JPH11240474A - Glass fixing device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transport the glass automatically from the adhesive application process to the vehicle body to enable the glass to be fixed on a vehicle by one operator. SOLUTION: The device is provided with a first rail 20a parallel to the transport direction of a vehicle body B and a second rail 20b which is orthogonal to the first rail 20a and is slideable on the first rail 20a. Further, a Z axis 2 which is an elevation axis on which a handle 12 for suction holding the glass is movably installed on the second rail 20b. The device is manually controlled such that the Z axis 2 is moved on the second rail 20b to transfer the glass to the location of the vehicle body B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a glass mounting apparatus, and more particularly to a glass mounting apparatus for mounting glass on a vehicle body at an automobile production site.

[0002]

2. Description of the Related Art A process of manufacturing an automobile includes a glass mounting process of mounting a window glass on a vehicle body. Hereinafter, a conventional operation performed in the glass attaching step will be described with reference to FIG.

In the glass mounting process, an adhesive application process 10
The glass G to which the adhesive has been applied at 0 is transported by the transport unit 150 to the position of the vehicle body B, and is attached to the vehicle body B by workers A and B manually.

The transport unit 150 includes a hand unit 55 having a suction mechanism (not shown) for sucking glass, and a hoist 50.
And a wire 51 connecting the hand portion 55 and the hoist 50
And A ceiling rail 20 is provided on the ceiling of the work site where the glass is mounted, and the transport unit 150 is connected to the ceiling rail 2 by the engaging portion 50a of the hoist 50.
The glass G is conveyed by sliding on the ceiling rail 20 while holding the glass G.

Further, the hoist 50 is provided with a wire winding portion (not shown) for winding the wire 51, and the vertical position of the glass G can be adjusted by the amount of wire 51 wound.

[0006] The worker A and the worker B use the above-described transport unit 150 to mount the glass in the following procedure.

[0007] 1. The worker A adsorbs the glass G on which the adhesive is applied to the hand unit 55 in the adhesive application process 100,
The user manually pushes the hand unit 55 to convey it to above the vehicle body B.

[0008] 2. The worker B supports one end of the glass G, and the worker A loosens the wire 51, and the worker A and the worker B hold the glass G and the hand unit 55.

3. The glass G was approached to the vehicle body B at an angle slightly raised with respect to the window frame of the vehicle body B, and it was confirmed that the lower end of the glass G was supported (seated) at a predetermined position of the vehicle body B. Attach it to the window frame.

[0010] 4. After confirming the attachment of the glass G to the window frame, the hand unit 55 is wound up with the wire 51 and retracted.

[0011]

However, such a conventional glass mounting operation has the following problems.

That is, the glass to be attached is 20 k
Since the hand portion 55 holding the glass from the hoist 50 is hung by a single wire 51, the hand portion 55 has a large wobble due to its relatively heavy weight of about g. For this reason, two workers are required for the work of mounting the glass. And by performing work by two workers,
The work timing must be adjusted between the two workers, so that if the work of one worker is delayed, the other worker must wait for the other worker. Such waiting time for the other party results in a loss of work time and lowers work efficiency.

In addition, the operator must perform an operation of walking the glass G during the adhesive application process 100 to take the glass G, and this operation results in a loss of walking and reduces the operation efficiency. In addition, in the transport unit 150, the worker
An inertial force with respect to the force for sliding the zero acts between the engaging portion 50a and the ceiling rail 20, thereby making the transport operation burdensome for the operator. In particular, the second work procedure described above is a work that places a burden on the worker because the worker must have the glass G and the hand unit 55.

The present invention has been made in view of the above-mentioned problems of the prior art, and automatically transports the glass from the adhesive application process to the vehicle body and allows the worker to attach the glass alone. It is an object of the present invention to provide an automotive glass mounting device capable of performing the following.

[0015]

According to one aspect of the present invention, there is provided a glass mounting apparatus for mounting a glass on a vehicle body conveyed on a production line, wherein the glass mounting apparatus is provided in a direction in which the vehicle body is conveyed. A first rail is provided in parallel with the first rail, a second rail orthogonal to the first rail is slidably provided on the first rail, and a vertically movable shaft to which a glass holding means for sucking and holding the glass is attached is provided. Transport control means for movably mounting on the second rail, moving the elevating shaft on the second rail, and transporting the glass holding means holding the glass to the position of the vehicle body. It is characterized by the following.

With this configuration, the glass can be automatically transferred to the position of the vehicle body. Therefore, it is possible to reduce the burden on the operator for transporting the glass. In addition, it is not necessary for the worker to walk to get the glass, and walking loss can be eliminated.

According to a second aspect of the present invention, the glass holding means comprises a glass suction unit for sucking glass, and a posture control unit for controlling the posture of the glass sucked by the glass suction unit. A first drive axis orthogonal to the elevating axis and parallel to the horizontal direction of the glass surface, a second drive axis orthogonal to the first drive axis in the glass surface, and orthogonal to the glass surface. And a third drive shaft for rotating the glass.

