Method and device for mounting an automotive window glass
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B23Q-017/00
B23P-021/00
G05B-015/00
출원번호
UP-0559530
(2004-06-03)
등록번호
US-7818863
(2010-11-15)
우선권정보
JP-2003-158838(2003-06-04)
국제출원번호
PCT/JP2004/008060
(2004-06-03)
§371/§102 date
20060807
(20060807)
국제공개번호
WO04/108509
(2004-12-16)
발명자
/ 주소
Maekawa, Keiichiro
Shimoda, Toshihisa
Kusumegi, Kenji
Murakoshi, Takafumi
출원인 / 주소
Honda Motor Co., Ltd.
대리인 / 주소
Arent Fox LLP
인용정보
피인용 횟수 :
4인용 특허 :
10
초록▼
A window glass can be accurately and preferably mounted by correcting a displacement of a curved surface shape of the window glass in the crosswise direction even when there is a displacement of the curved surface shape of the window glass in the crosswise direction. A slit laser beam is irradiated
A window glass can be accurately and preferably mounted by correcting a displacement of a curved surface shape of the window glass in the crosswise direction even when there is a displacement of the curved surface shape of the window glass in the crosswise direction. A slit laser beam is irradiated with from slit laser beam irradiators 12c and 12d across the right and left ends of the window glass 6, the circumference of a window glass mounting opening 8, and a windshield pillar section 11; rotation adjustment of the window glass 6 is performed, based on a processed image obtained by image processing of images, which have been photographed with a CCD cameras 10c and 10d, of the slit laser beams, in such a way that clearances in the pressing direction at the right and left ends of the window glass 6 are the same as each other; and the window glass 6 is pressed onto a window glass mounting surface on the circumference of the window glass mounting opening 8 for mounting onto the surface.
대표청구항▼
The invention claimed is: 1. A method for mounting an automotive window glass by which a window glass, which is held by a window glass holding member provided at a free end of an altitude-adjustable robot arm, and which is at least curved in a crosswise direction corresponding to a width direction
The invention claimed is: 1. A method for mounting an automotive window glass by which a window glass, which is held by a window glass holding member provided at a free end of an altitude-adjustable robot arm, and which is at least curved in a crosswise direction corresponding to a width direction of a body of an automobile, is positioned on a window glass mounting opening provided on the automobile body, and is mounted onto a window glass mounting surface on a circumference of the window glass mounting opening, comprising the steps of: moving the window glass to a position located above the window glass mounting opening according to a mounting position on the window glass mounting surface by driving and controlling the robot arm; irradiating right and left ends of the window glass approximately at a same position as each other at least in the crosswise direction of the window glass with at least one slit laser beam irradiated downward from an upward position at an angle with regard to a perpendicular direction relative to a surface of the window glass held by the window glass holding member across the right and the left ends of the window glass, the window glass mounting surface and a surface of the automobile body at a position which is higher than that of the window glass mounting surface outside the window glass mounting surface; photographing bent laser beams, which are formed, using the at least one slit laser beam irradiated across the right and left ends of the window glass, the window glass mounting surface and the surface of the automobile body, the bent laser beams being formed by clearances in the perpendicular direction relative to the surface of the window glass, the clearances being located between the automobile body and the window glass; calculating, at least, a difference between the clearances, in the perpendicular direction relative to the surface of the window glass, between the right and left ends of the window glass and the surface of the automobile body based on a predetermined processed image generated by image processing of photographed images of the laser beams, and calculating a rotation amount in a rotation direction around the perpendicular direction relative to the surface of the window glass, wherein the rotation amount is required to be adjusted in such a way that the calculated difference between the clearances becomes zero; rotation adjusting the window glass held by the window glass holding member by driving and controlling the robot arm according to the calculated rotation amount; and mounting the window glass, which has been rotation adjusted, onto the window glass mounting surface by pressing the window glass onto the window glass mounting surface in the perpendicular direction to the surface of the window glass. 2. The method for mounting an automotive window glass according to claim 1, comprising a further step of mounting the window glass onto the window glass mounting surface by calculating a moving distance, which is in a pressing direction of the window glass, and is required for pressing the right and left ends of the window glass onto the window glass mounting surface at corresponding mounting positions, using the clearances in the perpendicular direction relative to the window glass between the right and left ends of the window glass and the surface of the automobile body, which have been calculated, and moving the window glass by driving and controlling the robot arm, based on the calculated moving distance, and pressing the window glass in the perpendicular direction relative to the surface of the window glass onto the window glass mounting surface at the corresponding mounting positions. 3. A device for mounting an automotive window glass by which a window glass, which is held at a free end of an altitude-adjustable robot arm, and which is at least curved in a crosswise direction corresponding to a width direction of a body of an automobile, is positioned on a window glass mounting opening provided on the automobile body, and is mounted onto a window glass mounting surface on a circumference of the window glass mounting opening, comprising: a robot control unit for moving the window glass to a position located above the window glass mounting opening according to a mounting position on the window glass mounting surface by driving and controlling the robot arm; a pair of slit laser beam irradiating units for irradiating right and left ends of the window glass approximately at a same position as each other at least in the crosswise direction of the window glass with at least one slit laser beam irradiated downward from an upward position at an angle with regard to a perpendicular direction relative to a surface of the window glass held by the window glass holding member across the right and the left ends of the window glass, the window glass mounting surface and a surface of the automobile body at a position which is higher than that of the window glass mounting surface outside the window glass mounting surface; a pair of photographing units for photographing bent laser beams, which are formed, using the at least one slit laser beam irradiated across the right and left ends of the window glass, the window glass mounting surface and the surface of the body, the beams being formed by clearances in the perpendicular direction relative to the surface of the window glass, the clearances being located between the automobile body and the window glass; an image processing unit for generating a predetermined processed image by image processing of images of the bent laser beams, which have been photographed by the photographing unit; a calculating unit for calculating, at least, a difference between the clearances, in the perpendicular direction relative to the surface of the window glass, between the right and left ends of the window glass and the surface of the automobile body based on the processed image generated by the image processing unit, and for calculating a rotation amount in a rotation direction around the perpendicular direction relative to the surface of the window glass, wherein the rotation amount is required to be adjusted in such a way that a calculated difference between the clearances becomes zero; wherein rotation adjustment of the window glass held by the window glass holding member is performed by driving and controlling the robot arm according to the calculated rotation amount, and the window glass, which has been rotation adjusted, is mounted onto the window glass mounting surface by pressing the window glass in the perpendicular direction relative to the surface of the window glass onto the window glass mounting surface. 4. The device for mounting an automotive window glass according to claim 3, wherein the window glass is mounted onto the window glass mounting surface by calculating a moving distance, which is in a pressing direction of the window glass, and is required for pressing of the right and left ends of the window glass onto the window glass mounting surface at corresponding mounting positions, using the clearances in the perpendicular direction relative to the window glass between the right and left ends of the window glass and the surface of the automobile body, which have been calculated by the calculating unit, and the window glass is moved by driving the robot arm under control of the robot control unit, based on the calculated moving distance and is pressed in the perpendicular direction relative to the surface of the window glass onto the window glass mounting surface at the corresponding mounting positions.
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