Glass mounting device

Abstract

A glass mounting device for a vehicle is disclosed. A glass mounting device for a vehicle according to an exemplary embodiment of the disclosed invention is for mounting glass in a glass mounting portion set in a vehicle body and may include: i) a tool frame mounted on the tip of an arm of a handling robot; ii) at least one vacuum suction module installed on the tool frame and adsorbing glass with vacuum pressure; and iii) at least one glass pressurizing unit installed on the tool frame so as to be movable in a multi-axis direction and pressurizing glass with air pressure while spaced apart from the glass surface of the glass located in the glass mounting portion.

Description

Technology Field

[0001] An embodiment of the present invention relates to a glass mounting system for a vehicle, and more specifically, to a glass mounting device for a vehicle that automatically mounts glass to a vehicle body. Background Technology

[0002] Generally, during the assembly process of automobile manufacturing, glass (commonly referred to as "windshield glass" in the industry) is mounted on the front and rear glass mounting parts of the vehicle body using a glass mounting device.

[0003] A glass mounting device for a vehicle according to the prior art is mounted on the tip of a robot arm and is configured to adsorb glass by a plurality of vacuum cups. This glass mounting device moves to the glass mounting section of the vehicle body through the movement of the robot while the glass is clamped by the vacuum cups, and the glass is mounted to the glass mounting section by pressing it against the vehicle body through the teaching of the robot.

[0004] However, conventionally, when glass loaded on a pallet is mounted to the glass mounting section of the vehicle body by suctioning it through vacuum cups, the glass cannot be accurately mounted to the glass mounting section of the vehicle body due to the dispersion of the glass loading positions and the dispersion of the vehicle body positions.

[0005] To prevent this, conventional glass mounting devices are equipped with a separate alignment unit for aligning the positions of the glass adsorbed onto the vacuum cups. Therefore, conventionally, the separate adoption of an alignment unit can lead to increased investment costs and production costs for production facilities.

[0006] Meanwhile, in a conventional glass mounting device, when a glass is mounted to a glass mounting part of a vehicle body by the movement of a robot, the glass is not properly pressed against the glass mounting part of the vehicle body due to the cushioning of the vacuum cup itself even if the glass is pressed by the movement of the robot, so a separate pressing unit is provided to press the glass.

[0007] However, conventionally, as the glass is directly pressed through a pressurizing unit, problems such as the mounting position of the glass becoming misaligned or the glass breaking occur due to the uneven pressure of the pressurizing unit.

[0008] The matters described in this background technology section are written to enhance understanding of the background of the invention and may include matters that are not prior art already known to those skilled in the art to which this technology belongs. The problem to be solved

[0009] Embodiments of the present invention aim to provide a glass mounting device for a vehicle that enables the glass to be accurately mounted to the glass mounting portion of the vehicle body with a simple configuration. means of solving the problem

[0010] A glass mounting device for a vehicle according to an embodiment of the present invention is for mounting glass in a glass mounting portion set in a vehicle body and may include: i) a tool frame mounted on the tip of an arm of a handling robot; ii) at least one vacuum suction module installed on the tool frame and adsorbing glass with vacuum pressure; and iii) at least one glass pressing unit installed on the tool frame so as to be movable in a multi-axis direction and pressing the glass with air pressure while spaced apart from the glass surface of the glass located in the glass mounting portion.

[0011] In addition, the glass mounting device of the vehicle according to an embodiment of the present invention may further include at least one multi-joint unit installed at the edge of the tool frame so that the glass pressing unit is mounted on the tip of the arm.

[0012] In addition, the glass mounting device of the vehicle according to an embodiment of the present invention may further include a position sensing sensor that is mounted on the tip of the arm of the multi-joint unit, detects the position of the glass and the position of the glass mounting part, and outputs a detection signal to a controller.

[0013] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the controller can apply a position control signal to the handling robot and the multi-joint unit according to the detection signal of the position detection sensor.

[0014] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the glass pressurizing unit may include a compressed air tank that stores compressed air and an air injection nozzle connected to the compressed air tank that sprays compressed air onto the glass surface.

[0015] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the compressed air tank and the air injection nozzle may be connected through a nozzle valve.

[0016] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the air injection nozzle may be equipped with a distance sensing sensor that detects the distance between the air injection nozzle and the glass surface and outputs a detection signal to a controller.

