JPH0739944B2 - Primer application failure detection method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a primer application failure detection method for detecting application failure of a primer such as a primer applied when a vehicle window glass is joined to a vehicle body. .

(Prior Art) Generally, in order to assemble a window glass into an opening of a vehicle body of an automobile or the like, a method of directly adhering the window glass with an adhesive such as a polyurethane sealer and an indirect method through a seal rubber such as a weather strip are used. There are two types, the method of assembling to. Compared to the latter method, the former method has a wider field of view because it does not have a seal rubber, and has a good appearance. Therefore, the former method is widely used especially in passenger cars.

Then, in the case of adopting such a method of assembling the wind glass by direct adhesion, the adhesive strength between the adhesive and the wind glass is applied to each corresponding bonding surface on the wind glass side and the vehicle body side. First, a primer as an adhesion auxiliary agent is applied to each of the adhesives, and then an adhesive such as the above-mentioned polyurethane sealer is applied to one side of them by an adhesive application device, and then the assembly process to the vehicle body is performed. (See, for example, Japanese Utility Model Laid-Open No. 60-95974).

By the way, when the primer is applied prior to the adhesive application shape, for example, when a structure is adopted in which the primer is discharged from the nozzle portion to the joining surface, air may be mixed in the primer agent at the time of application. However, there is a problem that the discharge amount of the primer agent fluctuates due to the mixing of the air, which makes the applied state of the primer applied to the respective bonding surfaces of the window glass and the vehicle body indefinite. This problem is not limited only to the case where the air is mixed as described above, for example, due to the fluctuation of the supply pressure of the primer to the nozzle portion or the fluctuation of the relative moving speed between the window glass or the vehicle body and the coating nozzle. Occurs similarly. On the other hand, in the case of direct application with a brush or the like, application unevenness due to chipping or the like is likely to occur, resulting in poor application.

When the applied state of the primer fluctuates (becomes defective) in this way, the final joining strength of the window glass joining surface becomes insufficient, and therefore, there is any means for determining whether the applied state of the primer is good or bad. Therefore, it is necessary to accurately detect and judge whether the product is defective or not, and to re-coat defective products before the assembling.

Therefore, conventionally, for example, a light emitting element is installed on one side of the vehicle window glass side primer-coated surface, and a light receiving element is installed on the other side, respectively. There has been proposed a primer application defect detection method for judging whether or not the primer application state is good (see JP-A-60-68068).

That is, in the conventional primer application defect detection method, the vehicle window glass is generally a colorless transparent body, while the primer to be detected is usually colored black with the intention of blinding the adhesive portion. On the premise that there is a clear difference in the amount of transmission of normal light between them, the quality of the primer application state is determined from the change in the output level of the light receiving element. It is a thing.

(Problems to be solved by the invention) However, as described above, the primer as an adhesion aid is generally applied to both the wind glass side joint surface and the vehicle body side joint surface in order to realize sufficient adhesive force. Therefore, the quality of the applied state of the primer must be similarly determined on the vehicle body side.

However, since the primer coating surface (wind glass joining surface) on the vehicle body side is not a transparent body like the wind glass, and at the stage of assembling the wind glass, it is already painted in any color for each vehicle type. However, the above-described conventional plasma coating defect detection method has a problem that the quality cannot be determined.

(Means for Solving Problems) The method of the present invention has been made for the purpose of solving the above problems, and coating failure of a primer applied to the surface of an object to be coated colored in an arbitrary color. In the method of detecting poor primer application, the color of the surface of the object to be coated before primer application is specified by the primary color of the maximum ratio of the three primary color components forming the color, and the primer application of the object to be coated is completed. The color of the surface is picked up by a color image processing device, and the color of the picked-up image is spectrally displayed in the three primary color components in the same manner as described above, and the surface of the object to be coated out of the three primary color components spectrally displayed in the picked-up image. The quality of the primer application state on the surface of the object to be coated is determined by detecting the distribution amount of the primary color that is the same as the primary color that specifies the coating.

(Working) Invention According to the method of the present invention, the color of the surface of the object to be coated before primer application is specified by the primary color having the highest occupancy ratio among the three primary color components constituting the color, while the actual primer application surface is colored. The captured image is the same primary color component as the primary color component that specifies the color of the surface of the coating object in the spectrally displayed three primary color components, which is captured by the image processing device and is spectrally displayed. The poor application of the primer is detected by calculating the proportion of the ratio.

Therefore, the primer coating surface can be observed only by the color image processing device from one direction, and it is not necessary to transmit light. Therefore, the primer coating defect can be detected even if the coating object is not a transparent body. . Further, the color of the surface of the object to be coated is specified by the maximum ratio of primary color components that most simply and clearly expresses the characteristics of the color, and whether the primer coating state is good or bad is determined by the expression amount (residual amount) of this primary color component on the primer coating surface. Since the determination is made, the area division in the image processing is easy and highly accurate, and the detection accuracy itself of the primer application failure is also considerably high.

(Embodiment) Hereinafter, an example of an apparatus for carrying out the primer application defect detection method according to the present invention will be described in detail with reference to FIGS. 1 to 22.

First, FIG. 1 is a plan view showing the overall structure of a vehicle window glass assembling apparatus constructed on the assumption that the method of the present invention is applied.

The illustrated assembling apparatus includes, for example, a first window glass conveying apparatus (hereinafter, simply referred to as a first conveying apparatus) 4 for conveying a ceramic-coated window glass 2 and a second window glass conveying apparatus (hereinafter, simply referred to as a second window glass conveying apparatus). (Referred to as a transport device) 6 so that both the adhesive type and the seal rubber type windshields 2 can be carried into the first transporting device 4 by the preliminary transporting device 8 in a paired state of a windshield and a rear glass. Has become.

The pre-transporter 8 is located on the first floor of the main assembly device,
The second transfer devices 4 and 6 are arranged on the second floor of the main body, and the window glass 2 is transferred from the preliminary transfer device 8 to the first transfer device 4 via the vertical conveyor 10. Further, on the second floor portion, a body transporting device 13 is arranged along the first and second transporting devices 4 and 6 to feed the automobile body 12 to which the window glass 2 is assembled in the arrow A direction with a pitch. ing.

The body transporting device 13 is provided with a carry-in section 121 on the most upstream side for carrying in the car body 12 in a predetermined order for each car model in accordance with an instruction from the host computer 100, and a primer coating for the body is provided downstream of the carry-in section 121. Station 122 is installed. As shown in FIG. 2, two primer coating robots 123, 123, 124, and 124 are installed at both sides of the vehicle body 12 in the body primer coating station 122. These primer coating robots 123, 123, 124, 124 have primer coating brushes 126 at the tips of their operating arms 125 as shown in FIG.
A primer supplied from a primer tank 127 installed adjacent to each other is applied to the peripheral edge (window glass bonding surface) 128a of the corresponding vehicle body opening 128 of the automobile body 12 through the primer applying brush 126. go.

