JPH0818579B2 - 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 part of a vehicle body, a window glass attaching robot is arranged at a window glass attaching station in a vehicle assembly line, and coating is performed at the window glass attaching station. Carrying the completed car body with a carrying jig provided on a wind glass carrying conveyor to carry the car sequentially, and prepare a wind glass that has been pretreated by applying an adhesive, and the like. 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 the robot is displaced with respect to the vehicle body, when the robot operates according to a predetermined operation path while holding the window glass to be transferred to the window frame forming portion of the vehicle body, the window glass forms the window frame of the vehicle body. Therefore, there is a possibility that the window glass may not be properly attached to the window frame forming portion, as a result of which the window glass may not be accurately aligned with the window frame forming portion.

Therefore, in order to prevent such a situation,
The applicants of the present application, for example, as previously shown in Japanese Patent Application No. 60-115375, when attaching the window glass to the window frame forming portion of the vehicle body by the robot, The position of the locking member (stopper) attached to the window frame forming part for positioning the window glass is detected by a visual sensor such as a small video camera using a CCD image sensor, and the detection output obtained from this visual sensor Based on the above, we proposed to change the movement path when attaching the windshield of the robot.

(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 window glass by the visual sensor when the window glass is attached to the window frame forming portion of the vehicle body by the robot, and the detection output obtained from the visual sensor. It is designed to change the movement path of the robot based on
An object of the present invention is to provide a window glass mounting method capable of accurately detecting the position of the locking member by the visual sensor even when the difference in brightness between the color of the locking member and the paint color of the vehicle body is relatively small. To do.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the window glass attaching method according to the present invention is provided at a predetermined position in a window frame forming portion of a vehicle body,
Attaching a locking member for positioning the windshield, which has a brightness difference that allows the color of the central portion and the peripheral portion of the upper surface to be distinguished by a visual sensor, and detects the position of this locking member Using a robot that can change its movement path based on the detection output from the visual sensor, attach one end of the window glass to the window glass bonding surface part of the window frame forming part where the primer is applied. By being brought into contact with the locking member, the adhesive is attached under the condition of being positioned.

(Operation) In the window glass mounting method according to the present invention configured as described above, the color of the central portion and the color of the peripheral portion on the upper surface of the locking member can be distinguished by the visual sensor. Since there is a difference in brightness, no matter what paint color of the vehicle body, for example, the difference in brightness between the paint color of the vehicle body and the color of the portion surrounding the central portion of the upper surface of the locking member is a visual sensor. The position of the locking member can be reliably detected by the visual sensor even if the identification is not possible.

Therefore, even if the position of the robot is displaced with respect to the vehicle body transported to the windshield mounting station, the operation path of the robot can be properly changed based on the detection output obtained from the visual sensor in the windshield mounting process. Therefore, the robot can accurately align the window glass with the window glass bonding surface portion of the window frame forming portion of the vehicle body.

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

1 to 10 are diagrams provided for explaining each step and an apparatus used in each step in an example of the window glass attaching method according to the present invention.

Figure 1 shows the primer coating station where the primer coating work is carried out for the preparation of the wind glass installation work.
FIG. 1 shows a part of STp. In FIG. 1, the vehicle body 10 is fixed in a predetermined state in a state in which it is fixed on a carriage 14 that slides on a rail 12 arranged along a vehicle assembly line that forms a multi-model mixed flow line. Is intermittently conveyed at a pitch of and is stopped at a predetermined position of the primer coating station STp. In this case, the painted vehicle bodies 10 of different specifications (models) 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 to extend to. 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. The positions of the locking member mounting holes 18A and 18B are the same even when the specifications of the vehicle body 10 are different.

The primer application station STp has the same structure for applying the primer to the window frame forming portion 16 of the vehicle body 2
The primer coating robots 20A and 20B 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.

The list 28 of the primer coating robots 20A and 20B includes
A primer application holder 30 having a brush portion 30a at its tip is attached. The primer application holder 30 is configured to guide a black primer that is pressure-fed from a primer supply unit (not shown) 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 for insertion of the brush insertion portion 32 in the primer curing prevention device 40 installed near 20B.
A fixed lid member 34 is provided to cover 32a.

