Weather strip mounting device

Abstract

Provided is a weather strip mounting device, the weather strip mounting device comprising: a base provided on a robot arm; a pressing portion provided at an end portion of the base to press the weather strip toward the mounting portion side so as to assemble and couple the weather strip to the mounting portion; and a guide portion provided on the base at a position spaced apart from the pressing portion, extending or contracting toward the weather strip with respect to the base, and gripping or releasing the weather strip. According to the weather strip mounting device, the weather strip can be automatically mounted, so that the working efficiency can be improved, and the defect rate can be remarkably reduced. In addition, the robot is used, and the weight thereof is reduced by simplifying the mounting device, so that precise robot control and assembly operation control are possible.

Description

Technical Field

[0001] The present disclosure relates to a weather strip installation device capable of conveniently installing a weather strip installed on a door or the like of a vehicle through an automated process and capable of significantly reducing a defect rate by accurately verifying errors. Background Art

[0002] Weather stripping is installed on doors, etc. of vehicles to block external noise and seal the doors to prevent rain water, etc. from penetrating into the interior of the vehicle during rainy weather.

[0003] The weather strip for the door of such a vehicle is formed in a shape corresponding to the door frame and is curved. Since the weather strip is formed of a rubber material or the like, two or more workers are required to accurately perform the assembly work of the weather strip.

[0004] In addition, since the weather strip has a complicated shape and soft material, it is not easy to achieve accurate work, so that the assembly work requires a lot of time and the defect rate is high.

[0005] In addition, when the installed weather strip is not assembled at an accurate position, noise or rain may enter the interior of the vehicle due to an assembly defect. In addition, when the weather strip is left unattended for a long period of time, there is a problem that the weather strip is damaged and needs to be repaired.

[0006] The foregoing content is only intended to help understanding the background of the present disclosure and is not intended to indicate that the present disclosure falls within the scope of the prior art known to those skilled in the art. Summary of the invention

[0007] Technical issues

[0008] Therefore, the present disclosure has been made in view of the above-mentioned problems occurring in the prior art, and an object of the present disclosure is to provide a weather strip installation device that can conveniently install a weather strip installed on a door or the like of a vehicle through an automated process and can significantly reduce a defect rate by accurately verifying errors.

[0009] Technical Solution

[0010] In order to achieve the above-mentioned purpose, according to the present disclosure, there is provided a weather strip installation device, which includes: a base installed on a robot arm; a pressing portion provided at an end of the base, the pressing portion pressing the weather strip toward the mounting portion side, thereby assembling and connecting the weather strip to the mounting portion; and a guiding portion provided on the base at a position spaced apart from the pressing portion, the guiding portion extending or contracting relative to the base toward the weather strip, and the guiding portion grasping or releasing the weather strip.

[0011] The weather strip installation device of the present disclosure may further include: a camera sensor to photograph a front view; and a controller to control the robot arm and the guide portion through a photographing result of the camera sensor, thereby coupling the weather strip to the installation portion.

[0012] The mounting portion may be a door frame of a vehicle, and the weather strip may be a door weather strip of the vehicle.

[0013] The base may have a frame shape extending toward the mounting portion, the pressing portion may be installed at an end portion of the base, and the pressing portion may press the weather strip toward the mounting portion side by being pressed by the robot arm.

[0014] The pressing portion may be a pressing roller that closely contacts the weather strip and presses the weather strip.

[0015] The shape of the outer side surface of the pressing roller may be the same as the shape of the outer side surface of the weather strip, with which the weather strip contacts the pressing roller.

[0016] The robot arm can be operated for the first time so that the pressing portion presses one point of the weather strip toward the mounting portion side, thereby assembling one point of the weather strip into the mounting portion, and the robot arm can be operated for the second time so that the pressing portion moves in one direction, thereby continuously assembling the weather strip into the mounting portion along one direction.

[0017] The robot arm may be initially operated so that the pressing portion presses one point of the weather strip toward a corner side of the mounting portion, thereby fitting the one point of the weather strip into the corner of the mounting portion.

[0018] The robot arm may be initially operated so that after one point of the weather strip is fitted into the corner of the mounting portion, the pressing portion reciprocates and presses around the corner of the mounting portion, thereby fitting the portion of the weather strip including the one point to the corner of the mounting portion and points around the corner.

[0019] The guide portion may be mounted on the base by a first cylinder, and the guide portion may be moved forward or backward relative to the base toward the weather strip by extension or contraction of the first cylinder.

[0020] The guide portion may be connected to the upper portion of the base through a connecting rod, the connecting rod may be connected to the lower portion of the base through a first cylinder, the connecting rod may be rotated by extension or contraction of the first cylinder, and the guide portion may be moved forward or backward toward the weather strip by rotation of the connecting rod.

