JP4058380B2 - Positioning device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a positioning apparatus for workpieces such as automobile body parts and building materials.
[0002]
[Prior art]
A lot of automatic process work by a robot is performed on a window glass to be attached to a vehicle body during line conveyance. And in order to make this automatic process work surely perform as expected, a positioning device that positions glass at the time of delivery to a robot is known. As this kind of positioning device, for example, the one shown in Patent Document 1 is substantially isosceles trapezoidal shape by a four-point positioning means including two points that can be operated synchronously before performing adhesive application and body mounting work by a robot. The glass is positioned by regulating both the upper and lower oblique sides of the glass.
[0003]
[Patent Document 1]
JP-A-8-337310 (page 3, FIG. 1)
[0004]
[Problems to be solved by the invention]
Since the conventional example uses a cylinder as a drive source for synchronous operation so that the glass can be positioned and fixed even if the glass is heavy, it is necessary to mount ancillary equipment for the cylinder. That is, a cylinder driving power source, air pressure (in the case of an air cylinder), hydraulic pressure (in the case of a hydraulic cylinder), and the like are required, resulting in a large number of device configurations.
[0005]
Further, since the positioning means places are not arranged corresponding to all the sides of the glass, there remains anxiety in terms of certainty of positioning and fixing.
[0006]
In view of the above problems, the present invention provides a positioning device that can suppress the complication of the device configuration and can perform reliable positioning and fixing when positioning and fixing a substantially isosceles trapezoidal workpiece such as an automotive front and rear window glass. The issue is to provide.
[0007]
[Means for Solving the Problems]
  In order to solve the above-described problems, the present invention provides a short bottom side portion sandwiching this corner portion at each corner portion located on the short bottom side of the trapezoid when configuring a device for positioning with respect to a substantially isosceles trapezoidal workpiece. A centering consisting of two sets of integral arrangements, in which a pair of abutting members that abut against the workpiece at each of the slanted side and the oblique side are provided as an integral structure that rotates coaxially, and are arranged at symmetrical positions corresponding to both corners of the trapezoid. The mechanism, a link mechanism that connects the two integrated configurations and synchronously operates in a symmetric direction with each other, and a substantially center on the long bottom side of the workpiece that is positioned by the synchronous operation of the link mechanism, With a locking mechanism that presses and fixes from the outsideThe abutting member is supported by a bracket, and the link mechanism includes a first link whose central part is rotatably supported by two central parts of an integrated structure, and one end part that rotates at both end parts of the first link. A second link and a third link that are movably connected and whose other end is pivotally connected between a pair of abutting members of the bracket, and by rotating the first link, The second link and the third link move in a direction toward or away from each other to perform a synchronous operation.It was configured as follows.
[0008]
According to this, the centering mechanism allows the pair of abutment members of the integral configuration to be gripped by sandwiching each corner of the portion corresponding to the short bottom side of the substantially isosceles trapezoidal workpiece to be carried in a state where the pair of contact members can freely rotate. Take it by. Furthermore, since these integrated components are synchronously operated in a symmetrical direction by the link mechanism, even if the gripping position of the abutting member is slightly deviated from the left / right symmetrical position at each corner, the symmetrical position is increased as the work is transported. The grip is corrected. Then, with the lock mechanism, the approximate center on the long bottom side of the workpiece thus positioned is pressed and fixed from the outside in the direction of the symmetrical axis of the left-right symmetric position to complete the positioning. At this time, by the contact member, a total of 5 points are arranged on all sides of the short base side corresponding part of the substantially isosceles trapezoidal workpiece, the two points of the oblique side equivalent part, and the long base side. Since positioning is performed, fixing by this is ensured. In addition, since all of these mechanisms use mechanical elements in principle, the apparatus configuration is simplified.