With this configuration, the glass can be moved or rotated while being held by the glass holding means. Therefore, there is no need for the worker to support the weight of the glass when mounting the glass, and the mounting work can be performed by only one worker.

According to a third aspect of the present invention, the transfer control means includes an automatic transfer control means including a control unit for automatically transferring the glass holding means to an upper part of the vehicle body, and a glass held by the glass holding means. And a manual transfer control means including a control unit for attaching the glass holding means to the vehicle body, wherein the manual transfer control means has a drive shaft operating means for operating each drive of the glass holding means.

According to a fourth aspect of the present invention, the glass holding means has a glass suction unit for sucking glass, and a posture control unit for controlling the posture of the glass sucked by the glass suction unit. The unit includes a first drive shaft orthogonal to a vertically movable elevating shaft and parallel to a horizontal direction of a glass surface, a second drive shaft orthogonal to the first drive shaft in the glass surface,
A third drive shaft for rotating the glass perpendicular to the glass surface, a fourth drive shaft for sliding the glass forward or backward of the vehicle body, the first drive shaft, and the fourth drive shaft And the second drive shaft is provided with a load sensor for detecting a load applied to the second drive shaft, and the transport control means is configured to move the glass holding means to an upper part of the vehicle body. An automatic conveyance control unit including a control unit for automatically conveying the glass; and a manual conveyance control unit including a control unit for attaching the glass held by the glass holding unit to a vehicle body. The manual conveyance control unit includes the glass holding unit. Drive shaft operating means for operating each drive of the means, wherein the drive shaft operating means is a drive shaft selector for selecting a drive shaft to be operated among the drive shafts provided in the glass holding means. When An elevation switch that moves the drive shaft selected by the drive selection unit up and down; and a slide switch that slides the drive axis selected by the drive selection unit in the axial direction. The elevation switch is operated by operating the elevation switch. By operating the slide switch while lowering the glass held by the glass holding means to lower the glass, the second drive shaft is driven and slid in the axial direction while the load detected by the load sensor is a predetermined value. When the value exceeds the value, the brake between the first drive shaft and the fourth drive shaft is automatically released.

With this configuration, the glass can be mounted by operating the second drive shaft and the elevating shaft. Therefore, since the operator only needs to operate the two operation means, the work of mounting the glass can be further simplified.

According to a fifth aspect of the present invention, the glass holding means has a handle portion provided with a grip detecting means for detecting whether or not the glass is gripped by an operator, and the manual control means includes a handle. When the grip detection unit detects that the unit has been released, the operation of the glass drive shaft operation unit is stopped.

With this configuration, even when the operator makes an erroneous operation, the operation of the glass mounting portion can be immediately stopped by releasing the handle portion. Accordingly, it is possible to prevent the occurrence of a mounting failure caused by an erroneous operation of the glass mounting portion, and to more reliably perform the glass mounting operation.

[0024]

As described above, according to the first aspect of the present invention, the burden on an operator for transporting glass can be reduced.
In addition, walking loss can be eliminated. Therefore, the work efficiency can be increased, and the production efficiency of automobile production can be increased.

According to the second aspect of the present invention, it is not necessary for an operator to support the weight of the glass when mounting the glass, and the mounting operation can be performed by only one operator. Therefore, the number of persons required for mounting the glass can be reduced, and the productivity of the automobile can be increased.

According to the third aspect of the present invention, the operator does not need to support the weight of the glass when attaching the glass,
The mounting operation can be performed by one worker. Therefore, the number of persons required for mounting the glass can be reduced, and the productivity of the automobile can be increased. In addition, the provision of the glass setting means makes it possible to more appropriately mount the glass depending on the specifications of the glass and the window frame.

According to the present invention, the operation of the glass mounting portion can be simplified by the operator, and the productivity of the automobile can be increased by further increasing the glass mounting operation.

Further, according to the fifth aspect of the present invention, it is possible to prevent the occurrence of a mounting problem caused by an erroneous operation of the glass mounting portion, and to more reliably perform the glass mounting operation.
Therefore, the occurrence of splashing during glass mounting work is reduced,
The productivity of automobile assembly can be further increased.

[0029]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 show a glass mounting apparatus for an automobile according to the present invention (hereinafter also referred to as a glass mounting apparatus).
It is a figure explaining one Embodiment of the glass mounting process using. With reference to FIGS. 1 and 2, the work procedure performed in the glass mounting step will be briefly described.

In general, the glass is attached by a flow operation. At a work site of the process, a car body B is flowing at a constant speed by a conveyor C, and an adhesive is applied to the glass G in the vicinity of this line. An agent application step 100 is arranged.

The work of attaching the glass to the vehicle body B is performed on the conveyor C. Therefore, the worker moves together with the vehicle body B on the conveyor C while performing the work. In the glass mounting step using the glass mounting apparatus of the present embodiment, the glass can be mounted by one worker, but the number of persons may be two as in the past.

