KR20030009811A - Method for correction locate of glass combined with car body - Google Patents
Method for correction locate of glass combined with car body Download PDFInfo
- Publication number
- KR20030009811A KR20030009811A KR1020010044444A KR20010044444A KR20030009811A KR 20030009811 A KR20030009811 A KR 20030009811A KR 1020010044444 A KR1020010044444 A KR 1020010044444A KR 20010044444 A KR20010044444 A KR 20010044444A KR 20030009811 A KR20030009811 A KR 20030009811A
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- glass
- vehicle body
- robot
- vehicle
- mounting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/028—Positioning of sub-units or components with respect to body shell or other sub-units or components by determining relative positions by measurement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2304/00—Optimising design; Manufacturing; Testing
- B60Y2304/07—Facilitating assembling or mounting
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Manipulator (AREA)
Abstract
Description
본 발명은 글라스 장착위치 보정방법에 관한 것으로, 보다 상세하게는 차체에 글라스를 장착하기 전에 레이저 센서를 이용하여 차체가 놓여진 위치를 측정한 다음, 차체가 놓여진 위치의 변동이 발생되었을 경우, 미리 측정된 차체 위치와 변위된 차체 위치를 비교 및 보정하여 글라스를 차체에 장착함으로써, 글라스의 오장착을 방지할 수 있는 글라스 장착위치 보정방법에 관한 것이다.The present invention relates to a method for correcting a glass mounting position, and more particularly, before a glass is mounted on a vehicle body, the position of the vehicle body is measured using a laser sensor, and then measured in advance when a variation of the position of the vehicle body occurs. The present invention relates to a glass mounting position correcting method capable of preventing misalignment of the glass by mounting the glass to the vehicle body by comparing and correcting the displaced vehicle body position and the displaced vehicle body position.
일반적으로 차체에 글라스의 장착은 먼저 소정의 단말기를 이용하여 차량의 종류를 확인한다. 그리고, 작업자는 상기 단말기에 의하여 확인된 차량에 맞는 글라스를 차체에 결합한다. 여기서 상기 차체는 이동대차에 의하여 이동되어 글라스결합 공정으로 이동되어 글라스의 결합이 이루어진다. 이러한 차체에 결합된 글라스에는 소정의 로봇에 의하여 실러가 도포되는데, 상기 로봇에는 실러 도포전에 미리 차종 정보가 입력되어 그 차종에 따른 실러를 도포하게 된다.In general, the mounting of the glass to the vehicle body first checks the type of the vehicle using a predetermined terminal. Then, the worker couples the glass to the vehicle body corresponding to the vehicle identified by the terminal. In this case, the vehicle body is moved by the moving trolley and moved to the glass bonding process to thereby combine the glass. The sealer is applied to the glass bonded to the vehicle body by a predetermined robot, and vehicle type information is input to the robot in advance before applying the sealer to apply the sealer according to the vehicle type.
그러나 상기 차체는 이동대차에 로딩시에 회전이 발생됨으로써, 글라스 장착지점의 위치가 변동되며, 위치고정핀이 이동 대차의 전방 2개소에만 설치됨으로써 위치 편차가 발생되며, 이에 따라 글라스의 결합시에 파손의 위험과, 실러 도포 시에 오류가 발생되어 글라스에 오염이 발생되는 문제점이 있다.However, when the vehicle body is rotated when loading the moving trolley, the position of the glass mounting point is changed, and the position fixing pin is installed only in two places in front of the moving trolley, whereby the position deviation is generated. There is a problem that the risk of breakage, and an error occurs when the sealer is applied to cause contamination of the glass.
본 발명은 상기 전술한 바와 같은 문제점들을 해결하기 위해 창출된 것으로서, 글라스가 장착되는 차체의 위치 변위가 발생되었을 경우, 글라스를 장치하는 로봇의 위치보정을 하여 글라스를 장착할 수 있는 글라스 장착위치 보정방법을 제공하는데 그 목적이 있다.The present invention was created in order to solve the problems as described above, when the position displacement of the vehicle body on which the glass is mounted, the position correction of the glass mounting position that can be mounted glass by correcting the position of the robot to install the glass The purpose is to provide a method.
도 1은 본 발명의 글라스 장착 로봇에 결합된 센서를 이용한 차체의 위치 변동의 측정을 도시한 도면.1 is a view showing the measurement of the positional change of the vehicle body using a sensor coupled to the glass-mounted robot of the present invention.
도 2는 본 발명의 바람직한 실시예에 따른 글라스 장착위치 보정방법을 도시한 블록도.Figure 2 is a block diagram showing a glass mounting position correction method according to a preferred embodiment of the present invention.
