Automotive glass positioning device and method

Abstract

The present invention relates to an automobile glass positioning apparatus and a method thereof, the automobile glass positioning apparatus including: a positioning base to support a glass having a plurality of edges; a plurality of alignment units configured to align the glass with the positioning base; a scanning unit configured to scan the edges of the glass; a plurality of moving mechanisms configured to move the plurality of alignment units; and a controller configured to control the plurality of moving mechanisms to align a center of the glass with a center of the positioning base based on data scanned by the scanning unit.

Description

Technical Field

[0001] This invention relates to an automotive glass setting device and method, and more specifically to an automotive glass setting device for accurately positioning a vehicle glass to be installed on a vehicle body in a positioning base on a vehicle assembly line. Background Technology

[0002] Automotive glass mounting systems are designed to install vehicle glass into openings in the vehicle body during the assembly line. Vehicle glass includes the windshield, side windows, and rear window.

[0003] In an automotive glass mounting system, the vehicle glass can be initially positioned in a positioning base and then installed by a robot into a vehicle body opening that has been moved to the vicinity of the positioning base. Specifically, the vehicle glass can be positioned and aligned with the positioning base using an alignment mechanism, and the robot can include a gripper for holding the vehicle glass and a vision camera mounted on the gripper. The gripper holds the vehicle glass already positioned in the positioning base, while the vision camera checks the installation position of the vehicle glass. The robot can then correct the installation position based on the installation position data received from the vision camera and install the vehicle glass into the vehicle body opening.

[0004] The alignment mechanism allows the center of the vehicle glass to be aligned with the center of the positioning base. The alignment mechanism enables the vehicle glass to be accurately positioned on the positioning base, allowing the robot's gripper to hold the precisely positioned vehicle glass.

[0005] The alignment mechanism according to the prior art includes multiple alignment members disposed on the edge of a positioning base, and multiple cylinders configured to move the alignment members respectively. Each alignment member can contact the edge of the vehicle glass, and each cylinder can move the corresponding alignment member, such that the multiple alignment members can finely adjust and move the position of the vehicle glass in the horizontal and / or vertical directions. Therefore, the center of the vehicle glass can be aligned with the center of the positioning base, so that the vehicle glass is positioned in the correct position on the positioning base, and then the robot's gripper can hold the positioned vehicle glass.

[0006] However, in the alignment mechanisms of the prior art, the alignment member moves while in contact with the vehicle glass. If the vehicle glass changes size, it may not be possible to accurately align the vehicle glass with the positioning base.

[0007] Furthermore, because the alignment components in existing alignment mechanisms repeatedly contact the edge of the vehicle glass, friction can cause severe wear on the alignment components. As a result, multiple alignment components may fail to accurately align the center of the vehicle glass with the center of the positioning base.

[0008] In existing alignment mechanisms, the positioning of the vehicle glass on the positioning base may be inaccurate due to various factors such as defects in the vehicle glass itself and defects in the alignment mechanism. Therefore, the robot's gripper may hold the inaccurately positioned vehicle glass, potentially preventing the accurate installation of the vehicle glass.

[0009] The information disclosed in this background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain any technical concepts that are not considered prior art known to those skilled in the art. Summary of the Invention

[0010] The present invention aims to solve the above-mentioned problems existing in the prior art, while maintaining the advantages achieved by the prior art.

[0011] One aspect of the present invention provides an automotive glass positioning device and method, which can accurately position a vehicle glass to be installed on a vehicle body in a positioning base in a vehicle assembly line. According to one aspect of the invention, the automotive glass positioning device includes: a positioning base supporting a glass having multiple edges; multiple alignment units configured to align the glass with the positioning base; a scanning unit configured to scan the edges of the glass; multiple moving mechanisms configured to move the multiple alignment units respectively; and a controller configured to control the multiple moving mechanisms based on data scanned by the scanning units to align the center of the glass with the center of the positioning base.

[0012] The moving mechanism adjusts the movement of the alignment unit based on the data scanned by the scanning unit, aligning the center of the glass with the center of the positioning base, thus accurately positioning the glass on the positioning base. Because the glass is accurately positioned on the positioning base, the robot's gripper can precisely hold the glass, allowing the robot to accurately install the glass into the opening in the vehicle body.

[0013] Each alignment unit is movably mounted on each edge of the positioning base via a corresponding moving mechanism. When each alignment unit contacts and presses against each edge of the glass supported by the positioning base, the alignment unit can move the glass relative to the positioning base.

[0014] Because multiple alignment units contact and press the edges of the glass respectively, the multiple alignment units can move the glass relative to the positioning base, thereby accurately aligning the center of the glass with the center of the positioning base.

[0015] Each alignment unit includes: a housing; and an alignment rod that moves relative to the housing. As fluid is supplied and returned to the housing, the alignment rod can move between an extended position where it protrudes from the housing and a retracted position where it is received within the housing.

[0016] The alignment lever can move vertically within the housing. Specifically, when the alignment lever is in the extended position, it contacts and presses against the glass edge to align with the glass, and when the alignment lever is in the retracted position, it does not contact the glass edge. The alignment lever only contacts the glass edge during glass alignment, thus minimizing the number of contacts between the alignment lever and the glass, and consequently minimizing wear on the alignment lever.

[0017] The scanning unit includes: multiple contact probes, each scanning multiple edges of the glass; and a scanning processor configured to process the data scanned by the multiple contact probes. The contact probes can be moved along the multiple edges of the glass via a moving mechanism, allowing each contact probe to scan the edges of the glass individually.