A ceiling rail 20 is provided on the ceiling of the work site as in the prior art. This ceiling rail 20
Is a rail 20b arranged in the length direction (Y) of the vehicle body B on the line, and a rail 20b in a direction (X) orthogonal to the rail 20b.
b, and a rail 20a movably arranged on the rail. The transport unit 1 has a hoist 10 and a hand unit 12. The transport unit 1 and the hand unit 12 are connected by a hoist 10 and a Z-axis 2, and an engaging part 10 a of the hoist 10 is a rail 20 a and an engaging part 10 b is a rail 20 a.
b, and is configured to be able to transport the transport unit 1 in two directions X-Y.

The configuration of the transport section 1 will be described later in detail.

The glass G to which the adhesive has been applied in the adhesive application step 100 is sucked and held by the transfer unit 1 (position a), and is transferred from the system path A passing through the positions b and c to above the vehicle body B. (Position d). The transfer up to this point is automatically performed under the control of a control device that controls the entire glass mounting process.

The operator switches the control of the transport unit 1 to manual control by the operator by operating the operation panel (FIG. 7), and moves down the transport unit 1 until the glass G is mounted on the vehicle body B. Wait (position e).

Hereinafter, in this specification, position a is the glass holding position a, position b is the original position b, position c is the glass holding position c, position d is the vehicle body d, and position e is the standby position e.
Shall be written.

Glass G transported to standby position e
Is attached to the vehicle body B while being attached to the hand unit 12. This mounting operation is performed by an operator operating the operation panel. When the mounting is completed, the operator removes the glass G from the hand unit 12, switches the operation to automatic control again, and automatically retreats the hand unit 12 from the glass mounting operation area.

In the operation described above, the adhesive application process 10
The glass G is automatically conveyed from 0 to the position d above the vehicle body. Therefore, the walking loss of the worker is eliminated, and the production efficiency can be improved. Further, since it is not necessary for the operator to carry the glass G, the burden on the operator is reduced.

Further, the hand section 12 of the present embodiment
Since it is configured to be connected to the hoist 10 and the Z-axis 2, there is almost no wobble at the time of transportation, and further, since the glass G can be removed from the hand unit 12 after the mounting is completed, Since it is not necessary to have the glass G and the hand unit 12, the burden on the operator is further reduced, and the glass can be attached alone.

Next, the configuration of the hand unit 12 will be described in more detail. FIG. 3 is a schematic configuration diagram of the hand unit 12 as viewed from the front of the vehicle body. FIG. 4 is a view for explaining the slide mechanism 7 in the hand unit 12 shown in FIG.
FIGS. 4A and 4B are side views and a top view, respectively, of the slide mechanism 7, and FIG. 4C is a side view of the slide mechanism 7 viewed from a direction orthogonal to the side face of FIG. is there. FIG. 5 is a diagram illustrating each axis direction in the hand unit 12.

The hand section 12 comprises a hand support section 90 and a glass mounting section 91 as shown in FIG. The hand support unit 90 holds the hoist 1 while the glass G is being conveyed.
0 (FIGS. 1 and 2) and a configuration in which the glass mounting portion 91 slides while the hand portion 12 is connected. The glass mounting portion 91 adjusts the posture of the glass and mounts the glass on a window frame.

The hand support 90 has a drive shaft Z-axis 2 for moving the hand 12 up and down by an air cylinder, and a slide mechanism 7 for sliding the Z-axis 2 in a direction perpendicular to the plane of the drawing. As described above, the hand unit 12 is configured to be able to move the ceiling rail 20 in the X-Y directions, and therefore, by having the Z axis 2, it is possible to move in the three directions of X, Y, and Z. become. In addition, Z axis 2
Is provided with a position detection sensor (not shown) for detecting the position. In addition, the Z axis 2 is rotated by 90 degrees about the axis, and when the glass mounting portion 91 interferes with other things, the Z axis 2 is rotated to avoid the interference.

The slide mechanism 7 has a base 73 and a roller 72 provided on the base 73 as shown in FIG. The roller 72 is placed on a base 73, for example, as shown in FIG.
(B), and a roller 72 of
The slide shaft 2a of the Z-axis 2 slides in the Y-axis direction between the rollers 72. An air clamp 70 that functions as a brake for stopping the slide shaft 2a is provided on a side surface of the base 73, and the slide shaft 2a is positioned at a desired position on the slide mechanism 7. Therefore, the slide mechanism 7 is provided with the Y
The axial position can be further adjusted from the position determined by the hoist 10.

The slide shaft 2a is provided with an axial groove 75a, and the roller 72 is provided with a roller groove 75b. The shaft side groove 75a and the roller side groove 75b are engaged at the time of sliding, so that the positioning of the slide shaft 2a on the slide mechanism 7 can be accurately performed.

The glass mounting portion 91 has an α axis 3, a β axis 4,
The shaft 5 has three drive shafts. The direction of the α axis 3 coincides with the lateral direction of the glass G (referred to as a windshield) as shown in FIG. 5A, that is, coincides with the X axis of the vehicle body. The direction of the β axis 4 is orthogonal to the α axis 3 and coincides with the direction along the surface of the window glass. The direction of the γ-axis 5 coincides with the length direction of the vehicle body B as shown in FIG.