On the other hand, a color image sensor 129 as an image processing device is attached to the primer application brush 126 attachment base 125a of the operation arm 125 via a support member 140, and the color image sensor 129 is attached by the primer application brush 126. The body side primer application surface Fpo thus applied is sequentially and continuously imaged. As shown in FIG. 4, the image pickup output of the color image sensor 129 is first converted into three primary colors of light of red (R), green (G), and blue (B) by the spectroscopic device of the image pickup unit of the color image sensor 129. The light of each color (R, G, B) that has been spectrally separated is then converted into each color image signal (electrical signal) by the corresponding photoelectric conversion unit (CCD) and output. These R, G, B image signals are respectively amplified by analog amplifiers AP _R , AP _G , AP _B to a predetermined level, and then clamp circuits CL _R , CL _G , CL.
_The DC component is sufficiently reproduced via _B , and then input to A / D converters AD _R , AD _G , and AD _B for performing digital processing and converted into digital image signals for each frame. Then, the digital image signal for each frame is sequentially written in the image memory 130 of the next stage. The image memory 130
It is connected to a CPU 134 having a main memory 131, a sub memory 132 and an interface circuit 133 via an address bus Bo ₁ and a data bus Bo ₂ , and the digital image signal once stored in the image memory 130 is the CPU 134.
Is further input to and stored in the main memory 131 of the booth-side first control unit 135 via the data bus Bo ₂ .

On the other hand, the sub-memory 132 stores a primary color signal for specifying a vehicle type (the vehicle type in this case particularly means a body color of the vehicle body) carried into the vehicle body transport device 13 is stored. Has become. This primary color signal is the color of the surface of the automobile body 12 to which the primer has been applied in advance.
R, G, B converted to a digital image signal of three primary colors, from the luminance histogram of each of the R, G, B image signals (described later), the primary color component with the highest distribution ratio (either R, G, B) It is adapted to be memorized by a data supply from the host computer 100.

The storage signal of this sub-memory is read out in synchronization with the operation control of the primer coating robots 123, 123, 124, 124 based on, for example, an automobile body carry-in program of the host computer 100, and R of the color image sensor 129 is described below. It is used as a reference signal to specify G and B outputs.

That is, in the host computer 100, the adhesive type is used according to the loading order (type program) of the seal rubber type and the adhesive type of the automobile body 12 loaded into the automobile body transport device 13. The above-mentioned primer coating robots 123, 123, 124, 124 are driven when loaded into the vehicle primer coating station, and at the same time, the vehicle type information (body color) of the relevant loading body 12 is used as the primary color component of the maximum ratio of the three primary color components constituting the body color. Then, a specific display is made, and the digital code is input to the sub memory 132 of the first control unit 135 on the booth side, and temporarily stored according to the access time.

On the other hand, as described above, when the adhesive type automobile body 12 is carried into the primer coating station 122 and the primer coating robots 123, 123, 124, 124 are driven, the body-side primer coating surface Fpo coated by it (see FIG. 3). Is monitored by the color image sensor 129, and the input operation of the R, G, B image signals to the main memory 131 is also started.

Then, when the scanning of the body side primer application surface Fpo in the given ranges S _{1 to} S ₂ , S _{2 to} S ₃ , S _{3 to} S ₄ , and S _{4 to} S ₁ shown in FIG. 5 is completed, The total brightness histogram of the R, G, B3 primary colors in the monitor image is the above CPU1
Created by 34 respectively. This brightness histogram is
It shows how the respective primary color components of the above R, G, B3 primary colors are distributed in the above scanning range and at what level. Now, for example, as shown in FIG. R, G, when the color is green (G) and black primer P is applied to it
The brightness distribution of the B primary colors is as shown in Fig. 6 (b), (c), and (d) when simplified, and it is centered on the green (G) output and depends on the application state of the primer P. It is canceled by the degree of blackness and attenuated to an arbitrary brightness level. In this case, as described above, the luminance histogram of the R, G, B image signals is used to specify the luminance of the body color as the vehicle type information (primary color R from the host computer 100 side to the booth side first control unit 135). -If G / B is specified), it is sufficient to create only the G signal (however, in the case of the above-described example), but in the present embodiment, when the vehicle type detection is also performed using the color monitor camera. In consideration of the above, a brightness histogram is created for each of the R, G, and B primary colors. The vehicle type detection (body color detection) system by the color monitor camera is adopted as necessary as a system for dealing with a case where the carrying-in program (carrying order) of the vehicle body 12 is disturbed by some inspection process in the middle. In that case, the host computer 10
Instead of the vehicle type information from 0, R, G, B similar to the above from the R, G, B image signal of the color monitor to create a brightness histogram, respectively, from the brightness histogram to extract the color with the highest brightness ratio, This is used as a body color primary color designation reference signal. Next, a method for detecting defective primer coating after the above-described work of creating the luminance histogram by the CPU 134 will be described with reference to the flowchart of FIG.

That is, first, as described above, the color image sensor 129
When the luminance histograms of the R, G, and B primary color components of the output are created based on the monitor output of (step S ₁ ), the primary color designating signal for the automobile body 12 at that time is then output from the sub memory 132. (The signal representing the primary color component of the maximum occupation ratio in the body color) is read out (step
S ₂ ) and then the luminance histogram of the same primary color component (for example, G in the example of FIG. 6) of the three types of luminance histograms R, G, B created in step S ₁ by the signal. Are extracted and specified (step S ₃ ).

Next, as described above, the body color of the automobile body 12, which is the target of the primer application failure determination, is specified by the primary color component of the maximum occupancy ratio that most clearly shows the characteristics of the body color, and the corresponding Then, when the primer application state of the body side primer application surface Fpo is first shown as a luminance histogram by the common primary color component, this time, the binary of the color image showing the body primer application surface Fpo based on the luminance histogram. It is carried out (step S _4).

In this case, for the binarization of the image, for example, a brightness threshold value (brightness threshold value) processing method by the mode method is adopted. That is, since the image based on the luminance signal in the present embodiment is composed only of the body background surface of a uniform color (green) and the primer surface arranged so as to add shade to this background surface, Dividing is relatively easy.

By the way, generally, the binarization of an image means that the image f (i, j) is converted into a binary image B (i, j) ε based on the similarity of the attribute values of each pixel.
This is an operation of converting to {0,1}, and this operation is such that X is the attribute value of pixel (i, j) and Γ is a subset of the attribute value set. It can be expressed as. Usually, in the binary image B (i, j),
A set of pixels with B (i, j) = 1 is defined as an object region in the image,
In many cases, a set of pixels with B (i, j) = 0 is meant as the background. Also, when there is only one attribute used for area division (here, the attribute is luminance, and the pixel (i,
j) represents the brightness of x), and the subset Γ for binarizing the image is defined by giving one threshold value (threshold) T, and the above equation (1) is written as follows. You can

Therefore, the binarization processing of the image is equivalent to obtaining a certain threshold value T for dividing the image f (i, j) into the object area and the background area.

Therefore, for example, the luminance histogram of the primary color G in the imaged image of the present embodiment (here, the luminance histogram is the luminance range taken by the pixel in the image f is [a _L , a _H ], and the luminance is ai. Let h (a
function when the i) h (ai), when viewed thinking refers to a _L aia _H), which can be expressed as FIG. 6 for example as shown in the previous (c). As shown in the figure, the brightness histogram in this case has a bimodal distribution with _one peak near the average brightness of the background and one peak near the average brightness of the target area, with a total of two peaks b ₁ and b _2. Will be shown. In such a case, the threshold value T that divides the two regions may be determined to be the luminance value that is the bottom of the valley between these two peaks b ₁ and b ₂ . Such a method is generally called a modal method (sometimes called a bimodal method). The brightness range of the brightness histogram h (x) is 0 ≦ x
If ≦ N is set, the brightness value T in the deepest valley is obtained as follows.