[0018] Because multiple contact probes scan the corresponding edges of the glass, the scanning unit can accurately acquire scanning data such as the glass's contour, size, and shape. The controller can then control multiple moving mechanisms based on this scanning data, allowing multiple alignment units to precisely position the glass on the positioning base. Specifically, even when the glass's dimensions change, the controller can still control the multiple moving mechanisms based on the scanning data, thereby ensuring accurate alignment between the center of the glass and the center of the positioning base.

[0019] Each contact probe includes: a probe base; and a probe pin movably connected to the probe base. Specifically, the probe pin is connected to the probe base via a ball joint.

[0020] As the probe pin pivots or rotates on the probe base, it can make close contact with the curved edge of the glass, thus accurately scanning the edge of the glass.

[0021] Each contact probe and its corresponding alignment unit are attached side-by-side to the corresponding moving mechanism, so that the contact probe and the corresponding alignment unit move together through the corresponding moving mechanism.

[0022] Each moving mechanism is movable to a corresponding alignment unit, such that the alignment unit allows the glass to be aligned with the positioning base. Each moving mechanism includes: an attachment; a first electric actuator for moving the attachment along a first axis; and a second electric actuator for moving the attachment along a second axis; wherein the first axis extends toward the center of the positioning base; and the second axis extends along the edge of the positioning base.

[0023] As the attachment moves along the first axis, the alignment unit can move toward or away from the center of the positioning base. As the attachment moves along the second axis, the contact probe can move along the edge of the positioning base.

[0024] The first electric actuator includes: a first electric motor; a first slider that moves along a first axis via the first electric motor; and a first guide that guides the movement of the first slider. The second electric actuator includes: a second electric motor; a second slider that moves along a second axis via the second electric motor; and a second guide that guides the movement of the second slider. The second guide of the second electric actuator is fixed to the first slider of the first electric actuator, and an attachment is fixed to the second electric actuator.

[0025] When the first motor of the first electric actuator is operated, the first slider can move along the first axis. The second electric actuator, connected to the first slider and the attachment, can move along the first axis, and the alignment unit can move the edge of the glass toward or away from the center of the positioning base.

[0026] The first electric actuator includes a first torque sensing and control system that senses and controls the torque of the first electric motor. When the torque sensed by the first torque sensing and control system is higher than or equal to a threshold, the controller can control the first electric actuator to stop.

[0027] When the alignment unit is moved by the moving mechanism with the alignment rod in contact with the glass edge, the controller can determine whether the torque sensed by the first torque sensing control system of the first electric actuator is higher than or equal to a threshold. When the torque sensed by the first torque sensing control system of the first electric actuator is higher than or equal to the threshold, the controller can stop the first electric actuator, thereby preventing overload from acting on the first electric actuator. Therefore, wear or deformation of the alignment rod of the alignment unit can be minimized.

[0028] Each contact probe and its corresponding alignment unit can be attached together to the attachment of the moving mechanism. The contact probes and their corresponding alignment units can be arranged side by side to cooperate with each other.

[0029] Because the contact probe and the corresponding alignment unit are attached side by side to the attachment to cooperate with each other, the scanning operation of the scanning unit and the alignment operation of the alignment unit can be performed continuously and efficiently, thereby enabling the glass to be quickly and accurately positioned on the positioning base.

[0030] The diameter of the alignment rod can be larger than the diameter of the probe pin.

[0031] When the alignment rod is in the extended position and contacts the edge of the glass, the probe pin avoids contacting the edge of the glass, thus preventing the probe from interfering with the alignment operation of the alignment unit.

[0032] The automotive glass positioning device also includes: multiple columns mounted on the top surface of the positioning base; and multiple vacuum cups, each mounted on one of the columns.

[0033] According to another aspect of the present invention, a method for positioning a vehicle glass includes the following steps: loading a glass having multiple edges onto a positioning base; scanning the multiple edges of the loaded glass by a scanning unit; calculating the center of the glass based on the data scanned by the scanning unit; and adjusting the position of the glass by a plurality of alignment units and a plurality of moving mechanisms to align the calculated center of the glass with the center of the positioning base.

[0034] The method also includes a preliminary adjustment step before the scanning step: the position of the loaded glass relative to the positioning base is initially adjusted by multiple alignment units and multiple moving mechanisms.

[0035] The method also includes steps to stop each moving mechanism in the preliminary adjustment step and the adjustment step. Each moving mechanism includes at least one electric actuator with a motor, the electric actuator including a torque sensing control system that senses and controls the torque of the motor. When the alignment unit is in contact with the edge of the glass, the moving mechanism is stopped when the torque sensed by the torque sensing control system of the electric actuator is higher than or equal to a threshold.

[0036] The method includes a step of holding the glass with multiple vacuum cups between the initial adjustment step and the scanning step. Multiple vacuum cups are mounted on a positioning base, and the glass is held by the multiple vacuum cups as vacuum pressure is applied to them.