[0017] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the controller may apply a position correction signal to the multi-joint unit according to the detection signal of the distance sensing sensor.

[0018] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the nozzle valve can selectively open and close the path of the compressed air tank and the air injection nozzle by receiving a valve control signal through the controller according to the detection signal of the distance sensing sensor.

[0019] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the air injection nozzle may include an air guide that guides the compressed air to the glass surface.

[0020] In addition, in the glass mounting device of the vehicle according to an embodiment of the present invention, the vacuum suction module may include a vacuum suction pad connected through a vacuum pressure supply unit installed on the tool frame and a support rod. Effects of the invention

[0021] Since the embodiments of the present invention can eliminate a separate alignment unit for aligning the mounting position of the glass, the investment cost and production cost of the production facility can be reduced.

[0022] In addition, in the embodiment of the present invention, since the glass can be uniformly pressed in a non-contact manner, it is possible to prevent mounting defects and breakage of the glass caused by directly pressing the glass.

[0023] Furthermore, other effects that can be obtained or predicted by the embodiments of the present invention will be disclosed directly or implicitly in the detailed description of the embodiments of the present invention. That is, various effects predicted according to the embodiments of the present invention will be disclosed within the detailed description to be set forth below. Brief explanation of the drawing

[0024] These drawings are for reference to explain exemplary embodiments of the present invention, and therefore, the technical concept of the present invention should not be interpreted as being limited to the attached drawings. FIGS. 1 and FIGS. 2 are perspective views illustrating a glass mounting device for a vehicle according to an embodiment of the present invention. FIG. 3 is a side view illustrating a glass mounting device of a vehicle according to an embodiment of the present invention. FIG. 4 is a drawing illustrating a glass pressurizing unit applied to a glass mounting device of a vehicle according to an embodiment of the present invention. FIGS. 5 to 7 are drawings for explaining the operation of a glass mounting device of a vehicle according to an embodiment of the present invention. Specific details for implementing the invention

[0025] Hereinafter, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein.

[0026] To clearly explain the present invention, parts unrelated to the explanation have been omitted, and the same reference numerals are used for identical or similar components throughout the specification.

[0027] The size and thickness of each component shown in the drawings are depicted arbitrarily for the convenience of explanation, and thus the present invention is not necessarily limited to what is shown in the drawings; furthermore, the thickness has been enlarged to clearly represent various parts and regions.

[0028] Furthermore, in the detailed description below, the designation of components as "1st," "2nd," etc., is intended to distinguish them due to their identical nature, and is not strictly limited to that order in the description below.

[0029] Throughout the specification, when a part is described as including a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0030] FIGS. 1 and 2 are perspective views illustrating a glass mounting device for a vehicle according to an embodiment of the present invention, and FIG. 3 is a side view illustrating a glass mounting device for a vehicle according to an embodiment of the present invention.

[0031] Referring to FIGS. 1 to 3, a glass mounting device (100) for a vehicle according to an embodiment of the present invention can be applied to an assembly line that assembles various assembly parts onto a vehicle body (1) (see FIG. 6 below).

[0032] Furthermore, the glass mounting device (100) of a vehicle according to an embodiment of the present invention can be applied to a glass mounting process in which a glass (G) (see FIGS. 5 to 7 below) is gripped (clamped) and the glass (G) is mounted to a glass mounting part (3) (see FIG. 6 below) of a vehicle body (1) while a sealer is applied to the edge portion of the glass (G).

[0033] In the above-described glass mounting process, the glass (G) is gripped (clamped) through the glass mounting device (100) according to an embodiment of the present invention, and the glass (G) is moved to the glass mounting part (3) of the vehicle body (1) through the handling robot (R), and the glass (G) is mounted to the glass mounting part (3) while being pressed.

[0034] Here, the glass mounting portion (3) of the vehicle body (1) is a part where glass (G) as windshield glass is mounted, and is formed to be open in the front and rear directions on the front and rear sides of the vehicle body (1).

[0035] In the following, an example is described of mounting a vehicle glass (G) to a glass mounting part (3) of a vehicle body (1) through a glass mounting device (100) according to an embodiment of the present invention. However, it should not be understood that the scope of protection of the present invention is necessarily limited to this, and the technical concept of the present invention may be applied if various types and uses of glass are mounted to a predetermined body.

