JPH0619045Y2 - Reference position recognition marker - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a marker for reference position recognition.

(Prior Art) Today, assembly work is being automated by an assembly robot. In order for this robot to work, it is necessary to determine a reference position on the object to be assembled, and the robot recognizes the reference position and performs a predetermined assembly work with the reference position as a reference. . Therefore, as a means for making the robot recognize the reference position, conventionally, an operator puts a sticker of a different color on a position corresponding to the reference position of the assembly object or paints a mark on the assembly object itself by painting. It was.

(Problems to be solved by the invention) However, in both the former case and the latter case, the position where the seal is put and the position where the mark is drawn vary depending on the operator, and the accurate reference position cannot be obtained uniformly. In the former case, the seal is peeled off, and in the latter case, the coating film is peeled off, so that there is a possibility that it cannot function as a mark. For this reason, it has been difficult for the assembling robot to reliably recognize the accurate reference position.

The present invention has been made in view of the above circumstances, and an object thereof is to make the assembling robot surely recognize an accurate reference position.

(Means and Actions for Solving Problems) In order to achieve the above object, according to the present invention, there is provided a reference position recognizing marker for causing an assembling robot to recognize a reference position. A clip portion to be attached to an attachment hole provided, and a fitting portion that is attached to the clip portion in a fitting relationship and forms a pattern that cooperates with the clip portion to cause a difference in lightness with the color of the constituent member itself. And, it has the configuration.

With the above-mentioned configuration, by using the above-mentioned reference position recognition marker and attaching the clip portion to the attachment hole provided in advance in the object to be assembled, a unified and accurate attachment position can be surely obtained as the attachment hole, The mounting hole can be surely recognized by the operator as an accurate mounting position, and the mounting position of the marker can be made uniform and accurate.

Further, since the clip portion is configured to be attached to the attachment hole of the attached object, even if the marker is small, the marker itself can be firmly held on the attached object, and the marker itself can be removed from the attached object. When the marker is attached to the attachment hole of the object to be attached, the clip portion and the fitting portion cooperate with each other, and the brightness of each component member itself can be maintained. Since a pattern that causes a difference is formed, the mark function is always assured in terms of strength against rubbing, and there is no risk of peeling off and impairing the mark function as in the case of a seal as a mark or a coating film. . Therefore, the assembling robot can surely recognize the accurate reference position by the marker.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

1 to 6 show the first embodiment. In the first embodiment, reference numeral 1 is a marker according to the present invention, and the marker 1 is composed of a cover 2 as a fitting portion and a clip 3 which is detachably fitted and held on the cover 2.

The cover 2 is made entirely of black plastic and its shape is as shown in FIGS. 1 to 3 (in FIG. 2 and FIG. 3, only the cover 2 is shown in cross section). The cover 2 has a box-like shape, and a substantially square notch hole 4 is formed in the center of the bottom 2a of the cover 2 as shown in FIG. Further, as shown in FIG. 3, a pair of locking projections 5 are provided on the inner edge of the cover 2 on the opening side so as to face each other. In this case, the cover 2 has a function of expanding and contracting inward and outward, and when the clip 3 is fitted into the cover 2, it has a function of restricting the removal thereof.

The clip 3 is made of white plastic as a whole, and the clip 3 is composed of a fitting portion 6 that cooperates with the cover 2 to form a head portion and an insertion portion 7 as a mounted portion. Has become. The fitting portion 6 is composed of fitting components 6a and 6b as shown in FIGS. 2 to 3, and when the clip 3 is fitted and held in the cover 2, the fitting component 6a.
Fits into the cutout hole 4, and the fitting component 6b covers the cover 2
Will fit inside. At this time, the tip surface of the fitting component 6a is flush with the outer surface of the cover bottom portion 2a, and the tip surface of the fitting component 6a and the outer surface of the cover bottom portion 2a constitute the upper surface of the marker 1. In addition, a pattern that causes a difference in lightness is formed based on the respective colors (white and black).

The insertion portion 7 is provided upright on the fitting portion 6b, and when the clip 3 is fitted and held in the cover 2,
The insertion portion 7 projects outward of the cover 2 as shown in FIGS. The insertion portion 7 has a tubular shape, and a pair of bending pieces 8 is provided on the side surface thereof so as to be expandable and contractible. Locking projections 9 are provided on the free ends of the respective bending pieces 8 and always project outside the insertion portion 7.