[0009]
  In addition, a plurality of support members for supporting the workpiece from below are provided inside each of the centering mechanism, the link mechanism, and the lock mechanism, and at least a part of each support member is formed of a roller that can rotate in a symmetric axis direction.Can be configured. In addition, a work transporting carriage unit that transports the work to the centering mechanism, the link mechanism, and the lock mechanism is provided, and the work transporting carriage unit includes a worker gripping part, and the work gripping part supports the work from below. A roller that can rotate in the direction of the axis of symmetry can also be provided.
[0010]
As described above, by using a multipoint contact method by the support member instead of the surface contact method with respect to the workpiece, the degree of freedom of the workpiece when the centering mechanism and the link mechanism are operated is ensured, and a reliable positioning operation can be performed. . Moreover, since the workpiece | work is carried in from both fronts as mentioned above between both integrated structures, workpiece | work conveyance can be made easy by providing the rotating roller which rotates in this conveyance direction. The installation location of the rotating roller is not limited to the inside of each mechanism of the ring mechanism, the link mechanism, and the lock mechanism, but may be the gripping part for the worker of the work conveyance carriage part on the outside.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
FIG.1 and FIG.2 is the schematic top view and schematic front view of the apparatus 1 which carry in / out a window glass with respect to a coating station. As shown in these figures, a rectangular parallelepiped frame 2 is installed on a floor surface via a traveling wheel 3 of a pipe 2a on the lower surface side to constitute a carriage 6 with a grip handle 5. Further, on the upper surface pipe 2b side of the frame 2, it is connected to the table 7 via a central shaft 4 that can be moved up and down and rotated. Since the central shaft 4 can move up and down and rotate, the table 7 is kept floating on the carriage 6.
[0012]
A detailed mechanism for realizing the floating state in this way is shown in FIGS. In FIG. 1, the table 7 is fixed at the upper end portion of the central shaft 4, and the stay 8 is extended and attached along the inner edge of the upper surface side pipe 2 b of the frame 2. On the stay 8 that goes inward of the upper surface side pipe 2b, a longitudinal plate 9 is further installed to fix the jig. The roller support ring 10 is fixed via the longitudinal plate 9, and the upper end of the roller 11 in the ring 10 can be received by contacting the lower surface of the table 7.
[0013]
When the central shaft 4 is fitted into the central hole 13 of the plate 12 constituting the outer peripheral portion in the state of being integrally formed with the table 7 as described above, the central shaft 4 is provided on the lower surface of the plate 12 as shown in FIG. The bearing mechanism 14a and the spring mechanism 14b thus made can move up and down and rotate. That is, the table 7 fixed to the upper end portion of the central shaft 4 is placed on the carriage 6 so as to float freely while being seated on the roller 11.
[0014]
On the other hand, as shown in FIGS. 1 and 2, a lock bush 15 that can advance and retract in the vertical direction is provided outside the upper surface side pipe 2 b of the frame 2. The lock bush 15 has a known cylinder structure, and the rod tip 15b penetrating through the bush 15 is advanced and retracted by the vertical movement of the knob 15a at the lower end thereof, and the inside of the reinforcing plate 7a provided at the position directly above the rod of the table 7 It is possible to appear on the table 7 through the opening hole (not shown). That is, the table 7 that was free to float when the rod 15b was stored pushed up the knob 15a, and the rod tip 15b penetrated the table 7, so that the state of being rotatable about the central axis 4 was cut off. It is restricted only to floating in the vertical direction.
[0015]
The L-shaped notch 15c of the bush 15 guides the guide portion 15d integrally formed with the knob 15a and the rod tip 15b, and the guide portion 15d is positioned at the uppermost end of the notch 15c as shown in the figure. In this case, the rod tip 15b urged in the extending direction by a spring (not shown) in the lock bush 15 penetrates the table 7 and protrudes to the upper surface thereof. On the other hand, when the guide portion 15d is lowered along the notch 15c while resisting the spring bias, the rod tip 15b is retracted toward the lower surface of the table 7 and stored in the bush 15 at the lowermost position. Further, by moving the guide portion 15d as it is to the rightmost position of the notch 15c, the stored state of the rod tip 15b is fixed.
