JP4383319B2 - Flexible member mounting method and mounting apparatus - Google Patents

Flexible member mounting method and mounting apparatus Download PDF

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JP4383319B2
JP4383319B2 JP2004321243A JP2004321243A JP4383319B2 JP 4383319 B2 JP4383319 B2 JP 4383319B2 JP 2004321243 A JP2004321243 A JP 2004321243A JP 2004321243 A JP2004321243 A JP 2004321243A JP 4383319 B2 JP4383319 B2 JP 4383319B2
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roller
speed
pressing
flexible member
weather strip
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JP2006131057A (en
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彩絵子 小松
俊之 近藤
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Honda Motor Co Ltd
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Description

本発明は、軟性部材取付方法及び同取付装置の改良に関するものである。   The present invention relates to an improvement of a flexible member attachment method and the attachment device.

従来の軟性部材取付装置及び軟性部材取付方法として、ロボットを用いて車両のドア等の開口に軟性部材としての隙間ふさぎを設置するものが知られている(例えば、特許文献1参照。)。
特公平5−65298号公報
As a conventional flexible member mounting apparatus and a flexible member mounting method, there is known a device that uses a robot to install a gap gap as a flexible member in an opening of a vehicle door or the like (see, for example, Patent Document 1).
Japanese Patent Publication No. 5-65298

特許文献1のFig.6を以下の図10で説明する。なお、符号については振り直した。
図10は従来の軟性部材取付装置及び軟性部材取付方法を示す斜視図であり、車両100のドア開口101にフランジ102を設け、ロボットのリスト103に腕ツーリング装置104を取付け、この腕ツーリング装置104に設けた圧力ローラ106でフランジ102に隙間ふさぎ107を押付けて嵌合させることが示されている。圧力ローラ106は、モータで駆動されるとともにこの駆動力をクラッチにより断続することで、回転速度が変更される。
FIG. 6 will be described with reference to FIG. In addition, it reassigned about a code | symbol.
FIG. 10 is a perspective view showing a conventional flexible member attaching apparatus and a flexible member attaching method, wherein a flange 102 is provided in a door opening 101 of a vehicle 100, an arm tooling device 104 is attached to a wrist 103 of the robot, and the arm tooling device 104 is provided. It is shown that the gap cap 107 is pressed and fitted to the flange 102 by the pressure roller 106 provided in the above. The pressure roller 106 is driven by a motor, and the rotational speed is changed by intermittently switching the driving force using a clutch.

例えば、ドア開口101の直線部では、クラッチを切ってモータから圧力ローラ106へ駆動力が伝わらないようにして、圧力ローラ106を腕ツーリング装置104の移動速度により惰性で回転させて隙間ふさぎ107を取付ける。   For example, at the straight portion of the door opening 101, the clutch is disengaged so that the driving force is not transmitted from the motor to the pressure roller 106, and the pressure roller 106 is rotated by inertia according to the moving speed of the arm tooling device 104, thereby closing the gap block 107. Install.

また、ドア開口101の隅部では、クラッチを接続してモータから圧力ローラ106へ駆動力が伝わるようにして、圧力ローラ106の回転速度を上記のドア開口101の直線部での回転速度よりも大きくして、隙間ふさぎ107の弛みを吸収する。   Further, at the corner of the door opening 101, a clutch is connected so that the driving force is transmitted from the motor to the pressure roller 106, so that the rotational speed of the pressure roller 106 is higher than the rotational speed at the straight portion of the door opening 101. The gap is increased to absorb the slack of the gap cover 107.

ドア開口101の直線部で圧力ローラ106を惰性で回転させるときには、隙間ふさぎ107が圧力ローラ106の進行方向に押し出され、圧力ローラ106の前方の隙間ふさぎ107に弛みが発生することが考えられる。   When the pressure roller 106 is rotated by inertia at the straight portion of the door opening 101, the gap block 107 is pushed out in the advancing direction of the pressure roller 106, and the gap block 107 in front of the pressure roller 106 may be slack.

この弛みが大きくなれば、ドア開口101の隅部で圧力ローラ106の回転速度を大きくしても弛みが吸収できなくなり、隙間ふさぎ107に皺や浮き上がりが生じて組付品質を低下させる。従って、隙間ふさぎ107の再組付や組付修正が必要になり、生産性の低下を招く。   If the slack increases, the slack cannot be absorbed even if the rotational speed of the pressure roller 106 is increased at the corner of the door opening 101, and the gap blockage 107 is wrinkled or lifted, thereby reducing the assembly quality. Therefore, it is necessary to reassemble and correct the gap blockage 107, leading to a decrease in productivity.

本発明の目的は、軟性部材取付方法及び同取付装置を改良することで、軟性部材の組付品質を高め、生産性を向上させることにある。   The objective of this invention is improving the assembly quality of a flexible member and improving productivity by improving a flexible member attachment method and the attachment apparatus.