[0037] The method also includes a step of releasing the glass by releasing the vacuum pressure supplied to multiple vacuum cups between the calculation step and the adjustment step. Attached Figure Description

[0038] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed embodiments, taken in conjunction with the accompanying drawings, wherein:

[0039] Figure 1 A perspective view of an automotive glass positioning device according to an exemplary embodiment of the present invention is shown, which is arranged near a vehicle glass mounting system;

[0040] Figure 2 A perspective view of an automotive glass positioning device according to an exemplary embodiment of the present invention is shown, in the state where the vehicle glass is loaded onto the positioning base;

[0041] Figure 3 A perspective view of an automotive glass positioning device according to an exemplary embodiment of the present invention is shown, in a state before the vehicle glass is loaded onto the positioning base;

[0042] Figure 4 It shows Figure 3 An enlarged view of part A;

[0043] Figure 5 A top view of an automotive glass positioning device according to an exemplary embodiment of the present invention is shown, in a state where the vehicle glass is loaded onto the positioning base;

[0044] Figure 6 The diagram illustrates the state in which the alignment rod of the alignment unit contacts the edge of the vehicle glass in an automotive glass positioning device according to an exemplary embodiment of the present invention;

[0045] Figure 7 The image shows an alignment unit and a contact probe of an attachment member that are attached side-by-side to a moving mechanism in an automotive glass positioning device according to an exemplary embodiment of the present invention, with the alignment rod of the alignment unit in the extended position.

[0046] Figure 8 The image shows an alignment unit and a contact probe of an attachment member that are attached side-by-side to a moving mechanism in an automotive glass positioning device according to an exemplary embodiment of the present invention, with the alignment rod of the alignment unit in the retracted position.

[0047] Figure 9 A schematic diagram of a scanning unit in an automotive glass positioning device according to an exemplary embodiment of the present invention is shown;

[0048] Figure 10 A block diagram illustrating the configuration of a controller and related components of an automotive glass positioning device according to an exemplary embodiment of the present invention is shown.

[0049] Figure 11 The process of aligning an automotive glass using a plurality of alignment units in an automotive glass positioning device according to an exemplary embodiment of the present invention is illustrated.

[0050] Figure 12 The process of scanning the edge of an automotive glass using a contact probe of a scanning unit in an automotive glass positioning device according to an exemplary embodiment of the present invention is shown; and

[0051] Figure 13 A flowchart is shown of a method for positioning vehicle glass using an automotive glass positioning device according to an exemplary embodiment of the present invention. Detailed Implementation

[0052] In the following, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Throughout the drawings, the same reference numerals will be used to denote the same or equivalent elements. Furthermore, to avoid unnecessarily obscuring the essence of the invention, detailed descriptions of well-known techniques associated with the invention will be omitted.

[0053] Terms such as first, second, A, B, (a), and (b) are used to describe elements in exemplary embodiments of the invention. These terms are used only to distinguish one element from another, and the inherent characteristics, sequence, or order of the corresponding elements are not limited by these terms. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in general dictionaries should be interpreted as having the same meaning as in the context of the relevant technical field, and not as having an ideal or overly formal meaning, unless expressly defined as having such a meaning in this application.

[0054] refer to Figure 1 According to an exemplary embodiment of the present invention, the automotive glass positioning device 10 can be arranged within a vehicle glass mounting system 1. The vehicle glass mounting system 1 may include a robot 4 for mounting a vehicle glass 5 into an opening in the vehicle body 2 supported on a platform 3. The robot 4 may include: a base 4a; a robotic arm 4b connected to the base 4a via a joint 4d; and a gripper 4c attached to the free end of the robotic arm 4b. The gripper 4c can hold and release the glass 5 already positioned by the automotive glass positioning device 10.

[0055] refer to Figure 2 and Figure 3 According to an exemplary embodiment of the present invention, an automotive glass positioning device 10 may include: a positioning base 11 supporting a glass 5 having multiple edges; multiple alignment units 13 enabling the glass 5 to be aligned with the positioning base 11; a scanning unit 14 scanning the edges of the glass 5; multiple moving mechanisms 15 respectively moving the multiple alignment units 13; and a controller 16 controlling the operation of the moving mechanisms 15 based on the data scanned by the scanning units 14, so that the center of the glass 5 is aligned with the center of the positioning base 11.

[0056] refer to Figure 2 and Figure 3 The positioning base 11 may include a base plate 11a supporting the glass 5. The base plate 11a may have a flat top surface and may be a polygon, such as a rectangle, with multiple edges. Multiple legs 11b may extend vertically downward from the base plate 11a, and the base plate 11a may be supported by the multiple legs 11b at a predetermined height from the floor. Multiple connecting frames 11c may connect the multiple legs 11b, and each connecting frame 11c may extend horizontally.

[0057] According to an exemplary embodiment of the present invention, the automotive glass positioning device 10 may further include a plurality of pillars 12 mounted on the top surface of the positioning base 11, and a plurality of vacuum cups 17 respectively mounted on the plurality of pillars 12.

[0058] Multiple vacuum cups 17 can grip glass 5 using vacuum pressure. When the vacuum source 60 (see...) Figure 10 When vacuum pressure is applied to the vacuum cups 17, the multiple vacuum cups 17 can hold the glass 5, and as the vacuum pressure is released from each vacuum cup 17, the multiple vacuum cups 17 can release the glass 5. Since the multiple vacuum cups 17 can selectively hold and release the glass 5, the scanning operation of the scanning unit 14 and the alignment operation of the alignment unit 13 can be performed smoothly. When the scanning unit 14 scans the edge of the glass 5, the multiple vacuum cups 17 can hold the glass 5 using vacuum pressure to improve the scanning accuracy of the scanning unit 14, and when the alignment unit 13 aligns with the glass 5, the multiple vacuum cups 17 can release the glass 5 by releasing the vacuum pressure to improve the alignment of the alignment unit 13 with the glass 5.