[0036] Typically, in the industry, the direction of movement of the vehicle body (front-rear direction) is referred to as the T direction, the direction of vehicle width (left-right direction) as the L direction, and the direction of vehicle height (up-down direction) as the H direction. However, in the embodiments of the present invention, the LTH direction as described above is not used as a reference, but rather the front-rear, left-right, and up-down directions are used as references.

[0037] The above definition of direction is relative, and since the direction may vary depending on the reference position of the device (100) and the mounting position of the glass, the above reference direction is not necessarily limited to the reference direction of this embodiment.

[0038] Furthermore, the term (one end or the other end) below may be defined as either end, or as a certain part (one end or the other end) that includes that end.

[0039] The glass mounting device (100) of a vehicle according to an embodiment of the present invention is structured to accurately mount the glass (G) to the glass mounting part (3) of the vehicle body (1).

[0040] To this end, the glass mounting device (100) of the vehicle according to an embodiment of the present invention is basically configured to include a tool frame (10), a vacuum suction module (20), a glass pressurizing unit (30), a multi-joint unit (40), and a position sensing sensor (50), and is described by configuration as follows.

[0041] In an embodiment of the present invention, the tool frame (10) is installed to be fixed to the tip of the arm of a handling robot (R) for mounting various components to be described below. The tool frame (10) may be fixed to the tip of the arm of the handling robot (R) or separated from the tip of the arm through a tool changer (11) provided on the tip of the arm of the handling robot (R). Accordingly, the tool frame (10) includes a tool coupling part (13) that is coupled with the tool changer (11).

[0042] Such a tool frame (10) may be equipped with various auxiliary elements such as brackets, support blocks, plates, housings, covers, collars, etc. Since the above auxiliary elements are intended to install various components to be described below on the tool frame (10), in the embodiments of the present invention, the above auxiliary elements are collectively referred to as the tool frame (10), except in exceptional cases.

[0043] Here, the aforementioned handling robot (R) is installed on the floor of the workshop. The handling robot (R) performs robot operation along a teaching path set in correspondence with the glass mounting portion (3) of the vehicle body (1). Such robot operation of the handling robot (R) is controlled by a controller (90) which will be further explained later. And, the handling robot (R) performs robot operation with a torque set by the controller (90).

[0044] This handling robot (R) moves an arm along a set teaching path and can apply a set force along the teaching path through the arm. For example, the handling robot (R) may be equipped with a multi-joint robot of 6 axes or more having a force control (compliance control) and posture control function that can apply a set force in a direction set by a controller (90), and a function for detecting the position of a tool center point.

[0045] Since the handling robot (R) described above is composed of a multi-joint robot of known technology widely known in the industry, a more detailed description of the configuration is omitted in this specification.

[0046] In an embodiment of the present invention, the vacuum adsorption module (20) vacuum adsorbs the glass surface of the glass (G) with vacuum pressure and is installed on the tool frame (10) facing the glass surface.

[0047] In one example, the vacuum suction modules (20) are provided in multiple numbers, and furthermore, four may be installed on the tool mounting surface of the tool frame (10). The vacuum suction modules (20) are arranged along a direction away from the tool mounting surface of the tool frame (10).

[0048] The above vacuum suction module (20) can vacuum suction glass (G) by receiving vacuum pressure through a vacuum pressure supply unit (21) installed on a tool frame (10). This vacuum suction module (20) includes a vacuum suction pad (25) connected to the vacuum pressure supply unit (21) through a support rod (23).

[0049] The above vacuum suction pad (25) is connected to the vacuum pressure supply unit (21) through the support rod (23), and can vacuum suction the glass surface of the glass (G) by shrinking and deforming due to the vacuum pressure provided from the vacuum pressure supply unit (21).

[0050] In an embodiment of the present invention, the glass pressurizing unit (30) is configured to pressurize the glass (G) with air pressure while being spaced apart from the glass surface of the glass (G) located in the glass mounting part (3) of the vehicle body (1).

[0051] The glass pressurizing unit (30) is structured to pressurize the glass (G) in a non-contact manner using compressed air. In one example, the glass pressurizing unit (30) is provided in multiple units and is installed to be movable in multiple axial directions on the tool frame (10) by means of a multi-joint unit (40) which will be further described later.