As shown in detail in FIG. 2, the primer curing prevention device 40 includes a 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.
And a cylinder 42 that opens and closes via a link 38, and the brush insertion part 32 includes a gas introduction part from a gas supply part (not shown).
An inert gas is supplied via 44, and the inert gas supplied to the brush insertion part 32 is returned to the gas supply part again via a gas outlet part (not shown), and the gas supply part and the brush insertion part 32 It is made to circulate between. Further, the primer curing prevention device 40 is provided with a photoelectric switch 46 for detecting passage of the primer coating holder 30 and including a light emitter and a light receiver arranged opposite to each other.

With such a configuration, the primer coating robot 20A
In order to cause the and 20B to perform the primer coating operation, the 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 100 for each vehicle type. In this case, as shown in FIG. 3, the range surrounded by the alternate long and short dash line in the window frame forming part 16 of the vehicle body 10 (the window glass bonding surface part) is the primer application range P, and this primer application range P is the brush part 30a. The motion path of the robot is taught so that the robot slides.

The primer coating robot 20 having the above-described configuration
A and 20B, and in the primer coating station STp provided with the primer curing prevention device 40, when the vehicle body 10 is not transported to the predetermined position of the primer coating station STp, the primer coating robots 20A and 20B are in the standby state. In the 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 and the brush member 30a is inserted into the brush insertion portion 32 of the primer curing prevention device 40 so that the fixed lid member 34 closes the insertion opening 32a of the brush insertion portion 32. By doing this, the brush part 30a is exposed to the inert gas in the brush insertion part 32 during the period in which the primer applying robots 20A and 20B do not perform the primer applying work, and thereby the brush part 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, a control signal is sent from the robot controller 100 to the primer coating robots 20A and 20B in order to perform the primer coating work by the primer coating robots 20A and 20B. Supplied. In this case, if the stop position of the vehicle body 10 is deviated from the reference position, the primer coating robots 20A and 20B may not be able to properly perform the coating work. Deviation between the stop position and the reference position is detected,
Based on the detection result, the teaching content stored in the memory of the robot controller 100 is corrected. Then, from the robot controller 100 to the primer coating robot 20A
When a control signal indicating the corrected teaching content is supplied to the and 20B, the primer coating holder 30 is moved up to the vehicle body 10 side after being raised, and in synchronization therewith, the brush portion of the primer coating holder 30. The primer is supplied from the primer supply unit to 30a. At this time, the photoelectric switch 46 detects that the primer applying holder 30 has moved from the brush inserting portion 32, and thereby the cylinder 42 is made to extend so that the inserting opening 32a of the brush inserting portion 32 is opened as shown in FIG. As indicated by the alternate long and short dash line in FIG.

When the primer application work is performed by the primer application robots 20A and 20B, the brush portion 30a of the primer application holder 30 attached to the primer application robot 20A is attached to the vehicle body 10 as shown in FIG. Window frame forming part 16
Is moved to the upper side portion in the above, and is moved counterclockwise so as to trace the left half of the primer application range P corresponding to the above-mentioned window glass bonding surface portion,
Further, the brush part 30a of the primer applying holder 30 attached to the primer applying robot 20B is moved to the lower side of the window frame forming part 16 of the vehicle body 10 so that the primer applying range P corresponding to the window glass bonding surface part is It is supposed to move counterclockwise as if tracing the right half.

By doing so, a black primer is applied to the primer application area P shown in FIG. Then, when the primer application work is completed, the brush portion 30a of the primer application holder 30 is returned to the primer curing prevention device 40 so that the primer application robots 20A and 20B are in the standby state again. At this time, when the primer coating 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 coating holder 30 is moved to the brush insertion portion 32.
The insertion opening of the brush insertion portion 32
32a is closed by a fixed lid member 34 provided on the primer application holder 30.