[0021] The guide portion may include a second cylinder and a guide roller, the guide roller may be rotated and grip the weather strip by extension of the second cylinder, and the guide roller may be rotated in a reverse direction and release the weather strip by contraction of the second cylinder.

[0022] When the guide roller grips the weather strip, the guide roller may be fitted into a groove formed in the weather strip, thereby gripping the weather strip.

[0023] The guide portion may be provided as a pair of guide portions provided at both sides of the pressing portion, and when the pressing portion installs the weather strip, the guide portion on the opposite side of the moving direction of the pressing portion may be contracted so as not to interfere with the installation portion.

[0024] The pressing portion may be mounted on the base through the damping portion, and the weather strip mounting device of the present disclosure may further include a controller which controls a damping force of the damping portion.

[0025] The pressing portion may be provided with a pressure sensor that measures a pressing force pressing the weather strip, and the controller may adjust the damping force of the damping portion according to a measured value of the pressure sensor.

[0026] The weather strip installation device of the present disclosure may further include: a stopper, one end of which is connected to the base, and the other end of the stopper is connected to the pressing portion, the stopper can limit the stroke of the pressing portion, wherein the controller can release the stopper and release the restriction on the stroke of the pressing portion when the pressing portion presses the weather strip at a pressure lower than the required pressure.

[0027] The controller may reduce the damping force of the damping portion when the pressing portion presses the weather strip at a pressure exceeding a reference pressure, and may increase the damping force of the damping portion when the pressing portion presses the weather strip at a pressure lower than the reference pressure.

[0028] The controller may control a damping force of the damping portion when the pressing portion presses the weather strip at a pressure lower than a limit pressure, and may control a position of the robot arm when the pressing portion presses the weather strip at a pressure exceeding the limit pressure.

[0029] The controller may control a damping force of the damping portion when the weather strip is installed on the straight portion, and may control a position of the robot arm when the weather strip is installed on the corner portion.

[0030] Beneficial effects

[0031] According to the weather strip installation device of the present disclosure, the weather strip can be automatically installed, so that the work efficiency can be improved and the defect rate can be significantly reduced.

[0032] In addition, by using a robot and reducing weight by simplifying the mounting device, precise robot control and assembly work control can be achieved.

[0033] In particular, even if there is a corner portion in the mounting portion to which the weather strip is fitted, the weather strip can be accurately and completely fitted into the mounting portion, so that consistency of quality can be easily ensured even in mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a view showing a state in which a weather strip is mounted on a door of a vehicle.

[0035] Figures 2 to 4 2 is a view illustrating the operation of the weather strip mounting device according to the embodiment of the present disclosure.

[0036] Figure 5 and Figure 6 2 is a view illustrating a pressing roller and a guide roller of a weather strip installing device according to an embodiment of the present disclosure.

[0037] Figure 7 It is a view showing a state in which a weather strip is incorrectly mounted on a door of a vehicle.

[0038] Figure 8 is a flowchart illustrating a control method of a weather strip mounting device according to an embodiment of the present disclosure.

[0039] Fig. 9 is a view illustrating a weather strip mounting device according to another embodiment of the present disclosure.

[0040] Fig.10 and Fig.11 It is shown Fig. 9 View of the pressure sensor and stop in the weather stripping mounting assembly.

[0041] Figure 12 to Figure 14 It is shown Fig. 9 A view of the operation of a stopper of a weather stripping installation device. DETAILED DESCRIPTION

[0042] Hereinafter, exemplary embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. In this specification, the same or similar components will be represented by the same or similar reference numerals, and repeated description thereof will be omitted.

[0043] If it is determined that the detailed description of the known technology obscures the embodiments of this specification, the detailed description of the known technology will be omitted. In addition, the drawings are intended only to easily describe the embodiments of this specification, but the spirit and technical scope of this specification are not limited by the drawings. It should be understood that this specification is not limited to the specific disclosed embodiments, but includes all modifications, equivalents and alternatives included in the spirit and technical scope of this disclosure.

[0044] Terms including ordinal numbers such as "first" or "second" used herein may be used to describe various components, but the components are not limited by these terms. These terms are used only for the purpose of distinguishing one constituent element from another constituent element.

[0045] As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0046] It will be understood that terms such as "including", "having", etc. are intended to indicate the presence of features, numbers, steps, actions, elements, parts or a combination thereof disclosed in the specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, actions, elements, parts or a combination thereof may exist or may be added.

