Car glass setting apparatus

Abstract

A glass setting device according to an embodiment of the present invention may include a setting base that supports a glass having a plurality of edges, a plurality of alignment units that align the glass with respect to the setting base, a scanning unit that scans the edges of the glass, a plurality of moving mechanisms configured to individually move the plurality of alignment units, and a controller that controls the operation of the moving mechanisms so that the center of the glass is aligned with the center of the setting base based on data scanned by the scanning unit.

Description

Technology Field

[0001] The present invention relates to a vehicle glass setting device, and more specifically, to a vehicle glass setting device that accurately sets a vehicle glass mounted on a vehicle body on a vehicle assembly line to a setting base. Background Technology

[0002] A car glass mounting system is configured to mount car glass into openings in the car body on a vehicle assembly line. Car glass includes windshields, windscreens, side windows, rear windows, etc.

[0003] A vehicle glass mounting system is configured such that vehicle glass is pre-set on a setting base, and the vehicle glass is mounted in an opening of a vehicle body that is transported adjacent to the setting base by a robot. Specifically, the vehicle glass is set to be aligned with respect to the setting base by an alignment mechanism, and the robot includes a gripper that grips the vehicle glass at its end and a vision camera mounted on the gripper. The robot's gripper grips the vehicle glass set on the setting base, the vision camera verifies the mounting position of the vehicle glass, and the robot corrects the mounting position based on data regarding the mounting position received from the vision camera and mounts the vehicle glass in the opening of the vehicle body.

[0004] The alignment mechanism is configured to align the center of the vehicle glass with the center of the setting base, and the vehicle glass is accurately positioned on the setting base by the alignment mechanism, and the robot grips the vehicle glass that has been accurately positioned by the gripper.

[0005] An alignment mechanism according to the prior art includes a plurality of alignment members disposed at the edge of a setting base and a plurality of air cylinders configured to move each alignment member. Each alignment member contacts the edge of a vehicle glass, and by each air cylinder moving the corresponding alignment member, the plurality of alignment members can move the vehicle glass finely along the horizontal and / or vertical directions. As a result, the center of the vehicle glass is aligned with the center of the setting base, thereby setting the vehicle glass in an accurate position on the setting base, and the gripper of the robot grips the set vehicle glass.

[0006] However, according to conventional alignment mechanisms, since the alignment member moves while in contact with the vehicle glass, there was a disadvantage that the vehicle glass could not be accurately aligned with the setting base if dimensional variation of the vehicle glass occurred.

[0007] In addition, according to conventional alignment mechanisms, as the alignment member repeatedly comes into contact with the edge of the vehicle glass, severe wear may occur due to friction, and as a result, there was a disadvantage that multiple alignment members could not accurately align the center of the vehicle glass to the center of the setting base.

[0008] As such, conventional alignment mechanisms have the disadvantage that the positioning of the vehicle glass may not be accurate when the vehicle glass is set on the setting base due to various factors such as inherent defects in the vehicle glass or defects in the alignment mechanism, and as a result, the robot's gripper grips the vehicle glass that is not accurately positioned, thereby preventing the vehicle glass from being mounted accurately.

[0009] 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

[0010] The present invention has been devised in consideration of the above points, and aims to provide a vehicle glass setting device capable of accurately positioning a vehicle glass mounted on a vehicle body on a vehicle assembly line to a setting base. means of solving the problem

[0011] A glass setting device according to an embodiment of the present invention for achieving the above-mentioned purpose may include a setting base that supports a glass having a plurality of edges, a plurality of alignment units that align the glass with respect to the setting base, a scanning unit that scans the edges of the glass, a plurality of moving mechanisms configured to individually move the plurality of alignment units, and a controller that controls the operation of the moving mechanisms so that the center of the glass is aligned with the center of the setting base based on data scanned by the scanning unit.

[0012] In this way, by controlling the movement of a plurality of alignment units by a moving mechanism based on data scanned by a scanning unit, the center of the glass can be aligned with the center of the setting base, and thereby the glass can be accurately positioned on the setting base. Since the glass is accurately positioned on the setting base, the robot's gripper can accurately grip the glass, and thereby the robot can accurately mount the glass to the opening of the vehicle body.

[0013] Each alignment unit can be mounted so as to be movably mounted at each edge of the setting base by a corresponding moving mechanism. Accordingly, by each alignment unit contacting and pressing each edge of the glass supported on the setting base, the glass can be moved relative to the setting base.

[0014] In this way, multiple alignment units individually contact and press the edges of the glass, thereby moving the glass relative to the setting base, and thereby the center of the glass can be accurately aligned with the center of the setting base.

[0016] Each alignment unit may include a housing and an alignment rod movable relative to the housing. According to a specific embodiment, as fluid is supplied into and returned to the housing, the alignment rod may move between an extended position protruding from the housing and a receiving position received within the housing.

[0017] In this way, the alignment rod can be configured to move perpendicularly to the housing, and in particular, the glass can be aligned by contacting the edge of the glass when the alignment rod is in the extended position, and contact between the alignment rod and the glass can be minimized because the alignment rod does not contact the edge of the glass when the alignment rod is in the retracted position. Contact between the alignment rod and the glass can be minimized by the alignment rod contacting the edge of the glass only when the glass is aligned, thereby minimizing wear on the alignment rod.

[0018] The above-described scan unit may include a plurality of touch probes configured to individually scan the edges of the glass, and a scan processor that processes data scanned by the plurality of touch probes. As each touch probe moves along each edge of the glass by the moving mechanism, the plurality of touch probes can individually scan each edge of the glass.