The glass mounting portion 91 has an operation panel 30 for operating the α axis 3, the β axis 4, and the γ axis 5, and is manually operated by an operator. Further, on both sides of the glass mounting portion 91, a handle 14 which is gripped by a worker operating the hand portion 12 during operation is provided, and the handle 14 also has a switch portion 14a provided with an operation switch.

In this embodiment, the handle 1
4. Since the operation panel 30 is provided on both sides of the glass mounting section 91, the glass mounting operation can be performed from either side of the transport section 1. Therefore, for example, even when attaching the side glass of the vehicle body, the side glass can be attached from any side without rotating the Z-axis 2. The operation panel 30 and the switch unit 14a will be described later in detail.

Two suction pads 17 are provided below the glass mounting portion 91, and hold the glass G by sucking it. Each of the two suction pads 17 is provided with a glass setting cylinder 18. This 2
When one of the glass setting cylinders 18 is taken out,
The glass G is inclined and falls down to a predetermined mounting portion provided on the window frame, and the glass can be set on the window frame.

The α-axis 3 is connected to the motor 15 and rotated by the timing belt 16 and the toothed pulley inside the timing belt 16 as shown in FIG. A potentiometer 9 is attached to the α-axis 3 and detects the rotation amount of the α-axis 3. The rotation of the α-axis 3 rotates the glass G, and adjusts the inclination of the glass G in the front-back direction (the front-back direction when mounted as a windshield). Further, an error absorbing mechanism 8 is attached to the α-axis 3. In the error absorbing mechanism 8, an elastic member 8a such as a spring having the same tension on both sides of the center of the α-axis 3, for example,
8b is provided, and when the α-axis 3a is shifted in the axial direction, the tension of the elastic members 8a and 8b acts on the α-axis 3 to return the α-axis 3 to the initial position.

The β-axis 4 is directly moved in the axial direction by an air cylinder 11a having a brake. Air cylinder 11a
Is provided with a potentiometer (not shown) for detecting the rotational position of the β-axis 4. The β-axis 4 is also provided with an error absorbing mechanism (not shown) for preventing rotation of the β-axis. Therefore, the glass G held by the transport unit 1 can be set to β without causing a tilt (rolling) around the β axis 4.
It is moved in the direction of axis 4.

The γ-axis 5 is an axis that slides along an R-shaped guide (not shown) to turn the glass G. The pivot axis of the glass G is at a position 1 m away from the center of gravity of the glass G as shown in FIG. Note that this pivot axis can be set on any side of the vehicle body.

Next, the transport unit 1 having the configuration described above
Will be described. FIG. 7 is a top view of the operation panel 30. FIG. 8A is a front view of the switch section 14a, and FIG. 8B is a view of FIG. 8A viewed from the direction of the arrow in the figure. FIG. 10 is a block diagram illustrating a configuration for controlling the transport unit 1.

The operation panel 30 is provided with six switches shown in the figure. In the figure, the operation mode switch 31 is
When the operation mode of the hand unit 12 is selected individually or automatically by selecting a switch, each axis of the hand unit 12 can be operated independently. The operation preparation on switch 32 is
A switch for preparing the operation of the operation panel 30 when turned on in the manual operation mode. The emergency stop button switch 33
This is a switch for emergency stop of the hand unit 12. The operation right switch 34 is a switch for selecting whether to perform the operation of the transport unit 1 by automatic control by the control device or by manual control by the operator. The hand unit 12 of the transport unit 1 can be operated.

The axis selection switch 35 is a switch for switching the axis operated when the switch 31 is operated alone to either the Z axis or the α axis. The selection switch 36 is a switch that switches the axis operated when the switch 31 is operated alone to either the β axis or the γ axis.

The operation panel 3 having the switches described above
With 0, the operator selects the axis to be operated. Then, the operation contents of the axis are determined by the switches provided in the switch section 14a shown in FIG. That is, the switch unit 14
a, a switch 37 for moving the glass G up and down, a slide switch 38 for sliding the glass G, and a set switch 3 for setting the glass G by leaning it onto the window frame of the vehicle body B;
9 are provided.

When the operator wants to link the Z axis 2 and the α axis 3, the operator automatically switches the operation mode switch 31.
Press the elevation switch 37. If one of the Z axis 2 and the α axis 3 is to be operated independently, the operation mode switch 3
1 is independently switched, and the axis to be operated is selected by the axis selection switch 35. When it is desired to link the β-axis drive unit 400 and the γ-axis drive unit 500, the operation mode switch 31 is automatically switched and the slide switch 38 is pressed. If one of the β-axis 4 and the γ-axis 5 is to be operated independently, the operation mode switch 31 is independently switched,
Further, the axis to be operated is selected by the axis selection switch 36.

Further, the switch section 14a of the present embodiment is further provided with a touch sensor 140 for detecting whether or not the operator is holding the handle 14. When detecting that the worker has released the handle 14, the touch sensor 140 outputs this to the operation panel 30. The operation panel 30 stops the operation of the hand unit 12 in response to the input of the detection signal.

FIG. 9 shows the names and operations of the various switches described above.