[0016]
Further, a plurality of side rollers 16 are provided at predetermined intervals on the outside of the lower surface side pipe 2a of the carriage 6, and a plurality of drum-shaped rollers 17 are provided at predetermined intervals on the outer edge of the table 7. As will be described later, it is used for guiding to the coating station side.
[0017]
Next, the positioning device mechanism of the present invention for positioning and fixing the substantially isosceles trapezoidal window glass 18 on the table 7 will be described with reference to FIG.
[0018]
Referring to FIG. 4, in a substantially isosceles trapezoidal shape corresponding to the front or rear window glass 18, among corner portions 20 and 21 located on the short bottom side 19 side, for example, corner portion 20 has a short bottom side portion sandwiching the corner portion 20 and 21. Nylon first abutting members 23 and 24 abutting against the glass 18 at 19 and the hypotenuse 22a are connected via a common bracket 25 and around the rotary shaft 26 equidistant from them. It is configured integrally so as to be able to rotate coaxially (the second contact members 27 and 28 at symmetrical positions have the same configuration). Further, from the vicinity of the rotating shaft 26 of the bracket 25, an extending portion 25a orthogonal to the connecting direction of the first contact members 23, 24 is extended, and a support rod 29a for supporting the lower surface of the glass 18 is provided at the tip thereof. Established. Thereby, the 1st contact members 23 and 24 and the support rod 29a become an integral structure.
[0019]
Similarly, the second contact members 27 and 28 and the support rod 29b are integrally formed through a common bracket 30 so as to be coaxially rotatable around the rotation shaft 31 even at the symmetrical position on the corner 21 side. It is done. That is, the integrated configuration A composed of the first contact members 23 and 24 and the support rod 29a and the integrated configuration B composed of the second contact members 27 and 28 and the support rod 29b are arranged at the left and right symmetrical positions, whereby the centering mechanism is Composed.
[0020]
In order for the window glass 18 conveyed from the lower side of the sheet of FIG. 4 to be normally symmetrically arranged by this centering mechanism, the above-described integral configuration A and B causes an angle deviation within a certain range of the conveyance glass 18. Needs to be fixed. That is, the ideal transport direction of the glass 18 is such that the direction of movement of its center of gravity coincides with the center line 32 perpendicular to the connecting line of the rotating shafts 26 and 31. It is inevitable that a slightly deviated angle is generated.
[0021]
In order to enable accurate centering even in such a state, the integrated structures A and B are connected by a link mechanism so that they can operate synchronously. This link mechanism is symmetrically disposed in the vicinity of both ends of the first link 34 and a first link 34 that is rotatable about a rotation shaft 33 provided on the symmetry axis 32 of the integrated structures A and B as a central position. The second and third links 37a and 37b are respectively supported by vertical shafts 35 and 36. At this time, the second link 37a and the third link 37b have shafts 38 and 39 on the opposite sides of the shafts 35 and 36, respectively, while the brackets 25 and 30 are integrally formed with the rotary shafts 26 and 31, respectively. Small brackets 40 and 41 fixed to each other are provided. At this time, the extending directions of the small brackets 40 and 41 are line-symmetrically arranged with the center line 32 as the axis of symmetry, as shown in FIG. The end portions of the small brackets 40 and 41 are pivotally supported on the shafts 38 and 39 of the second link 37a or the third link 37b.
