公开(公告)号：US4885833A

公开(公告)日：1989-12-12

申请号：US253451

申请日：1988-10-05

申请人： Shigehiro Umegai ,  Teruhisa Noguchi ,  Hirobumi Morita ,  Takashi Uehara ,  Takayuki Hoshino

发明人： Shigehiro Umegai ,  Teruhisa Noguchi ,  Hirobumi Morita ,  Takashi Uehara ,  Takayuki Hoshino

IPC分类号： B62D65/06

CPC分类号： B62D65/06 ,  Y10T29/49769 ,  Y10T29/49771 ,  Y10T29/53004 ,  Y10T29/53013 ,  Y10T29/53039

摘要： A robot having a robot arm swingable from a position outside a car body conveying line to the line and movable in the directions of length, width and height of the car body is provided with a support frame carrying a jig for holding the window glass. The frame is tiltably mounting on the arm via a tilting shaft. A first detector is mounted on the frame for detecting a deviation the car-width direction of the jig with respect to the window portion. A pair of second detectors are provided on the frame at positions which are symmetrical with respect to the car width direction center line of the jig for detecting deviations in the plane of the window opening. First, deviation detected by the first detector is corrected by moving the jig in the car width direction. Then, deviation in tilt detected by the second detectors is corrected by tilting the jig. Finally, deviation in height detected jointly by the second detectors is corrected by raising or lowering the jig. Thereafter, the window glass is mounted in the window portion.

摘要翻译： 具有从轿厢主体输送线外侧的位置向车线摆动并且能够沿着车体的长度，宽度和高度方向移动的机器人的机器人设置有承载用于保持窗玻璃的夹具的支撑框架。 框架通过倾斜轴可倾斜地安装在手臂上。 第一检测器安装在框架上，用于检测夹具相对于窗口部分的车宽方向的偏差。 一对第二检测器设置在框架上相对于用于检测窗口开口的平面中的偏差的夹具的车宽方向中心线对称的位置处。 首先，通过在车辆宽度方向上移动夹具来校正由第一检测器检测到的偏差。 然后，通过倾斜夹具来校正由第二检测器检测的倾斜偏差。 最后，通过升高或降低夹具来校正由第二检测器联合检测的高度偏差。 此后，将窗玻璃安装在窗部。