[0019] In this way, by individually scanning the edges of the glass with multiple touch probes, multiple scanning units can precisely acquire scanned data such as the contour, size, and shape of the glass, and by controlling multiple moving mechanisms based on the scanned data, multiple alignment units can accurately position the glass on the setting base, and in particular, even if dimensional errors of the glass occur, the controller can accurately align the center of the glass to the center of the setting base by controlling multiple moving mechanisms based on the scanned data.

[0020] Each touch probe may include a probe base and a probe pin movably connected to the probe base. Specifically, the probe pin may be connected to the probe base through a ball joint.

[0021] In this way, the probe pin is configured to pivot or rotate on the probe base, thereby making hermetically close contact with the curved edge of the glass, and thereby allowing the edge of the glass to be scanned precisely.

[0022] Each moving mechanism moves a corresponding alignment unit, thereby allowing each alignment unit to align the glass to the setting base. Specifically, each moving mechanism may include an attachment, a first electric actuator configured to move the attachment along a first axis, and a second electric actuator configured to move the attachment along a second axis. The first axis is an axis extending toward the center of the setting base, and the second axis is an axis extending along the edge of the setting base. Each alignment unit and a corresponding touch probe may be attached together to the attachment.

[0023] In this way, as the attachment moves along the first axis, the alignment unit can move toward or away from the center of the setting base, and as the attachment moves along the second axis, the touch probe can move along the edge of the setting base.

[0024] The first electric actuator may include a first electric motor, a first slider that moves along a first axis by the first electric motor, and a first guide that guides the movement of the first slider. The second electric actuator may include a second electric motor, a second slider that moves along a second axis by the second electric motor, and a second guide that guides the movement of the second slider. The second guide of the second electric actuator may be fixed to the first slider of the first electric actuator, and an attachment may be fixed to the second electric actuator.

[0025] With this configuration, as the first electric motor of the first electric actuator operates, the first slider can move along the first axis, and the second electric actuator and attachment connected to the first slider can move along the first axis, and the alignment member can move each edge of the glass toward the center of the setting base or away from the center of the setting base.

[0026] The first electric actuator may include a first torque sensing control system configured to sense and control the torque of the first electric motor. When the torque sensed by the first torque sensing control system is greater than or equal to a set threshold, the controller may control the operation of the first electric actuator to stop.

[0027] In this way, when the alignment unit is moved by a moving mechanism while the alignment rod of the alignment unit is in contact with each edge of the glass, the controller can determine whether the torque sensed by the torque sensing control system of the first electric actuator is greater than or equal to a threshold, and when the torque sensed by the torque sensing control system of the first electric actuator is greater than or equal to the threshold, the controller stops the operation of the first electric actuator, thereby minimizing wear or deformation of the alignment rod of the alignment unit and preventing overload on the first electric actuator.

[0028] Each touch probe and its corresponding alignment unit may be attached together to an attachment of the moving mechanism. The touch probe may be positioned side by side next to its corresponding alignment unit.

[0029] In this way, each touch probe is attached to each attachment as a set with a corresponding alignment unit, so that scanning by the scanning unit and alignment by the alignment units can proceed continuously and efficiently, and thus the glass can be positioned quickly and accurately on the setting base.

[0031] The above alignment rod may have a diameter larger than the diameter of the probe pin.

[0032] Accordingly, when the alignment rod is positioned in an extended position and comes into contact with the edge of the glass, the probe pin can avoid contact with the edge of the glass, and thus the touch probe does not interfere with the alignment operation by the alignment unit.

[0033] A glass setting device according to an embodiment of the present invention may further include a plurality of posts mounted on the upper surface of the setting base and a plurality of vacuum cups individually mounted on the plurality of posts.

[0034] A method for setting a glass for a vehicle according to an embodiment of the present invention may include a loading step of loading a glass having a plurality of edges onto a setting base, a scanning step of individually scanning the edges of the glass by a scanning unit, a calculation step of calculating the center of the glass based on the scanned data, and a control step of adjusting the position of the glass by a plurality of alignment units and a plurality of moving mechanisms so that the calculated center of the glass is aligned with the center of the setting base.

[0035] Before scanning the edges of the glass by the above-mentioned scanning unit, the method may further include a preliminary adjustment step of preliminarily adjusting the position of the glass relative to the setting base by the plurality of alignment units and the plurality of moving mechanisms.

[0036] Each moving mechanism includes one or more electric actuators having an electric motor, and the one or more electric actuators may include a torque sensing system that senses the torque acting on the electric motor. In the preliminary adjustment step and the adjustment step, the method may further include a step of stopping the operation of each moving mechanism when the torque sensed by the torque sensing system of the electric actuator is greater than or equal to a set value while the alignment unit is in contact with the edge of the glass.

[0037] Between the preliminary adjustment step and the scanning step, a gripping step in which the glass is gripped by a plurality of vacuum cups may be further included. The plurality of vacuum cups are mounted on the setting base, and the plurality of vacuum cups may be configured to grip the glass as vacuum pressure is supplied to the plurality of vacuum cups.