[0047] In the following description, the expressions “module” and “section” included in the terms of the constituent parts to be described will be selected or used together only in consideration of the convenience of writing the following specification, and the expressions “module” and “section” do not necessarily have different meanings or functions.

[0048] When a component is described as being "connected," "coupled," or "linked" to another component, the component may be directly connected, coupled, or linked to the other component. However, it should be understood that there may be other components between each of the components. Conversely, it should be understood that when a component is referred to as being "directly coupled" or "directly connected" to another component, there are no intermediate components.

[0049] Additionally, a “controller” may include a communication device configured to communicate with another controller or sensor to control a function assigned thereto, a memory configured to store an operating system, logic commands, and input and output information, and at least one processor configured to perform determinations, calculations, and decisions required to control the assigned functions.

[0050] Figure 1 is a view showing a state in which a weather strip is mounted on a door of a vehicle, Figures 2 to 4 is a view showing the operation of the weather strip mounting device according to an embodiment of the present disclosure, Figure 5 and Figure 6 is a view showing a pressing roller and a guide roller of a weather strip mounting device according to an embodiment of the present disclosure, Figure 7 is a view showing a state in which a weather strip is incorrectly installed on a door of a vehicle, and Figure 8 is a flowchart illustrating a control method of a weather strip mounting device according to an embodiment of the present disclosure.

[0051] first, Figure 1 1 is a view showing a state where a weather strip is installed on a vehicle door. The weather strip can be applied to various components, but the weather strip for the vehicle door is the most representative example. In addition to the vehicle door, the present disclosure can also be applied to various components of the vehicle, such as a tailgate, etc.

[0052] like Figure 1As shown, a door frame D is formed at an opening portion of a door of a vehicle, and a groove of a weather strip W is fitted and installed to the door frame D. The weather strip W is installed in a state where the weather strip W is fitted into the door frame D, and provides a sound insulation function and a shielding function between the door and the door frame D when the door of the vehicle is closed.

[0053] Since the length of the weather strip W is long and the weather strip W is formed of a rubber material, the weather strip W has great flexibility, making it difficult for one person to hold the weather strip W and insert the weather strip W into the door frame D, and the work is difficult. Therefore, only a skilled worker can perform the assembly of the weather strip W without error, which is very inefficient.

[0054] In addition, a corner is formed on the door frame D. In the corner, it is difficult for the weather strip W to completely come into close contact with and fit into all parts of the corner, so that there is a possibility that quality problems may frequently occur after the weather strip W is installed.

[0055] In the present disclosure, since such weather strip W is automatically installed by a robot, accuracy is high and efficiency is improved. In particular, in corners, etc., the weather strip W can be completely assembled into the door frame D, and errors can be detected by a camera sensor, so that the defect rate is significantly reduced.

[0056] Specifically, Figures 2 to 4 2 is a view showing the operation of the weather strip installation device according to the embodiment of the present disclosure. Figure 2 According to the present disclosure, the weather strip installation device includes: a base 100, which is installed on a robot arm R; a pressing portion 300, which is provided at an end of the base 100, and the pressing portion 300 is configured to press the weather strip W toward the installation portion side, so as to assemble and connect the weather strip W to the installation portion; and a guide portion 400, which is provided on the base 100 at a position spaced apart from the pressing portion 300, and the guide portion 400 is configured to extend or contract toward the weather strip W relative to the base 100, and the guide portion 400 is configured to grasp or release the weather strip W.

[0057] The weather strip installation device of the present disclosure can be basically operated by a robot arm R. As shown in the figure, a multi-axis multi-degree-of-freedom collaborative robot or the like can be used as the robot arm R. The base 100 is installed at the end of the robot arm R. In addition, a pressing portion is provided at the distal end of the base 100, and the pressing portion is configured to press the weather strip W toward the mounting portion side, thereby assembling and connecting the weather strip W to the mounting portion. Here, the mounting portion is an object to be assembled with the weather strip, and as an example, the door frame D of the vehicle can be the mounting portion. The base 100 has a frame shape extending toward the mounting portion, and a pressing portion 300 is installed at the end of the base 100, and the pressing portion 300 can press the weather strip W toward the mounting portion side by being pressed by the robot arm R. That is, when the robot arm R presses the base 100 toward the mounting portion side, the pressing portion 300 provided on the base 100 eventually presses the weather strip W toward the mounting portion side.

[0058] In addition, the guide portion 400 is provided on the base 100 at a position spaced apart from the pressing portion 300, and is configured to expand or contract relative to the base 100 toward the weather strip W, and is configured to grasp or release the weather strip W, thereby guiding the long length of the weather strip W not to sag. Therefore, during the installation of the weather strip W, the weather strip W is prevented from being twisted, the weather strip W is naturally supplied, and the weather strip W can be assembled by being pressed by the pressing portion 300.