[0022]
When this link mechanism is used, the fixed rotary shaft 26 and the fixed rotary shafts 33 and 31 can operate synchronously as reverse rotational movements via the first link 34 and the second link 37a or the third link 37b, respectively. it can. That is, in each of the integrated configurations A and B, the rotation operation in the opposite direction is performed. However, since the configurations A and B are arranged in line-symmetric positions facing each other, the relative motion with respect to the symmetry axis 32 is When the configuration approaches the parallel direction with respect to the symmetry axis 32, the other configuration also performs a synchronous operation in the symmetrical direction so as to approach the parallel direction. Such a synchronous operation is effective in correcting the transport direction with a slight angle shift. For example, when the glass 18 tilted so that the corner 20 is advanced and the corner 21 is delayed is transported to the first abutting members 23 and 24 of the integrated configuration A at the upper left position of the drawing from the expected position. And the corner 21 abuts against the integrated configuration B (second abutment members 27 and 28) at the lower left position of the drawing. However, in this case as well, the glass 18 conveyed asymmetrically in the left-right direction is caused by the integrated structures A and B that both tilt in the direction orthogonal to the symmetry axis 32 via the first link 34 that rotates clockwise. The two corners 20 and 21 of the glass 18 are gradually fed out to positions where they are arranged symmetrically with respect to the symmetry axis 32. That is, the glass 18 is finally arranged symmetrically.
[0023]
The glass 18 centered as described above is positioned and fixed at the short bottom side 19 and the two oblique sides 22a and 22b, but the long bottom side 42 remains open. Therefore, a slide guide 43 is provided along the central axis 32, and the pressing member 45 that is slidable on the guide 43 is slid in the direction of the glass 18, and finally the long side portion 42 of the glass 18 is pressed from the outside. To complete positioning and fixing. After the fixing is completed, the toggle clamp 46 blocks the sliding of the pressing member 45 and locks it.
[0024]
FIG. 5 is a schematic sectional view showing details of the toggle clamp 46. The side end portion 43 a of the slide 43 is pressed by the tip end portion 47 a of the press 47, and the sliding in the slide 43 is cut off. That is, the front end shaft of the lever 48 and the upper shaft of the press 47 are coaxial (48a), and the rear end shaft 48b of the lever 48 and the right shaft 49a of the base 49 are linked. In this state, when the lever 48 is set to the upper position, the tip shaft 48a is moved and fitted between the right shaft 49a and the left shaft 49b of the pedestal 49, and with this movement, a press coaxial with the tip shaft 48a. 47 The upper shaft rotates around the lower shaft 49b, and the press tip 47a is released. When the lever 48 is lowered, the press front end portion 47a presses the side end portion 43a, contrary to the above. Since such a toggle press is reliable as a locking mechanism at the time of positioning, the positioning and fixing described above is highly reliable.
[0025]
By the way, since the glass 18 is a heavy front or rear window, when the glass 18 is conveyed from the lower side of the sheet of FIG. 4, the glass 18 reaches the first and second contact members 23, 24, 27, and 28. With supplementary support, transport is smooth. Therefore, a pair of rollers 50a and 50b that can rotate in the direction of the axis of symmetry 32 is provided on the table 7 of FIG. Further, in FIGS. 1 and 2, a roller 51 that is rotatable in the same direction as the rollers 50 a and 50 b is also provided on the handle 5 that is positioned on the way of conveyance. Both rollers effectively reduce the weight load during conveyance.
[0026]
Further, a gripping jig H attached with a plurality of suction pads 52a to 52d is attached in the left-right direction of the table 7 in FIG. The jig H formed for the operator's manual work is configured integrally with the suction pad via a pipe 52p connecting the suction pads 52a to 52d. That is, when the suction operation is performed by the negative pressure generator 52, the glass 18 is evenly sucked at multiple points. Therefore, if both the left and right jigs H are used, an operator when mounting the vehicle body lifts the glass 18 or the like. It becomes easy to perform the work. Further, the glass 18 in the adsorbed state also has an advantage that positioning and fixing can be maintained even in a vibration environment in the vertical direction during transportation.
[0027]
6 to 9 show the loading / unloading apparatus provided on the coating station side for receiving and receiving the carriage 6 transported in a state where the table 7 on which the window glass 18 is mounted is placed. Show.