[0038] Between the calculation step and the adjustment step, an ungrip step of ungripping the glass by releasing the vacuum pressure supplied to the vacuum cup may be further included. Effects of the invention

[0039] According to the present invention, even if dimensional errors of the glass occur, each edge of the glass is scanned and a plurality of moving mechanisms are controlled based on the scanned data, thereby the center of the glass can be accurately aligned with the center of the setting base, and the robot can accurately mount the glass to the opening of the vehicle body by the robot's gripper accurately gripping the glass. Brief explanation of the drawing

[0040] FIG. 1 is a perspective view illustrating a vehicle glass setting device according to an embodiment of the present invention arranged adjacent to a vehicle glass mounting system. FIG. 2 is a perspective view illustrating a vehicle glass setting device according to an embodiment of the present invention, showing a state in which vehicle glass is loaded onto a setting base. FIG. 3 is a perspective view illustrating a vehicle glass setting device according to an embodiment of the present invention, showing the state before the vehicle glass is loaded onto the setting base. Figure 4 is an enlarged view of part A of Figure 3. FIG. 5 is a plan view illustrating a vehicle glass setting device according to an embodiment of the present invention, showing a state in which vehicle glass is loaded onto a setting base. FIG. 6 is a drawing illustrating the state in which the alignment rod of the alignment unit of a vehicle glass setting device according to an embodiment of the present invention is in contact with the edge of the glass. FIG. 7 is a drawing illustrating that an alignment unit and a touch probe of a vehicle glass setting device according to an embodiment of the present invention are attached as a set to an attachment of a moving mechanism, and that the alignment rod of the alignment unit is positioned in an extended position. FIG. 8 is a drawing showing an alignment unit and a touch probe of a vehicle glass setting device according to an embodiment of the present invention attached as a set to an attachment of a moving mechanism, showing that the alignment rod of the alignment unit is located in a receiving position. FIG. 9 is a schematic diagram illustrating a scan unit of a vehicle glass setting device according to an embodiment of the present invention. FIG. 10 is a block diagram illustrating a controller of a vehicle glass setting device and a related configuration according to an embodiment of the present invention. FIG. 11 is a diagram illustrating the process of a plurality of alignment units aligning glass in a vehicle glass setting device according to an embodiment of the present invention. FIG. 12 is a diagram illustrating the process of the touch probes of the scan unit individually scanning the edges of the glass in a vehicle glass setting device according to an embodiment of the present invention. FIG. 13 is a flowchart illustrating a method for setting glass for a vehicle according to an embodiment of the present invention. Specific details for implementing the invention

[0041] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. For reference, the size, line thickness, etc., of components illustrated in the drawings referenced for describing the present invention may be expressed somewhat exaggerated for ease of understanding. Furthermore, the terms used in the description of the present invention are defined considering their functions in the present invention and may vary depending on the user's or operator's intent, convention, etc. Therefore, it is appropriate to define these terms based on the content throughout this specification.

[0042] In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0043] Referring to FIG. 1, a vehicle glass setting device (10) according to an embodiment of the present invention may be placed within a vehicle glass mounting system (1). The vehicle glass mounting system (1) may include a robot (4) for mounting a glass (5) in an opening of a vehicle body (2) supported on a platform (3). The robot (4) may include a base (4a), a robot arm (4b) connected to the base (4a) via an articulated joint (4d), and a gripper (4c) attached to the free end of the robot arm (4b). The gripper (4c) may be configured to grip and ungrip the glass (5) set in the glass setting device (10).

[0044] Referring to FIGS. 2 and 3, a vehicle glass setting device (10) according to an embodiment of the present invention may include a setting base (11) that supports a glass (5) having a plurality of edges, a plurality of alignment units (13) that align the glass (5) with respect to the setting base (11), a scanning unit (14) that scans the edges of the glass (5), a plurality of moving mechanisms (15) configured to individually move the plurality of alignment units (13), and a controller (16) configured to control the operation of the moving mechanisms (15) to allow the center of the glass (5) to be aligned with the center of the setting base (11) based on data scanned by the scanning unit (14).

[0045] Referring to FIGS. 2 and 3, the setting base (11) may include a base plate (11a) configured to support a glass (5). The upper surface of the base plate (11a) may be flat, and the base plate (11a) may be a polygon with multiple edges, such as a square. Multiple legs (11b) may extend vertically downward from the base plate (11a), and the base plate (11a) may be supported at a certain height relative to the floor by the multiple legs (11b). Multiple connecting frames (11c) may be configured to connect the multiple legs (11b), and each connecting frame (11c) may extend horizontally.

[0046] A glass setting device according to an embodiment of the present invention may further include a plurality of posts (12) mounted on the upper surface of the setting base, and a plurality of vacuum cups (17) individually mounted on the plurality of posts (12).

[0047] A plurality of vacuum cups (17) may be configured to grip the glass (5) by vacuum pressure. As a vacuum source (60, see FIG. 10) provides vacuum pressure to each vacuum cup (17), the plurality of vacuum cups (17) can grip the glass (5), and as the vacuum pressure for each vacuum cup (17) is released, the plurality of vacuum cups (17) can ungrip the vehicle glass (5). In this way, since the plurality of vacuum cups (17) can selectively grip and ungrip the glass (5), scanning by the scan unit (14) and alignment by the alignment unit (13) can proceed smoothly. When the scan unit (14) scans the edge of the glass (5), the multiple vacuum cups (17) can grip the glass (5) by vacuum pressure, so the scanning precision by the scan unit (14) can be improved, and when the alignment units (13) align the glass (5), the multiple vacuum cups (17) can ungrip the glass (5) by releasing the vacuum pressure, so the alignment degree by the alignment units (13) can be improved.