請求項1に係る発明は、長手の軟性部材を断面がほぼコ字形状の長手部材に嵌合させて取付ける軟性部材取付方法であって、軟性部材を長手部材上に仮装着し、ローラを長手部材に沿って軟性部材を押付けながら搬送する際に、制御装置によって、ローラを、その押付け面での周速度が長手部材に沿う搬送速度と同一となるように回転させるか、あるいは、周速度が搬送速度と同一となるように回転させて搬送中に少なくともローラの搬送経路の一部で周速度が搬送速度に対して大きくとも10%増しになるように増速して回転させ、ローラに作用する反力を基に、ローラの押付け力が、全押付け時を通じて一定になるように制御することを特徴とする。 The invention according to claim 1 is a soft member mounting method in which a long flexible member is mounted by being fitted to a long member having a substantially U-shaped cross section, the soft member is temporarily mounted on the long member, and the roller is long When transporting while pressing the soft member along the member, the controller rotates the roller so that the peripheral speed on the pressing surface is the same as the transport speed along the longitudinal member, or the peripheral speed is The roller is rotated so that it is the same as the transfer speed, and the roller is rotated at an increased speed so that the peripheral speed is at least 10% higher than the transfer speed at least part of the transfer path of the roller during transfer. Based on the reaction force, the roller pressing force is controlled to be constant throughout the pressing.

ローラの押付け面での周速度を、長手部材に沿う搬送速度と同一とするか、あるいは、搬送速度と同一となるように回転させて搬送中に少なくともローラの搬送経路の一部で搬送速度に対して大きくとも10%増しになるように回転させることで、ローラの回転力で軟性部材をローラの進行方向とは反対の方向へ引き戻す。また、ローラの押付け力を全押付け時を通じて一定になるように制御することで、軟性部材の各部を断面がほぼコ字形状の長手部材に均一に嵌合させる。   The peripheral speed on the pressing surface of the roller is the same as the transport speed along the longitudinal member, or is rotated so as to be the same as the transport speed, and the transport speed is set to at least a part of the transport path of the roller during the transport. On the other hand, the soft member is pulled back in the direction opposite to the moving direction of the roller by the rotational force of the roller by rotating the roller so as to increase by 10% at most. Further, by controlling the pressing force of the roller to be constant throughout the pressing, each portion of the soft member is uniformly fitted to a longitudinal member having a substantially U-shaped cross section.

請求項2に係る発明は、長手の軟性部材を断面がほぼコ字形状の長手部材に嵌合させて取付ける軟性部材取付装置において、アクチュエータにより回転自在としたローラと、このローラを長手部材に沿って搬送するとともに軟性部材を長手部材に押付ける搬送手段と、ローラと搬送手段との間に設けられ、ローラに作用する反力を検出する力覚センサと、この力覚センサにより検出された反力を基に、ローラが軟性部材を押付ける押付け力を一定になるように制御するとともに、ローラの搬送速度に対してローラの押付け面での周速度が同一、あるいは、搬送速度に対して周速度を大きくとも10%増しとなるように制御する制御装置と、を備えたことを特徴とする。   According to a second aspect of the present invention, there is provided a flexible member attaching device for attaching a longitudinal flexible member to a longitudinal member having a substantially U-shaped cross section, and a roller that is rotatable by an actuator, and the roller along the longitudinal member. And a force sensor for detecting a reaction force acting on the roller, and a reaction detected by the force sensor. Based on the force, the pressing force that the roller presses against the soft member is controlled to be constant, and the peripheral speed at the pressing surface of the roller is the same as the conveying speed of the roller. And a control device that controls the speed to increase by 10% at most.

ローラに作用する反力を力覚センサで検出し、この反力に基づいて搬送手段によって軟性部材に対するローラの位置を制御し、ローラによる軟性部材の押付け力を一定にする。また、ローラで長手部材に軟性部材を一定の押付け力で押付けた状態で、ローラを搬送手段で長手部材に沿って搬送するとともに、ローラの押付け面での周速度を、ローラの搬送速度と同一、あるいは、搬送速度に対して大きくとも10%増しとなるように制御装置で制御する。   The reaction force acting on the roller is detected by a force sensor, and the position of the roller relative to the soft member is controlled by the conveying means based on the reaction force, and the pressing force of the soft member by the roller is made constant. In addition, the roller is conveyed along the longitudinal member by the conveying means while the soft member is pressed against the longitudinal member by the roller, and the peripheral speed on the pressing surface of the roller is the same as the conveying speed of the roller. Alternatively, it is controlled by the control device so as to increase at most 10% with respect to the conveyance speed.

請求項1に係る発明では、ローラを、その周速度が搬送速度と同一となるように回転させるか、あるいは、周速度が搬送速度と同一となるように回転させて搬送中に少なくともローラの搬送経路の一部で周速度が大きくとも搬送速度の10%増しとなるように回転させながらその押付け面で軟性部材を押圧するため、軟性部材がローラ進行方向に伸びた状態で長手部材に嵌合したり、軟性部材に弛みが発生したりするのを防止することができ、しかも、ローラで軟性部材を一定の押付け力で押付けるため、長手部材への軟性部材の嵌合状態を各部で均一にすることができ、軟性部材の組付品質を高めることができる。従って、無駄な再組付、組付修正が発生せず、生産性を向上させることができる。   In the invention according to claim 1, at least the roller is conveyed during conveyance by rotating the roller so that the circumferential speed is the same as the conveyance speed or by rotating the roller so that the circumferential speed is the same as the conveyance speed. Even if the peripheral speed is high in part of the path, the soft member is pressed by its pressing surface while rotating so that it increases by 10% of the transport speed, so the soft member is fitted to the longitudinal member in the state of extending in the roller traveling direction. And the soft member can be prevented from slacking, and the soft member is pressed by the roller with a constant pressing force, so that the fitting state of the soft member to the longitudinal member is uniform in each part. The assembly quality of the soft member can be improved. Therefore, useless reassembly and assembly correction do not occur, and productivity can be improved.