상기 목적을 달성하기 위한 본 발명의 글라스 장착위치 보정방법은, 차체에 글라스를 장착하기 위한 글라스 장착 장치에 있어서, 차량의 종류를 확인하는 단계; 상기 확인된 차량의 차체에 맞는 글라스를 결합하기 전에 상기 차체가 고정된 위치를 측정하는 단계; 상기 측정된 차체의 위치를 글라스를 부착하기 위한 로봇으로 전송하는 단계; 상기 차체의 위치변동의 발생 여부를 판단하는 단계; 상기 차체의 위치변동이 발생되면, 상기 로봇의 글라스 결합 위치를 보정하는 단계; 상기 단계에서 위치보정된 상기 로봇을 이용하여 글라스를 차체에 결합하는 단계; 및 상기차체에 결합된 글라스에 실러를 도포하는 단계를 포함하는 것을 특징으로 한다.Glass mounting position correction method of the present invention for achieving the above object, in the glass mounting apparatus for mounting the glass on the vehicle body, the step of checking the type of vehicle; Measuring a position at which the vehicle body is fixed before engaging the glass fitting the vehicle body of the identified vehicle; Transmitting the measured position of the vehicle body to a robot for attaching glass; Determining whether a position change of the vehicle body occurs; Correcting a glass engagement position of the robot when a position change of the vehicle body occurs; Coupling a glass to a vehicle body using the robot corrected in the step; And applying a sealer to the glass bonded to the vehicle body.
본 발명에 있어서, 상기 차체의 위치변동 측정은 차체에 글라스를 부착하는 상기 로봇에 결합된 레이저센서에 의하여 측정되는 것을 특징으로 한다.In the present invention, the position variation measurement of the vehicle body is characterized by being measured by a laser sensor coupled to the robot that attaches the glass to the vehicle body.
이하 본 발명의 바람직한 실시예에 따른 글라스 장착위치 보정방법을 첨부된 도면을 참조하여 상세히 설명한다. 그러나 본 발명은 이하에서 개시되는 실시예에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예는 본 발명의 개시가 완전하도록 하며, 통상의 지식을 가진자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이다.Hereinafter, a glass mounting position correction method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention and to those skilled in the art to fully understand the scope of the invention. It is provided to inform you.
도 1은 본 발명의 글라스 장착 로봇에 결합된 센서를 이용한 차체의 위치 변동의 측정을 도시한 도면이고, 도 2는 본 발명의 바람직한 실시예에 따른 글라스 장착위치 보정방법을 도시한 블록도이다.1 is a view showing the measurement of the position variation of the vehicle body using a sensor coupled to the glass-mounted robot of the present invention, Figure 2 is a block diagram showing a glass mounting position correction method according to a preferred embodiment of the present invention.
도 1 및 도 2에 도시된 바와 같이, 본 발명에 따른 글라스 장착위치 보정방법의 흐름은 다음과 같다.1 and 2, the flow of the glass mounting position correction method according to the present invention is as follows.
차량의 종류를 소정의 단말기를 이용하여 확인한다.(S11)The type of vehicle is checked using a predetermined terminal (S11).
상기 차체(10)가 이동대차(11)에 고정된 고정위치를 측정한다.(S12) 이러한 차체(10)의 고정 위치의 측정은 글라스를 차체에 장착하기 위한 로봇(20)에 결합된 레이저센서(30)를 이용하여 측정한다. 상기 레이저센서(30)는 로봇(20)의 그립바 (40)의 측부에 결합되는 것이 측정의 용이함을 고려하여 바람직하다. 상기 레이저센서(30)를 이용한 차체(10) 위치의 측정은 차체(10)의 측부(13)를 측정하여 측방향 변위를 측정하고 및 중앙부(15)를 측정하여 종방향의 변위를 측정한다.The vehicle body 10 measures the fixed position fixed to the moving cart 11. (S12) The measurement of the fixed position of the vehicle body 10 is a laser sensor coupled to the robot 20 for mounting the glass to the vehicle body. Measure using (30). The laser sensor 30 is preferably coupled to the side of the grip bar 40 of the robot 20 in consideration of the ease of measurement. The measurement of the position of the vehicle body 10 using the laser sensor 30 measures the side portion 13 of the vehicle body 10 to measure the lateral displacement, and the center portion 15 to measure the longitudinal displacement.