[0048] A plurality of alignment units (13) can be individually mounted and movably mounted on the base plate (11a) of the setting base (11), and the plurality of alignment units (13) can be positioned adjacent to the edges of the glass (5) supported on the setting base (11). Each alignment unit (13) can move on the setting base (11) by means of a corresponding moving mechanism (15) to move the position of the glass (5) supported on the setting base (11). In particular, by moving each alignment unit (13) by means of a moving mechanism (15), the positions of each edge of the glass (5) are individually adjusted so that the center (C2) of the glass (5) can be aligned with the center (C1) of the setting base (11). That is, the plurality of alignment units (13) can be configured to align the glass (5) with respect to the setting base (11) by moving individually by means of a plurality of moving mechanisms (15).

[0049] Referring to FIG. 4, each alignment unit (13) may include a housing (13a) and an alignment rod (13b) movable relative to the housing (13a). According to one embodiment, each alignment unit (13) may be a fluid cylinder in which the alignment rod (13b) moves vertically as a fluid (air, oil, etc.) is supplied into and returned to the housing (13a). For example, if air is supplied into and returned to the housing (13a), each alignment unit (13) may be an air cylinder. If a liquid fluid such as oil is supplied into and returned to the housing (13a), each alignment unit (13) may be a hydraulic cylinder. In this way, as fluid is supplied and recovered into the housing (13a) of the alignment unit (13), the alignment rod (13b) can move between an extended position (solid line in FIG. 6, see FIG. 7) protruding from the housing (13a) and a retracted position (dotted line in FIG. 6, see FIG. 8) received into the housing. Referring to FIG. 6, a fluid supply line (51) and a fluid recovery line (52) can be connected to the housing (13a). As fluid is supplied to the housing (13a) through the fluid supply line (51), the alignment rod (13b) can move to an extended position (solid line in FIG. 6, see FIG. 7) protruding from the housing (13a). When the alignment rod (13b) is positioned in an extended position, the alignment rod (13b) can come into direct contact with the edge of the glass (5), and as the alignment unit (13) moves by the moving mechanism (15), the alignment rod (13b) can press against the edge of the glass (5), and thus the glass (5) can move relative to the setting base (11). As the fluid is discharged from the housing (13a) through the fluid recovery line (52), the alignment rod (13b) can move to a receiving position (dotted line in FIG. 6, see FIG. 8) that is received within the housing (13a), and the alignment rod (13b) can avoid contact with the edge of the glass (5).

[0050] In this way, the alignment rod (13b) can be configured to move vertically relative to the housing (13a), and in particular, the glass (5) can be moved and aligned by contacting and pressing the edge of the glass (5) when the alignment rod (13b) is in the extended position, and the alignment rod (13b) does not contact the edge of the glass (5) when the alignment rod (13b) is in the receiving position, so the scanning operation of the touch probe (31) described later is not interfered with, and contact between the alignment rod (13b) and the glass (5) can be minimized. Contact between the alignment rod (13b) and the glass (5) can be minimized by the alignment rod (13b) contacting the edge of the glass (5) only during the alignment operation of the glass (5), thereby minimizing wear of the alignment rod (13b).

[0051] Referring to FIG. 9, the scan unit (14) may include a plurality of touch probes (31) configured to individually scan the edges of the glass (5), and a scan processor (32) that processes data scanned by the plurality of touch probes (31).

[0052] A plurality of touch probes (31) may be configured to correspond individually to a plurality of alignment units (13). For example, the glass (5) may have four edges, and correspondingly, the setting base (11) may have four edges, and four alignment units (13) may be individually placed on the edges of the setting base (11), and four touch probes (31) may be individually placed on the edges of the setting base (11). Each touch probe (31) may be configured as a set for the corresponding alignment unit (13). Accordingly, each moving mechanism (15) may move each touch probe (31) and the corresponding alignment unit (13).

[0053] Referring to FIGS. 2 through 5, each touch probe (31) may be positioned adjacent to a corresponding alignment unit (13). In particular, the touch probe (31) and the corresponding alignment unit (13) may be attached as a set to each moving mechanism (15). Accordingly, the touch probe (31) and the corresponding alignment unit (13) may move together by the corresponding moving mechanism (15). In particular, each touch probe (31) may be configured to move along the edge of the glass (5) by the moving mechanism (15), thereby allowing a plurality of touch probes (31) to individually scan the edges of the glass (5).

[0054] Referring to FIG. 9, the touch 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 joint (35). The ball joint (35) may include a ball provided at the bottom of the probe pin (34) and a ball socket provided on the probe base (33), and the ball may be rotatably received in the ball socket. Accordingly, the probe pin (34) may pivot around the ball joint (35) or rotate around the longitudinal axis of the probe pin (34). Thus, by configuring the probe pin (34) to pivot or rotate on the probe base (33), it may make tight contact with the curved edge of the glass (5), thereby allowing for precise scanning of the edge of the glass (5).

[0055] In this way, by scanning each edge of the glass (5) with a plurality of touch probes (31), a plurality of scanning units (14) can precisely acquire scanned data such as the contour, size, and shape of the glass (5), and a controller (16) can align the glass (5) to the setting base (11) by controlling a plurality of moving mechanisms (15) based on the scanned data, and in particular, even if a dimensional error of the glass (5) occurs, the controller (16) can accurately align the center of the glass (5) to the center of the setting base (11) by controlling a plurality of moving mechanisms (15) based on the scanned data.