[0028]
FIG. 6 is a schematic top view showing an apparatus configuration for auxiliaryly fixing the carriage 6 to be conveyed. When the window glass 18 is carried in, it is ideal that the carriage 6 is moved straight with the coating robot 54 mounted above the coating station 53 facing the front. It may be difficult to continue straight at an angle. In addition, when there is a restriction on the space at the site, there may be a case where it is not possible to sufficiently secure the floor surface corresponding to the trajectory due to straight travel. For this reason, a pair of cart guide rails 55 and 56 that can respectively guide the side rollers 16 of the cart 6 are arranged in the carry-in / out port 53a so as to extend in the transport direction. And each of the inner side surfaces 55a and 56a which the guide rails 55 and 56 mutually oppose is made into the shape opened so-called C shape so that the front-end | tip parts may become the largest wide space | interval. As a result, even if the carriage 6 is slightly displaced in the left-right direction with respect to the coating station 53 or is carried in at an angle within a certain range from an oblique direction, the carriage 6 is guided as the carriage 6 moves forward. Due to the gradually narrowing interval between the rails 55, 56, it is corrected in the traveling direction facing the front as expected, and comes into contact with the rough lock mechanism 57 for the carriage of the coating station 53 at the normal position.
[0029]
FIG. 7 is an enlarged view showing an apparatus configuration for a truck rough lock provided in each of the coating station 53 and the carriage 6.
[0030]
A shaft support portion 60 provided with a rotating shaft 59 mounted in the front and back direction of the paper surface is connected to a bearing portion 58 provided below the coating station 53 (not shown). An engagement hook 62 formed with a shaft is attached to be pivotable around the shaft 59. An air cylinder 66 is mounted on the shaft support portion 60 via a coupling portion 63 and a bracket 65 having a piston rod 64 advance / retreat hole. A stopper 67 for the anti-cart 6 is suspended from the lowermost end on the station 53 side.
[0031]
On the other hand, the lock pole 68 is erected on the lower surface side pipe 2a to which the traveling wheel 3 is attached at the head portion of the carriage 6 that is carried in oppositely. The upper end portion 68 a of the lock pole 68 is engaged by the recess 61 of the engagement hook 62, and the carriage 6 can move forward and backward in the left-right direction on the paper surface by raising and lowering the engagement hook 62.
[0032]
That is, when the carriage 6 is carried in, the engagement hook 62 rotates around the rotation shaft 59 immediately after the upper end portion 68a of the lock pole 68 and the tip inclined portion 62a of the engagement hook 62 come into contact with and contact with each other. Then, the inclined part 62a rises. After that, when the lock pole 68 reaches the recess 61 of the engagement hook, the engagement hook 62 is lowered by its own weight and the spring bias of the spring 69, and at this time, the upper end portion 68a of the lock pole 68 is engaged. Engaged by the recess 61 of the hook 62, a rough lock state is established.
[0033]
On the other hand, when the carriage 6 is retracted, the piston rod 64 of the air cylinder 66 is extended in the above-described rough lock state, and the engaging hook 62 is rotated about the rotation shaft 59 to raise the inclined portion 62a. As a result, the rough lock state is released, and the carriage 6 can be moved backward.
[0034]
The engagement between the carriage 6 and the coating station 53 is a rough lock system at the front stage of full-scale fixing for coating work at the coating station 53. By interposing such a rough lock process, the precision fixing to the table 7 conveyed in a floating state on the carriage 6 can be stably performed.
[0035]
FIG. 8 is a schematic side view showing a relative position between the coating station 53 and the carriage 6 immediately after the positioning and fixing of the rough lock and the glass 18 are completed. Although the rough lock system portion is not illustrated by the guide rail 56, the carriage 6 conveyed from the right side of the page is guided to the guide rail 56 for the carriage, and is engaged by the rough lock system at the head portion. On the other hand, details of precision fixing performed when the cart 6 is carried in are as follows.