[0059] In particular, since the guide portion 400 can be selectively extended and retracted, the guide portion 400 is extended as needed so that the weather strip W can have a straight portion between the pressing portion 300 and the guide portion 400. In addition, when the guide portion 400 does not need to be extended, the guide portion 400 is retracted, and the guide portion 400 does not interfere with the door frame D, etc., so that the movement of the robot arm R is not restricted. In addition, since the grip of the weather strip W by the guide portion 400 can be selectively released, when it is necessary to grip the weather strip W, the weather strip W is gripped so that the weather strip W is not twisted. In addition, when it is not necessary to grip the weather strip W, the weather strip W is released to complete the work, thereby achieving a finished door frame and preventing the guide portion 400 from interfering with the door frame D, etc.

[0060] On the other hand, the weather strip installation device of the present disclosure further includes: a camera sensor V configured to photograph a front view; and a controller C configured to control the robot arm R and the guide portion 400 through the photographing result of the camera sensor V, thereby coupling the weather strip W to the installation portion. The camera sensor V is mounted on the base 100, and is configured to photograph the direction in which the pressing portion 300 faces. In addition, by analyzing the photographed image from the camera sensor V, the controller C is able to control the position of the robot arm R, and is also able to analyze assembly defects, etc. In addition, the controller can not only control the robot arm R as a whole, but also control the extension or contraction, gripping or release, etc. of the guide portion 400 as a whole.

[0061] Figure 2 is a view showing a normal state in which all guide parts 400 are in a retracted state, Figure 3 is a view showing a state where the guide parts 400 on both sides are fully extended, Figure 4 : is a view showing a state in which the guide portion 400 on only one side is extended and the guide portion 400 on the other side is contracted.

[0062] On the other hand, the pressing portion 300 may be a pressing roller 320 configured to closely contact and press the weather strip W, and the shape of the outer surface of the pressing roller 320 may be the same as the shape of the outer surface of the weather strip W, with which the weather strip W contacts. Figure 5 3 is a view showing the shape of such a pressing roller 320. As shown in the cross-sectional view of the weather strip W, the outer side surface of the weather strip W can be regarded as a combination of various concave portions and various convex portions. Therefore, in order for the pressing roller 320 to uniformly press the entire cross-sectional area of ​​the weather strip W, the pressing roller 320 can be formed so that the shape of the outer side surface of the pressing roller 320 is the same as the shape of the outer side surface of the weather strip W, and the weather strip W contacts the pressing roller 320. By this, the pressure is not concentrated on one side of the weather strip W, and the pressure is uniformly applied to all parts of the weather strip W, so that the weather strip W is prevented from being deformed during the assembly process, so that the weather strip W can be stably and uniformly assembled into the installation portion.

[0063] on the other hand, Figure 6 4 is a view showing the guide portion 400. The guide portion 400 includes a second cylinder 440 and a guide roller 420. By extension of the second cylinder 440, the guide roller 420 may rotate and may grip the weather strip W, and by contraction of the second cylinder 440, the guide roller 420 may rotate in a reverse direction and may release the weather strip W. In addition, when the guide roller 420 grips the weather strip W, the guide roller 420 may grip the weather strip W when the guide roller 420 is fitted into the groove W10 formed in the weather strip W.

[0064] As shown in the figure, the guide part 400 may include a second cylinder 440 and a guide roller 420. When the guide roller 420 moves close to the weather strip W, the support roller 421 provided below the guide roller 420 first supports the weather strip W from below the weather strip W. In this state, when the second cylinder 440 operates, the piston 442 extends, and the connecting rod 444 rotates according to the extension of the piston 442, so that the guide roller 420 is fitted into the groove W10 of the weather strip W. By this, the weather strip W is gripped between the support roller 421 and the guide roller 420. In this state, as the pressing roller 320 moves and the weather strip W is pressed and fitted, the weather strip W slides between the guide roller 420 and the support roller 421 of the guide part 400, and the weather strip W is supplied toward the pressing roller 320. In this way, in order to smoothly supply the weather strip W, the upper and lower parts of the guide part 400 are formed in a roller shape.

[0065] In addition, since the controller C controls the second cylinder 440, the guide portion 400 can stably grasp or release the weather strip W. When releasing the weather strip W, the cylinder operates in the reverse direction, the piston 442 moves downward, the connecting rod 444 rotates in the clockwise direction, and the guide roller 420 moves upward, so that the guide roller 420 is separated from the weather strip W, thereby achieving release.