[0052] FIG. 4 is a drawing illustrating a glass pressurizing unit applied to a glass mounting device of a vehicle according to an embodiment of the present invention.

[0053] Referring to FIGS. 1 to 4, the glass pressurizing unit (30) according to an embodiment of the present invention includes a compressed air tank (31) and an air injection nozzle (33).

[0054] The above compressed air tank (31) is configured to store compressed air and supply the compressed air. The above air injection nozzle (33) is configured to inject the compressed air supplied from the compressed air tank (31) through the air injection hole (34) onto the glass surface of the glass (G).

[0055] Here, the compressed air tank (31) and the air injection nozzle (33) are connected via a nozzle valve (35). The nozzle valve (35) is an automatic opening and closing valve (e.g., a solenoid valve) known to those skilled in the art, and can selectively open and close the flow path (37) connecting the compressed air tank (31) and the air injection nozzle (33).

[0056] Furthermore, the air injection nozzle (33) includes an air guide (39) for guiding compressed air injected through the air injection hole (34) toward the glass surface. In one example, the air guide (39) may be provided with an edge portion curved toward the glass surface with the air injection hole (34) in the center.

[0057] In an embodiment of the present invention, the multi-joint unit (40) is provided in a plurality of units and is installed on the edge portion of the tool frame (10) to mount a glass pressurizing unit (30) and to move the glass pressurizing unit (30) in a multi-axis direction.

[0058] The above multi-joint unit (40) includes a multi-joint arm (43) that can move and rotate in multiple axial directions by means of a drive unit (41) including a motor and a reduction gear. The above multi-joint unit (40) is installed on the opposite side of the frame surface on the tool frame (10) where the vacuum suction module (20) is mounted. The glass pressurizing unit (30) mentioned above is mounted on the tip of the multi-joint arm (43) of this multi-joint unit (40).

[0059] In an embodiment of the present invention, the position sensing sensor (50) is configured to detect the position of the glass (G) to be gripped by the vacuum suction module (20) and the position of the glass mounting part (3) of the vehicle body (1) to be mounted with the glass (G), and to output the detection signal to the controller (90).

[0060] The above position sensing sensor (50) is mounted on the tip of the multi-joint arm (43) of the multi-joint unit (40), and in one example, it can be installed on a mounting bracket (51) fixed to the compressed air tank (31) of the glass pressurizing unit (30).

[0061] The above position sensing sensor (50) extracts image data of the glass (G) and the glass mounting part (3) and transmits the image data to the controller (90). This position sensing sensor (50) may include a vision sensor well known to those skilled in the art.

[0062] In the above, the controller (90) is configured to control the position of the handling robot (R) and the multi-joint unit (40) using a detection signal received from the position detection sensor (50). For this purpose, the controller (90) may be implemented as one or more processors that operate according to a set program. In particular, the controller (90) may be implemented as one or more processors that implement an image recognition function known to those skilled in the art.

[0063] Furthermore, the controller (90) can analyze the detection signal (image data) received from the position detection sensor (50) and apply a position control signal to the handling robot (R) and the multi-joint unit (40) separately from the teaching control signal.

[0064] Accordingly, in an embodiment of the present invention, the robot movement of the handling robot (R) can be controlled to set the position of the vacuum suction module (20) to which the glass (G) is gripped and the position of the glass (G) gripped by the vacuum suction module (20). In addition, in an embodiment of the present invention, the position of the glass pressurizing unit (30) can be set by controlling the multi-joint unit (40).

[0065] Meanwhile, in an embodiment of the present invention, the air injection nozzle (33) of the glass pressurization unit (30) is equipped with a distance sensing sensor (60) configured to detect the distance between the air injection nozzle (33) and the glass surface and output a detection signal to a controller (90).

[0066] The above distance sensing sensor (60) measures the distance to the object being detected and may include a distance sensor well known to those skilled in the art.

[0067] In the above, the controller (90) can analyze the detection signal received from the distance detection sensor (60) and apply a position correction signal to the multi-joint unit (40) separately from the teaching control signal.

[0068] Accordingly, in an embodiment of the present invention, the position of the glass pressurizing unit (30) can be corrected by controlling the multi-joint unit (40), and the air injection nozzle (33) of the glass pressurizing unit (30) can be moved to a position that is set a distance from the glass surface.