Now, any brightness x, In contrast, in a luminance range N _L smaller than x (dark), h
(X ') - h (x ), the maximum value delta _L of (x'∈N _L), is greater than x (bright) in the luminance range _{N H,} h
(X ') - h (x ), when a maximum value of delta _H of (x'∈N _H), the product of the time delta _L and delta _H is a luminance T to obtain the luminance x that maximizes.

Therefore, if the image signal of the primary color G is binarized by using the brightness T as a threshold value, the area of the grayscale image can be clearly divided into two with the brightness as a reference.

Moreover, in this case, the threshold brightness T is set corresponding to the brightness value when the primer P is applied in an appropriate amount (minimum reference amount). Then, the signal of each H (1) area (area where the G level is a predetermined value or more) of the binarized pixel signal is in an area where the primer PP is not applied in an appropriate amount (applied area). Will be shown.
Further, the pixel signal of the L (0) region which is not so is the primer P.
Indicates an area applied with an appropriate amount.

Therefore, next, in step S ₅ , the L in the entire area of the binarized body-side primer application surface Fpo (of course, a predetermined divisional area may be added). (0) The area M of the region where the primer is properly applied is calculated by counting the number of signals (the number of low-level pixels), for example. Thereafter, further proceeds to step S _6, the calculated area M predetermined reference value (this reference value, sufficient to maintain a sufficient adhesive force during the window glass bonding with respect to the total area of the body-side primer coated surface Fpo (Represents the minimum required primer coating area) Compared with M ₁ , if the calculated area exceeds the reference value, pass judgment is made, otherwise NG
Make a decision. As a result, the body side primer coating surface
Whether or not the Fpo primer application state is good or bad can be determined automatically and accurately and extremely easily regardless of the body color.

Next, in the preliminary carrying device 8, the wind glass 2
Are conveyed in the direction of arrow B, and in the course of conveyance by the preliminary conveying device 8, the adhesive window glass is coated with primer P on its peripheral portion by a primer coating robot 99 having a primer coating brush 96 at the tip of the operating arm 95. (See FIG. 8), and at a position downstream of the primer coating robot 99 in the wind glass conveying direction, the primer coating defect detection device 91 for wind glass detects whether the coating state of the primer P is good or bad. It has become. Further, on the terminal side of the primer application defect detecting device 91, a re-application process for transferring to the primer re-application station 630 which performs the process of re-applying the primer P on the window glass 2 which has been determined to be defective in the detection process. A transfer device 621 is provided.

As shown in FIG. 8, the primer application defect detection device 91 is provided with a predetermined detection station 92 on the preliminary transport device 8, and the primer application having the ceramic coating layer of the adhesive window glass 2 is provided at the detection station 92. A laser emitting section 93 formed of, for example, a helium-neon gas laser tube, which is located on one side of the surface and irradiates the primer-coated surface with an incoherent infrared laser beam
And a first visual sensor 94, which is located on the other side of the primer application surface and is an image processing device for capturing an image of the primer application surface, which is a CCD, for example, and is composed of the laser emitting section 93 and the first visual sensor 94. The visual sensor 94 is movably attached to the tip of the operating arm 98 of the detection robot 97 in a state of facing the visual sensor 94 via the primer application surface of the wind glass 2, and is arbitrarily moved along the peripheral edge of the wind glass 2. It has become so.

The detection robot 97 is arbitrarily controlled by a control signal from a second booth-side control unit 608, which will be described later, so that the primer application defect detection device 91 can be controlled by each of the four sides of the window glass 2 as shown in FIG. the primer coated surface _{Fp 1 ~Fp 4 O 1 ~O 2} , O 2 ~O 3, O 3 ~O 4, driven such O ₄ go to search the detection order of ~ O _1. The first visual sensor 94 outputs, for each frame, an analog signal corresponding to a bright / dark image of the primer application surface formed by the irradiation of the laser beam projected on the photocathode. This output signal is then used as an analog amplifier with a filter function.
Clamp circuit 601 after being amplified at a predetermined level at 600
Is input to the A / D converter 602, and its DC component is reproduced. The A / D converter 602 obtains a digital signal for each frame of a predetermined number of pixels suitable for image processing by sampling and quantizing the output of the clamp circuit 601, and sequentially outputs the digital signal to the next stage. Image memory
Write it on 603. The image memory 603 is connected to the CPU 607 including the main memory 604, the sub memory 605 and the interface circuit 606 via the address bus B ₁ and the data bus B ₂ as in the case of FIG. The digital signal stored in the image memory 603 is C
In response to an address signal from the PU 607, the data is further input to and stored in the main memory 604 of the first control unit 608 via the data bus B ₂ . Then, the storage signal of the main memory 604 is read out as required, and the above-mentioned C
It is binarized by PU607.

In the binarization of the image in this case, for example, the density threshold processing method by the mode method is adopted as in the above case. That is, the image picked up by the first visual sensor 94 in the present embodiment is a uniform-colored window glass background surface blackened by a ceramic coating and a primer surface arranged so as to add shade to this background surface. Since it is composed of only and, the area division is easier than in the above case.

Therefore, for example, the density histogram of the image picked up by the first visual sensor 94 of the present embodiment (again, in this case, the density histogram is the density range taken by the pixel in the image f ′ is [a _L ′, a _H ′] And the number of pixels whose density is ai ′ is h ′ (ai ′), the function h ′ (ai ′),
Considering a _L ′ ≦ ai′a _H ′), for example, it can be expressed as shown in FIG. The density histogram in this case is also a bimodal peak with two peaks b ₁ ′ and b ₂ ′, one near the average density of the background and one near the average density of the object area, as shown in the figure. Will show the distribution of. Therefore, as described above, also in this case, the threshold value T'that divides the two regions is determined by the two peaks.
The concentration value at the bottom of the valley between b ₁ ′ and b ₂ ′ should be determined.

Therefore, the density T'is used as a threshold value for the main memory.
By binarizing the output of 604, it is possible to clearly divide the area of the grayscale image into two.

Moreover, in this case, the threshold concentration T'is set in accordance with the concentration value when the primer P is applied in an appropriate amount (minimum reference amount). Then, the signal of each L (0) area of the binarized pixel signal indicates that the primer P is in an area where the appropriate amount is not applied (applied area). In addition, the pixel signal in the H (1) region that is not so will indicate the primer proper application region.
The signals stored in the main memory 604 are accumulated signals obtained by scanning those signals up to the detection points O _{1 to} O _{2 to} O _{3 to} O _{4 to} O _{1 of the} window glass 2 shown in FIG. It will be sequentially accumulated as a signal.

On the other hand, in the sub memory 605, reference signals between corresponding detection points of the window glass 2 binarized by the same system as described above are sequentially stored in advance. This reference signal is a binary image signal between the detection points when the primer P is properly applied to the entire surface of the primer application surfaces Fp _{1 to} Fp ₄ of the window glass 2.