[0036]
When the carriage 6 is transported, the table 7 on which the glass 18 positioned and fixed in FIG. 4 is also carried into the coating station 53 at the same time, but until reaching the carry-in / out entrance of the station 53, the table 7 on the carriage 6 side is It remains floating. On the other hand, a pair of rails 70 and 71 are arranged extending in the carriage conveying direction on the carry-in / out entrance side of the coating station 53. (See FIG. 2 and FIG. 6.) At least one of the rails (the rail 70 in FIG. 2) is formed in a diamond shape in cross section, and the top surface of the pointed shape is correspondingly extended. This is assumed to be fitted with a plurality of drum-shaped rollers 17 provided on the outer edge of the table 7, and the table 7 is moved on the intended conveyance path of the coating station 53 by the rail 70 and the roller 17. It is conveyed accurately. By the way, as shown in FIG. 8, both the rails 70 and 71 are extended in the horizontal direction on the rear end portions 70a and 71a side on the loading direction side and then inclined downward in the carrying-out direction on the front end portions 70b and 71b side. Yes, and its tip extends to a vertical position that reaches the table 7 in a free-floating state.
[0037]
For this reason, when the table 7 in the floating state is guided to the back of the station 53 through the rails 70b and 71b inclined downward to the vertical position of the table 7, the lift position can be regulated. That is, when the loading into the station 53 is completed, the table 7 in the horizontal state on the horizontal extending portions 70a and 71a is positioned in the vertical direction above before contacting the rails 70 and 71. . Regarding the shape of the rail cross section, both the rails 70 and 71 may be formed into a rhombus, but when the design accuracy associated with the rail standing is not strict, it is not necessary to make the cross section of one of the rails into a rhombus. In the case of the present embodiment, correspondingly, only the rail 70 and the table roller 17 corresponding thereto are formed in a diamond shape and a drum shape, respectively. (See Figure 2.)
[0038]
Since the table 7 on the carriage 6 and the window glass 18 immediately above are fixed in the vertical direction and the horizontal direction by the steps so far, the entire fixing is ensured by fixing in the front-rear direction.
[0039]
For fixing in the front-rear direction, referring to FIG. 8, a machine base 72 protruding forward is provided on the coating station 53 side, and a fixing mechanism 74 for fixing the leading portion 73 of the table 7 is provided on the upper surface thereof.
[0040]
Details of the table head portion 73 and the station attachment fixing mechanism 74 are shown in the top view of FIG. A fixing bracket 75 is erected at the front center portion of the table 7 (see FIG. 8), and a pair of receivers 76 and 77 are provided at the left and right separated positions. Air dampers 78 and 79 are respectively opposed to the machine base 72 side corresponding to the receivers 76 and 77, and the piston rods 82 and 83 are extended to the receivers 76 and 77 via the brackets 80 and 81 of the dampers 78 and 79, respectively. The When the table 7 is carried by the carriage 6 and reaches the station 53, the piston rods 82 and 83 come into contact with the receivers 76 and 77, respectively. It becomes an impact mitigation mechanism between the bracket 75 and the block bracket 84 of the machine base 72 placed against the bracket 75.
[0041]
Then, the carriage 75 side bracket 75 brought into contact with the station 53 side bracket 84 is fixed by the stopper 86 provided at the corner of the elbow 85 provided on the machine base 72. Both ends of the elbow 85 are pivotally supported by the fixed rotation shaft 87 at one end in the extending direction via the stopper 86 and are connected to the piston rod 89 of the air cylinder 88 at the other end on the opposite side. The air cylinder 88 is provided so as to be rotatable around a fixed rotation shaft 90.
[0042]
That is, when the piston rod 89 shown by the solid line in FIG. 9 is extended, the elbow 85 and the air cylinder 88 are rotated counterclockwise around the rotation shafts 87 and 90, respectively, and accordingly, the stopper 86 and the station side bracket 84 are rotated. The carriage-side bracket 75 is fixed between the table 7 and the table 7 and the application station 53 in the front-rear direction. On the other hand, when the piston rod 89 is retracted, as shown by the phantom line in FIG. 9, a clockwise rotation opposite to the above occurs, and accordingly, the carriage-side bracket 75 is fixed by the stopper 86. Canceled. That is, the carriage 6 can be retracted.