請求項2に係る発明では、力覚センサによって、ローラが軟性部材を押付け中にローラに作用する反力を検出して制御手段で押付け力を一定になるように制御するので、長手部材への軟性部材の嵌合状態を各部で均一にすることができる。また、制御手段で搬送手段によるローラの搬送速度とローラの押付け面での周速度とを同一、あるいは、搬送速度に対して周速度を大きくとも10%増しとなるように制御するので、ローラ進行方向に軟性部材が伸びた状態で嵌合したり、軟性部材に弛みが発生するのを防止することができる。従って、軟性部材の組付品質を高めることができ、無駄な再組付、組付修正が発生せず、生産性を向上させることができる。   In the invention according to claim 2, the force sensor detects the reaction force acting on the roller while the roller is pressing the soft member, and the control means controls the pressing force to be constant. The fitting state of the soft member can be made uniform in each part. Also, the control means controls the roller conveyance speed by the conveyance means to be the same as the circumferential speed at the pressing surface of the roller, or the circumferential speed is increased by at least 10% with respect to the conveyance speed. It is possible to prevent the soft member from being fitted in a state in which the soft member is stretched in the direction, and to prevent the soft member from being loosened. Therefore, the assembly quality of the flexible member can be improved, and unnecessary reassembly and assembly correction do not occur, and productivity can be improved.

本発明を実施するための最良の形態を添付図に基づいて以下に説明する。なお、図面は符号の向きに見るものとする。
図1は本発明に係るウェザーストリップ取付装置及び車両用ドアを示す斜視図であり、車両用ドア10の縁に軟性部材としてのウェザーストリップ11を組み付けるためのウェザーストリップ取付装置12を示す。
The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals.
FIG. 1 is a perspective view showing a weatherstrip attachment device and a vehicle door according to the present invention, and shows a weatherstrip attachment device 12 for assembling a weatherstrip 11 as a soft member to an edge of the vehicle door 10.

ウェザーストリップ取付装置12は、フロアに取付けたベース部15と、このベース部15に旋回自在に取付けた旋回台16と、この旋回台16に取付けた第1アーム17と、この第1アーム17に取付けた第2アーム18と、この第2アーム18の先端側に取付けたローラ装置20と、このローラ装置20の先端に備えるローラ21でウェザーストリップ11を押付けて自動車用ドア10に組付けるときにローラ21の押付け力及び押付け面の周速度を制御するローラ押付け力・周速度制御装置22(以下、単に「ローラ制御装置22」と記す。)とからなるロボットである。   The weather strip mounting device 12 includes a base portion 15 attached to a floor, a swivel base 16 that is pivotably attached to the base portion 15, a first arm 17 attached to the swivel base 16, and a first arm 17. When the weather strip 11 is pressed and assembled to the automobile door 10 by the attached second arm 18, the roller device 20 attached to the distal end side of the second arm 18, and the roller 21 provided at the distal end of the roller device 20. The robot includes a roller pressing force / circumferential speed control device 22 (hereinafter simply referred to as “roller control device 22”) that controls the pressing force of the roller 21 and the peripheral speed of the pressing surface.

上記した旋回台16、第1アーム17、第2アーム18、後述する揺動基部28(図3参照)は、ローラ装置20を搬送する、即ちローラ21を搬送する搬送部23を構成するものである。   The swivel base 16, the first arm 17, the second arm 18, and the swing base 28 described later (see FIG. 3) constitute the transport unit 23 that transports the roller device 20, that is, transports the roller 21. is there.

図2は車両用ドアの斜視図であり、車両用ドア10は、車室側に配置するインナパネル25と、このインナパネル25の外側に取付けたアウタパネル26と、これらのインナパネル25及びアウタパネル26の上部に取付けたサッシュ27とを備え、サッシュ27の外周面及びインナパネル25の縁にウェザーストリップ11を取付ける。   FIG. 2 is a perspective view of the vehicle door. The vehicle door 10 includes an inner panel 25 disposed on the passenger compartment side, an outer panel 26 attached to the outer side of the inner panel 25, the inner panel 25 and the outer panel 26. The weather strip 11 is attached to the outer peripheral surface of the sash 27 and the edge of the inner panel 25.

図3は本発明に係るローラ装置を示す斜視図であり、ローラ装置20は、第2アーム18でスイング自在に支持する揺動基部28に連結した力覚センサ32と、この力覚センサ32の先端に取付けたサーボモータ33と、このサーボモータ33で駆動するローラ21とからなる。なお、21aはローラ21の外周面である押付け面、36はローラ21を支持するためにサーボモータ33の回転軸に取付けたローラ支持軸である。   FIG. 3 is a perspective view showing a roller device according to the present invention. The roller device 20 includes a force sensor 32 connected to a swing base 28 that is swingably supported by the second arm 18, and the force sensor 32. The servo motor 33 is attached to the tip, and the roller 21 is driven by the servo motor 33. Reference numeral 21 a denotes a pressing surface which is the outer peripheral surface of the roller 21, and reference numeral 36 denotes a roller support shaft attached to the rotation shaft of the servomotor 33 in order to support the roller 21.

力覚センサ32は、互いに直交する3軸(X軸、Y軸、Z軸であり、例えば、サーボモータ33の回転軸、即ち、ローラ支持軸36の延びる方向をX軸、鉛直方向をZ軸、これらのX軸及びZ軸に直角な方向をY軸とする。)の軸方向の力と、これらのX軸、Y軸、Z軸の各軸回りのトルクを検出するものであり、検出された力は力信号として出力される。   The force sensor 32 has three axes (X axis, Y axis, and Z axis) orthogonal to each other. For example, the rotation axis of the servo motor 33, that is, the extending direction of the roller support shaft 36 is the X axis, and the vertical direction is the Z axis. The direction perpendicular to these X-axis and Z-axis is the Y-axis) and the torque around each of the X-axis, Y-axis and Z-axis is detected. The applied force is output as a force signal.