On the other hand, the output terminal of the interface circuit 606 of FIG. 8 is connected to the first and second adders (counters).
615,616 are connected in parallel and each of these adders 615,6
The 16 outputs are further input to the comparator 617. The first adder 615 has the set concentration in the primer application area between the detection points O _{1 to} O ₂ , O _{2 to} O ₃ , O _{3 to} O ₄ , and O _{4 to} O ₁ shown in FIG. The area A ₁ of the portion where the proper amount of primer is actually applied is calculated by integrating the pixel signal numbers equal to or more than the value T ′. On the other hand, the second adder 61
6 is the proper primer coating amount between the detection points O _{1 to} O ₂ , O _{2 to} O ₃ , O _{3 to} O ₄ , and O _{4 to} O ₁ shown in FIG. 9 stored in the sub memory 605. The proper proper primer application area A ₂ between the detection points is calculated by reading the corresponding pixel signal numbers and integrating them.

Then, the comparator 620 compares the calculated areas A ₁ and A ₂ of the first and second adders 615 and 616. Each calculated area A ₁ , A
_{When 2} is equal, the comparator 620 does not generate an output and the recoating process transfer device 621 in the next stage does not operate. Therefore, the window glass 2 is directly used for the vertical conveyor described later.
Transferred to 10.

On the other hand, the calculated area A ₁ is smaller than A ₂ by a predetermined amount or more A ₁
<A _2, the comparator 620 generates a deviation output,
Based on the output, the reapplying process transfer device 621 is operated to transfer the window glass 2 to the primer reapplying station 630 in which the worker stands by. The window glass 2 transferred to the primer re-application station 630 is visually inspected by the operator for a defective primer application portion at the position, and after the primer is re-applied, the original transportation of the preliminary transportation device 8 is performed. Returned to the process.

Incidentally, on the downstream side of the primer application defect detection device 91,
The seal rubber type window glass is interrupt-supplied onto the preliminary carrying device 6 by an operation (manual) of an operator or the like.

Both the adhesive-type and the seal-rubber-type window glass 2 are transferred to the vertical conveyor 10 by the preliminary conveying device 8.
Is first loaded into the lower part of the
Is lifted up to the second floor position above, and from there, the vertical conveyor 10 is further transferred onto the first transfer device 4 by the first transfer device 14 provided between it and the first transfer device 4.

On the first transfer device 4, the shape correction position 16, the positioning position
18, an adhesive application position 20 and an inversion position 22 are set respectively, and the first transport device 4 transfers the two types of window glass 2 transferred by the first transfer device 14 to these positions. Pitch feed in sequence (intermittent feed)
Is configured to.

The adhesive window glass of the window glass 2 transferred onto the first transport device 4 is first sucked at the shape correction position 16 onto a glass support table (not shown in FIG. 1) described below with reference to FIG. It is fixed and corrected to a regular shape, and at the positioning position 18, it is moved in the X, Y (vertical and horizontal movement) and θ (rotational movement) directions shown in the figure by the positioning device 26 to be positioned at a predetermined position, and the adhesive application position. An adhesive 73 such as a polyurethane sealer (see FIG. 14) is applied through the primer P by an adhesive application robot 28 attached at a position along the first transport device 4 at 20,
At the next reversing position 22, the adhesive application surface is inverted by the reversing device 30 so as to be on the lower side, and thereafter, in the vicinity of this inversion position, that is, at a position downstream of the adhesive applying robot 28 in the glass conveying direction. By the wind glass assembling robot 32 attached to the first transfer device 4,
It is automatically assembled to the automobile body 12 to which the primer has already been applied, which is pitch-fed by the wind glass assembling robot 32.

Of the window glasses 2 transferred onto the first transfer device 4, the seal rubber type window glass has the shape correction position 16, the positioning position 18 and the adhesive application position 20.
Pitch feed to the above-mentioned reversal position 22 through each of the above, and is sent out onto the second transport device 6 from the reversal position 22 without being reversed.

As shown in FIG. 12, the positioning device 26 is provided with a window glass discriminating means 92 for discriminating the type (vehicle model) and shape of the adhesive type window glass and the seal rubber type window glass. Is input to the third control unit 90 on the booth side, and the adhesive application robot 28 and the reversing device 30 are operated by the control of the third control unit 90 according to the input. To determine the type and shape of the window glass 2,
Positioning roller 454, which will be described later, in the above-mentioned positioning device 26 part
This is carried out by detecting the displacement amounts of ˜459 in the X and Y directions by, for example, rotary pulse encoders.

The second carrying device 6 is arranged so as to be connected to the downstream side end of the first carrying device 4 in the wind glass carrying direction, that is, the reversal position 22, and is provided with the seal rubber type wind glass received from the first carrying device 4. It is transported to the position 34 where the window glass is mounted on the car body. The second carrying device 6 is specifically a second carrying device main body 62 connected to the first carrying device 4 via a second carrying device 36 as shown in the figure, and the main body 62 and the window glass mounting position. The second transfer device 36 connects the third transfer device 64 to the second transfer device 36 and the seal rubber type wind glass sent to the reversal position 22 of the first transfer device 6 to the second transfer device main body 62 as needed. The window glass 2 transferred by rotating (° D) is the main body of the transfer device.
It is continuously conveyed in the direction of arrow E by 62, and then is conveyed to the glass mounting position 34 by the third transfer device 64. The seal rubber type window glass thus conveyed to the glass assembling position 34 is placed on, for example, an assembling jig 37, and an operator manually uses the assembling jig 37 to drive the automobile body 12
Mounted on.

By the way, the above explanation is the operation explanation of the assembly apparatus when the adhesive application robot 28 is normal, that is, when the adhesive application state is good, but the adhesive application robot 28 is good due to failure or malfunction. When it is no longer possible to maintain the state of application of such an adhesive, the following operation is performed.

That is, in the adhesive window glass to which the adhesive is applied by the adhesive application robot 28, the adhesive application state determination circuit shown in FIG. 12 is activated when the type is first determined by the window glass determination means 92. Therefore, the coating failure is automatically determined, and by the determination signal,
The transfer control means 88 is driven (details will be described later) and the reversal position 22
It is transferred to the glass assembly position 34 through the second transfer device 36 and the second transfer device 6 without being inverted.
Then, the adhesive window glass conveyed to the window glass assembling position 34 can be manually attached to the automobile body 12 after the operator has corrected the application failure of the adhesive like the seal rubber window glass. It has become.

The vertical conveyor 10, the first transfer device 14, the first transfer device 4, the positioning device 26, the adhesive coating robot 28, the reversing device 30, the wind glass assembling robot 32, the second transfer device.
36 and the second transfer device 6, that is, the second transfer device main body 62
The third transfer device 64 is controlled by the third control unit 90 so that the above-mentioned operation is properly performed. Further, the control of the first transfer device 4 includes the control of sucking glass by the glass support table, and the control of the third transfer device 4 is performed.
The control unit 90 also controls the vehicle body transport device 13.

Next, the carrying process in the first carrying device 4 and the second carrying device 6 will be described in more detail.

As already mentioned, both adhesive and seal-rubber window glasses 2 are lifted in a mixed state by the vertical conveyor 10 which, as shown in particular in FIG. The shape correction position of the first transfer device 4 by the suction means 14 movable in the arrow F direction.
It is mounted on a glass support 42 located at 16.

As shown in FIG. 16, the first transporting device 4 includes a guide rail 48 and the above-mentioned glass support base 42 for supporting the windshield glass, which moves along the guide rail 48.
Eight glass supports 42 (only four of which are located on the upper surface of the guide rail are shown) are provided, and they are made endless as shown by an arrow G by intermittent feeding means (not shown) such as a cylinder or a chain. The pitch is fed. Therefore, each glass support 42 is intermittently sent to the above positions 16, 18, 20, 22 and stopped at each of these positions for a predetermined time, and shape correction, positioning, and adhesive application are performed during the stop. , Inversion work is performed.