[0066] On the other hand, the guide portion 400 is installed on the base 100 through the first cylinder 140, and can move forward or backward relative to the base 100 toward the weather strip W by extension or contraction of the first cylinder 140. In addition, the guide portion 400 is connected to the upper portion of the base 100 through the connecting rod 120, and the connecting rod 120 is connected to the lower portion of the base 100 through the first cylinder 140, and the connecting rod 120 can be rotated by extension or contraction of the first cylinder 140, and the guide portion 400 can move forward or backward toward the weather strip W by rotation of the connecting rod 120.

[0067] In addition, the guide portion 400 is provided as a pair of guide portions 400 provided at both sides of the pressing portion 300. In addition, when the installation of the weather strip W by the pressing portion 300 is performed, the guide portion 400 in the direction in which the pressing portion 300 moves may be extended and may guide the weather strip W, while the guide portion 400 on the other side may be contracted and may not interfere with the installation portion.

[0068] Specifically, in Figure 2 , as the first cylinder 140 contracts, the connecting rod 120 moves downward and folds toward the base 100, so that the guide portion 400 is positioned close to the base 100. In this state, even when the robot arm R moves, the guide portion 400 does not interfere with other components, so that the robot arm R and the base 100 can move freely.

[0069] In addition, in a state where the weather strip W is gripped by the pressing portion 300 and the guide portions 400 and 400′ on both sides, when the first cylinder 140 is Figure 2 When the weather strip W is contracted, tension is generated on both sides of the weather strip W around the pressing portion 300, so that the weather strip W is tightened and does not relax. Therefore, in the initial installation of the weather strip W, when the weather strip is in contact with the Figure 2 When the same position is shown in FIG. 1 , the installation point of the weather strip W can be more accurately specified in the initial installation, and the occurrence of errors in the initial installation can be reduced by accurately pressing the installation point.

[0070] in addition, Figure 3 1 is a view showing a state in which the first cylinders 140 on both sides are fully extended and the guides 400 on both sides are fully deployed accordingly. In this case, the guides 400 guide the weather strips W on both sides of the base 100 at the same time.

[0071] Figure 4 1 is a view showing a state in which the first cylinder 140 on only one side is extended so that the link 120 on one side is deployed, and the guide portion 400 on only one side guides the weather strip W. In addition, since the first cylinder 140' on the other side is not operated, the link 120' on the other side is not deployed, so that when the robot arm R moves, the guide portion 400' on the other side does not interfere with other components.

[0072] Generally, there is not enough empty space in the door frame D of the vehicle. Therefore, when the pressing roller 320 is positioned near the corner of the door, preferably, the guide portion positioned adjacent to the corner such as Figure 4 Collapsed and folded as shown.

[0073] On the other hand, in order to install the weather strip W, the robot arm R is first operated so that the pressing portion 300 presses one point of the weather strip W toward the installation portion side, thereby fitting the one point of the weather strip W into the installation portion. In addition, the robot arm R is secondarily operated so that the pressing portion 300 moves in one direction, thereby continuously fitting the weather strip W into the installation portion in one direction.

[0074] Specifically, in a state where the weather strip W is grasped, the robot arm R Figure 2 As shown, the first cylinders 140 and 140' are contracted so that the weather strip W is accurately grasped. In this state, one point of the weather strip W is pressed toward a corner in the layout of the opening portion of the vehicle door as the mounting portion so that the one point of the weather strip W is fitted into the corner of the mounting portion. This is because the corner of the mounting portion is the position where the connection of the weather strip W is most likely to be released, so that the weather strip W is first fitted into the corner of the mounting portion, and then the fitting of the other parts of the weather strip W is performed.

[0075] In particular, after the weather strip W is assembled into the corner, the pressing portion 300 is configured to reciprocate around the corner so that the weather strip W is first assembled into the corner and assembled into a position around the corner over the front and rear portions of a point, which portions include the point. By this, the weather strip W is completely assembled into the corner portion, and then the weather strip W is assembled into the remaining straight portions. In this way, by assembling the weather strip W in the order of the corner portion, the peripheral portion, and the extension portion, the possibility of the weather strip W being separated after assembly can be significantly reduced.

[0076] That is, first, one point of the weather strip W is pressed so that one point of the weather strip W is assembled into the vehicle door. In this state, the robot arm R moves in one direction, and the weather strip W is continuously pressed toward the vehicle door while the robot arm R moves. Then, the pressing roller 320 mounted on the robot arm R rotates and slides along the weather strip W, and presses the weather strip W along the sliding path, so that the weather strip W is continuously assembled into the vehicle door. In this process, in the guide portion 400 located in the direction in which the robot arm R moves, the guide portion 400 continuously guides the weather strip W while the guide portion 400 is appropriately extended, so that the weather strip W is well supplied without being twisted. In addition, in some cases, the guide portion 400 can guide the weather strip W while the guide portion 400 is appropriately retracted. In addition, on the contrary, since the assembly of the weather strip W on the guide portion 400 'located on the opposite side of the direction in which the robot arm R moves is completed, the corresponding guide portion 400 'releases the weather strip W and is in a retracted state so that no interference occurs.