サーボモータ33は、その回転速度がローラ制御装置22によって制御される。即ち、車両用ドアの縁に沿ってローラ21が搬送されるときに、そのローラ21の搬送速度(搬送部23(図1参照)によって生じる速度である。)とローラ21の押付け面21aの周速度とが同一、あるいは、搬送速度に対してローラ21の周速度が大きくとも10%増しになるように制御される。   The rotation speed of the servo motor 33 is controlled by the roller control device 22. That is, when the roller 21 is transported along the edge of the vehicle door, the transport speed of the roller 21 (the speed generated by the transport unit 23 (see FIG. 1)) and the circumference of the pressing surface 21a of the roller 21. It is controlled so that the speed is the same or the peripheral speed of the roller 21 is increased by 10% at most with respect to the transport speed.

図4は車両用ドアへのウェザーストリップの取付状態を示す断面図であり、車両用ドア、詳しくは、サッシュ27は、車外側に設けた車外側壁部41と、この車外側壁部41から車室側へ延ばした延出部42と、この延出部42の端部に形成した車室側膨出部43とからなり、延出部42に断面がほぼコ字形状のコ字断面部44を設けた部材である。なお、46,47はコ字断面部44を形成するための第1突出部及び第2突出部、48はコ字断面部44の底部である。   FIG. 4 is a cross-sectional view showing a weather strip attached to the vehicle door. The vehicle door, more specifically, the sash 27 is provided on the vehicle outer wall 41 provided on the vehicle outer side, and from the vehicle outer wall 41. A U-shaped cross section having a substantially U-shaped cross section in the extended portion 42, which includes an extended portion 42 extending toward the passenger compartment side and a passenger compartment-side expanded portion 43 formed at an end of the extended portion 42. 44 is a member provided. In addition, 46 and 47 are the 1st protrusion part and 2nd protrusion part for forming the U-shaped cross-section 44, and 48 is the bottom of the U-shaped cross-section 44.

ウェザーストリップ11は、サッシュ27のコ字断面部44に嵌合させる嵌合部51と、この嵌合部51の車外側に設けた外方突出部52、第1溝部53及び第1リップ部54と、嵌合部51の車室側に設けた第2溝部56及び第2リップ部57とを備える。なお、61,62は嵌合部51に備える第1脚部及び第2脚部、63は中空部、64は第1リップ部54と第2リップ部57との間に設けたリップ間凹部である。
サッシュ27にウェザーストリップ11を取付けるときには、ローラ21の押付け面21aを、ウェザーストリップ11のリップ間凹部64に当てて押付ける。
The weather strip 11 includes a fitting portion 51 that is fitted to the U-shaped cross-section portion 44 of the sash 27, an outward projecting portion 52 that is provided outside the fitting portion 51, a first groove portion 53, and a first lip portion 54. And a second groove portion 56 and a second lip portion 57 provided on the vehicle compartment side of the fitting portion 51. In addition, 61 and 62 are the 1st leg part and 2nd leg part with which the fitting part 51 is equipped, 63 is a hollow part, 64 is the recessed part between lips provided between the 1st lip part 54 and the 2nd lip part 57. is there.
When the weather strip 11 is attached to the sash 27, the pressing surface 21a of the roller 21 is pressed against the inter-lip recess 64 of the weather strip 11.

図5は本発明に係るローラ制御装置を説明するブロック図であり、ローラ制御装置22は、ローラがウェザーストリップを押付ける押付け力の目標値F、即ち力目標値Fを設定する力目標値設定部71と、この力目標値設定部71から力目標値Fが入力される減算器72と、力覚センサ32から出力された力信号SFに基づいてローラに作用する反力Rを演算するとともに減算器72に反力Rを与える力演算部73と、減算器72で求められた偏差ΔF(=R−F)が入力される制御部74と、サーボモータ33の回転速度を検出するモータ回転速度検出部77が検出した回転速度に応じて出力された回転速度信号SVに基づいてローラの押付け面の周速度を演算するローラ周速度演算部78と、後述する第2駆動部83から出力されたローラのサッシュに沿う搬送速度V1とローラ周速度演算部78で求められたローラの周速度V2とを比較して偏差ΔV(=V2−V1)を求めるとともにこの偏差ΔVを制御部74に与える減算器79とからなる。   FIG. 5 is a block diagram for explaining the roller control device according to the present invention. The roller control device 22 sets the target value F of the pressing force with which the roller presses the weather strip, that is, the force target value setting for setting the force target value F. Unit 71, a subtractor 72 to which the force target value F is input from the force target value setting unit 71, and a reaction force R acting on the roller based on the force signal SF output from the force sensor 32. A force calculation unit 73 that applies a reaction force R to the subtracter 72, a control unit 74 that receives a deviation ΔF (= R−F) obtained by the subtractor 72, and a motor rotation that detects the rotation speed of the servo motor 33. Based on the rotational speed signal SV output in accordance with the rotational speed detected by the speed detector 77, a roller peripheral speed calculator 78 that calculates the peripheral speed of the pressing surface of the roller, and a second drive unit 83 described later. Low A subtractor for obtaining a deviation ΔV (= V2−V1) by comparing the conveying speed V1 along the sash with the roller circumferential speed V2 obtained by the roller circumferential speed calculating section 78 and giving the deviation ΔV to the control section 74. 79.