Each glass support 42 includes a guide rail 48 via a roller 421, particularly as shown in detail in FIGS. 18 and 20.
A hollow base 422 supported by the base 422 and two guide rods 423 disposed in the Y direction in the hollow part of the base 422 are fitted together and slidable in the Y direction along the guide rod 423. A hollow Y-direction slide portion 424, an X-direction slide portion 426 that is slidable in the X-direction in the hollow portion of the Y-direction slide portion, and is rotatably fitted in the center of the X-direction slide portion in the θ direction. Rotating shaft 427 and the rotating shaft 427
And a pallet portion 428 fixed to the upper part of the. Then, as shown in FIG. 18, the rotating shaft
A disc spring 429 is provided between 427 and the bearing portion of the X-direction slide portion 426.
The disc spring 429 urges the pallet portion 428 upward with a predetermined force via the rotating shaft 427. Further, as shown in FIG. 20, the base 422 is a roller 421.
In addition to the above, a roller 430 indicated by a chain double-dashed line can be further provided if necessary.

As shown in FIG. 18 and FIG.
A clamp device 431 for clamping the pallet portion 428 is fixedly provided. The pallet portion 428 is rotatable in the θ direction with respect to the X direction sliding portion 426 as described above, and the X direction sliding portion 426 is slidable in the Y direction with respect to the Y direction sliding portion 424. Slide part
Since the 424 is slidable in the Y direction with respect to the base 422, the pallet portion 428 ends up in the X, Y, θ direction with respect to the base 422.
It is movable in any direction. The above clamp device 431
Is for clamping the pallet portion 428 to the base portion 422, a rod 433 which is moved in the direction of arrow H by the cylinder 432, and a pinion 435 which meshes with a rack portion 434 formed at the tip of the rod 433. The pinion 435 is provided with a female screw portion formed on the inner surface and a clamp member 437 having an external screw thread 436 that is screwed on the outer surface, and the clamp member 437 is formed on the pallet portion 428 from below. It has a pressing plate 439 that penetrates through the hole 438 and projects upward, and presses the pallet portion 428 at the projecting portion. In the clamp device 431 having the above structure, the cylinder 432 can move the rod 433 in the direction of arrow H to move the clamp member 437 up and down.
When 37 is lowered, the pallet portion 428 is pressed downward by the pressing plate 439, and as a result, the pallet portion 428 is pressed by the pressing plate 439 and the base portion.
It can be clamped by being sandwiched between it and the support portion 422a integrally connected to 422, and the clamped state can be released by raising the clamp member 437. As shown in FIG. 19, one clamp device 431 is provided on each side of the X direction.

The pallet portion 428 has a plurality of positioning reference members 440, 441, 442 having a glass contact surface arranged along the regular shape of glass on the upper surface thereof and a glass suction member for contacting the positioning reference member with the glass. A glass shape correction device 445 consisting of means 443 and 444 is provided.

The window glass 2 is placed on the pallet portion 428 and conveyed to the adhesive application position 20 described above, and the adhesive application robot 28 automatically applies the adhesive at the position 20. In this case, since the adhesive application robot 28 is taught so as to apply an appropriate adhesive on the assumption that the window glass 2 has a regular shape, if the window glass 2 has a variation with respect to the regular shape. In this case, it is desirable to correct to a regular shape before coating unevenness such as variation in coating film thickness occurs, and the shape correcting device 445 is a device therefor.

The window glass 2 transferred from the first transfer device 14 to the first transfer device 4 first has the shape correction device 44 on the glass support table located at the shape correction position 16 of the first transfer device 4.
5, especially placed on the positioning reference members 440-442,
Then, it is sucked by the suction means 443, 444 and surely brought into contact with the positioning reference members 440 to 442. As a result, the glass contact surfaces of the positioning reference members 440 to 442 are arranged along the regular shape of the glass as before, so that the shape of the window glass 2 is corrected to the regular shape.

The positioning reference member is specifically shown in FIGS.
As shown in the drawing, the flat surface reference members 440 and 441 are in contact with the lower surface of the flat surface of the glass, and the curved portion reference member 442 is in contact with the lower surface of the lateral curved portion of the glass. Also,
The flat reference member is a fixed reference member 440 disposed on the fixed portion.
And a movement reference member 441 movable in the Y direction,
Both 440 and 441 are made of a ball member that is held in a regular position by a stopper 446 and a spring 447. The movement reference member 441 is provided on a moving bar 449 that moves on a guide rail 448 extending in the Y direction, and the cylinder 45
By moving the moving bar 449 by 0, the moving bar 449 is moved in the Y direction. For example, 441 shown by a chain double-dashed line in FIG.
Take a position such as a, 441b. The curved portion reference member 442 is made of a pin member, and each of the members 442 is provided on the arm 451 and can be moved in the direction of the arrow I by the cylinder 452 via the arm 451 as shown in FIG. In addition, it can move in the direction of arrow J with respect to the arm 451 and further in the Y direction via the arm 451 along the guide bar 453 as shown in FIG.

The glass suction means is specifically composed of a flat surface suction means 443 for sucking the lower surface side of the glass flat surface portion and a curved portion suction means 444 for sucking the curved portion of the glass side surface, both of which are glass by vacuum pressure. It is composed of a suction cup member for sucking.
The flat portion suction means 443 is fixedly arranged, but the curved portion suction means 444 has an arm 451 similar to the curved portion reference member 442.
Therefore, like the bending portion reference member 442,
It is movable in the directions of arrows I, J and Y.

In addition, since the reference glass member and a part of the suction means are configured to be movable as described above, there is a possibility that the window glass assembling apparatus commonly handles window glasses of various shapes. This is to be able to deal with.

After the window glass 2 is sucked and fixed on the pallet portion 428 on the glass support table 42 as described above, and the shape is corrected, the glass support table 42 is then moved to the positioning position 18, where the window glass 2 is predetermined. Position in position.

That is, the adhesive agent application robot 28 automatically applies the adhesive agent to the window glass 2 at the next adhesive agent application position 20. In this case, the adhesive agent application robot 28 detects the window glass 2 from the adhesive agent application position. Since the adhesive is applied assuming that the window glass 20 is in the regular position, if the window glass 2 is not in the regular position, the adhesive is not applied to the proper position (joint surface) of the window glass 2. , Coating unevenness occurs (of course, in this case, the measures described later are taken). Therefore, the window glass 2 has to be positioned at the proper position without fail when the adhesive is applied, and the positioning is performed at the main glass positioning position 18.

The predetermined position of the window glass positioned at the glass positioning position 18 is, of course, such a position that when the glass support table 42 moves to the next adhesive application position 20, it is located at the adhesive application regular position at the adhesive application position 20. Thus, by positioning the windshield 2 at the glass transporting position (glass positioning position 18) before the adhesive application position 20, the transporting time of the windshield 2 is significantly shortened. This is because it takes some time to position the glass, and if this positioning is performed at the adhesive application position 20, the adhesive application position 20
In this case, since both the positioning work and the adhesive application work have to be performed, the stop time of the glass at the adhesive application position 20 becomes long, and as a result, the transfer speed of the window glass 2 in the first transfer device 4 ( This is because the overall cycle time) is much slower.