By operating the above-described switch, the transport unit 1
Works as follows.

As shown in FIG. 10, the transport section 1 is connected to the automatic control device 80 and has a control section 800 including the operation panel 30 and the switch section 14a. Of glass G up to
Automatic evacuation device 80 for evacuation from the glass mounting process
The work in the glass mounting process is manually controlled by the control unit 800.

The automatic control device 80 is a device for controlling the entire glass mounting process. The automatic control device 80 controls the suction data for detecting whether or not the glass G has been sucked by the hand portion 12 in the adhesive application process 100, and the flow of data on the conveyor C. It also inputs specification data for detecting the type and specification of the incoming vehicle body, and outputs a signal corresponding to this data to the control unit 800. Further, the automatic control device 80 includes a Z-axis drive unit 200 including an air cylinder and a Z-axis position detection sensor for driving the Z-axis 2, and a motor 15 and a potentiometer 9 for driving the α-axis 3. It is connected to the shaft drive unit 300 and controls the operations of the Z-axis drive unit 200 and the α-axis drive unit 300 performed before the glass mounting operation.

On the other hand, the control unit 800
Together with the α-axis drive unit 300, the β-axis drive unit 400, the γ-axis drive unit 500, the handle touch sensor 140, the glass load detection sensor 81, the suction pad operation unit 82, the glass setting cylinder 18 (FIG. 3), and the air clamper 70 (FIG. 4
(A)) to control the operation of the hand unit 12 when mounting the glass.

The β-axis drive section 400 includes an air cylinder 11a for driving the β-axis 4 and a potentiometer. The γ-axis drive section 500 includes an air cylinder and a potentiometer for driving the γ-axis 5. It is a configuration including a meter. In addition, from potentiometers provided on each of the α-axis 3, the β-axis 4, and the γ-axis 5, rotation angle detection data is input to the control unit 800, and the stop position of each axis is fed back.

The handle touch sensor 140 is a sensor for detecting whether or not the operator is holding the handle 14. Further, the glass load detection sensor 81 is a sensor for detecting a load applied to the shaft, and when this value is an overload, it indicates that the shaft is rotating more than a set predetermined rotation amount. I have. Then, the suction pad operation section 82
The pressure between the suction pad 17 and the glass G is reduced, or the suction pad 17 and the glass G are sucked or separated by supplying air.

The control of the operation unit 1 is switched by the operation right switch 34. When the operation right switch is set invalid, the transport unit 1 is controlled by the automatic control device 80, and when the operation right switch is set valid. The transport unit 1 has a control unit 8
00 is controlled. When the transport unit 1 switches to the control of the control unit 800 and presses the operation preparation switch 32, the operation preparation switch 32 is turned on and the control unit 800 starts preparation for operation.

Next, the procedure of the glass mounting operation performed by the hand unit 12 of the transport unit 1 will be described.

In this procedure, a two-switch mode in which the glass is mounted only by two switches, ie, the elevation switch 37 and the slide switch 38, and the glass mounting is performed by using three switches of the elevation switch 37, the slide switch 381, and the set switch 39. And a three-switch mode.

FIG. 11 is a diagram for explaining the operation when the hand unit 12 mounts the glass. FIG.
FIG. 11B shows the operation when mounting glass in the switch mode, and FIG. 11B shows the operation when mounting glass in the three-switch mode.

<< Two-Switch Mode >> First, under the control of the automatic control device 80, the hand unit 12 is transported to a position above the vehicle body d. At this time, the automatic control device 80 detects the specification of the vehicle body on which the glass is to be mounted this time based on the vehicle body specification data, determines the rotation angle of the α-axis 3 according to the specification, and tilts the glass G to the determined angle by the motor 15. Keep it.

When mounting the glass in the two-switch mode, the operator keeps pressing the elevating switch 37 to hold the glass G.
Keep descending. Then, as soon as the glass G hits the spacer 43, the descent is stopped, and the β axis 4 is tilted so that the glass G
Slide along the spacer. Then, the glass load detection sensor 81 detects the load applied to the β axis 4 at this time. If this detection signal indicates that the load is overloaded, the air clamper 70, which is the brake of the slide mechanism 7, and the brake provided on the motor 15 of the α-axis 3 are forcibly released, and the β-axis 4, The control of the γ-axis 5 is switched from the control by the air cylinder to the balance control that keeps the rotation of the shaft in the initial state by the spring.

When the glass G is further lowered by the raising / lowering switch 37, the glass G falls around the contact point with the spacer 43, and the hood 41 and the instrument pad 4
0 and is supported by the roof 42 and attached to a predetermined position.

<< Three-switch mode >> In the three-switch mode, the glass G is transported to the space d above the vehicle body in the same manner as in the two-switch mode described above. Thereafter, the operator lowers the glass G to the standby position e by the elevating switch 37 and presses the set switch 39 while holding the α-axis 3, the β-axis 4 and the γ-axis 5 when the glass G hits the spacer 43.