[0077] Figure 8 is a flow chart showing a control method of a weather stripping installation device according to an embodiment of the present disclosure. First, a controller uses a camera sensor to check the position where the weather stripping is supplied (S100). In addition, the controller moves the guide parts on both sides forward so that the guide parts are positioned (S120 and S140). In this state, the guide parts grasp the weather stripping (S160). In addition, in a state where the guide parts on both sides move backward, the robot arm moves toward the vehicle door (S180). The controller checks the installation position of the weather stripping through the camera sensor, and the robot arm moves so that the pressing roller presses the weather stripping toward the vehicle door, thereby starting the installation of the weather stripping (S200 and S220). In addition, the robot arm moves along the door frame so that the entire weather stripping is continuously assembled (S240).

[0078] Finally, the controller uses the camera sensor to check whether the weather strip is well installed (S300). Of course, this inspection can be performed during the installation of the weather strip.

[0079] Figure 73 is a view showing a state in which a weather strip is incorrectly installed on a door of a vehicle. As shown in the figure, an empty space D10 can be detected between a distal end portion W30 of the weather strip W and a distal end portion of a door frame D, which is detected as an error. The error can be detected by measuring the width of the empty space D10 or by measuring the slope of the distal end portion W30 of the weather strip. When an error is detected, the robot arm R moves to the corresponding point and presses the corresponding point again with the pressing roller 320. In addition, when the error is not corrected after rechecking, an alarm can be provided to the worker by a warning sign or the like.

[0080] Fig. 9 is a view showing a weather strip mounting device according to another embodiment of the present disclosure, Fig.10 and Fig.11 It is shown Fig. 9 A view of the pressure sensor and stop in the weather stripping mounting assembly, and Figure 12 to Figure 14 It is shown Fig. 9 A view of the operation of a stopper of a weather stripping installation device.

[0081] like Fig. 9 As shown, in a weather strip installation device according to another embodiment of the present disclosure, the pressing portion 300 may be installed on the base 100 through the damping portion 500 , and the weather strip installation device of the present disclosure may further include a controller C configured to control the damping force of the damping portion 500 .

[0082] When the pressing part 300 is mounted on the base 100 through the damping part 500, the necessary pressing force can be generated even if the control of the robot arm R is not precise. In addition, since the damping part 500 absorbs excessive pressing force, damage to the weather strip W can be prevented. The pressing part 300 may include a cylinder and a spring as shown in the figure, and the cylinder includes an air chamber and a piston, so that when the air pressure is controlled, the cylinder can control the damping force. Therefore, in this case, when the air pressure of the cylinder decreases, the damping force of the damping component 500 decreases. When the air pressure increases, the damping force increases, so that the weather strip can be pressed with a larger pressing force. Of course, in the damping part 500, in addition to the air cylinder, various controllable cylinders such as an electronic cylinder or a variable fluid type cylinder can also be applied.

[0083] In addition, the damping force of the damping portion 500 is controlled by the controller C.

[0084] Specifically, Fig.10 As shown, the pressing portion 300 is provided with a pressure sensor M, which is configured to measure a pressing force of pressing the weather strip W, and the controller C can adjust the damping force of the damping portion 500 according to the measured value of the pressure sensor M.

[0085] Therefore, when the pressing portion 300 presses the weather strip W at a pressure exceeding the reference pressure, the controller C may reduce the damping force of the damping portion 500, and when the pressing portion 300 presses the weather strip W at a pressure lower than the reference pressure, the controller C may increase the damping force of the damping portion 500. The reference pressure value is stored in a memory of the controller C. A rack and pinion type sensor may be used as the pressure sensor M, and the rotation of the pinion MS may be measured by an encoder of the pressure sensor M. Since the rack 342 performs vertical movement together with the pressing frame 340 supporting the pressing roller 320, the movement of the rack 342 can be measured, and thus the pressing force can be measured.

[0086] When the pressing portion 300 presses the weather strip W at a pressure exceeding the reference pressure, the controller C may reduce the damping force of the damping portion 500 so that the controller C prevents damage to the weather strip W. In addition, when the pressing portion 300 presses the weather strip W at a pressure lower than the reference pressure, the controller C may increase the damping force of the damping portion 500 so that the controller C ensures the installation force of the weather strip W.