The positioning of the window glass is performed by the above-mentioned glass support base 42 and the window glass positioning device 26 disposed above the glass support base 42 at the positioning position 18.

As shown in FIGS. 21 and 22, the window glass positioning device 26 includes X-direction holding rollers 454 and 455 for contacting the X-direction outer peripheral surface 2a of the window glass 2 and positioning the window glass 2 in the X-direction. , A Y-direction holding roller 45 for contacting the Y-direction outer peripheral surface 2b to position the Y-direction position.
6-459, each roller 454-459 is a base 460
Cylinder 461 through the base 460.
Is configured to be movable up and down.

The X-direction rollers 454 and 455 can be expanded and contracted in the X direction, and the Y-direction rollers 456 to 459 can be expanded and contracted in the Y direction. The expansion and contraction of the X-direction rollers 454 and 455 are performed by the rod 46 of the cylinder 462 fixed to the base 460 as shown in FIG.
It is performed by expansion and contraction of 3. That is, by moving the rod 463 to the left in FIG. 22, the left roller 454 further moves to the left via the bracket 464, and at the same time, the upper robot 465 having the rack portion 465a extends and moves to the left and the rotary pulse encoder. Pinion attached to
The rod 465 extends and moves to the left, and the pinion 466
The lower rod 467 with the rack portion 467a is moved to the right through the bracket 468 and the right roller 4
55 will finally move to the right, so both rollers 454 and 455 are X
Expand in the direction. In addition, the cylinder 462 allows the rod 4
When 63 is contracted and moved to the right, both rollers 454 and 455 contract and close in the X direction. As shown in FIG. 15, the Y-direction rollers 456 to 459 are expanded and contracted in the Y-direction through cylinders 469 and 470 fixed to the base 461, that is, by the cylinder 469, the Y-direction left rollers 456 and 457 are moved in the arrow K direction. , The cylinder 470 moves the right rollers 458 and 459 in the direction of arrow L, respectively.

Wind glass positioning device 26 configured as described above
The positioning of the windshield 2 by means of is performed as follows. First, each of the rollers 454 to 459 waits in a state of being expanded in the X direction and the Y direction and lifted up by the cylinder 461. Next, the position below the window glass positioning device 26 (positioning position 18)
The glass support table 42 moves to. This glass support 42
In the above, since the window glass 2 is sucked and fixed by the glass shape correcting device 445 on the pallet portion 428 as described above, and the pallet portion 428 is movable in the X, Y, and θ directions, the window glass 2 Is also movable in the X, Y and θ directions. In this state, the above rollers 454 to 459
As shown in the figure, it is lowered to the position of the window glass 2, the X-direction rollers 454 and 455 are contracted and closed in the X-direction, and the X-direction outer peripheral surface 2a of the window glass 2 is sandwiched to perform positioning in the X-direction. Y direction rollers 456 to 459
The Y-direction outer circumferential surface 2b of the window glass 2 is clamped in the Y-direction to sandwich the Y-direction outer circumferential surface 2b for positioning in the Y-direction. Further, by performing the positioning in both the X and Y directions in this way, the positioning in the θ direction is also performed at the same time. In this way, the rollers 454 to 459 are contracted and closed to move the window glass 2 to a predetermined position, and then the pallet portion 428 is moved by the above-mentioned clamp device 431.
The window glass 2 is completely positioned by fixing the window glass 2 to the base 422. Of course, the above rollers
The closed and closed positions of 454 to 459 are preset so that the window glass 2 can be moved to the above-mentioned predetermined position. Then, the type and shape of the window glass 2 is determined as described above by the combination of pulse encoder outputs corresponding to the rotation amount of the pinion 466 when the rollers 454 to 459 are moved.
This determination data is input to the third control unit 90, and post-work control corresponding to the window glass 2 is performed.

Then, when the positioning of the window glass 2 is completed as described above, the rollers 454 to 459 are expanded and moved upward, and the glass support table 42 is subsequently coated with the adhesive by the control of the third control unit 90. Moving to the position 20, the adhesive is applied at the adhesive applying position 20. This adhesive application is automatically performed by the adhesive application robot 28. Since the window glass 2 at the adhesive application position 20 has already undergone the shape correction and positioning steps described above, it is in a normal shape and a regular position in principle, and the adhesive application robot 28 has a window glass 2 having a normal shape and a regular shape. Since the teaching is performed on the assumption that it is in the position, the adhesive is applied properly, smoothly and quickly in principle.

When the application of the adhesive is completed, the glass support table 42 moves to the next reversing position 22, and the suction of the window glass 2 by the shape correcting device 445 is released at the reversing position 22,
Moreover, the reversing device 30 inverts the window glass 2. The reversing device 30, as shown in FIG.
An arm 30b rotatable about 30a and the arm 30b
And a glass gripping portion 30c provided at the tip of the glass gripping portion 30c for gripping the glass on the glass support table 42 located at the reversal position 22 by the glass gripping portion 30c, and then the arm 30b is turned upward around the axis 30a. The window glass 2 is turned so that the surface coated with the adhesive, which has been the upper surface side until now, becomes the lower surface.

Next, the wind glass 2 inverted by the reversing device 30 is automatically attached to the automobile body 12 by the wind glass assembling robot 32. The wind glass assembling robot 32 assembles both the front and rear wind glasses 2 by itself.

That is, the automobile body 12 is pitch-fed by the conveying device 13 shown in FIG. 1, is conveyed to the windshield mounting position 50 set on the conveying device 13, and is stopped there while being stopped. Both are installed.

The window glass assembly robot 32, Figure 1, as shown in FIG. 11 and FIG. 17, arrows centered vertically movable in the arrow m direction is attached to the base portion 32a and the base portion 32a, a shaft n ₁ θ ₁
In the direction of the arrow θ ₃ centered on the axis n ₃ and attached to the tip of the arm member 32b capable of rotating in the direction and in the direction of the arrow θ ₂ about the axis n ₂ . And a glass holding portion 32c capable of rotating, rotating in the direction of the arrow θ ₄ about the axis n ₄ and rotating in the direction of the arrow θ ₅ about the shaft n ₅ , respectively, The entire robot 32 is moved by the motor 52 or other moving mechanism to the windshield mounting position.
It is possible to move between 54 and the rear window glass mounting position 56.

First, as shown in FIG. 1, the assembling of the windshield glass is carried out at the windshield supply position (in this case, the position where the windshield is held by being inverted by the reversing device 30).
The wind glass (in this case, the windshield) 2a, which is located farther away from the windshield (in this case, the windshield assembling position) 54, is positioned by the robot 32 for assembling the windshield and is installed first. After that, the window glass assembling robot 32 is positioned at the glass assembling position (in this case, the rear window glass assembling position) 56 which is closer to the window glass supplying position 58, and then the assembling is performed. Assemble the glass (rear glass in this case) 2b.