By pressing the set switch 39, the control unit 800 pulls out only the cylinder 18b while keeping the cylinder 18a of the glass setting cylinder 18 as shown in FIG. 12, and lowers the glass G to the mounting position. Put in. At this time, the control unit 800 simultaneously instructs the suction pad operation unit 82 to release the suction of the suction pad P1. By such an operation, the glass G is pushed into the predetermined mounting position, and the mounting is completed.

By the way, as shown in FIG. 13, there are three types of treatment for the windshield and rear glass attached to the vehicle body B. That is, nothing is provided on the back surface of the glass G (FIG. 13A), and a pin 99 for temporarily fixing the glass G to the window frame when the glass G is attached is provided below the back surface of the glass G. (Figure 13
(B)), and three types, in which pins 99 for temporarily fixing the glass G to the window frame when the glass G is attached are provided on the upper side of the back surface of the glass G (FIG. 13C).

Next, a description will be given of a glass mounting procedure according to the specifications of the glass G.

FIG. 14 is a view for explaining an example in the case where the glass G is a windshield, and FIG. 14A is a view showing a glass mounting procedure in the case where there is a spacer on the vehicle body side. FIG. 14B is a diagram illustrating an example in which a pin 99 is provided on the glass G side.

In the example of FIG. 14A, a spacer 43 is provided between the hood 41 and the instrument pad 40. In such a case, the lower end of the glass G is
3 and the glass G is attached to the window frame with the contact point between the lower end of the glass G and the spacer 43 as a fulcrum.

In the example shown in FIG. 14B, the upper end of the glass G is pushed in with the upper end of the glass G aligned with the roof 42 of the window frame.
Keep using. Next, the lower end of the glass G is attached to the hood 41.
The glass is attached by pushing it between the instrument pad 40 and the instrument pad 40.

FIG. 15 is a view for explaining an example in which the glass G is rear glass, and FIG. 15A is a view showing a glass mounting procedure in the case where a spacer is provided on the vehicle body side. FIG. 15B is a diagram showing an example in which a pin 99 is provided on the glass G side.

In the example of FIG. 15A, a spacer 43 is provided between the trunk 44 and the rear tray 45.
In such a case, the lower end of the glass G is pressed against the spacer 43, and the glass G is attached to the window frame with the contact point between the lower end of the glass G and the spacer 43 as a fulcrum.

In the example shown in FIG. 14B, the upper end of the glass G is pushed in with the upper end of the glass G aligned with the roof 42 of the window frame.
Keep using. Next, the lower end of glass G is trunk 4
The glass is mounted by pushing it between the rear tray 4 and the rear tray 45.

When there is a pin 99 at the lower end of the glass G, the upper end of the glass G is fixed to the roof 42 with the pin 99, and then the upper end of the glass is pushed in, contrary to FIG. To attach the glass.

The glass G is fixed to the window frame with the adhesive A after being attached to the vehicle body in the procedure described above.

Next, the glass mounting operation according to the above-described embodiment will be described with reference to a flowchart.

FIG. 16, FIG. 17, and FIG. 18 are flowcharts for explaining the overall processing of the glass mounting operation. This flowchart describes a process for attaching glass in the three-switch mode.

When the glass mounting operation is started, the Z-axis 2 of the transport section 1 in the adhesive application step 100 is automatically lowered under the control of the automatic controller 80 (S1). And Z
It is determined whether the Z-axis is lowered from the detection value of the position detection G sensor of the shaft drive unit 200 (S2), and it is determined whether the hand unit 12 has sucked the glass G (S3). As a result of this determination, suction is performed. If so, the descent of the Z axis 2 is stopped (S4). Also, in the determination of step 2, the Z axis 2 does not descend (S2),
If the position of the Z axis 2 does not reach the lower limit (S
13) It is determined that the suction of the glass G cannot be normally performed for some reason, and the suction NG is output (S1).
4) Stop the operation to stop the glass mounting operation.

After the glass G is sucked by the hand unit 12, the automatic controller 80 moves up the Z axis 2 (S5).
During this ascent, it is determined whether or not the hand unit 12 or the glass G held by the hand unit 12 interferes with the adhesive application device (S6), and if so, the Z axis 2 is rotated 90 degrees. (S16) After this rotation is completed (S17)
The Z-axis 2 is moved up again (S7). Then, when the position of the Z axis 2 reaches the upper limit (S8), the hand unit 2 is moved to the space d above the vehicle body (S9).

Thereafter, the automatic control device 80 detects the speed of the vehicle body B flowing on the conveyor C with a relative speed detector, and performs processing so that the transport unit 1 follows the vehicle body B on the belt conveyor (S10). ).

Next, based on the specification data of the vehicle body B transmitted to the automatic control device 80, the specification of the vehicle body B to which the glass G is to be mounted this time is detected, and the glass G is tilted at an angle corresponding to the specification. Then, the α-axis 3 is rotated by the motor 15 (S11). Thereafter, the automatic control device 80 releases the automatic mode for controlling the transport unit 1 (S12).