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 include a black 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 a square inclined surface.
And a rectangular tube portion projecting downward from the plate-shaped portion 52a and having a rectangular cross-sectional outer shape corresponding to the locking member mounting holes 18A and 18B.
The square tubular portion 52b is provided with a pair of elastic locking pieces 52c projecting from the outer side surface in the front-rear direction of the vehicle body 10 and capable of falling inside the square tubular portion 52b. There is.
When attaching the locking members 50A and 50B to the window frame forming portion 16, the receiving seat is provided on the lower side of the main body portion 51 having an area larger than the area of the upper surface of the plate-shaped portion 52a in the holding portion 52. 53
And the rectangular tubular portion 52b of the pressing portion 52 is inserted into the rectangular insertion holes 54 and 55 provided in the central portions of the main body portion 51 and the receiving seat 53, and the rectangular 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 tubular portion 52b and then projects outward, so that the plate-shaped portion 52a of the pressing portion 52 is inserted into the main body 51.
The locking members 50A and 50B are fixed to the upper surface of the window frame forming portion 16 while being arranged in the central portion of the.

Therefore, when the locking members 50A and 50B are fixed to the window frame forming portion 16, the plate-like portion 52a of the pressing portion 52 forms the central portion of the upper surface of the locking members 50A and 50B as shown in FIG. However, the upper surface portion of the main body portion 51 which is not in contact with the plate-like portion 52a forms the peripheral portion of the pressing portion 52.

Further, in this example, depending on the specifications of the vehicle body 10, the window frame forming part
The locking members 50A and 50B in 16 are different in inclination angle with respect to the horizontal plane of the locking member mounting portion 17 mounted via the locking member mounting holes 18A and 18B, but the upper surface of the plate-shaped portion 52a with respect to the horizontal surface. The inclination angle of is set to be the same even when the specifications of the vehicle body 10 are different. That is,
For example, a vehicle body 10A shown in FIG. 6A having different specifications.
And the inclination angles of the locking member attachment portions 17A and 17B with respect to the vehicle body 10B shown in FIG. 6B with respect to the horizontal plane R are, respectively,
When θa and θb (where θa ≠ θb) are set, the inclination angles of the upper surfaces of the plate-shaped portions 52a ′ and 52a ″ of the pressing portion 52 are made different depending on the inclination angles θa and θb. A pressing portion 52 is formed, which causes a horizontal surface R.
The inclination angle θs of the upper surface of the plate-shaped portion 52a ′ with respect to
The inclination angle θs ′ of 2a ″ is made to coincide with each other. Before or after the locking members 50A and 50B are attached, as shown by the alternate long and short dash line in FIG.
A weather strip 9 is attached to the inner peripheral edge of the window frame forming portion 16, and a dam rubber 7 is provided along the window glass bonding surface portion of the window frame forming portion 16 to which the primer 8 is applied.
Is affixed and fixed.

In this way, the locking members 50A and 50B are locked by the window frame forming portion 16
After being attached to the lower side of the vehicle, the vehicle body 10 is transported to the window glass attachment station STw and stopped, as shown in FIG. 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, a robot 65 for applying an adhesive agent to the upper surface side of the primer 2 of the window glass W is applied.
The window glass reversing device 75 inverts the window glass W applied by the above and the adhesive 5 is applied so that the outside of the vehicle is the upper surface, and the window glass attaching robot is installed.
Supplied to the 70 side. The window glass W supplied to the window glass mounting robot 70 is in a state of being positioned at a predetermined position, and the positional displacement with respect to the window glass mounting robot 70 hardly occurs.

The window glass mounting robot 70 is a teaching back type articulated robot having the same structure as the primer coating robots 20A and 20B described above.
Swings in the up-down direction, the left-right direction, and the front-back direction with respect to the base portion 76 fixed to the base 74, and the wrist 78 provided at the tip of the arm 72 extends around and along the axis line of the arm 72. It is supposed to rock.