[0059] Each of the plurality of alignment units 13 can be movably mounted on the base plate 11a of the positioning base 11. The plurality of alignment units 13 can be arranged close to the edge of the glass 5 supported by the positioning base 11. When each alignment unit 13 moves on the positioning base 11 via a corresponding moving mechanism 15, the position of the glass 5 supported by the positioning base 11 moves. In particular, when each moving mechanism 15 moves the corresponding alignment unit 13, the position of each edge of the glass 5 can be adjusted so that the center C2 of the glass 5 can be aligned with the center C1 of the positioning base 11. That is, the plurality of alignment units 13 can be moved by the plurality of moving mechanisms 15 respectively, thereby enabling the glass 5 to be aligned with the positioning base 11.

[0060] refer to Figure 4 Each alignment unit 13 may include a housing 13a and an alignment rod 13b movable relative to the housing 13a. According to an exemplary embodiment, the alignment unit 13 may be a fluid cylinder, wherein the alignment rod 13 moves vertically as fluid (air, oil, etc.) is supplied and returned to the housing 13a. For example, when air is supplied and returned to the housing 13a, the alignment unit 13 may be a cylinder. When a liquid fluid such as oil is supplied and returned to the housing 13a, the alignment unit 13 may be a hydraulic cylinder. As fluid is supplied and returned to the housing 13a of the alignment unit 13, the alignment rod 13b may be in an extended position protruding from the housing 13a (see [link to relevant documentation]). Figure 6 and Figure 7 (The solid line in the middle) and the alignment rod 13b are housed in the retracted position within the housing 13a (see solid line in the middle) Figure 6 and Figure 8 Move between the dotted lines (in the text). Reference Figure 6 Fluid supply line 51 and fluid return line 52 may be connected to housing 13a. When fluid is supplied to housing 13a through fluid supply line 51, alignment rod 13b may be moved to an extension position in which alignment rod 13b protrudes from housing 13a (see [reference]). Figure 6and Figure 7 (Solid line in the diagram). When the alignment rod 13b is in the extended position, it can directly contact the edge of the glass 5. When the alignment unit 13 is moved by the moving mechanism 15, the alignment rod 13b can press against the edge of the glass 5, thus allowing the glass 5 to move relative to the positioning base 11. When fluid is discharged from the housing 13a through the fluid return line 52, the alignment rod 13b can move to the retracted position in which it is received within the housing 13a (see solid line in the diagram). Figure 6 and Figure 8 (The dotted line in the middle), and the alignment rod 13b can avoid contact with the edge of the glass 5.

[0061] Alignment lever 13b can move vertically within housing 13a. Specifically, when aligned lever 13b is in the extended position, it contacts and presses against the edge of glass 5 to move and align it with glass 5, and when it is in the retracted position, it does not contact the edge of glass 5, thus not interfering with the scanning operation of contact probe 31 (described below). Alignment lever 13b can contact the edge of glass 5 only during glass 5 alignment, minimizing the number of contacts between alignment lever 13b and glass 5, thereby minimizing wear on alignment lever 13b.

[0062] refer to Figure 9 The scanning unit 14 may include a plurality of contact probes 31, each of which scans the edge of the glass 5, and a scanning processor 32 for processing the data scanned by the plurality of contact probes 31.

[0063] Multiple contact probes 31 may correspond to multiple alignment units 13. For example, the glass 5 may have four edges, and the positioning base 11 may have four edges. The four alignment units 13 may be respectively disposed on the edges of the positioning base 11, and the four contact probes 31 may be respectively disposed on the edges of the positioning base 11. Each contact probe 31 and its corresponding alignment unit 13 may be arranged side by side to cooperate with each other. Therefore, each moving mechanism 15 can move the contact probe 31 and its corresponding alignment unit 13.

[0064] refer to Figures 2 to 5 Each contact probe 31 can be positioned adjacent to a corresponding alignment unit 13. Specifically, the contact probe 31 and the corresponding alignment unit 13 can be attached side-by-side to a corresponding moving mechanism 15. Therefore, the contact probe 31 and the corresponding alignment unit 13 can move together via the corresponding moving mechanism 15. Specifically, the contact probe 31 can move along the edge of the glass 5 via the moving mechanism 15, so that multiple contact probes 31 can scan the edge of the glass 5 separately.

[0065] refer to Figure 9The contact probe 31 may include a probe base 33 and a probe pin 34 movably connected to the probe base 33. Specifically, the probe pin 34 may be connected to the probe base 33 via a ball-and-socket connector 35. The ball-and-socket connector 35 may include a ball disposed on the bottom end of the probe pin 34 and a ball-and-socket socket disposed in the probe base 33. The ball is rotatably accommodated in the ball-and-socket socket. The probe pin 34 may pivot about the ball-and-socket connector 35 or rotate about the longitudinal axis of the probe pin 34. When the probe pin 34 pivots or rotates on the probe base 33, the probe pin 34 may make close contact with the curved edge 5 of the glass, thereby accurately scanning the edge of the glass 5.

[0066] When multiple contact probes 31 scan the edges of the glass 5, the scanning unit 14 obtains scanning data such as the outline, size, and shape of the glass 5, and the controller 16 controls multiple moving mechanisms 15 based on the scanning data, so that the multiple alignment units 13 can align the glass 5 with the positioning base 11. Specifically, even when the size of the glass 5 changes, the controller 16 can control the multiple moving mechanisms 15 based on the scanning data, so that the center of the glass 5 can be accurately aligned with the center of the positioning base 11.