[0087] In addition, the limit pressure is input to the memory of the controller C. When the pressing portion 300 presses the weather strip W at a pressure lower than the limit pressure, the controller C may control the damping force of the damping portion 500. In addition, when the pressing portion 300 presses the weather strip W at a pressure exceeding the limit pressure, the controller C may control the position of the robot arm R. That is, when the pressure applied to the weather strip W is lower than the limit pressure, the controller C controls only the damping portion 500 so that an appropriate pressing force is applied. In addition, since it is difficult to achieve the required pressing force only by controlling the damping portion 500 when the pressure applied to the weather strip W exceeds the limit pressure, the robot arm R is controlled in this case to ensure the required pressing force. That is, by appropriately providing a pressing force with a large or small change according to the situation, the required pressing force is ensured, and the weather strip W is prevented from being damaged.

[0088] In addition, when the weather strip W is installed on the straight portion, the controller C can control the damping force of the damping part 500, and when the weather strip W is installed on the corner portion, the controller C can control the position of the robot arm R. This is because since the need for a change in the pressing force is small when the weather strip W is installed on the straight portion, it is necessary to control the damping part 500. In addition, in the corner portion, since it is difficult to achieve accurate measurement of the pressing force and a large change in the pressing force is required, it is preferable to control the robot arm R in this case.

[0089]

[0090] As shown in the above table, when the pressing force or the range of change in the pressing force exceeds the limit pressure, the damping part 500 is stopped from being controlled, and the robot arm R is controlled. In addition, when the pressing force or the range of change in the pressing force is lower than the limit pressure, the damping part 500 is controlled, and the control of the robot arm R is stopped. In addition, in the corner portion, the damping part 500 and the robot arm R are controlled at the same time to ensure that the weather strip is correctly installed. In addition, in the straight portion, only the damping part 500 is controlled.

[0091] In addition, if Fig.11 As shown, the weather strip installation device of the present disclosure further includes a stopper 700, one end of which is connected to the base 100 and the other end of which is connected to the pressing portion 300, and the stopper 700 is configured to limit the stroke of the pressing portion 300. In addition, when the pressing portion 300 presses the weather strip W at a pressure lower than the reference pressure, the controller C may release the stopper 700 and the limitation on the stroke of the pressing portion 300 may be released.

[0092] The stopper 700 is provided on a support frame 720 mounted on the base 100, and limits the travel of the pressing portion 300 toward the weather strip W. Fig.12 As shown, when the pressing portion 300 presses the weather strip W with a pressure equal to or greater than the required pressure, or when the pressing portion 300 presses the weather strip W with the required pressure, the position of the stopper 700 is maintained at the stopped position. Fig.14 As shown, when the pressing portion 300 presses the weather strip W at a pressure lower than a required pressure, a greater pressing force is required so that the stopper 700 is released, thereby allowing the pressing roller 320 to move further toward the weather strip W without restriction.

[0093] The control of the damping part and the control of the stopper are summarized in the following table.

[0094] Exceeding the reference pressure Reference pressure Below reference pressure Damping part Reduce Keep Increase Stopper Keep Keep release

[0095] As shown in the above table, when the required pressure and the reference pressure are set to the same value, when the pressing force exceeds the reference pressure, the damping force of the damping part 500 is reduced and the stopper 700 remains stopped. In addition, when the pressing force is lower than the reference pressure, the damping force of the damping part 500 is increased and the stopper 700 is released.

[0096] According to the weather strip installation device of the present disclosure, the weather strip can be automatically installed, so that the work efficiency can be improved and the defect rate can be significantly reduced.

[0097] In addition, by using a robot and reducing weight by simplifying the mounting device, precise robot control and assembly work control can be achieved.

[0098] In particular, even if there is a corner portion in the mounting portion to which the weather strip is fitted, the weather strip can be accurately and completely fitted into the mounting portion, so that consistency of quality can be easily ensured even in mass production.

[0099] Although exemplary embodiments of the present disclosure have been described herein, it is understood that the present disclosure should not be limited to these exemplary embodiments and that a person of ordinary skill in the art can make various changes and modifications within the spirit and scope of the present disclosure.

Claims

1. A weather stripping installation device, comprising: a base, mounted on the robot arm; a pressing portion provided at an end of the base, the pressing portion pressing the weather strip toward the mounting portion side, thereby assembling and coupling the weather strip to the mounting portion; and A guide portion is provided on the base at a position spaced apart from the pressing portion, the guide portion is extended or retracted relative to the base toward the weather strip, and the guide portion grasps or releases the weather strip.