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. 8, the suction holding device 80 includes a base body 82, which is mainly assembled into a substantially H shape, and whose central portion is connected to the wrist 78, and both side portions 82a and 82b of the base body 82. The four suction pad members 84 arranged at the ends, the floating state in which the suction pad members 84 are allowed to be displaced in the vertical direction with respect to the base body 82, and the regulation state in which such displacement is not allowed are selectively selected. And a variable support mechanism 85 including a cylinder 86, a link 87, a claw member 89, and the like. In addition, the suction pad member 84,
Negative pressure is supplied from a negative pressure supply means (not shown) through an electromagnetic switching valve in order to bring it into an adsorption state, and into the adsorption pad member 84 through an electromagnetic switching valve in order to bring it into an adsorption release state. Atmosphere is supplied. Furthermore, in order to absorb manufacturing errors such as the degree of warp in the windshield W, the variable support mechanism 85 positions the windshield W on the window frame forming portion 16 of the vehicle body 10 by the windshield mounting robot 70 as described below. When pressed by pressing, 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 configured by a small camera using a CCD image pickup device or the like, and the visual sensors 91 and 92 are locking members 50A and 50B attached to the window frame forming portion 16 of the vehicle body 10. In order to detect the position of the locking member 50A, the locking member 50A and the locking member 50B are fixed to the bracket 94 with a distance equal to the distance between them.

Under such a configuration, the operation mode such as the operation speed and the operation route is taught in advance by manual or numerical control in order to make the window glass mounting robot 70 perform the window glass mounting work, and the teaching content is the vehicle type. It is stored in the memory of the robot controller 200 every time. And
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, and the detection signals thereof are detected. 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 a control signal Ca representing the corrected teaching content is supplied so that the window glass mounting robot 70 can perform the window mounting operation.

As a result, the window glass attaching robot 70 causes the suction pad member 84 of the suction holding device 80 to adhere to the outside surface of the wind glass W supplied by the window glass reversing device 75.
To hold the window glass W by suction and hold it as a control signal.
According to the operation mode represented by Ca, the window glass W is transferred to a predetermined position (viewing position) in the vicinity of the window frame forming portion 16 of the vehicle body 10 and temporarily stopped as shown in FIG. In such a state, the peripheral portion of the window glass W faces the window frame forming portion 16 and the visual sensors 91 and 92 face the locking members 50A and 50B, respectively.
By 91 and 92, the range including the locking members 50A and 50B of the vehicle body 10 is visually grasped from a direction orthogonal thereto, and the positions of the locking members 50A and 50B are visually detected, and the detection result is shown. The detection signals Sc and Sd are detected by the visual sensors 91 and 92.
To the image processing unit 150.

Here, in this example, since the pressing portion 52 forming the central portion on the upper surfaces of the locking members 50A and 50B is white, and the main body portion 51 forming the peripheral portion of the central portion on the upper surface is black, Locking member 50 captured by sensors 91 and 92
Since the difference in brightness between the central portion and the peripheral portion on the upper surface of A and 50B is remarkably large, the visual sensors 91 and 92 can be identified, and the locking members 50A and 50B by the visual sensors 91 and 92 are provided. The vehicle body 10 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. Further, even when the specifications of the vehicle body 10 are different, the inclination angles of the upper surface of the plate-shaped portion 52a of the pressing portion 52 with respect to the horizontal plane are the same, so that the postures of the visual sensors 91 and 92 at the viewing position are determined by the specifications of the vehicle body 10. Therefore, the locking member 50A does not need to be changed according to
And, it becomes possible to detect the position of 50B quickly and with high accuracy.

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 the detection signal 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 position of the window glass W with respect to the window frame forming portion 16 in the up-down direction and the left-right direction. The shift amount and the tilt amount are calculated, and the signals Db, Dc, and Dd representing the calculation results are supplied to the robot controller 200. Robot controller 2
00 is a control signal Ca that corrects the teaching content of the window glass mounting robot 70 stored in the memory based on the signals Db, Dc and Dd, and represents the corrected teaching content.
Is supplied to the robot 70 for attaching the wind glass.