To explain this more specifically, the window glass assembling robot 32 is first located at the proximity side window glass assembling position 56 as shown in FIG. 1, and appropriately moves the arm member 32b and the holding portion 32c, The distant side windshield (front glass) 2c, which has been applied with the adhesive and is being rotated and supplied to the windshield supplying position 58, is held and then moved to the distant side windshield mounting position 54, and at the mounting position 54 Waiting for the automobile body 12 to be loaded into the windshield mounting position 50, and when the automobile body 12 is loaded and stopped at the mounting position 50, the arm member 32b and the holding portion 32c are appropriately moved / rotated. Assemble the wind glass 2c,
In the meantime, the application of the adhesive to the next proximity side window glass (rear glass) 2d, reversal is performed, and when the assembly of the distant side window glass 2c is completed, the original proximity side window glass assembly position 56 is returned, Therefore, the next adjacent side wind glass supplied to the above-mentioned wind glass supply position 58 is further added.
Hold 2d. Then, the arm member 32b and the holding portion 32c are appropriately moved and rotated to assemble the window glass 2d, and when the assembly is completed, the automobile body 12 starts moving in the direction of arrow A, and at the same time, the window is laid. The glass assembling robot 32 has its near side wind glass assembling position.
At 56, the far side window glass 2c for the next car body supplied to the wind glass supply position 58 is held and moved to the corresponding far side wind glass assembling position 54, and the next car body 12 receives the wind glass set. Wait until you come to position 50. Hereinafter, the above-described operation is repeated to assemble the far side window glass 2c and the near side window glass 2d.

In this way, the wind glass assembling robot 32 is configured to be movable between the far side wind glass assembling position 54 and the near side wind glass assembling position 56, and the vehicle body 12
If the pitch is fed, and the far side wind glass 2c is assembled first at the far side wind glass assembling position 54, the window glass is effectively utilized by utilizing the idle time in which the car body 12 is pitch fed. Since the assembling robot 32 can hold the windshield 2c and move it to the far side windshield assembling position 54 to wait for the automobile body 12 to come, it is possible to spend time preparing for assembling the far side windshield 2c. Can be saved and the wind glass assembling time can be shortened accordingly.

The above description is for the case where the window glass 2 loaded into the first transport device 4 is an adhesive window glass, while the case where the loaded window glass 2 is a seal rubber type window glass is an adhesive window glass. Similarly placed on the glass support table 42 located at the shape correction position 16, and conveyed to the reversal position 22 by the glass support table 42, during that time, the shape correction at each position 16, 18, 20, 22, Positioning, application of adhesive, and reversal are not performed, and they are passed through to the reversal position as they are. And this inverted position 22
From the above, it is transferred onto the second transfer device 6 by the second transfer device 36. The control of the through state and the reversal control of the reversing device 30 are performed by the window glass discrimination means 92 and the output of the third control unit 90.

As shown in FIG. 16, the second transfer device 36 has an adhesive window glass adsorbing means 36a similar to the first transfer device 14, and the window glass adsorbing means 36a moves in the direction of arrow P, and the arrow By rotating in the D direction, the reverse position
Lift up the seal rubber window glass 2 at 22,
It is rotated 180 ° and placed on the second transfer device 6.

As described above, the seal rubber type window glass 2 placed on the second transfer device 6 is used for the device (the device main body 62 and the third device).
The transfer device 64) 6 conveys it to the wind glass assembling position 34, and it is placed and adsorbed on the wind glass assembling jig 37 prepared at the assembling position 34. The third transfer device 64
Has the same configuration as the first transfer device 14 described above, and the device main body 62
The wind glass is received from and placed on the wind glass assembling jig 37.

The seal rubber type window glass 2 conveyed to the window glass assembling position 34 is manually attached to the automobile body 12 by the operator through the assembling jig 37 as described above.

On the other hand, when the adhesive application state by the adhesive application robot 28 is not good, the seal rubber type wind glass is carried and assembled as usual as described above, but the adhesive type wind glass is used. The defective state is determined as follows, and is not reversed at the reversal position 22 after applying the adhesive, and is transferred onto the second transfer device 6 by the second transfer device 36 similarly to the seal rubber type wind glass, It is conveyed to the window glass mounting position 34 by the second conveying device 6, where it is first repaired by re-application of an adhesive or the like and manually attached to an automobile body by an operator like a seal rubber type window glass.

That is, first, FIG. 12 shows the window glass 2 for the vehicle.
The electrical system configuration of the adhesive application height measuring device part on the assembly line for the automobile body 12 of FIG.
Indicates the adhesive coating robot described above. The adhesive application robot 28 is installed on the side of the adhesive application position 20 of the first transfer device 4 for transferring the window glass 2 as described above, and the tip (lower end) of the working arm 70 thereof is installed. On the side), there is provided a driving member 71 capable of arbitrarily approaching in the X and Y directions with respect to the peripheral portion of the window glass 2 positioned and stopped at the adhesive application position.
A guide member 72 for guiding the drive member 71 along the peripheral edge portion (FIGS. 13A to 13D) of the window glass 2 with respect to 71, and the guide member 72 causes the drive member 71 to move. By being guided along the peripheral edge of the window glass 2, it faces the joining line 1 of the window glass 2 to the automobile body 12, and a predetermined amount of an adhesive (for example, a polyurethane sealer) is provided on the joining line 1 as shown in FIG. ) 73 is attached to an adhesive application nozzle 74 for applying a predetermined height (Ho). Then, the working arm 70
Itself moves along the peripheral edges a to d of the window glass 2 (1
By applying the adhesive 73 to the entire peripheral portion (a to d)
Is applied.

On the other hand, reference numeral 75 is a second visual sensor (image sensor) fixed to the working arm 70 of the adhesive coating robot 28 and positioned so as to face the end face portion of the window glass 2. The visual sensor 75 has an analog signal corresponding to the image of FIG.
(See Fig. 15) is output for each frame. This output signal is then amplified to a predetermined level by an analog amplifier 76 having a filter function, and then input to a clamp circuit 77 to reproduce its DC component and further input to an A / D converter 78. The A / D converter 78 converts the output of the clamp circuit 77 into a digital signal for each frame suitable for image processing by sampling and quantizing, and converts the converted digital signal for each frame. Sequential, next-stage image memory
Write it down on 79. The image memory 79 is the main memory 8
0, a sub memory 82, and a third control unit 90 configured by a CPU 81 having an interface circuit 89 are connected via an address bus B ₁ and a data bus B ₂ and once stored in the image memory 79. The digital signal is further input by the address signal from the CPU 81 to the main memory 80 of the third control unit 90 via the data bus B ₂ and stored therein. The digital signal stored in the main memory 80 is stored in the CPU 81
Are sequentially read out by the control operation of the sub memory 82
Is first input to the comparison circuit 83 together with the glass position reference signal. The reference position signal is a reference pattern signal corresponding to the change in the height of the peripheral edge corresponding to the curved shape of the peripheral edge of the window glass.

In the comparison circuit 83, first, any one of the peripheral portions a to d of the window glass 2 read from the sub memory 82,
That is, the second visual sensor 75 is based on the reference position setting signal S ₁ corresponding to the original specific reference plane position of the window glass 2 ( _{HL in} FIG. 14) corresponding to the peripheral portion currently viewed by the visual sensor 75. The reference position signal S ₂ corresponding to the actual reference surface detected in step S1 is compared, and the deviation value is detected. In this case, setting and detection of the reference plane
The position where the setting and detection are easy and the detection operation by the second visual sensor 75 is started, that is, the window glass 2 described above.
Flat face end center a ₁ or c ₁ part of is chosen as representative. The reason is that the peripheral edge b or d of the curved side edge of the window glass 2 cannot be distinguished from each other because the background of the edge surface becomes a black area integrated with the adhesive 73 by the primer P described above. by. The deviation output of the comparison circuit 83 is then input to the reference position correction circuit 84 as a reference position correction signal.