[0056] Referring to FIG. 10, the scan processor (32) may be electrically connected to the controller (16). The scan processor (32) may analyze and process data (such as the contour, size, and shape of the glass (5)) scanned by a plurality of touch probes (31), and the data analyzed and processed by the scan processor (32) may be transmitted to the controller (16). In one example, the scan processor (32) may be a hardware module configured independently of the controller (16) or embedded in the controller (16). In another example, the scan processor (32) may be a software module stored in the memory of the controller (16).

[0057] According to one embodiment, the scan processor (32) may be configured to calculate the size and center of the glass (5) based on data scanned by a plurality of touch probes (31).

[0058] According to another embodiment, the controller (16) may be configured to calculate the size and center of the glass (5) based on data scanned by a plurality of touch probes (31) and processed by a scan processor (32).

[0059] A plurality of moving mechanisms (15) may be individually mounted on the edges of the setting base (11), and the plurality of moving mechanisms (15) may be arranged to correspond to a plurality of alignment units (13) and a plurality of touch probes (31). Accordingly, each moving mechanism (15) may be configured to move each alignment unit (13) and the corresponding touch probe (31). By moving each moving mechanism (15) to move the alignment unit (13) and the corresponding touch probe (31), each alignment unit (13) may move the edge of the glass (5), and each touch probe (31) may scan each edge of the glass (5).

[0060] According to an embodiment, each moving mechanism (15) may be configured to move the alignment unit (13) and the corresponding touch probe (31) in a two-dimensional coordinate system. Each moving mechanism (15) may be configured to move the alignment unit (13) and the corresponding touch probe (31) along a first axis (X1) and a second axis (X2) of the two-dimensional coordinate system. The first axis (X1) may be orthogonal to the second axis (X2).

[0061] Referring to FIG. 4, each moving mechanism (15) may include an attachment (20), a first electric actuator (21) configured to move the attachment (20) along a first axis (X1), and a second electric actuator (22) configured to move the attachment (20) along a second axis (X2).

[0062] Referring to FIGS. 4, 5, 7, and 8, the alignment unit (13) and the corresponding touch probe (31) can be attached to the attachment (20) as a set through fasteners, welding, etc. Accordingly, the first electric actuator (21) and the second electric actuator (22) can move the alignment unit (13) and the touch probe (31) attached together to the attachment (20) along the first axis (X1) and / or the second axis (X2). Specifically, each alignment unit (13) and the corresponding touch probe (31) can be attached to the attachment (20) of each moving mechanism (15), and the touch probe (31) can be arranged side by side next to the corresponding alignment unit (13). That is, the touch probe (31) and the corresponding alignment unit (13) are attached side by side to each attachment (20), so that the touch probe (31) and the alignment unit (13) can be provided as a set to the attachment (20) of each moving mechanism (15).

[0063] In this way, each touch probe (31) is provided to each attachment (20) as a set to the corresponding alignment unit (13), so that scanning by the scan unit (14) and alignment by the alignment units (13) can proceed continuously and efficiently, and thus the glass (5) can be positioned quickly and accurately on the setting base (11).

[0064] The first axis (X1) may be an axis extending toward the center (C1) of the setting base (11), and as the attachment (20) moves along the first axis (X1), the alignment unit (13) may move toward the center (C1) of the setting base (11) or away from the center (C1) of the setting base (11).

[0065] The second axis (X2) may be an axis extending along each edge of the setting base (11), and as the attachment (20) moves along the second axis (X2), the alignment unit (13) can move along the edge of the setting base (11).

[0066] The first electric actuator (21) may include a first electric motor (21a), a first slider (21b) that moves along a first axis (X1) by 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) configured to sense and control the torque of the first electric motor (21a).

[0067] As the first electric motor (21a) of the first electric actuator (21) operates, the first slider (21b) can move along the first axis (X1), and the second electric actuator (22) and attachment (20) connected to the first slider (21b) can move along the first axis (X1), and the alignment unit (13) and touch probe (31) attached as a set to the attachment (20) can move along the first axis (X1). When the alignment rod (13b) of the alignment unit (13) is in an extended position, the alignment rod (13b) can move each edge of the glass (5) toward the center of the setting base (11) or move away from the center of the setting base (11). The alignment unit (13) can be moved toward the center (C1) of the setting base (11) by the first electric actuator (21) (advancement of the alignment unit (13)), and the alignment unit (13) can be moved away from the center (C1) of the setting base (11) by the first electric actuator (21) (reverse movement of the alignment unit (13).

[0068] When a plurality of alignment units (13) perform an alignment operation to align the glass (5), the alignment rod (13b) of each alignment unit (13) may be positioned in an extended position (solid line in FIG. 6, see FIG. 7). Referring to FIG. 11, when the alignment rod (13b) is in the extended position, the first electric motor (21a) of the first electric actuator (21) operates, causing each alignment rod (13b) to move along the first axis (X1), and thus each alignment rod (13b) contacts and presses each edge of the glass (5), thereby allowing the center (C2) of the glass (5) to be aligned with the center (C1) of the setting base (11). At this time, the controller (16) can individually control the operation of each first electric motor (21a) based on data scanned by the scan unit (14), so that the plurality of 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 setting base (11).

[0069] Referring to FIGS. 4, 5, and 7, the alignment rod (13b) of the alignment unit (13) may have a diameter larger than the diameter of the probe pin (34) of the touch probe (31), thereby preventing the probe pin (34) from contacting the edge of the glass (5) when the alignment rod (13b) contacts the edge of the glass (5) during the alignment operation of the alignment unit (13), and thus the alignment operation of the alignment unit (13) may not be hindered by the probe pin (34).