FIG. 17 is a diagram for explaining the contents of manual control by the control unit 800. After the release of the automatic mode, the operator sets the control of the transport unit 1 to manual control, lowers the Z axis 2 (S18), rotates the γ5 axis (S19), and slides the β axis 4 (S20). The above processing is repeatedly performed at predetermined time intervals until the glass G is seated on the spacer 43. When the glass G is seated on the spacer 43 (S2
1) The operator presses the set switch 39 to attach the glass G to the window frame of the vehicle body B (S22). Thereafter, it is determined whether or not the mounting of the glass G is completed (S23). If the mounting of the glass G is not completed, the setting of the glass G is performed again, and if the mounting of the glass G is completed, the Z axis 2 is raised. (S24), the operation is switched to the automatic mode (S2)
5).

FIG. 18 is a view for explaining a process for retracting the transport unit 1 from the position of the vehicle body B after the glass mounting is completed. After the operation of the transport unit 1 is switched to the automatic mode, the automatic controller 80 moves up the Z axis 2 (S26),
It is determined whether the position of the Z axis 2 has reached the upper limit (S27).
Then, it is determined whether or not the Z-axis 2 has been rotated in the process of step 16 (S28). If the Z-axis 2 has been rotated, the Z-axis 2 is rotated 90 degrees in the opposite direction to return to the initial state (S29).

Next, it is determined whether this rotation has been completed (S3).
0), if completed, move the transport unit 1 to the original position b (S3
1) Then, the process ends.

Next, referring to FIG. 19, a description will be given of a process in the case where glass is mounted in the two-switch mode. Since the processing performed by the automatic control device 80 is the same for the three-mode switch and the two-mode switch, only the manual control processing performed by the control unit 800 is described here.

After the automatic mode is released, the operator moves the transport unit 1
Is set to manual control, and the glass G is lowered while pressing the lowering switch of the Z-axis 2 (S32). Then, the glass G is slid while pressing the slide switch of the β-axis 4 (S33). When the lower end of the glass G reaches just before the spacer, the sliding operation is stopped.

Next, the down switch is further pressed to lower the glass G (S34), and it is determined whether or not the rotation of the β-axis 4 exceeds the set rotation amount based on the load applied to the β-axis (S35). ). If it is determined that the β-axis 4 is overloaded, the brake of the air clamper 70, which is the Y-axis brake, and the motor 15 that rotates the α-axis 3 are released (S36), (S37), β The axis 4 and the γ axis 5 are switched to balance control (S38), (S39).

Then, the operator further moves down switch 37
To move down the Z-axis 2 (S40).
2. It is determined whether the inclination of the glass G held by the hand unit 12 has reached a set angle according to the specification of the vehicle body B set on the α-axis (S42). After the α-axis 3 has reached the set angle, the Z button
The axis 2 rises (S42), and when the height of the Z axis 2 reaches the standby position (S43), the elevation of the Z axis 2 is stopped (S44).

In the present embodiment described above, the glass G can be automatically transferred to the position of the vehicle body B. Therefore, it is possible to reduce the burden on the operator for transporting the glass. Further, it is not necessary for the worker to walk to get the glass, and the work efficiency can be improved by eliminating the walking loss, and thus the productivity of the automobile can be improved.

Further, in this embodiment, the glass G can be attached to the vehicle body B while the glass G is held by the hand unit 12. Therefore, there is no need for the worker to support the weight of the glass when mounting the glass, and the mounting work can be performed by only one worker. Therefore, it is possible to reduce the number of persons required for mounting the glass and increase the production efficiency of the automobile.

Further, in this embodiment, the operation of the glass mounting portion can be immediately stopped by releasing the handle 14. Therefore, it is possible to prevent the occurrence of a mounting failure caused by an erroneous operation, and to more reliably perform the glass mounting operation.

In this embodiment, the glass can be mounted by operating only the Z axis 2 and the β axis 4. Therefore, the glass can be mounted only by operating the two switches, and the glass mounting operation can be simplified.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a glass mounting step using an automotive glass mounting apparatus according to an embodiment of the present invention.

FIG. 2 is another view illustrating a glass attaching step using the automotive glass attaching apparatus according to one embodiment of the present invention.

FIG. 3 is a schematic configuration diagram of the hand unit according to the embodiment of the present invention as viewed from the front of a vehicle body.

4A and 4B are diagrams illustrating a slide mechanism in the hand unit illustrated in FIG. 3; FIGS. 4A and 4B are diagrams illustrating a side surface and a top surface of the slide mechanism, respectively, and FIG. , FIG. 4 (A)
FIG. 4 is a side view as seen from a direction orthogonal to the side surface of FIG.

FIG. 5 is a view for explaining each axial direction of a hand unit shown in FIG. 3;

FIG. 6 is a view for explaining each axial direction of a hand unit shown in FIG. 3;

FIG. 7 is a top view of the operation panel in FIG. 3;

8A is a front view of a switch unit according to an embodiment of the present invention, and FIG. 8B is a view of FIG. 8A as viewed from a direction of an arrow in the figure. .

FIG. 9 is a diagram collectively showing names and operations of switches provided on an operation panel and a hand unit.