[0067] refer to Figure 10 The scan processor 32 can be electrically connected to the controller 16. The scan processor 32 can analyze and process data (the contour, size, shape, etc. of the glass 5) scanned by multiple contact probes 31, and the analyzed and processed data can be transmitted to the controller 16. For example, the scan processor 32 can be a piece of hardware independent of the controller 16, or it can be a hardware module built into the controller 16. As another example, the scan processor 32 can be a software module stored in the memory of the controller 16.

[0068] According to an exemplary embodiment, the scanning processor 32 can calculate the size and center of the glass 5 based on data scanned by a plurality of contact probes 31.

[0069] According to another exemplary embodiment, the controller 16 can calculate the size and center of the glass 5 based on data scanned by a plurality of contact probes 31 and processed by the scan processor 32.

[0070] Multiple moving mechanisms 15 can be respectively mounted on the edge of the positioning base 11, and the multiple moving mechanisms 15 can be arranged to correspond to multiple alignment units 13 and multiple contact probes 31. Therefore, each moving mechanism 15 can be configured to move each alignment unit 13 and the corresponding contact probe 31. As each moving mechanism 15 moves the alignment unit 13 and the corresponding contact probe 31, the alignment unit 13 can move the edge of the glass 5, and the contact probe 31 can scan the edge of the glass 5.

[0071] According to an exemplary embodiment, each moving mechanism 15 can be configured to move the alignment unit 13 and the corresponding contact probe 31 in a two-dimensional coordinate system. The moving mechanism 15 can be configured to move the alignment unit 13 and the corresponding contact probe 31 along a first axis X1 and a second axis X2 of the two-dimensional coordinate system. The first axis X1 may be perpendicular to the second axis X2.

[0072] refer to Figure 4 Each moving mechanism 15 may include: an attachment 20, a first electric actuator 21 for moving the attachment 20 along a first axis X1, and a second electric actuator 22 for moving the attachment 20 along a second axis X2.

[0073] refer to Figure 4 , Figure 5 , Figure 7 and Figure 8 The alignment unit 13 and the corresponding contact probe 31 can be attached side-by-side to the attachment 20 using fasteners, welding, or other methods. The first electric actuator 21 and the second electric actuator 22 can move the alignment unit 13 and the contact probe 31 attached to the attachment 20 along the first axis X1 and / or the second axis X2. Specifically, the alignment unit 13 and the corresponding contact probe 31 can be attached together to the attachment 20 of each moving mechanism 15, and the contact probe 31 and the corresponding alignment unit 13 can be arranged side-by-side. That is, the contact probe 31 and the corresponding alignment unit 13 can be attached side-by-side to the attachment 20, so that the contact probe 31 and the alignment unit 13 can be combined with the attachment 20 of the moving mechanism 15.

[0074] Since the contact probe 31 and the corresponding alignment unit 13 are attached side by side to the attachment 20 to cooperate with each other, the scanning operation of the scanning unit 14 and the alignment operation of the alignment unit 13 can be performed continuously and efficiently, so that the glass 5 can be quickly and accurately positioned on the positioning base 11.

[0075] The first axis Xl may be an axis extending toward the center C1 of the positioning base 11. As the attachment 20 moves along the first axis Xl, the alignment unit 13 may move toward or away from the center C1 of the positioning base 11.

[0076] The second axis X2 can be an axis extending along the edge of the positioning base 11. As the attachment 20 moves along the second axis X2, the alignment unit 13 can move along the edge of the positioning base 11.

[0077] The first electric actuator 21 may include: a first electric motor 21a, a first slider 21b that moves along a first axis Xl via the first electric motor 21a, and a first guide 21c that guides the movement of the first slider 21b. The first electric actuator 21 may include a first torque sensing control system 21d that senses and controls the torque of the first electric motor 21a.

[0078] When the first motor 21a of the first electric actuator 21 is running, the first slider 21b can move along the first axis X1. The second electric actuator 22, connected to the first slider 21b and the attachment 20, can move along the first axis X1, and the alignment unit 13 and the contact probe 31, attached to the attachment 20, can move along the first axis X1. When the alignment rod 13b of the alignment unit 13 is in the extended position, the alignment rod 13b can move the edge of the glass 5 toward or away from the center of the positioning base 11. The alignment unit 13 can move toward the center C1 of the positioning base 11 via the first electric actuator 21 (alignment unit 13 advances), and the alignment unit 13 can move away from the center C1 of the positioning base 11 via the first electric actuator 21 (alignment unit 13 retreats).

[0079] When multiple alignment units 13 perform alignment of glass 5, the alignment rod 13b of each alignment unit 13 can be in an extended position (see [reference]). Figure 6 and Figure 7 (The solid line in the middle). Reference Figure 11 As the first motor 21a of the first electric actuator 21 operates with the alignment rod 13b in the extended position, the alignment rod 13b can move along the first axis X1. Therefore, the alignment rod 13b can contact and press the edge of the glass 5, so that the center C2 of the glass 5 can be aligned with the center C1 of the positioning base 11. Here, the controller 16 can control the operation of the first motor 21a based on the data scanned by the scanning unit 14, so that the multiple alignment units 13 can finely adjust the position of the glass 5 so that the center C2 of the glass 5 is aligned with the center C1 of the positioning base 11.

[0080] refer to Figure 4 , Figure 5 and Figure 7 The diameter of the alignment rod 13b of the alignment unit 13 can be larger than the diameter of the probe pin 34 of the contact probe 31. When the alignment rod 13b contacts the edge of the glass 5 during the alignment operation of the alignment unit 13, the probe pin 34 is prevented from contacting the edge of the glass 5, so the probe pin 34 will not hinder the alignment operation of the alignment unit 13.