상기 단계(S12)에서 측정된 차체(10) 고정 위치를 로봇(20)에 전송한다 .(S13)The fixed position of the vehicle body 10 measured in the step S12 is transmitted to the robot 20. (S13)
다음 상기 차체(10)의 고정위치를 다시 측정하고 상기 단계(S12)에서 측정된 차체(10) 고정위치와 비교하여, 차체(10) 고정위치의 변동 발생 여부를 판단한다 .(S14)Next, the fixed position of the vehicle body 10 is measured again, and compared with the fixed position of the vehicle body 10 measured in the step S12, it is determined whether a change in the vehicle body 10 fixed position occurs.
상기 단계(S14)에서 차체(10)의 위치변동이 발생되었다고 판단되면, 상기 로봇(20)의 글라스 부착 변위량을 보정한다.(S15)If it is determined in step S14 that the positional change of the vehicle body 10 has occurred, the amount of displacement with glass of the robot 20 is corrected (S15).
상기 단계(S15)에서 보정된 변위량으로 차체(10)에 글라스를 부착한다.(S16)The glass is attached to the vehicle body 10 with the displacement corrected in the step S15.
상기 단계(S16)에서 부착된 글라스에 실러를 도포한다.(S17)The sealer is applied to the glass attached in the step (S16). (S17)
이러한 글라스 위치보정 방법에 의하여 로봇(20)에 의하여 차체(10)에 결합되는 글라스는 차체(10)의 고정 위치의 변동이 발생되어도, 레이저센서(30)에 의한 위치보정으로 안정적으로 결합되는 구조를 갖는다.The glass coupled to the vehicle body 10 by the robot 20 by the glass position correction method has a structure in which the glass is stably coupled by position correction by the laser sensor 30 even when a change in the fixed position of the vehicle body 10 occurs. Has
상기와 같은 본 발명에 따른 글라스 장착위치 보정방법은 다음과 같은 효과를 갖는다.Glass mounting position correction method according to the present invention as described above has the following effects.
차체에 글라스를 장착하기 전에 레이저 센서를 이용하여 차체가 놓여진 위치를 측정한 다음, 차체가 놓여진 위치의 변동이 발생되었을 경우, 미리 측정된 차체 위치와 변위된 차체 위치를 비교 및 보정하여 글라스를 차체에 장착함으로써, 글라스의 오장착을 방지할 수 있다.Before mounting the glass to the vehicle body, measure the position of the vehicle body by using the laser sensor, and then, if there is a change in the position of the vehicle body, the previously measured body position and the displaced vehicle body position are compared and corrected, and the glass is By attaching to the glass, erroneous mounting of the glass can be prevented.
이상, 본 발명을 도면에 도시된 실시예를 참조하여 설명하였다. 그러나, 본발명은 이에 한정되지 않고 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 본 발명과 균등한 범위에 속하는 다양한 변형예 또는 다른 실시예가 가능하다. 따라서, 본 발명의 진정한 보호범위는 이어지는 특허청구범위에 의해 정해져야 할 것이다.The present invention has been described above with reference to the embodiments shown in the drawings. However, the present invention is not limited thereto, and various modifications or other embodiments falling within the scope equivalent to the present invention are possible by those skilled in the art. Therefore, the true scope of protection of the present invention should be defined by the following claims.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020010044444A KR20030009811A (en) | 2001-07-24 | 2001-07-24 | Method for correction locate of glass combined with car body |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020010044444A KR20030009811A (en) | 2001-07-24 | 2001-07-24 | Method for correction locate of glass combined with car body |
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| Publication Number | Publication Date |
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| KR20030009811A true KR20030009811A (en) | 2003-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1020010044444A KR20030009811A (en) | 2001-07-24 | 2001-07-24 | Method for correction locate of glass combined with car body |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030029358A (en) * | 2001-10-08 | 2003-04-14 | 현대자동차주식회사 | Quaterclass system and method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1029573A (en) * | 1996-07-15 | 1998-02-03 | Honda Motor Co Ltd | Mounting method and device for vehicle-body window glass |
| KR19980053906U (en) * | 1996-12-31 | 1998-10-07 | 추호석 | How to determine the glass position of the vehicle |
| KR20000045061A (en) * | 1998-12-30 | 2000-07-15 | 정몽규 | System for installing glass of vehicle |
-
2001
- 2001-07-24 KR KR1020010044444A patent/KR20030009811A/en not_active Application Discontinuation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1029573A (en) * | 1996-07-15 | 1998-02-03 | Honda Motor Co Ltd | Mounting method and device for vehicle-body window glass |
| KR19980053906U (en) * | 1996-12-31 | 1998-10-07 | 추호석 | How to determine the glass position of the vehicle |
| KR20000045061A (en) * | 1998-12-30 | 2000-07-15 | 정몽규 | System for installing glass of vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030029358A (en) * | 2001-10-08 | 2003-04-14 | 현대자동차주식회사 | Quaterclass system and method thereof |
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