FIG. 10 is a block diagram illustrating a configuration for controlling a transport unit.

11A and 11B are diagrams for explaining the glass mounting operation according to an embodiment of the present invention. FIG. 11A shows an operation when glass mounting is performed in a two-switch mode, and FIG.
It is a figure which shows the operation | movement at the time of mounting glass in 3 switch mode, respectively.

FIG. 12 is a diagram illustrating an operation of setting the glass according to the embodiment of the present invention.

FIG. 13 illustrates the specifications of the glass when the glass is attached.

FIG. 14 is a diagram showing a mounting procedure according to the specification of the windshield according to the embodiment of the present invention.

FIG. 15 is a diagram showing a mounting procedure according to the specification of the rear glass according to the embodiment of the present invention.

FIG. 16 is a flowchart illustrating a glass mounting procedure according to an embodiment of the present invention.

FIG. 17 is a flowchart illustrating a glass mounting procedure according to an embodiment of the present invention.

FIG. 18 is a flowchart illustrating a glass mounting procedure according to an embodiment of the present invention.

FIG. 19 is a flowchart illustrating a glass mounting procedure according to an embodiment of the present invention.

FIG. 20 is a view illustrating a conventional automotive glass mounting process.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Conveying part 2 ... Z-axis 3 ... alpha-axis 4 ... beta-axis 5 ... gamma-axis 7 ... Y-axis slide mechanism 8 ... X-axis error absorption part 9 ... Potentiometer 10 ... Hoist 12 ... Hand part 14 ... Handle 15 ... Motor 17 ... Suction pad 18 ... Glass set cylinder 20 ... Ceiling rail 30 ... Operation panel 140 ... Handle touch sensor

[Procedure amendment]

[Submission date] March 11, 1998

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] Fig. 6

[Correction method] Change

[Correction contents]

FIG. 6

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 11

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

[Procedure amendment 4]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 14

[Procedure amendment 5]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

Claims (5)

[Claims] 1. A glass mounting apparatus for mounting glass on a vehicle body conveyed on a production line, wherein a first rail is provided parallel to a conveying direction of the vehicle body, and a second rail orthogonal to the first rail. Is slidably provided on the first rail, and a vertically movable shaft, to which a glass holding means for sucking and holding the glass is attached, is movably mounted on the second rail. A glass mounting device for an automobile, further comprising a transfer control means for controlling the glass holding means, which is moved above, to hold the glass to a position of a vehicle body. 2. The glass holding means comprises: a glass suction unit that sucks glass; and a posture control unit that controls the posture of the glass sucked by the glass suction unit. A first drive axis orthogonal to the elevation axis and parallel to the horizontal direction of the glass surface, a second drive axis orthogonal to the first drive axis within the glass surface, and orthogonal to the glass surface to rotate the glass 3. The glass mounting device for an automobile according to claim 1, further comprising a third drive shaft configured to be provided. 3. The conveyance control means includes an automatic conveyance control means including a control part for automatically conveying the glass holding means to an upper part of the vehicle body, and a control part for attaching the glass held by the glass holding means to the vehicle body. 2. The glass mounting apparatus for an automobile according to claim 1, wherein said manual conveyance control means includes a drive shaft operating means for operating each drive of said glass holding means. 4. The glass holding means has a glass suction unit for sucking glass, and a posture control unit for controlling the posture of the glass sucked by the glass suction unit. A first drive shaft orthogonal to the movable lifting axis and parallel to the horizontal direction of the glass surface; a second drive shaft orthogonal to the first drive shaft in the glass surface;
A third drive shaft for rotating the glass perpendicular to the glass surface, a fourth drive shaft for sliding the glass forward or backward of the vehicle body, the first drive shaft, and the fourth drive shaft And the second drive shaft is provided with a load sensor for detecting a load applied to the second drive shaft, and the transfer control means is configured to move the glass holding means to an upper part of the vehicle body. An automatic conveyance control unit including a control unit for automatically conveying the glass; and a manual conveyance control unit including a control unit for attaching the glass held by the glass holding unit to a vehicle body. The manual conveyance control unit includes the glass holding unit. Drive shaft operating means for operating each drive of the means, wherein the drive shaft operating means is a drive shaft selecting unit for selecting a drive shaft to be operated among the drive shafts provided in the glass holding means. An elevation switch that moves the drive shaft selected by the drive selection unit up and down, and a slide switch that slides the drive axis selected by the drive selection unit in the axial direction. By operating the elevation switch, By operating the slide switch while lowering the glass held by the glass holding means by lowering the elevating shaft, the second drive shaft is driven and slid in the axial direction while the load detected by the load sensor is reduced. The vehicle glass mounting device according to claim 1, wherein when the predetermined value is exceeded, the brakes on the first drive shaft and the fourth drive shaft are automatically released. 5. The glass holding means has a handle provided with a grip detecting means for detecting whether or not the glass is gripped by an operator, and the manual control means is configured to release the handle. 4. The glass mounting apparatus for an automobile according to claim 3, wherein the operation of the glass drive shaft operating means is stopped when the grip detection means detects the condition.