以上に述べたウェザーストリップ11の取付要領を図6〜図9で説明する。
図6は本発明に係るウェザーストリップの取付要領を示す第1作用図である。
まず、サッシュ27におけるコ字断面部44の第2突出部47にウェザーストリップ11の第2脚部62を掛けて仮装着する。ウェザーストリップ11の第1脚部61はサッシュ27の第1突出部46に載った状態にある。
The procedure for attaching the weather strip 11 described above will be described with reference to FIGS.
FIG. 6 is a first operation view showing a weather strip attachment procedure according to the present invention.
First, the second leg portion 62 of the weather strip 11 is temporarily attached to the second projecting portion 47 of the U-shaped cross-section portion 44 of the sash 27. The first leg portion 61 of the weather strip 11 is placed on the first protrusion 46 of the sash 27.

図7は本発明に係るウェザーストリップの取付要領を示す第2作用図である。
ローラ21を、サーボモータで矢印A方向に回転させるとともにサッシュ27に沿って矢印B方向に搬送しながら、車両用ドア10のサッシュ27に仮装着したウェザーストリップ11を、ローラ21で押付けてサッシュ27にウェザーストリップ11を取付ける。
FIG. 7 is a second operation view showing a weather strip attachment procedure according to the present invention.
The weather strip 11 temporarily mounted on the sash 27 of the vehicle door 10 is pressed by the roller 21 while the roller 21 is rotated in the direction of arrow A by the servo motor and conveyed along the sash 27 in the direction of arrow B. Attach the weatherstrip 11 to

図8(a),(b)はローラによるウェザーストリップの取付の原理を示す作用図である。(a)は比較例であり、(b)は実施例、即ち、本発明に係るウェザーストリップの取付要領を示す作用図である。
(a)の比較例において、ローラ110でウェザーストリップ111を押付けてサッシュ112に取付けるときに、ローラ110に駆動力を与えずにフリーに回転させて搬送速度V1で搬送する。
FIGS. 8A and 8B are operation diagrams showing the principle of attaching a weatherstrip using a roller. (A) is a comparative example, (b) is an operation | movement figure which shows the attachment point of the Example, ie, the weather strip which concerns on this invention.
In the comparative example of (a), when the weather strip 111 is pressed by the roller 110 and attached to the sash 112, the roller 110 is rotated freely without being applied with the driving force and conveyed at the conveying speed V1.

このとき、ローラ110の搬送速度V1による移動に伴ってウェザーストリップ111が矢印Cで示すように、ローラ110の進行方向に押し出され、ローラ110の前方のウェザーストリップ111に弛み部113が出来て、サッシュ112から浮いた状態になる。   At this time, as the roller 110 moves at the conveying speed V1, the weather strip 111 is pushed out in the traveling direction of the roller 110 as indicated by an arrow C, and a slack portion 113 is formed in the weather strip 111 in front of the roller 110. It floats from the sash 112.

これに対して、(b)に示す実施例では、ローラ21は、その外周面、即ちウェザーストリップ11を押付ける押付け面21aの周速度が、ローラ21の搬送速度V1と同一となるように矢印Dで示す方向に回転する。
あるいは、ローラ21の周速度がローラ21の搬送速度と同一となるように回転し、ローラ21の搬送中に少なくともその搬送経路の一部(又は、全押付け時の中で少なくとも一時的に)最大で搬送速度V1+α(例えば、α=0.1V1)で矢印Dで示す方向に回転する。
これにより、ウェザーストリップ11は、矢印Eで示す向きに戻され、ローラ21の進行方向前側のウェザーストリップ11には弛みが発生せず、サッシュ27に均一に嵌合させて取付けることができる。
On the other hand, in the embodiment shown in (b), the roller 21 has an arrow so that the outer peripheral surface thereof, that is, the peripheral speed of the pressing surface 21a that presses the weather strip 11 is the same as the conveying speed V1 of the roller 21. Rotate in the direction indicated by D.
Alternatively, the roller 21 rotates so that the circumferential speed thereof is the same as the conveyance speed of the roller 21, and at least a part of the conveyance path during the conveyance of the roller 21 (or at least temporarily during full pressing) is maximum. And rotates in the direction indicated by the arrow D at the conveyance speed V1 + α (for example, α = 0.1V1).
As a result, the weather strip 11 is returned to the direction indicated by the arrow E, and the weather strip 11 on the front side in the traveling direction of the roller 21 does not sag, and can be attached by being uniformly fitted to the sash 27.

図9(a),(b)は本発明に係るウェザーストリップの取付要領を示す第3作用図である。
(a)において、サッシュ27にウェザーストリップ11を取付けるときには、ローラ21を、延出部42に直交する方向からウェザーストリップ11のリップ間凹部64に当てて押付け力Fで押付ける。
FIGS. 9 (a) and 9 (b) are third operation views showing the weather strip mounting procedure according to the present invention.
In (a), when the weather strip 11 is attached to the sash 27, the roller 21 is pressed against the inter-lip recess 64 of the weather strip 11 from the direction orthogonal to the extending portion 42 and pressed with a pressing force F.