[0081] The second electric actuator 22 may include: a second electric motor 22a, a second slider 22b that moves along a second axis X2 via the second electric motor 22a, and a second guide 22c that guides the movement of the second slider 22b. The second electric actuator 22 may include a second torque sensing control system 22d that senses and controls the torque of the second electric motor 22a. The second guide 22c of the second electric actuator 22 may be fixed to the first slider 21b of the first electric actuator 21, and the attachment 20 may be fixed to the second electric actuator 22.

[0082] As the second motor 22a of the second electric actuator 22 operates, the second slider 22b can move along the edge of the positioning base 11 along the second axis X2. The attachment 20 connected to the second slider 22b can move along the second axis X2, and the alignment unit 13 and contact probe 31, which are attached side by side to the attachment 20, can move along the edge of the glass 5.

[0083] When multiple contact probes 31 scan the edge of glass 5 respectively, the alignment rod 13b of each alignment unit 13 can be in the retracted position (see...). Figure 6 as well as Figure 8 (The dotted lines in the diagram indicate that the alignment rod 13b does not directly contact the edge of the glass 5.) The attachment 20 and the contact probe 31 can move along the first axis X1, and the probe pin 34 of the contact probe 31 can contact the edge of the glass 5. Subsequently, as the second motor 22a of the second electric actuator 22 operates, the attachment 20 and the contact probe 31 can move along the second axis X2, as... Figure 12 As shown, the probe pin 34 of the contact probe 31 can scan the edge of the glass 5.

[0084] When the first motor 21a of the first electric actuator 21 is running and the alignment rod 13b of the alignment unit 13 contacts the edge of the glass 5, the first torque sensing control system 21d can sense the torque of the first motor 21a, such that the first torque sensing control system 21d can sense the torque acting between the alignment rod 13b and the edge of the glass 5. The torque between the alignment rod 13b and the edge of the glass 5 can be equal to the force acting along the first axis X1. The controller 16 can determine whether the torque sensed by the first torque sensing control system 21d is higher than or equal to a threshold. When the torque sensed by the first torque sensing control system 21d is higher than or equal to the threshold, the controller 16 or a motor controller (not shown) provided in the first electric actuator 21 can control the first electric actuator 21 to stop. When each alignment unit 13 is moved by the corresponding moving mechanism 15 while the alignment rod 13b of the alignment unit 13 is in contact with the edge of the glass 5, the controller 16 can determine whether the torque sensed by the first torque sensing control system 21d of the first electric actuator 21 is higher than or equal to the threshold. As the alignment rod 13b of the alignment unit 13 contacts and presses against the edge of the glass 5, an overload is applied to the alignment rod 13b and the first electric actuator 21. This threshold can be a reference torque used to determine whether an overload is applied to the alignment rod 13b and the first electric actuator 21. When the torque sensed by the first torque sensing control system 21d of the first electric actuator 21 is higher than or equal to the threshold, the controller 16 can determine that an overload is applied to the alignment rod 13b and the first electric actuator 21, and therefore the controller 16 can stop the first electric actuator 21, thereby preventing an overload from being applied to the alignment rod 13b and the first electric actuator 21. Therefore, wear or deformation of the alignment rod 13b of the alignment unit 13 is minimized, and failure of the first electric actuator 21 is prevented.

[0085] refer to Figure 10 The controller 16 can be electrically connected to the first motor 21a of the first electric actuator 21 and the second motor 22a of the second electric actuator 22. Therefore, the controller 16 can independently control the operation of the first electric actuator 21 and the operation of the second electric actuator 22.

[0086] refer to Figure 10The housing 13a of the alignment unit 13 is fluidly connected to the fluid source 50 via a fluid supply line 51 and a fluid return line 52. A fluid supply valve 53 can be installed on the fluid supply line 51, and can be opened and closed by a motor 53a. A fluid return valve 54 can be installed on the fluid return line 52, and can be opened and closed by a motor 54a. A controller 16 is electrically connected to the motors 53a of the fluid supply valve 53 and 54a of the fluid return valve 54, and can control these motors to adjust the movement of the alignment rod 13b. In other words, the controller 16 can control the movement of the alignment rod 13b of the alignment unit 13.

[0087] refer to Figure 10 Each vacuum cup 17 can be connected to a vacuum source 60 via a vacuum line 61, which can be a vacuum pump, etc. A vacuum supply valve 63 can be installed on the vacuum line 61 and can be opened and closed by a motor 63a. A vacuum release line 62 can be connected to the vacuum cup 17. A vacuum release valve 64 can be installed on the vacuum release line 62 and can be opened and closed by a motor 64a. A controller 16 can be electrically connected to the motor 63a of the vacuum supply valve 63 and the vacuum source 60, and can control the motor 63a of the vacuum supply valve 63 and the vacuum source 60 to provide a vacuum to the vacuum cup 17. The controller 16 can also be electrically connected to the motor 64a of the vacuum release valve 64, and can control the motor 64a of the vacuum release valve 64 to control the vacuum release of the vacuum cup 17.

[0088] Figure 13 A flowchart illustrating a method for positioning vehicle glass using an automotive glass positioning device according to an exemplary embodiment of the present invention is provided.

[0089] First, in S1, the glass 5 is loaded onto the positioning base 11 by an operator or a loading robot. Thus, the glass 5 can be placed on the vacuum cup 17 of the positioning base 11.