[0069] Furthermore, the controller (90) can analyze the detection signal received from the distance sensing sensor (60) and apply a valve control signal to the nozzle valve (35) of the glass pressurization unit (30). Accordingly, the nozzle valve (35) can selectively open and close the flow path (37) of the compressed air tank (31) and the air injection nozzle (33) by receiving the valve control signal from the controller (90).

[0070] Hereinafter, the operation of a glass mounting device (100) of a vehicle according to an embodiment of the present invention configured as described above will be explained in detail with reference to FIGS. 1 to 4 and FIGS. 5 to 7.

[0071] FIGS. 5 to 7 are drawings for explaining the operation of a glass mounting device of a vehicle according to an embodiment of the present invention.

[0072] Referring to FIG. 5, first, in an embodiment of the present invention, the tool frame (10) is moved to the upper side of a pallet (P) loaded with glass (G) by the robot movement of the handling robot (R). At this time, the tool frame (10) is moved along the set teaching path of the handling robot (R), and the glass pressing unit (30) and the position sensing sensor (50) are also moved along the set teaching path of the multi-joint unit (40).

[0073] In this state, in an embodiment of the present invention, the glass (G) located at the top of the pallet (P) is detected through a position detection sensor (50), and the detection signal is output to a controller (90).

[0074] Then, the controller (90) analyzes the detection signal received from the position detection sensor (50) and applies a position control signal to the handling robot (R). Accordingly, in an embodiment of the present invention, by controlling the robot operation of the handling robot (R), the position of the vacuum suction module (20) to be gripped by the glass (G) is set.

[0075] Next, in an embodiment of the present invention, the vacuum suction pads (25) of the vacuum suction modules (20) are brought into close contact with the glass surface of the glass (G) by the robot movement of the handling robot (R). Accordingly, the vacuum suction pads (25) receive vacuum pressure through the vacuum pressure supply unit (21) and deform while contracting, thereby vacuum-suctioning the glass surface of the glass (G).

[0076] Then, in an embodiment of the present invention, as shown in FIG. 6, a tool frame (10) with a glass (G) gripped (clamped) in a vacuum suction module (20) is moved to a glass mounting part (3) of a vehicle body (1) by the robotic movement of a handling robot (R). In this process, in an embodiment of the present invention, a sealer may be applied to the edge portion of the glass (G).

[0077] As described above, when the tool frame (10) is positioned on the glass mounting part (3), in the embodiment of the present invention, the glass mounting part (3) is detected through a position detection sensor (50), and the detection signal is output to a controller (90).

[0078] Then, the controller (90) analyzes the detection signal received from the position detection sensor (50) and applies a position control signal to the handling robot (R). Accordingly, in an embodiment of the present invention, by controlling the robot operation of the handling robot (R), the position of the glass (G) gripped by the vacuum suction module (20) is set.

[0079] In addition, the controller (90) analyzes the detection signal received from the position detection sensor (50) and applies a position control signal to the multi-joint unit (40). Accordingly, in an embodiment of the present invention, the multi-joint unit (40) is controlled to set the position of the glass pressurizing unit (30).

[0080] Next, in an embodiment of the present invention, the edge portion of the glass (G) is brought into close contact with the glass mounting portion (3) by the robot movement of the handling robot (R).

[0081] In this process, in an embodiment of the present invention, the distance between the air injection nozzle (33) and the glass surface is detected through a distance sensing sensor (60), and the detection signal is output to a controller (90).

[0082] Then, the controller (90) analyzes the detection signal received from the distance detection sensor (60) and applies a position correction signal to the multi-joint unit (40). Accordingly, in an embodiment of the present invention, by controlling the multi-joint unit (40), the air injection nozzle (33) of the glass pressurizing unit (30) is moved to a position that is at a set distance from the glass surface.

[0083] In addition, the controller (90) analyzes the detection signal received from the distance sensing sensor (60) and applies a valve control signal to the nozzle valve (35) of the glass pressurization unit (30). Accordingly, in an embodiment of the present invention, the compressed air tank (31) of the glass pressurization unit (30) and the air injection nozzle (33) open the flow path (37).

[0084] As described above, by opening the flow path (37) of the compressed air tank (31) and the air injection nozzle (33), in an embodiment of the present invention as shown in FIG. 7, compressed air supplied from the compressed air tank (31) is injected through the air injection hole (34) onto the glass surface of the glass (G), and the edge portion of the glass (G) is pressurized in a non-contact manner by the pressure of the compressed air.