(b)において、サッシュ91(ここでは、サッシュ27と同一構造とした)が(a)に示したサッシュ27に比べて角度θだけ傾いている場合には、ウェザーストリップ11のリップ間凹部64にローラ21を当て、水平方向の力FHと鉛直方向の力FVとをそれぞれ加えて、これらの合力である押付け力Fがサッシュ91の延出部42に直交するように押付ける。   In (b), when the sash 91 (which has the same structure as the sash 27 in this case) is inclined by an angle θ as compared with the sash 27 shown in (a), the sash 91 has a recess 64 between the lips. The roller 21 is applied and a horizontal force FH and a vertical force FV are respectively applied, and the pressing force F, which is the resultant force, is pressed so as to be orthogonal to the extending portion 42 of the sash 91.

以上に述べたウェザーストリップ11の取付要領を、図5に戻ってローラ制御装置22の側から説明する。
図5において、制御部74は、偏差ΔFがゼロになるように、ウェザーストリップ取付装置に備えるロボット駆動部81、詳しくは第1駆動部82に第1位置制御信号SP1を送り、第1駆動部82から搬送部23へ搬送部第1駆動信号SD1を送らせて搬送部23を駆動し、ローラ装置をサッシュに近づけるあるいは遠ざける方向に移動させ、ローラ21が力目標値Fでウェザーストリップを押付けるように制御する。
The procedure for attaching the weather strip 11 described above will be described from the roller control device 22 side with reference to FIG.
In FIG. 5, the control unit 74 sends a first position control signal SP1 to the robot drive unit 81 provided in the weather strip mounting device, specifically the first drive unit 82, so that the deviation ΔF becomes zero. The conveyance unit first drive signal SD1 is sent from 82 to the conveyance unit 23 to drive the conveyance unit 23, and the roller device is moved in a direction toward or away from the sash, and the roller 21 presses the weather strip with the force target value F. To control.

また、制御部74は、第2駆動部83に第2位置制御信号SP2を送り、第2駆動部83から駆動部23へ搬送部第2駆動信号SD2に送らせて搬送部23を駆動し、ローラ21をフランジに沿って所定の搬送速度V1で搬送するように制御する。この搬送速度V1は、第2駆動部83から減算器79に与えられる。   In addition, the control unit 74 sends the second position control signal SP2 to the second drive unit 83, and sends the second drive signal SD2 from the second drive unit 83 to the drive unit 23 to drive the conveyance unit 23, Control is performed so that the roller 21 is transported along the flange at a predetermined transport speed V1. The transport speed V1 is given from the second drive unit 83 to the subtracter 79.

更に、制御部74は、偏差ΔVがゼロになるように、ウェザーストリップ取付装置に備えるモータ駆動部84に回転制御信号SCを送り、モータ駆動部84からサーボモータ33へモータ駆動信号SDMを送らせてサーボモータ33の回転速度を制御し、ローラ21の周速度V2が搬送速度V1と同一か、あるいは、周速度V2が搬送速度V1と同一となるのに加えてローラ21の搬送中少なくとも搬送経路の一部で周速度V2が搬送速度V1よりも大きくなる(例えば、周速度V2を最大で搬送速度V1の10%増しとする)ようにする。   Further, the control unit 74 sends the rotation control signal SC to the motor drive unit 84 provided in the weather strip mounting device so that the deviation ΔV becomes zero, and sends the motor drive signal SDM from the motor drive unit 84 to the servo motor 33. The rotational speed of the servo motor 33 is controlled so that the peripheral speed V2 of the roller 21 is the same as the transport speed V1, or the peripheral speed V2 is the same as the transport speed V1, and at least the transport path during the transport of the roller 21 The peripheral speed V2 is set to be larger than the transport speed V1 (for example, the peripheral speed V2 is increased by 10% of the maximum transport speed V1).

以上の図6〜図9で説明したように、本発明は第1に、長手の軟性部材としてのウェザーストリップ11を断面がほぼコ字形状の長手部材としてのサッシュ27に嵌合させて取付けるウェザーストリップ取付方法であって、ウェザーストリップ11をサッシュ27上に仮装着し、ローラ21をサッシュ27に沿ってウェザーストリップ11を押付けながら搬送する際に、制御装置としてのローラ制御装置22によって、ローラ21を、その押付け面21aでの周速度V2(図5参照)がサッシュ27に沿う搬送速度V1と同一となるように回転させるか、あるいは、周速度V2が搬送速度V1と同一となるように回転させて搬送中に少なくともローラ21の搬送経路の一部で周速度V2が搬送速度V1に対して大きくともα増し(具体的には、α=10%)となる一定の回転速度に増速して回転させ、ローラ21の押付け力Fが、全押付け時を通じて一定になるように制御することを特徴とする。   As described above with reference to FIGS. 6 to 9, the present invention firstly has a weather strip 11 as a long flexible member fitted to a sash 27 as a long member having a substantially U-shaped cross section. In the strip mounting method, when the weather strip 11 is temporarily mounted on the sash 27 and the roller 21 is conveyed along the sash 27 while pressing the weather strip 11, the roller 21 is controlled by the roller control device 22 as a control device. Is rotated so that the peripheral speed V2 (see FIG. 5) on the pressing surface 21a is the same as the transport speed V1 along the sash 27, or the peripheral speed V2 is rotated to be the same as the transport speed V1. During the conveyance, at least a part of the conveyance path of the roller 21 increases the circumferential speed V2 by α at most with respect to the conveyance speed V1 (specifically, Rotate and accelerated to a constant rotational speed as the alpha = 10%), the pressing force F of the roller 21, and controls to be constant throughout the time of full pressing.