Such a marker 1 is used, for example, in an operation of assembling a rear window glass by an assembling robot (not shown). This assembling work will be described with reference to FIGS. 5 and 6.
First, the marker 1 is attached to a predetermined position (usually two places) on the rear package 11 of the vehicle body 10 as an assembly object. This mounting is performed by inserting the insertion portion 7 of the marker 1 into the mounting hole 12 as a mounting portion that is predrilled in the rear package 11 and locking the locking projection 9 in the mounting hole 12.

After this, the rear window glass 13 by the assembling robot
Assembling work is started, and the robot recognizes the pattern on the upper surface of the marker 1 and moves the rear window glass 13 from the direction of the arrow toward the glass spacer 14 and the molding 15 in FIG. Then, the lower end portion of the rear window glass 13 is attached to a predetermined position via the sealing material 16.

When the work of assembling the rear windshield 13 is finished, the marker 1 is hidden by the trim 17 so that the aesthetic appearance is not impaired.

Therefore, in the above assembling work, the marker 1 is attached to the accurate attachment hole 12 formed in the rear package 11 in advance, and the position of the marker 1 becomes a unified and accurate position. Therefore, the robot can recognize the accurate reference position unified by the marker 1.

Further, the black-and-white pattern on the upper surface of the marker 1 is composed of the fitting component 6a and the cover 2, and the coating mark is peeled off as in the case of forming the mark on the rear package 11 by painting, and the mark function is impaired. Such fear disappears.

In addition, since the black portion is provided so as to cover the peripheral portion of the white portion on the upper surface of the marker 1,
The robot can easily recognize the pattern.

In the above-described embodiment, the marker 1 has a configuration in which the insertion portion 7 projects from the opening side of the cover 2, but
As shown in the figure, the marker 1 may be such that the insertion portion 7 projects from the bottom 2a side of the cover 2. When such a marker 1 is used, the cover 2 is sandwiched between the fitting portion 3 and the rear package 11 by inserting the insertion portion 7 into the attachment hole 12 and attaching the marker 1 to the rear package 11. Even if the locking projection 5 is not provided as in the example, the cover 2 is reliably prevented from coming off. In the case of this modification, the end face on the opening side of the cover 2 and the fitting portion 6
The end surface constitutes the upper surface of the marker 1.

8 to 11 show the second embodiment.

In the second embodiment, a plastic reference position recognizing marker 21 using a glass pressing member is shown, and the marker 21 has a mark function for recognizing the reference position. It has the function of positioning and pressing the window glass.

That is, the marker 21 is roughly configured by the glass supporting portion 22 and the glass pressing portion 23, as shown in FIGS. 8 and 9.

The glass support portion 22 is formed in a box shape.
On the outer surface of the bottom portion 22a of the glass support portion 22, the first
Similar to the embodiment, a cylindrical insertion portion 24 is erected, and a pair of bending pieces 25 are provided on the side surfaces thereof so as to face each other, and the insertion portion 24 is provided at the free end of each bending piece 25. A locking protrusion 26 that protrudes outwardly is provided. A mark forming member 27 as a fitting portion is fitted and held inside the glass supporting portion bottom portion 22a, and the mark forming member 2 is provided.
As shown in FIG. 8, 7 is arranged in a substantially square shape at a substantially central portion inside the glass support bottom 22a. In the glass supporting portion 22, the mark constituting member 27 is white and the portion excluding the mark constituting member 27 is black, whereby a black-and-white pattern having a difference in brightness is formed on the inner surface of the glass supporting portion 22. Has been done. A hole 28 for a tapping screw is formed in the mark forming member 27, and the hole 28 faces the inside of the insertion portion 24 through the glass support portion bottom portion 22a. In this case, in order to prevent the portion of the hole 28 from appearing black in the assembling robot, a blank paper sticker 29 is attached to the surface of the mark forming member 27 so as to cover the hole 28 as shown in FIG. To be Further, locking holes 30 are formed on the side surfaces of the glass support portion 22 so as to face each other.