[0070] The second electric actuator (22) may include a second electric motor (22a), a second slider (22b) that moves along a second axis (X2) by 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) configured to sense and control 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).

[0071] As the second electric motor (22a) of the second electric actuator (22) operates, the second slider (22b) can move along the edge of the setting base (11) along the second axis (X2), and the attachment (20) connected to the second slider (22b) can move along the second axis (X2), and the alignment unit (13) and touch probe (31) attached as a set to the attachment (20) can move along the edge of the glass (5).

[0072] When multiple touch probes (31) are to individually scan the edges of the glass (5), the alignment rod (13b) of each alignment unit (13) may be positioned at a receiving position (dotted line in FIG. 6, see FIG. 8), and thus the alignment rod (13b) does not come into direct contact with the edge of the glass (5). Referring to FIG. 12, the attachment (20) and the touch probe (31) may move along the first axis (X1) by the first electric actuator (21), and the probe pin (34) of each touch probe (31) may come into contact with each edge of the glass (5). After that, as the second motor (22a) of the second motor actuator (22) operates, the attachment (20) and the touch probe (31) can move along the second axis (X2), and the probe pin (34) of each touch probe (31) can scan each edge of the glass (5).

[0073] When the alignment rod (13b) of the alignment unit (13) contacts the edge of the glass (5) by driving the first electric motor (21a) of the first electric actuator (21), the first torque sensing control system (21d) senses the torque acting on the first electric motor (21a), thereby the first torque sensing control system (21d) can sense the torque acting between the alignment rod (13b) and the edge of the glass (5), and the torque acting between the alignment rod (13b) and the edge of the glass (5) can be equivalent 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 greater than or equal to a set value (threshold). When the torque sensed by the first torque sensing control system (21d) is greater than or equal to a threshold, the controller (16) or the motor controller (not shown) provided within the first electric actuator (21) can control the operation of the first electric actuator (21) to stop. When each alignment unit (13) is moved by a corresponding moving mechanism (15) while the alignment rod (13b) of each alignment unit (13) is in contact with each edge of the glass (5), the controller (16) can determine whether the torque sensed by the torque sensing control system (21d) of the first electric actuator (21) is greater than or equal to a threshold. As the alignment rod (13b) of each alignment unit (13) contacts and presses against each edge of the glass (5), an overload may be applied to each alignment rod (13b) and the first electric actuator (21), and the set value is applied to the alignment rod (13b) and the first electric actuator (21). It may be a reference torque for determining whether an overload is applied. When the torque sensed by the torque sensing control system (21d) of the first electric actuator (21) is greater than or equal to a set value, the controller (16) can determine that an overload is applied to the alignment rod (13b) and the first electric actuator (21), and the controller (16) can prevent an overload on the alignment rod (13b) and the first electric actuator (21) by stopping the operation of the first electric actuator (21), thereby minimizing wear or deformation of the alignment rod (13b) of the alignment unit (13) and preventing failure of the first electric actuator (21).

[0074] Referring to FIG. 10, the controller (16) can be electrically connected to the first electric motor (21a) of the first electric actuator (21) and the second electric motor (22a) of the second electric actuator (22). Accordingly, the controller (16) can individually control the operation of the first electric actuator (21) and the operation of the second electric actuator (22).

[0075] Referring to FIG. 10, the housing (13a) of each alignment unit (13) can be fluidically connected to a fluid source (50) through a fluid supply line (51) and a fluid return line (52). A fluid supply valve (53) can be placed in the fluid supply line (51), and the fluid supply valve (53) can be configured to be opened and closed by a motor (53a). A fluid return valve (54) can be placed in the fluid return line (52), and the fluid return valve (54) can be configured to be opened and closed by a motor (54a). The controller (16) can be electrically connected to the motor (53a) of the fluid supply valve (53) and the motor (54a) of the fluid recovery valve (54), and thus the controller (16) can control the movement of the alignment rod (13b) by controlling the motor (53a) of the fluid supply valve (53) and the motor (54a) of the fluid recovery valve (54). That is, the controller (16) can control the movement of the alignment rod (13b) of the alignment unit (13).

[0076] Referring to FIG. 10, each vacuum cup (17) may be connected to a vacuum source (60) via a vacuum line (61), and the vacuum source (60) may be a vacuum pump, etc. A vacuum supply valve (63) may be placed in the vacuum line (61), and the vacuum supply valve (63) may be opened and closed by a motor (63a). A vacuum release line (62) may be connected to each vacuum cup (17), and a vacuum release valve (64) may be placed in the vacuum release line (62), and the vacuum release valve (64) may be opened and closed by a motor (64a). The controller (16) can be electrically connected to the motor (63a) and vacuum source (60) of the vacuum supply valve (63), and thus the controller (16) can control the supply of vacuum to each vacuum cup (17) by controlling the motor (63a) and vacuum source (60) of the vacuum supply valve (63). The controller (16) can be electrically connected to the motor (64a) of the vacuum release valve (64), and thus the controller (16) can control the vacuum release for each vacuum cup (17) by controlling the motor (64a) of the vacuum release valve (64).

[0078] FIG. 13 is a flowchart illustrating a glass setting method using a vehicle glass setting device (10) according to an embodiment of the present invention.

[0079] First, the glass (5) is loaded onto the setting base (11) by a worker or a loading robot, etc. (S1). Accordingly, the glass (5) can be placed on the vacuum cup (17) of the setting base (11).