本発明は第2に、図1、図3及び図4に示したように、長手のウェザーストリップ11を断面がほぼコ字形状のサッシュ27に嵌合させて取付けるウェザーストリップ取付装置12において、アクチュエータとしてのサーボモータ33により回転自在としたローラ21と、このローラ21をサッシュ27に沿って搬送するとともにウェザーストリップ11をサッシュ27に押付ける搬送手段としての搬送部23と、ローラ21と搬送部23との間に設けられ、ローラ21に作用する反力Rを検出する力覚センサ32と、この力覚センサ32により検出された反力を基に、ローラ21がウェザーストリップ11を押付ける押付け力を一定になるように制御するとともに、ローラ21の搬送速度と、ローラ21の押付け面21aでの周速度とが同一、あるいは、搬送速度に対して周速度が大きくとも10%増しとなるように制御するローラ制御装置22と、を備えたことを特徴とする。   As shown in FIGS. 1, 3 and 4, the present invention secondly provides a weather strip mounting apparatus 12 for mounting a long weather strip 11 by fitting it to a sash 27 having a substantially U-shaped cross section. A roller 21 that can be rotated by a servo motor 33, a transport unit 23 that transports the roller 21 along the sash 27 and that also presses the weather strip 11 against the sash 27, and the roller 21 and the transport unit 23. And a force sensor 32 that detects a reaction force R acting on the roller 21 and a pressing force by which the roller 21 presses the weather strip 11 based on the reaction force detected by the force sensor 32. Is controlled to be constant, and the conveying speed of the roller 21 is equal to the peripheral speed of the pressing surface 21a of the roller 21. Or, characterized by comprising a roller control unit 22 for controlling so that the peripheral speed relative to the conveying speed is increased even 10% greater, and.

ローラ21の搬送速度V1に対して、ローラ21の押付け面21aの周速度V2を搬送速度V1と同一か、あるいは、周速度が搬送速度と同一となるように回転させて搬送中に少なくともローラ21の搬送経路の一部で搬送速度V1の最大10%増しでローラ21を回転させながらウェザーストリップ11を押付けるため、ウェザーストリップ11がローラ進行方向に伸びた状態でサッシュ27に嵌合したり、ウェザーストリップ11に弛みが発生したりするのを防止することができ、しかも、力覚センサ32によるローラ21の反力検出によってローラ21でウェザーストリップ11を一定の押付け力Fで押付けるため、サッシュ27へのウェザーストリップ11の嵌合状態を各部で均一にすることができ、ウェザーストリップ11の組付品質を高めることができる。従って、無駄な再組付、組付修正が発生せず、生産性を向上させることができる。   The circumferential speed V2 of the pressing surface 21a of the roller 21 is rotated with respect to the conveyance speed V1 of the roller 21 to be the same as the conveyance speed V1 or the circumferential speed is the same as the conveyance speed. In order to press the weather strip 11 while rotating the roller 21 at a maximum increase of 10% of the conveyance speed V1 in a part of the conveyance path, the weather strip 11 is fitted to the sash 27 in a state of extending in the roller traveling direction, Since the weather strip 11 can be prevented from slackening, and the reaction force of the roller 21 is detected by the force sensor 32, the weather strip 11 is pressed by the roller 21 with a constant pressing force F. 27. The fitting state of the weather strip 11 to 27 can be made uniform in each part, and the weather strip 11 is assembled. It is possible to increase the quality. Therefore, useless reassembly and assembly correction do not occur, and productivity can be improved.

尚、本発明では、ローラを、その押付け面での周速度が、長手部材に沿う搬送速度と同一、あるいは搬送速度に対して大きくとも10%増しになるように回転させたが、これに限らず、ローラに作用する長手部材に沿う方向の力、あるいはローラの回転軸回りのトルクを、力覚センサで検出することで、上記の長手部材に沿う方向の力、又はローラの回転軸回りのトルクに基づいてローラの周速度を制御して軟性部材の弛みが発生しないようにしてもよい。   In the present invention, the roller is rotated so that the peripheral speed on the pressing surface is the same as the transport speed along the longitudinal member, or at most 10% higher than the transport speed. First, the force in the direction along the longitudinal member acting on the roller or the torque around the rotational axis of the roller is detected by a force sensor, so that the force in the direction along the longitudinal member or the rotational axis of the roller around the rotational axis of the roller is detected. The circumferential speed of the roller may be controlled based on the torque so that the soft member does not slack.

また、ローラの全押付け時において、ローラの周速度を搬送速度に対して大きくとも10%増しとした後に、必要に応じて、再び、ローラの周速度を搬送速度と同一とし、その後に、周速度を搬送速度の大きくとも10%増しにしてもよく、これを更に繰り返してもよい。   When the roller is fully pressed, the peripheral speed of the roller is increased by at most 10% with respect to the transport speed, and then, if necessary, the peripheral speed of the roller is made the same as the transport speed again. The speed may be increased by 10% at the maximum of the conveyance speed, and this may be further repeated.

本発明の軟性部材取付方法及び同取付装置は、車両用ドアに軟性部材を取付けるのに好適である。   The flexible member attachment method and the attachment device of the present invention are suitable for attaching a flexible member to a vehicle door.