The reference position correction circuit 84 accurately corrects the reference position signal S ₁ set corresponding to the window glass 2 directly read from the sub memory 82 according to the actual window glass positioning state. by inputs the reference position signals S _1, adding or subtracting the reference position signals S ₁ in response to the deviation input from the comparator circuit 83,
The reference position (reference surface height) of the window glass 2 actually positioned is calculated. Then, this calculated value is input to the next subtraction circuit 85 as a reference position signal S ₁ ′ for measuring (calculating) the final adhesive application height. The correction of the reference position is performed for the following reason.

That is, in the apparatus of this embodiment, the window glass positioning device 26 is employed as described above, and the window glass 2 is positioned at an optimum position suitable for application of the adhesive in principle. However, the positioning by the wind glass positioning device 26 is based on the premise of the adhesive application work, and is not necessarily highly accurate. On the other hand, when measuring the application height of the adhesive, it is necessary to set a highly accurate reference position. Therefore, it is necessary to first detect the fluctuation of the actual positioning state in which some error (especially in the height direction) is expected due to the correction of the reference position in the portion that is most easily detected, and calibrate the set value itself with the detected value. Eliminates measurement error.

The subtraction circuit 85 calculates the reference position signal S ₁ from the reference position correction circuit 84 from the value (actual measurement value FIG. 14H) of the digital signal S ₃ from the second visual sensor 75 read from the main memory 80. value (H ₁₎ is subtracted in 'to calculate the actual applied adhesive 73 only the height Ho. The output of the subtraction circuit 85 is then input to the comparison and determination circuit 86, and the comparison and determination circuit 86
Is compared with a data signal corresponding to the original target coating height Ho 'of the adhesive stored in the set coating height storage means 87 composed of an external memory, and the quality of the surface coating state is judged based on the deviation value. The determination is made, and in the case of failure, the conveyance control means 88 for controlling the operating state of the window glass reversing device 30 is driven to prohibit the reversing operation of the reversing device 30,
Similar to the case of the seal rubber type window glass, the adhesive type window glass is transferred to the window glass assembling position 34 by the second conveying device 6, and the worker re-applying and assembling the adhesive as described above. Etc.

In the above-described vehicle window glass assembling apparatus, the quality of the primer application state before joining the window glass is particularly high on both the automobile body 12 side and the window glass 2 side independently and automatically by the image processing apparatus. Since the accuracy can be determined, the reliability of the wind glass bonding strength can be greatly improved.

(Effects of the Invention) As described above, the method of the present invention is a primer application failure detection method for detecting application failure of a primer applied to the surface of an object colored in an arbitrary color. While specifying the color of the surface of the object to be coated by the primary color of the maximum ratio of the three primary color components forming the color, the color of the primer coating completion surface of the object to be coated is further imaged by a color image processing device, The color of the captured image is spectrally displayed in the three primary color components in the same manner as above, and the distribution amount of the same primary color as the primary color that specifies the color of the coating object among the three primary color components spectrally displayed in the captured image is detected. By doing so, the quality of the primer application state on the surface of the article to be coated is determined.

That is, in the method of the present invention, the color of the surface of the coated object before primer coating is specified by the primary color having the highest occupancy ratio among the three primary color components constituting the color, while the actual primer coated surface is processed by the color image processing apparatus. How much the same primary color component as the primary color component that specifies the color of the surface of the coating object in the spectrally displayed three primary color components is displayed in the captured image while the captured image is spectrally displayed in the three primary color components The coating failure of the primer is detected by calculating whether it occupies the ratio.

Therefore, the primer coating surface can be observed only by the color image processing device from one direction, and it is not necessary to transmit light. Therefore, the primer coating defect can be detected even if the coating object is not a transparent body. . Further, the color of the surface of the object to be coated is specified by the maximum ratio of primary color components that most simply and clearly expresses the characteristics of the color, and whether the primer coating state is good or bad is determined by the expression amount (residual amount) of this primary color component on the primer coating surface. Since the determination is made, the area division in the image processing becomes easy and highly accurate, and the accuracy of the primer application failure detection is also considerably high.

[Brief description of drawings]

FIG. 1 is a plan view of a vehicle window glass assembling apparatus for carrying out the primer application defect detecting method according to the present invention, and FIG. 2 is a plan view of a body primer applying station portion of the above-described method implementing apparatus of the present invention. FIG. 3 is a perspective view of an essential part of a body primer coating robot of the same apparatus, FIG. 4 is a system block diagram of a body primer application defect detection unit of the same apparatus, and FIG. 5 is the same apparatus. Fig. 6 (a) to (d) are plan views of the window part on the side of the automobile body on Fig. 6 (a) to (d).
FIG. 7 is an explanatory diagram showing the relationship with the G and B luminance histograms, FIG. 7 is a flowchart showing a primer application failure detection method in the system configuration of FIG. 4, and FIG. 8 is a window glass side primer in the same apparatus. FIG. 9 is a system block diagram of the coating failure detection device section, FIG. 9 is a plan view of the window glass in the same apparatus, FIG. FIG. 12 is an enlarged plan view of the conveying device section of the same device, FIG. 12 is a system block diagram of an adhesive application state determination circuit of the same device, and FIG. 13 is an adhesive application position of the window glass in the same device. And FIG. 14 is a plan view showing the relationship between the image sensor and the visual sensor, FIG. 14 is an explanatory view showing the relationship between the end face of the windshield and the projected image by the visual sensor in the same apparatus, and FIG. Graph showing the relationship between the window glass end face and the visual sensor output at facilities device, 16
FIG. 17 is an enlarged front view showing in more detail the first and second conveying device parts of the same execution device, FIG. 17 is a front view of a wind glass assembling robot of the same execution device, and FIG. FIG. 19 is a partial cross-sectional view showing a glass support base of the apparatus, FIG. 19 is a partially omitted plan view of the glass support base of the same apparatus, and FIG.
FIG. 21 is a plan view of the positioning device portion of the above-described embodying apparatus, and FIG. 22 is a sectional view taken along line IX-IX of FIG. 21 above. 2 …… Wind glass 4 …… First transport device 6 …… Second transport device 8 …… Preliminary transport device 12 …… Car body 13 …… Body transport device 28 …… Adhesive application robot 32 …… Wind glass assembly Robot 122 …… Body primer coating station 123,124 …… Body primer coating robot 125 …… Body primer coating robot working arm 129 …… Color image sensor 130 …… Image memory 131 …… Main memory 132 …… Sub memory 134 …… CPU Fpo …… Body side primer coating surface

Claims (1)

[Claims] 1. A primer application failure detection method for detecting application failure of a primer applied to the surface of an object colored in an arbitrary color, wherein the color of the surface of the object before application of the primer is While specifying the maximum ratio of the primary colors of the three primary color components constituting the color, the color of the primer coating completion surface of the coated object is further imaged by the color image processing device, and the color of the captured image is the same as the three primary colors as described above. Of the surface of the object to be coated by detecting the distribution amount of the same primary color that specifies the color of the surface of the object to be coated among the three primary color components spectrally displayed in the captured image while spectrally displaying A method for detecting poor primer application, characterized in that the quality of the primer application state is judged.