[0090] When the sensor (not shown) and / or controller 16 senses that the glass 5 is loaded onto the positioning base 11, the fluid supply valve 53 of the fluid supply line 51 can be opened, allowing fluid to be supplied to the housing 13a of each alignment unit 13, thus enabling the alignment rod 13b of each alignment unit 13 to move to an extended position. In S2, as the first motor 21a of the first electric actuator 21 of each moving mechanism 15 operates, each alignment unit 13 can advance toward each edge of the glass 5. As the alignment rod 13b of the alignment unit 13 contacts and presses against the corresponding edge of the glass 5, the position of the glass 5 relative to the positioning base 11 can be initially adjusted.

[0091] In S3, it can be preliminarily determined whether the first torque Tl sensed by the first torque sensing control system 21d of the first electric actuator 21 is higher than or equal to the threshold T while the alignment rod 13b of each alignment unit 13 is in contact with each edge of the glass 5. H .

[0092] When it is determined in S3 that the sensed torque Tl is less than the threshold T H At this time, the first motor 21a of the first electric actuator 21 can continue to operate, so that the alignment unit 13 can advance continuously in S3-1.

[0093] When it is determined in S3 that the sensed torque Tl is higher than or equal to the threshold T H When the first electric actuator 21 is stopped, the first motor 21a of the first electric actuator 21 can be stopped, thereby stopping the alignment unit 13 in S4.

[0094] After the alignment unit 13 stops, the vacuum source 60 can provide vacuum pressure to the multiple vacuum cups 17 with the vacuum supply valve 63 open, so that in S5, the multiple vacuum cups 17 can hold the glass 5 using the vacuum pressure.

[0095] After the glass 5 is held by multiple vacuum cups 17, the fluid return valve 54 can be opened and fluid can return from the housing 13a of each alignment unit 13, so that in S6, the alignment rod 13b of each alignment unit 13 can be moved to the retracted position. As each alignment rod 13b moves to the retracted position where the alignment rod 13b is housed in the housing 13a, the alignment rod 13b does not contact the edge of the glass 5.

[0096] After the alignment rod 13b moves to the retracted position, the first motor 21a of the first electric actuator 21 of each moving mechanism 15 operates, so that in S7, each contact probe 31 of the scanning unit 14 can advance toward each edge of the glass 5.

[0097] In S8, the controller 16 can determine whether each contact probe 31 is in contact with each edge of the glass 5 via a touch sensing circuit or a contact sensor (not shown).

[0098] When it is determined in S8 that the contact probe 31 is not in contact with the edge of the glass 5, the first motor 21a can continue to run, so that the contact probe 31 can continue to advance in S8-1.

[0099] When it is determined in S8 that the contact probe 31 contacts the edge of the glass 5, the first motor 21a is stopped so that the forward movement of the contact probe 31 is stopped in S9.

[0100] When the second motor 22a of the second electric actuator 22 is running, each contact probe 31 can move along the second axis X2. As the contact probe 31 moves along the edge of the glass 5, the contact probe 31 can scan the edge of the glass 5 in S10.

[0101] In S11, the scanning processor 32 of the scanning unit 14 can acquire data scanned by multiple contact probes 31.

[0102] In S12, the scan processor 32 or the controller 16 may calculate the dimensions of the glass 5 and the center C2 of the glass 5 based on the scan data. According to an exemplary embodiment, the scan processor 32 may calculate the dimensions of the glass 5 and the center C2 of the glass 5 based on the scan data, and the calculation result may be sent to the controller 16. According to another exemplary embodiment, the controller 16 may calculate the dimensions of the glass 5 and the center C2 of the glass 5 based on the data processed and analyzed by the scan processor 32.

[0103] After the center C2 of glass 5 is calculated, the vacuum release valve 64 can be opened so that the vacuum pressure supplied to the multiple vacuum cups 17 can be released or discharged through the vacuum release line 62, so that in S13, the multiple vacuum cups 17 can release glass 5.

[0104] After the glass 5 is released, the fluid supply valve 53 of the fluid supply line 51 can be opened, allowing fluid to be supplied to the housing 13a of each alignment unit 13. Therefore, in S14, the alignment rod 13b of each alignment unit 13 can move to an extended position. The controller 16 can control the operation of the first motor 21a so that the calculated center C2 of the glass 5 can be aligned with the center C1 of the positioning base 11. Therefore, in S15, each alignment unit 13 can advance toward each edge of the glass 5. As the alignment rods 13b of the alignment unit 13 contact and press against the respective edges of the glass 5, the position of the glass 5 on the positioning base 11 can be adjusted a second time, so that the center C2 of the glass 5 can be aligned with the center C1 of the positioning base 11.

[0105] It can be determined a second time whether the second torque T2 sensed by the first torque sensing control system 21d of the first electric actuator 21 is higher than or equal to the threshold T. H (S16).

[0106] When it is determined in S16 that the sensed torque T2 is less than the threshold T H At this time, the first motor 21a of the first electric actuator 21 can continue to operate so that the alignment unit 13 can advance continuously in S16-1.

[0107] When it is determined in S16 that the sensed torque T2 is higher than or equal to the threshold T HWhen the first electric actuator 21 is stopped, the first motor 21a of the first electric actuator 21 can be stopped so that the alignment unit 13 can be stopped in S17. Therefore, in S18, the center C2 of the glass 5 can be aligned with the center C1 of the positioning base 11, and the alignment of the glass 5 can be completed.