[0043]
As described above, the carriage 6, the table 7, and the window glass 18 positioned on the table 7 are fixed by the loading / unloading device mounted on the coating station 53 side. That is, the carriage 6 is guided to the carriage guide rails 55 and 56, and the carriage 6 is roughly locked to the coating station 53 side. The rails 70 and 71 fix the table 7 to the coating station 53 in the vertical and horizontal directions, and The table 7 is fixed in the front-rear direction by the fixing mechanism 74.
[0044]
FIG. 10 shows the carriage 6, the table 7, and the glass 18 that are brought into and fixed in the coating station 53 in this way. The coating robot 54 mounted on the coating station 53 swings and expands and contracts based on predetermined teaching data to the window glass 18 fixed in the positioning state, and a desired bead-shaped bond is made from the coating nozzle 91. The agent coating process is performed.
[0045]
When attaching the glass 18 using the apparatus shown in FIG. 1 to FIG. 10, first, with respect to the table 7 on the carriage 6 in which the floating of rotational movement is suppressed by the lock bush 15 (see FIG. 2), The window glass 18 is positioned and fixed using the first and second contact members 23, 24 and 27, 28 and the pressing member 45 shown in FIG. Prior to the mounting of the glass 18, as described above, the glass 51 is supported and conveyed by the roller 51 of the handle 5 and the movable rollers 50a and 50b on the table 7 as shown in FIG. The glass 18 is conveyed so that the bottom 19 side is at the top. Accordingly, in FIG. 4, even when the glass 18 tilted so that the corner portion 20 is advanced and the corner portion 21 is delayed, the symmetry axis 32 is connected via the first link 34 rotated clockwise. As described above, both the corners 20 and 21 are finally centered symmetrically by the two configurations A and B that perform the symmetrical tilt approaching the orthogonal direction symmetrically. In this state, the toggle clamp 46 blocks and locks the sliding of the pressing member 45 to prepare for the pretreatment process.
[0046]
And the pre-process of an adhesive agent coating process is performed with respect to the glass 18 of the state mounted in the trolley | bogie 6. FIG. Since the adhesive application process is performed by continuous automatic application using the robot 54 in the application station 53, correction during a series of application cycles is difficult. For this reason, it is necessary to complete pretreatments such as degreasing and primer treatment in a complete state before the start of the coating cycle. For this reason, in a state where the positioning is fixed as described above, the operator performs degreasing cleaning on the application target part over the entire circumference of the glass 18, and subsequently, the adhesive primer is applied to the degreasing part. Do. Since this pre-processing does not require the accuracy as much as the adhesive application process, it may depend on the hand of the operator, and the table 7 is set with a sufficient width to surround the entire circumference of the glass 18, Glass accidents due to carelessness of workers are unlikely to occur.
[0047]
Then, the carriage 6 on which the pretreated glass 18 is mounted is conveyed to the coating station 53. The conveying method at this time may be manual, or may depend on a mechanical drive using a pulling rope or a pushing conveyor.
[0048]
Then, the adhesive is automatically applied in a predetermined application cycle by the station-mounted robot 54 with respect to the glass 18 in a state where the carriage is loaded and fixed by the loading / unloading device on the cart 6 side and the coating station 53 side shown in FIGS. Apply.
[0049]
Further, the carriage 6 on which the glass 18 coated with the adhesive is mounted is unfixed by the carry-in / out device shown in FIGS. 6 to 10, and the carriage 6 is moved to the body transportation line (not shown) to be attached. Transport. As in the case of the above transport, the transport method at this time may be manual, or may depend on a mechanical drive using a pulling rope, a pushing transporter, or the like.