[0085] Accordingly, in an embodiment of the present invention, the glass (G) loaded on the pallet (P) can be automatically mounted to the glass mounting part (3) of the vehicle body (1) by going through a series of processes as described above.

[0086] According to the glass mounting device (100) of a vehicle according to the embodiment of the present invention as described so far, when removing glass (G) loaded on a pallet (P), the exact position of the glass (G) can be controlled through the position sensing sensor (50), and since the glass (G) can be accurately mounted to the glass mounting part (3) of the vehicle body (1), a separate alignment unit according to the prior art can be eliminated. Thus, in the embodiment of the present invention, the investment cost of production facilities and production costs can be reduced.

[0087] Furthermore, in an embodiment of the present invention, the glass (G) mounted on the glass mounting portion (3) of the vehicle body (1) can be uniformly pressurized in a non-contact manner using the pressure of compressed air by a glass pressurizing unit (30). Accordingly, in an embodiment of the present invention, mounting defects and breakage of the glass (G) caused by directly pressurizing the glass (G) can be prevented.

[0088] Although embodiments of the present invention have been described above, the technical concept of the present invention is not limited to the embodiments presented in this specification. A person skilled in the art who understands the technical concept of the present invention may easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same technical concept, and such are also to be considered to fall within the scope of the rights of the present invention. Explanation of the symbols

[0089] 1: Body 3: Glass mounting section 10: Tool Frame 11: Tool Changer 13: Tool joint 20: Vacuum suction module 21: Vacuum pressure supply unit 23: Support Road 25: Vacuum suction pad 30: Glass pressurization unit 31: Compressed air tank 33: Air injection nozzle 34: Air injection hole 35: Nozzle valve 37: Euro 39: Air Guide 40: Multi-joint unit 41: Drive unit 43: Multi-jointed arm 50: Position detection sensor 51: Mounting bracket 60: Distance sensing sensor 90: Controller G: Glass P: Palette R: Handling robot 100: Glass mounting device

Claims

Claim 1 A glass mounting device for a vehicle configured to mount glass on a glass mounting portion of a vehicle body, comprising: a tool frame mounted on the tip of an arm of a handling robot; at least one vacuum suction module installed on the tool frame and adsorbing glass with vacuum pressure; at least one glass pressurizing unit installed on the tool frame so as to be movable in a multi-axis direction and pressurizing the glass with air pressure while spaced apart from the glass surface of the glass located on the glass mounting portion; at least one multi-joint unit installed on the edge of the tool frame so that the glass pressurizing unit is mounted on the tip of the arm; and a position sensing sensor mounted on the tip of the arm of the multi-joint unit, detecting the position of the glass and the position of the glass mounting portion, and outputting a detection signal to a controller. Claim 2 delete Claim 3 delete Claim 4 In claim 1, the controller is a glass mounting device of a vehicle that applies a position control signal to the handling robot and the multi-joint unit according to the detection signal of the position detection sensor. Claim 5 In claim 1, the glass pressurization unit comprises a compressed air tank for storing compressed air and an air injection nozzle connected to the compressed air tank for injecting compressed air onto a glass surface, forming a glass mounting device for a vehicle. Claim 6 In claim 5, the glass mounting device of a vehicle in which the compressed air tank and the air injection nozzle are connected through a nozzle valve. Claim 7 A glass mounting device for a vehicle according to claim 6, wherein the air injection nozzle is equipped with a distance sensing sensor that detects the distance between the air injection nozzle and the glass surface and outputs a detection signal to a controller. Claim 8 In claim 7, the controller is a glass mounting device of a vehicle that applies a position correction signal to the multi-joint unit according to the detection signal of the distance sensing sensor. Claim 9 In claim 7, the nozzle valve is a glass mounting device for a vehicle that selectively opens and closes the path of the compressed air tank and the air injection nozzle by receiving a valve control signal through the controller according to the detection signal of the distance sensing sensor. Claim 10 In claim 5, the air injection nozzle comprises an air guide that guides the compressed air to the glass surface, forming a glass mounting device for a vehicle. Claim 11 In claim 1, the vacuum suction module comprises a vacuum suction pad connected via a vacuum pressure supply unit installed on the tool frame and a support rod, forming a glass mounting device for a vehicle.

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