2. The weather strip installation device according to claim 1, characterized in that: Further including: A camera sensor to capture the front view; as well as The controller controls the robot arm and the guide portion through the photographing result of the camera sensor, thereby coupling the weather strip to the installation portion.

3. The weather strip installation device according to claim 1, characterized in that: The mounting portion is a door frame of a vehicle, and the weather strip is a door weather strip of the vehicle.

4. The weather strip installation device according to claim 1, characterized in that: The base has a frame shape extending toward the mounting portion, the pressing portion is installed at an end portion of the base, and the pressing portion presses the weather strip toward the mounting portion side by being pressed by the robot arm.

5. The weather strip installation device according to claim 1, characterized in that: The pressing portion is a pressing roller that comes into close contact with the weather strip and presses the weather strip.

6. The weather strip installation device according to claim 5, characterized in that: The shape of the outer side surface of the pressing roller is the same as the shape of the outer side surface of the weather strip, and the weather strip is in contact with the pressing roller.

7. The weather strip installation device according to claim 1, characterized in that: The robot arm is first operated so that the pressing portion presses one point of the weather strip toward the mounting portion side to allow the one point of the weather strip to be assembled into the mounting portion, and the robot arm is secondarily operated so that the pressing portion moves in one direction to continuously assemble the weather strip into the mounting portion along one direction.

8. The weather strip installation device according to claim 7, characterized in that: The robot arm is first operated so that the pressing portion presses the one point of the weather strip toward a corner side of the mounting portion to allow the one point of the weather strip to be fitted into the corner of the mounting portion.

9. The weather strip installation device according to claim 8, characterized in that: The robot arm is first operated so that after one point of the weather strip is fitted into the corner of the mounting portion, the pressing portion reciprocates and presses around the corner of the mounting portion, thereby fitting the portion of the weather strip including the one point to the corner of the mounting portion and points around the corner.

10. The weather strip installation device according to claim 1, characterized in that: The guide portion is mounted on the base by the first cylinder, and the guide portion moves forward or backward relative to the base toward the weather strip by extension or contraction of the first cylinder.

11. The weather strip installation device according to claim 1, characterized in that: The guide portion is connected to the upper portion of the base through a connecting rod, the connecting rod is connected to the lower portion of the base through a first cylinder, the connecting rod is rotated by extension or contraction of the first cylinder, and the guide portion moves forward or backward toward the weather strip by rotation of the connecting rod.

12. The weather strip installation device according to claim 1, characterized in that: The guide portion includes a second cylinder and a guide roller, the guide roller rotates and grips the weather strip by extension of the second cylinder, and the guide roller rotates in a reverse direction and releases the weather strip by contraction of the second cylinder.

13. The weather strip installation device according to claim 12, characterized in that: When the guide roller grips the weather strip, the guide roller is fitted into a groove formed in the weather strip, thereby gripping the weather strip.

14. The weather strip installation device according to claim 1, characterized in that: The guide portion is provided as a pair of guide portions provided on both sides of the pressing portion, and when the pressing portion mounts the weather strip, the guide portion on the opposite side of the direction in which the pressing portion moves contracts so as not to interfere with the mounting portion.

15. The weather strip installation device according to claim 1, characterized in that: The pressing portion is mounted on the base through the damping portion, and the weather strip mounting device further includes a controller which controls a damping force of the damping portion.

16. The weather strip installation device according to claim 15, characterized in that: The pressing portion is provided with a pressure sensor, the pressure sensor measures a pressing force pressing the weather strip, and the controller adjusts a damping force of the damping portion according to a measured value of the pressure sensor.

17. The weather strip installation device according to claim 15, characterized in that: Further including: A stopper, one end of which is connected to the base, and the other end of which is connected to the pressing portion, and the stopper limits the stroke of the pressing portion. The controller releases the stopper and releases the restriction on the stroke of the pressing portion when the pressing portion presses the weather strip at a pressure lower than a required pressure.

18. The weather strip installation device according to claim 15, characterized in that: The controller reduces the damping force of the damping portion when the pressing portion presses the weather strip at a pressure exceeding a reference pressure, and increases the damping force of the damping portion when the pressing portion presses the weather strip at a pressure lower than the reference pressure.

19. The weather strip installation device according to claim 15, characterized in that: The controller controls a damping force of the damping portion when the pressing portion presses the weather strip at a pressure lower than a limit pressure, and controls a position of the robot arm when the pressing portion presses the weather strip at a pressure exceeding the limit pressure.

20. The weather strip installation device according to claim 15, characterized in that: The controller controls a damping force of the damping portion when the weather strip is installed on the straight portion, and controls a position of the robot arm when the weather strip is installed on the corner portion.

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