On the other hand, the glass pressing portion 23 is rotatably coupled to the glass supporting portion 22 via a pivotal support portion 31 so as to be superposed and rotatable. The tip portion of the glass pressing portion 23 is adapted to project more than the tip portion (the right end portion in FIG. 8) of the glass supporting portion 22 when the glass pressing portion 23 is superposed on the glass supporting portion 22. This part has a function of pressing the rear window glass. Further, the glass pressing portion 23 is provided with a tapping screw hole 32 and a locking projection 33, and when the glass pressing portion 23 is superposed on the glass support portion 22, the tapping screw hole 32 is formed as described above. The locking projection 33 faces the tapping screw hole 28 and is locked in the locking hole 30 so that the glass pressing portion 23 and the glass supporting portion 22 are held in an overlapping state. A core metal 34 is attached to the surface of the glass pressing portion 23 as shown in FIGS. 9 and 11.

The rear window glass assembling work using such a marker 21 will be described with reference to FIGS. 10 and 11. First, the insertion portion 24 of the marker 1 is inserted into a mounting hole 36 provided in the vehicle body 35, The marker 1 is attached to the vehicle body 35. At this time, the glass pressing portion 3 is not superposed on the glass supporting portion 22, and the inside of the glass supporting portion 22 is open outward.

Next, the assembling operation of the rear window glass 38 by the assembling robot is started, and the robot recognizes the pattern inside the glass support portion 22 and sets the position as the reference position to set the rear window glass 38 to the position shown in FIG. Move in the direction of the arrow in the middle to move the rear window glass 38 end portion to the glass support portion 22.
Set so that it contacts the tip.

Then, the glass retainer 23 is superposed on the glass support 22 as shown in FIG. 11, and the tapping screw 37 is screwed into the tapping screw holes 28 and 32. As a result, the glass pressing portion 23 is tightened with respect to the glass supporting portion 22, and the tip of the glass pressing portion 23 presses the end of the rear window glass 38.

Therefore, such a marker 1 not only has the same effects as the first embodiment, but also has the function of positioning and holding the window glass.

Although the embodiments have been described above, the present invention includes the following.

In the first embodiment, the cover 2 and the clip 3 are integrally molded.

Any color may be used for the constituent members 2, 3, 22, 27 as long as there is a difference in brightness.

The brightness difference pattern may be any pattern that can be recognized by the assembling robot.

(Advantages of the Invention) As described above, the present invention can provide a reference position recognition marker that allows an assembling robot to reliably recognize an accurate reference position.

[Brief description of drawings]

1 is a plan view showing a marker according to the first embodiment, FIG. 2 is a partial sectional view taken along line II-II of FIG. 1, FIG. 3 is a partial sectional view taken along line III-III of FIG. 1, and FIG. The figure is a bottom view showing the marker according to FIG. 1, FIG. 5 is an explanatory view showing the attachment of the marker according to the first embodiment, and FIG. 6 is the rear window glass when the marker according to the first embodiment is used. FIG. 7 is an explanatory view for explaining the assembling work, FIG. 7 is a longitudinal sectional view showing a modified example of the marker according to the first embodiment, FIG. 8 is a plan view showing the marker according to the second embodiment, and FIG. FIG. 10 is a partial cross-sectional view showing the marker according to FIG. 8, and FIGS. 10 and 11 are explanatory views for explaining the rear window glass assembling work when the marker according to the second embodiment is used. 1, 21: Marker 2: Cover 3: Clip 7: Insertion part 10, 35: Vehicle body 12, 36: Mounting hole 22: Glass support part 27: Mark component member

Continuation of front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI technical display location G05D 3/12 L 9179-3H (72) Creator Toshiyuki Shiraishi 184 Maioka-cho, Totsuka-ku, Yokohama-shi, Kanagawa 1 Co., Ltd. Nifco (72) Inventor Takeshi Kanehisa 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (56) Bibliographic references Sho 51-66971 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A reference position recognition marker for causing an assembling robot to recognize a reference position, wherein a clip portion is attached to an attachment hole provided in an object to be attached, and the clip portion is attached in a fitting relationship. And a fitting portion that cooperates with the clip portion to form a pattern that causes a difference in lightness with the color of the component member itself, and a marker for reference position recognition.