[0050]
When the glass is finally attached, the burden of handling the glass 18 is reduced by using the suction by the suction pads 52a to 52d shown in FIG. In other words, the carriage 6 is transported to the vicinity of the transport line (not shown), and the operator holds the jig H in a state where the glass 18 is sucked by the suction pads 52a to 52d, and the glass 18 is attached to the vehicle body of the transport line as it is. . With such an attachment method, the weight load on the worker is considerably reduced.
[0051]
In the present embodiment, the front or rear window glass for automobiles is used as the substantially isosceles trapezoidal workpiece. However, the present invention is not limited to this, for example, glass for building materials having the same shape. It is good as a target.
[0052]
【The invention's effect】
As will be apparent from the above description, the positioning device of the present invention includes a centering mechanism in which two sets of integral configurations of a pair of contact members are arranged, a link mechanism that synchronizes the integrated configurations, and the like. The substantially isosceles trapezoidal workpiece is positioned by the lock mechanism that fixes the realized symmetrical arrangement state. At this time, positioning is performed by a total of five points arranged on the entire side of the substantially isosceles trapezoidal workpiece, so that fixing by this is sure. In addition, since all of these mechanisms use mechanical elements in principle, the apparatus configuration is simplified.
[Brief description of the drawings]
FIG. 1 is a schematic top view of a glass carry-in / out carriage.
[Fig. 2] Schematic front view of the glass loading / unloading cart
FIG. 3 is an enlarged sectional view of the central axis.
FIG. 4 is a top view showing a glass positioning and fixing mechanism.
FIG. 5 is an enlarged sectional view of a toggle clamp.
FIG. 6 is a schematic top view of the configuration of an auxiliary fixing device for a cart.
FIG. 7 is an enlarged sectional view of a rough lock device for a carriage.
FIG. 8 is a schematic side view showing a relative position between a coating station and a carriage.
FIG. 9 is an enlarged top view of the table fixing mechanism.
FIG. 10 is a schematic front view showing a carriage carried in and fixed in a coating station.
[Explanation of symbols]
18 Window glass (substantially isosceles trapezoidal workpiece)
19 Short base
20 21 corner
22a 22b hypotenuse
23 24 First contact member
27 28 Second contact member
29a 29b Support member
32 Axis of symmetry
34 First link
37a Second link
37b 3rd link
42 Long bottom
45 Pressing member
46 Toggle clamp
50a 50b 51 Movable roller

Claims (3)

In the apparatus for positioning with respect to the substantially isosceles trapezoidal workpiece, a pair of the corners located on the short bottom side of the trapezoid and in contact with the workpiece at each of the short bottom portion and the oblique side portion sandwiching the corner portion The two abutting members are coaxially pivoted together, and the two centering mechanisms are connected to the two centering mechanisms respectively disposed at symmetrical positions corresponding to the corners of the trapezoid. And a link mechanism that operates synchronously in a symmetric direction with each other, and an approximate center on the long bottom side of the workpiece that is positioned by the synchronous operation of the link mechanism is pressed outward in the direction of the symmetrical axis of the left-right symmetric position. and a lock mechanism for fixing Te, the abutment member is supported by a bracket, the link mechanism includes a first link central portion is rotatably supported at the center portion of the two sets of unitary construction, one A second link and a third link that are pivotally connected at both ends of the first link and whose other end is pivotally connected between the pair of contact members of the bracket; And the second link and the third link move in a direction toward or away from each other to rotate the first link and perform the synchronization operation .   A plurality of support members for supporting the workpiece from below are provided inside each of the centering mechanism, the link mechanism, and the lock mechanism, and at least a part of each support member includes a roller that can rotate in the direction of the symmetry axis. The positioning device according to claim 1. The centering mechanism, the link mechanism, and the lock mechanism are provided with a workpiece conveying carriage unit, and the workpiece conveying carriage unit is provided with an operator gripping unit, and the workpiece is held by the worker holding unit from below. The positioning device according to claim 1, further comprising a roller that is rotatable in the direction of the axis of symmetry to be supported.

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