conveyed by the conveying means is detected by the sensor, and based on the detection signal, the window glass attaching means is moved by the moving means so as to be synchronized with the conveying means, With the paragraph detected by the sensor, the window glass is moved , the edge of the window glass is detected by traversing the light emitted from the sensor, the edge of the window glass and the body Control means for controlling the arm so that the stepped portion of the window frame substantially coincides with the plane;
A window glass mounting device comprising: The sensor measures the height of the body at a predetermined measurement timing, and inputs the measured value to the control means.
The control means determines that a step portion of the window frame of the body has been detected when a difference value between the measurement value and the measurement value at the previous measurement timing is equal to or greater than a preset first threshold value. The window glass mounting device according to claim 1, wherein In the control means, the edge of the window glass crosses the emitted light of the sensor, and a difference value between a measurement value from the sensor and a measurement value at the previous measurement timing is equal to or greater than a preset second threshold value. Then, it is determined that the end portion of the window glass is detected, and the arm is controlled so that the end portion of the window glass is disposed at the crossing position. Window glass mounting device.   The reference position detecting means for detecting the reference position of the body and the movement amount measuring means for detecting the movement amount of the body from the reference position are provided. The window glass attaching device according to Item 1.   The assembly line of the motor vehicle provided with the attachment apparatus of the window glass of any one of Claim 1 thru | or 4. Light is emitted to one point provided on the moving means for moving the window glass attaching means having an arm for attaching the window glass to the body, along the stepped portion of the window frame of the body conveyed by the conveying means. A step of detecting by a sensor to perform ,
On the basis of the detection signal of the step portion of the window frame of the body, a step of moving the window glass mounting means so as to synchronize with the conveying means by said moving means,
With the paragraph detected by the sensor, the window glass is moved , the edge of the window glass is detected by traversing the light emitted from the sensor, the edge of the window glass and the body Controlling the arm so that the stepped portion of the window frame substantially coincides with the plane;
A window glass mounting method comprising:

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