本発明に係るウェザーストリップ取付装置及び車両用ドアを示す斜視図である。It is a perspective view which shows the weather strip attachment apparatus and vehicle door which concern on this invention. 車両用ドアの斜視図である。It is a perspective view of the door for vehicles. 本発明に係るローラ装置を示す斜視図である。It is a perspective view which shows the roller apparatus which concerns on this invention. 車両用ドアへのウェザーストリップの取付状態を示す断面図である。It is sectional drawing which shows the attachment state of the weather strip to the vehicle door. 本発明に係るローラ制御装置を説明するブロック図である。It is a block diagram explaining the roller control device concerning the present invention. 本発明に係るウェザーストリップの取付要領を示す第1作用図である。It is a 1st operation | movement figure which shows the attachment point of the weather strip which concerns on this invention. 本発明に係るウェザーストリップの取付要領を示す第2作用図である。It is a 2nd operation | movement figure which shows the attachment point of the weather strip which concerns on this invention. ローラによるウェザーストリップの取付の原理を示す作用図である。It is an effect | action figure which shows the principle of the attachment of the weather strip by a roller. 本発明に係るウェザーストリップの取付要領を示す第3作用図である。It is a 3rd operation | movement figure which shows the attachment point of the weather strip which concerns on this invention. 従来の軟性部材取付装置及び軟性部材取付方法を示す斜視図である。It is a perspective view which shows the conventional soft member attachment apparatus and the flexible member attachment method.

符号の説明Explanation of symbols

11…軟性部材(ウェザーストリップ)、12…軟性部材取付装置(ウェザーストリップ取付装置)、21…ローラ、21a…押付け面、22…ローラ押付け力・周速度制御装置、23…搬送手段(搬送部)、27…長手部材(サッシュ)、32…力覚センサ、33…アクチュエータ(サーボモータ)、F…押付け力、V1…ローラの搬送速度、V2…ローラの押付け面の周速度。   DESCRIPTION OF SYMBOLS 11 ... Soft member (weather strip), 12 ... Soft member attachment apparatus (weather strip attachment apparatus), 21 ... Roller, 21a ... Pressing surface, 22 ... Roller pressing force and peripheral speed control apparatus, 23 ... Conveyance means (conveyance part) 27 ... Longitudinal member (sash), 32 ... Force sensor, 33 ... Actuator (servo motor), F ... Pressing force, V1 ... Roller transport speed, V2 ... Peripheral speed of roller pressing surface.

Claims (2)

長手の軟性部材を断面がほぼコ字形状の長手部材に嵌合させて取付ける軟性部材取付方法であって、
前記軟性部材を前記長手部材上に仮装着し、
ローラを前記長手部材に沿って前記軟性部材を押付けながら搬送する際に、制御装置によって、前記ローラを、その押付け面での周速度が前記長手部材に沿う搬送速度と同一となるように回転させるか、あるいは、前記周速度が搬送速度と同一となるように回転させて搬送中に少なくとも前記ローラの搬送経路の一部で前記周速度が前記搬送速度に対して大きくとも10%増しになるように増速して回転させ、前記ローラに作用する反力を基に、前記ローラの押付け力が、全押付け時を通じて一定になるように制御することを特徴とする軟性部材取付方法。
A flexible member mounting method for fitting a longitudinal flexible member to a longitudinal member having a substantially U-shaped cross section,
Temporarily mounting the flexible member on the longitudinal member;
When transporting the roller while pressing the flexible member along the longitudinal member, the control device rotates the roller so that the peripheral speed at the pressing surface is the same as the transport speed along the longitudinal member. Alternatively, the peripheral speed is increased so that the peripheral speed is increased by at most 10% with respect to the transport speed in at least a part of the transport path of the roller during the transport by rotating the peripheral speed to be the same as the transport speed. The soft member mounting method is characterized in that the pressing force of the roller is controlled to be constant throughout the entire pressing operation based on the reaction force acting on the roller.
長手の軟性部材を断面がほぼコ字形状の長手部材に嵌合させて取付ける軟性部材取付装置において、
アクチュエータにより回転自在としたローラと、
このローラを前記長手部材に沿って搬送するとともに前記軟性部材を前記長手部材に押付ける搬送手段と、
前記ローラと前記搬送手段との間に設けられ、前記ローラに作用する反力を検出する力覚センサと、
この力覚センサにより検出された反力を基に、前記ローラが前記軟性部材を押付ける押付け力を一定になるように制御するとともに、前記ローラの搬送速度に対して前記ローラの押付け面での周速度が同一、あるいは、前記搬送速度に対して前記周速度を大きくとも10%増しとなるように制御する制御装置と、
を備えたことを特徴とする軟性部材取付装置。
In a flexible member mounting apparatus that fits and attaches a longitudinal soft member to a longitudinal member having a substantially U-shaped cross section,
A roller that can be rotated by an actuator;
Conveying means for conveying the roller along the longitudinal member and pressing the flexible member against the longitudinal member;
A force sensor that is provided between the roller and the conveying means and detects a reaction force acting on the roller;
Based on the reaction force detected by the force sensor, the pressing force by which the roller presses the soft member is controlled to be constant, and the roller pressing speed on the pressing surface of the roller is controlled. A control device that controls the peripheral speed to be the same or to increase the peripheral speed by at least 10% with respect to the transport speed;
A flexible member mounting device comprising:
JP2004321243A 2004-11-04 2004-11-04 Flexible member mounting method and mounting apparatus Expired - Fee Related JP4383319B2 (en)

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JP4383319B2 true JP4383319B2 (en) 2009-12-16

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Publication number Priority date Publication date Assignee Title
JP4847234B2 (en) * 2006-07-03 2011-12-28 本田技研工業株式会社 Weather strip mounting device for vehicle
US8322005B2 (en) 2008-10-23 2012-12-04 Pow Specialty Equipment Inc. Weather strip installation device

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