[0080] When the glass (5) is loaded onto the setting base (11) and / or the controller (16) senses this, the fluid supply valve (53) of the fluid supply line (51) opens so that fluid is supplied to the housing (13a) of each alignment unit (13), and accordingly, the alignment rod (13b) of each alignment unit (13) can move to an extended position. Then, as the first electric motor (21a) of the first electric actuator (21) of each moving mechanism (15) operates, each alignment unit (13) advances toward each edge of the glass (5) (S2). Accordingly, the alignment rod (13b) of each alignment unit (13) contacts and presses against each edge of the glass (5), thereby allowing the position of the glass (5) to be adjusted preliminaryly relative to the setting base (11).

[0081] With the alignment rod (13b) of each alignment unit (13) in contact with each edge of the glass (5), the torque (T) sensed by the first torque sensing control system (21d) of the first electric actuator (21) is the set torque (T H ) It is primarily determined whether it is greater than or equal to (S3).

[0082] The torque (T) sensed in step S3 is the set torque (T H When it is less than ), the operation of the first electric motor (21a) of the first electric actuator (21) is maintained so that each alignment unit (13) advances continuously (S3-1).

[0083] The torque (T) sensed in step S3 is the set torque (T H When the condition is greater than ) the operation of the first electric motor (21a) of the first electric actuator (21) is stopped, thereby stopping each alignment unit (13) (S4).

[0084] After each alignment unit (13) is stopped, with the vacuum supply valve (63) open, the vacuum source (60) can provide vacuum pressure to a plurality of vacuum cups (17), and the plurality of vacuum cups (17) grip the glass (5) by the vacuum pressure (S5).

[0085] After the glass (5) is gripped by a plurality of vacuum cups (17), the fluid recovery valve (54) is opened and the fluid is recovered from the housing (13a) of each alignment unit (13), and the alignment rod (13b) of each alignment unit (13) moves to a receiving position (S6). As each alignment rod (13b) moves to a receiving position that is received into the housing (13a), each alignment rod (13b) does not come into contact with each edge of the glass (5).

[0086] After each alignment rod (13b) moves to the receiving position, each touch probe (31) of the scan unit (14) moves forward toward each edge of the glass (5) as the first electric motor (21a) of the first electric actuator (21) of each moving mechanism (15) operates (S7).

[0087] The controller (16) determines whether each touch probe (31) contacts each edge of the glass (5) through a contact detection circuit or a contact sensor (not shown), etc. (S8).

[0088] In step S8, if each touch probe (31) does not come into contact with each edge of the glass (5), each touch probe (31) continuously advances by maintaining the operation of the first electric motor (21a) (S8-1).

[0089] In step S8, when each touch probe (31) comes into contact with each edge of the glass (5), the operation of the first electric motor (21a) is stopped, thereby stopping the advance of each touch probe (31) (S9).

[0090] As the second motor (22a) of the second motor actuator (22) operates, each touch probe (31) can move along the second axis (X2), and each touch probe (31) scans each edge of the glass (5) by moving along each edge of the glass (5) (S10).

[0091] The scan processor (32) of the scan unit (14) acquires data scanned by a plurality of touch probes (31) (S11).

[0092] The scan processor (32) or the controller (16) calculates the size of the glass (5) and the center (C2) of the glass (5) based on the scanned data (S12). According to one example, the scan processor (32) can calculate the size of the glass (5) and the center (C2) of the glass (5) based on the scanned data and transmit the result value to the controller (16). According to another example, the controller (16) can calculate the size of the glass (5) and the center (C2) of the glass (5) based on the data processed and analyzed by the scan processor (32).

[0093] After calculating the center (C2) of the glass (5), the vacuum release valve (64) is opened so that the vacuum pressure provided to the plurality of vacuum cups (17) is released or vented through the vacuum release line (62), and accordingly, the plurality of vacuum cups (17) ungrip the glass (5) (S13).

[0094] After ungripping the glass (5), the fluid supply valve (53) of the fluid supply line (51) is opened so that fluid is supplied to the housing (13a) of each alignment unit (13), and accordingly, the alignment rod (13b) of each alignment unit (13) can move to an extended position. Then, the controller (16) can control the operation of the first electric motor (21a) so that the calculated center (C2) of the glass (5) is aligned with the center (C1) of the setting base (11), and accordingly, each alignment unit (13) advances toward each edge of the glass (5) (S15). Accordingly, the alignment rod (13b) of each alignment unit (13) contacts and presses each edge of the glass (5), thereby allowing the position of the glass (5) to be secondarily adjusted on the setting base (11), and through this, the center (C2) of the glass (5) can be aligned with the center (C1) of the setting base (11).

[0095] The torque (T) sensed by the first torque sensing control system (21d) of the first electric actuator (21) is the set torque (T H ) It is secondarily determined whether it is greater than or equal to (S16).

[0096] The torque (T) sensed in step S16 is the set torque (T H When it is less than ), the operation of the first electric motor (21a) of the first electric actuator (21) is maintained so that each alignment unit (13) advances continuously (S16-1).

[0097] The torque (T) sensed in step S16 is the set torque (T H When the operation of the first electric motor (21a) of the first electric actuator (21) is stopped, each alignment unit (13) is stopped (S17), and the alignment of the glass (5) is completed by aligning the center (C2) of the glass (5) with the center (C1) of the setting base (11) (S18).

[0098] According to the present invention described above, by controlling the movement of a plurality of alignment units (13) by a moving mechanism (15) based on data scanned by a scanning unit (14), the center of the glass (5) can be aligned with the center of the setting base (11), thereby allowing the glass (5) to be accurately positioned on the setting base (11). Since the glass (5) is accurately positioned on the setting base (11), the gripper (4c) of the robot (4) can accurately grip the glass (5), and thereby the robot (4) can accurately mount the glass (5) to the opening of the vehicle body.