[0108] According to the above exemplary embodiments of the present invention, the movement of the alignment unit 13 can be adjusted by the moving mechanism 15 based on the data scanned by the scanning unit 14, so that the center of the glass 5 is aligned with the center of the positioning base 11, and thus the glass 5 can be accurately positioned on the positioning base 11. Since the glass 5 is accurately positioned on the positioning base 11, the gripper 4c of the robot 4 can accurately hold the glass 5, and thus the robot 4 can accurately install the glass 5 into the opening of the vehicle body.

[0109] As described above, according to an exemplary embodiment of the present invention, even when the size of the glass changes, by scanning the edge of the glass and controlling multiple moving mechanisms based on the scanned data, the center of the glass can be accurately aligned with the center of the positioning base. With the robot's gripper accurately holding the glass, the robot can accurately install the glass into the opening in the vehicle body.

[0110] In the foregoing, although the invention has been described with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto, but can be modified and altered by those skilled in the art without departing from the spirit and scope of the invention as claimed in the following claims.

Claims

1. A car window positioning device, comprising: Positioning base to support glass with multiple edges; Multiple alignment units are configured to align the glass with the positioning base; The scanning unit is configured to scan the edge of the glass; Multiple moving mechanisms are configured to move the multiple alignment units; as well as The controller is configured to control the plurality of moving mechanisms based on the data scanned by the scanning unit to align the center of the glass with the center of the positioning base. Each of the plurality of alignment units includes: Casing; and Alignment rod that moves relative to the housing.

2. The automotive glass positioning device according to claim 1, wherein, Each of the plurality of alignment units is movably mounted on each of the plurality of edges of the positioning base via a corresponding moving mechanism.

3. The automotive glass positioning device according to claim 1, wherein, As fluid is supplied and returned to the housing, the alignment rod moves between an extended position where it protrudes from the housing and a retracted position where it is housed within the housing.

4. The automotive glass positioning device according to claim 1, wherein, The scanning unit includes: Multiple contact probes are configured to scan multiple edges of the glass; and A scanning processor is configured to process data scanned by the plurality of contact probes.

5. The automotive glass positioning device according to claim 4, wherein, The plurality of contact probes move along the plurality of edges of the glass via the moving mechanism, thereby scanning the edges of the glass.

6. The automotive glass positioning device according to claim 5, wherein, Each contact probe includes: Probe base; and The probe pin is movably connected to the probe base.

7. The automotive glass positioning device according to claim 6, wherein, The probe pin is connected to the probe base via a ball joint.

8. The automotive glass positioning device according to claim 7, wherein, Each contact probe and its corresponding alignment unit are attached side-by-side to a corresponding moving mechanism, such that the contact probe and the corresponding alignment unit move together via the corresponding moving mechanism.

9. The automotive glass positioning device according to claim 1, wherein, Each mobile facility includes: Accessories; A first electric actuator moves the attachment along a first axis; and A second electric actuator moves the attachment along a second axis; Wherein, the first axis extends toward the center of the positioning base; and The second axis extends along the edge of the positioning base.

10. The automotive glass positioning device according to claim 9, wherein, The first electric actuator includes: First electric motor; The first slider moves along the first axis via the first motor; and The first guide element guides the movement of the first slider.

11. The automotive glass positioning device according to claim 10, wherein, The second electric actuator includes: Second electric motor; The second slider moves along the second axis via the second motor; and The second guide guides the movement of the second slider.

12. The automotive glass positioning device according to claim 11, wherein, The second guide of the second electric actuator is fixed to the first slider of the first electric actuator, and the attachment is fixed to the second electric actuator.

13. The automotive glass positioning device according to claim 10, wherein, The first electric actuator includes a first torque sensing and control system configured to sense and control the torque of the first electric motor; and When the torque sensed by the first torque sensing control system is higher than or equal to a threshold, the controller stops the first electric actuator.

14. The automotive glass positioning device according to claim 1, further comprising: Multiple columns are installed on the top surface of the positioning base; as well as Multiple vacuum cups are mounted on the multiple columns.

15. A method for positioning a vehicle glass, the method comprising the steps of: The glass with multiple edges is loaded onto the positioning base; The scanning unit scans multiple edges of the mounted glass; The center of the glass is calculated based on the data scanned by the scanning unit; and The position of the glass is adjusted by multiple alignment units and multiple moving mechanisms so that the calculated center of the glass is aligned with the center of the positioning base. Each of the plurality of alignment units includes: Casing; and Alignment rod that moves relative to the housing.

16. The method of claim 15, further comprising a preliminary adjustment step prior to the scanning step: preliminarily adjusting the position of the loaded glass relative to the positioning base by means of the plurality of alignment units and the plurality of moving mechanisms.

17. The method of claim 16, further comprising the step of stopping each moving mechanism in the preliminary adjustment step and the adjustment step. in, Each moving mechanism includes at least one electric actuator with a motor. The electric actuator includes a torque sensing and control system that senses and controls the torque of the electric motor, and When the alignment unit is in contact with the edge of the glass, the moving mechanism stops when the torque sensed by the torque sensing control system of the electric actuator is higher than or equal to a threshold.

18. The method of claim 16, further comprising, between the preliminary adjustment step and the scanning step, a step of holding the glass with a plurality of vacuum cups. in, The plurality of vacuum cups are mounted on the positioning base, and As vacuum pressure is applied to the plurality of vacuum cups, the plurality of vacuum cups hold the glass.

19. The method of claim 18, further comprising, between the calculation step and the adjustment step, a step of releasing the glass by releasing the vacuum pressure supplied to the plurality of vacuum cups.

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