As a result, the operation path and the like of the window glass attaching robot 70 when the window glass W is attached are corrected, and 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. hand,
The window frame forming portion 16 is pressed against a regular mounting position. At this time, the lower end edge of the window glass W has the locking member 50A.
And 50B, and the variable support mechanism 85 supports the suction pad member 84 in a floating state. Therefore, even if a manufacturing error occurs in the degree of warp of the windshield W, the windshield W is The window frame forming portion 16 is properly positioned and attached. Then, after the window glass W is attached to the regular attachment position of the window frame forming portion 16, the suction pad member 84 is brought into the suction release state and the suction holding device 80 is disengaged from the window glass W for attaching the wind glass. The robot 70 is returned to its original state in order to perform the next window glass installation work. Wind glass W
When the suction holding device 80 is detached from the
If the window glass W is not cured, the window glass W may be displaced downward, but since the locking members 50A and 50B are in contact with the lower edge of the window glass W as described above, the window glass W is The window frame forming portion 16 can be securely attached in a state where it is positioned at the regular attachment position.

In such an attached state, as shown in FIG. 10, the primer 2 applied to the window glass W and the window frame forming portion of the vehicle body 10
Primer 8 applied to 16, dam rubbers 4 and 7, locking member
The adhesive 5 is filled between 50A and 50B and cured, and the window glass W is fixed to the window frame forming portion 16. Then, 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 shown by a chain 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.

Although the locking members 50A and 50B are attached after the primer 8 is applied to the window frame forming portion 16 in the above-described example, conversely, the locking members are attached to the window frame forming portion 16.
After attaching 50A and 50B, the primer 8 may be applied. Further, in the above example, the locking member 50
Robot 70 for attaching the windshield by attaching the visual sensors 91 and 92 for detecting the positions of A 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.

Further, in the above-mentioned example, the color of the main body 51 in the locking members 50A and 50B is black and the color of the pressing portion 52 is white, but the color of the primer and the locking member is not limited to this, and A color having a lightness difference that can be identified by a sensor may be appropriately selected, and the locking member 50
It is not necessary for the A and 50B to be of the split type composed of the main body portion 51 and the pressing portion 52 as in the above example, and the locking member 50A
And 50B may be integrated so that the color of the central portion and the color of the peripheral portion on the upper surface are different from each other.

(Effect of the Invention) As is apparent from the above description, according to the window glass mounting method of the present invention, the color of the central portion on the upper surface and the color of the peripheral portion of the window frame forming portion of the vehicle body are detected by the visual sensor. Since the locking member for positioning the window glass, which has the difference in lightness that enables identification, is attached, no matter what the paint color of the vehicle body, for example,
Even if the paint color of the car body is different from the color of the part surrounding the central part of the upper surface of the locking member that cannot be identified by the visual sensor, the position of the locking member can be confirmed by the visual sensor. Can be detected. Therefore, even if the position of the windshield mounting robot with respect to the vehicle body is deviated, the operation path of the robot can be appropriately changed based on the detection output obtained from the visual sensor. It is possible to accurately mount the product in the proper mounting position in the forming portion.

[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 view used for explaining the primer applying step in the above-mentioned example, FIG. 4, FIG.
6A and 6B are diagrams used for explaining the locking member mounting step in the above example, and FIG. 7 shows a part of the window glass mounting station in which the window glass mounting work in the above example is performed. Fig. 8 is a schematic perspective view, Fig. 8 is a detailed view showing the suction holding device shown in Fig. 7 in an enlarged manner, and Fig. 9 is a block diagram showing a control system of the window glass mounting robot shown in Fig. 10, The figure is a cross-sectional view showing a state in which a window glass is attached to a window frame forming portion of a vehicle body. In the figure, 10 is a vehicle body, 16 is a window frame forming portion, 50A and 50B are locking members, 51 is a main body portion, 52 is a holding portion, 70 is a wind glass mounting robot, 80 is a suction holding device, and 91 and 92 are Visual sensors, 100 and 200 are robot controllers, 150 is an image processing unit, W is window glass, STp is a primer coating station, and STw is a window glass mounting station.

Claims (1)

[Claims] Claim: What is claimed is: 1. A window glass positioning device, comprising: a predetermined position in a window frame forming portion of a vehicle body; The window in the window frame forming section is equipped with a robot capable of changing the operation path based on the detection output from the visual sensor that detects the position of the locking member. A method for attaching a window glass, wherein the window glass is attached and attached to the glass adhesion surface portion in a state where one end of the window glass is brought into contact with the locking member to be positioned.