[0099] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention.

[0100] Accordingly, the embodiments disclosed in this invention are intended to illustrate, not limit, the technical concept of the invention, and the scope of the technical concept of the invention is not limited by these embodiments. The scope of protection of this invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of this invention. Explanation of the symbols

[0101] 1: Automotive glass mounting system 2: Vehicle body 3: Platform 4: Robot 5: Glass 10: Automotive glass setting device 11: Setting base 12: Post 13: Alignment Unit 13a: Housing 13b: Alignment Load 14: Scan Unit 15: Moving mechanism 16: Controller 17: Vacuum cup 20: Attachment 21: 1st electric actuator 22: 2nd electric actuator 31: Touch probe 32: Scan processor 33: Probe base 34: Probe pin 35: Ball joint

Claims

Claim 1 A vehicle glass setting device comprising: a setting base supporting a glass having multiple edges; a plurality of alignment units aligning the glass with respect to the setting base; a scanning unit scanning the edges of the glass; a plurality of moving mechanisms configured to individually move the plurality of alignment units; and a controller controlling the operation of the moving mechanisms so that the center of the glass is aligned with the center of the setting base based on data scanned by the scanning unit, wherein each alignment unit is movably mounted by a corresponding moving mechanism at each edge of the setting base. Claim 2 delete Claim 3 A vehicle glass setting device according to claim 1, wherein each alignment unit comprises a housing and an alignment rod movable with respect to the housing. Claim 4 A vehicle glass setting device according to claim 3, wherein the alignment rod is configured to move between an extended position protruding from the housing and a receiving position received within the housing as fluid is supplied to and recovered from the housing. Claim 5 A vehicle glass setting device according to claim 1, wherein the scan unit comprises a plurality of touch probes configured to individually scan the edges of the glass, and a scan processor that processes data scanned by the plurality of touch probes. Claim 6 A vehicle glass setting device according to claim 5, wherein a plurality of touch probes are configured to individually scan each edge of the glass by moving each touch probe along each edge of the glass by means of the moving mechanism. Claim 7 A vehicle glass setting device according to claim 6, wherein each touch probe comprises a probe base and a probe pin movably connected to the probe base. Claim 8 A vehicle glass setting device according to claim 7, wherein the probe pin is connected to a probe base through a ball joint. Claim 9 A vehicle glass setting device according to claim 8, wherein each touch probe and its corresponding alignment unit are connected as a set to a corresponding moving mechanism, so that each touch probe and its corresponding alignment unit are configured to move together by the corresponding moving mechanism. Claim 10 A vehicle glass setting device according to claim 1, wherein each moving mechanism comprises an attachment, a first electric actuator configured to move the attachment along a first axis, and a second electric actuator configured to move the attachment along a second axis, wherein the first axis is an axis extending toward the center of the setting base and the second axis is an axis extending along the edge of the setting base. Claim 11 A vehicle glass setting device according to claim 10, wherein the first electric actuator comprises a first electric motor, a first slider that moves along a first axis by the first electric motor, and a first guide that guides the movement of the first slider. Claim 12 A vehicle glass setting device according to claim 11, wherein the second electric actuator comprises a second electric motor, a second slider that moves along a second axis by the second electric motor, and a second guide that guides the movement of the second slider. Claim 13 A vehicle glass setting device according to claim 12, 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. Claim 14 A vehicle glass setting device according to claim 10, wherein the first electric actuator includes a first torque sensing 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 greater than or equal to a set value (threshold), the controller controls the operation of the first electric actuator to stop. Claim 15 A vehicle glass setting device according to claim 1, further comprising a plurality of posts mounted on the upper surface of the setting base and a plurality of vacuum cups individually mounted on the plurality of posts. Claim 16 A method for setting glass for a vehicle, comprising: a loading step of loading glass having multiple edges onto a setting base; a preliminary adjustment step of preliminarily adjusting the position of the loaded glass relative to the setting base by the plurality of alignment units and the plurality of moving mechanisms; a scanning step of individually scanning the edges of the loaded glass by a scanning unit; a calculation step of calculating the center of the glass based on the scanned data; and an adjustment step of adjusting the position of the glass by the plurality of alignment units and the plurality of moving mechanisms so that the calculated center of the glass is aligned with the center of the setting base. Claim 17 delete Claim 18 A method for setting a vehicle glass according to claim 16, wherein each moving mechanism comprises one or more electric actuators having an electric motor, and the one or more electric actuators comprise a torque sensing system for sensing a torque acting on the electric motor, and further comprising, in the preliminary adjustment step and the adjustment step, a step of stopping the operation of each moving mechanism when the torque sensed by the torque sensing system of the electric actuator is greater than or equal to a set value while the alignment unit is in contact with the edge of the glass. Claim 19 A vehicle glass setting method according to claim 16, further comprising, between the preliminary adjustment step and the scanning step, a gripping step in which the glass is gripped by a plurality of vacuum cups, wherein the plurality of vacuum cups are mounted on the setting base and configured such that the plurality of vacuum cups grip the glass as vacuum pressure is supplied to the plurality of vacuum cups. Claim 20 A method for setting a vehicle glass according to claim 19, further comprising an ungrip step of ungripping the glass by releasing the vacuum pressure supplied to the vacuum cup between the calculation step and the adjustment step.

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