Method and apparatus for mounting windshields on vehicles

• US 4,852,237 A
• Filed: 12/23/1987
• Issued: 08/01/1989
• Est. Priority Date: 11/09/1985
• Status: Expired due to Fees

• Current Assignee: KUKA Schweissanlagen + Roboter GmbH
• Original Assignee: Kuka
• Inventors: Tradt, Hans-Richard, Schillmeier, Hans
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Kachmarik, Ronald M.
• Application Number:
  US07/137,467
• Time in Patent Office: 587 Days
• Field of Search: 29/407, 29/430, 29/705, 29/709, 29/711, 29/712, 29/714, 29/720, 29/721, 29/822, 29/823, 29/824, 29/791, 414/737, 414/744 B, 901/1, 901/35, 901/40, 901/46, 901/47
• US Class Current: 29/407.05
• CPC Class Codes: B62D 65/06 the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor assembling sealing arrangements with vehicle parts, e.g. doors, windows B60J10/45
• CPC Class Codes: Y10T 29/49769 Using optical instrument [excludes mere human eyeballing]
• CPC Class Codes: Y10T 29/49771 Quantitative measuring or gauging
• CPC Class Codes: Y10T 29/53039 with control means energized in response to activator stimulated by condition sensor
• CPC Class Codes: Y10T 29/53052 including position sensor
• CPC Class Codes: Y10T 29/53091 for work-holder for assembly or disassembly
• CPC Class Codes: Y10T 29/53548 and work carrying vehicle

Abstract

Windshields are automatically mounted on automobiles on the assembly-line by advancing a gripping device carrying the windshield and associated position sensors relatively towards the automobile, moving the sensors over a windshield opening in the automobile body shell and across edges of the shell defining such opening to provide signals indicating the position of such edges. Such measurements take place firstly on a gross scale and subsequently on a fine scale along at least four axes during the mounting process. The gross position of the windshield opening is first detected using the gross sensors. Starting from a reference point determined in the course of the gross measurement, a gripping device is then moved towards the upper edge of the windshield opening until a first of two fine sensors moves across such upper edge when the gripping device is pivoted around the detected point until the second fine sensor also moves across the upper edge. The positions signalled by such sensors are used to calculate and compensate for a position error in the angular presentation of the window.

Claims

1. A process for the automatic positioning of a windshield for mounting a windshield in a windshield opening of a vehicle using an automatic windshield gripper carrying at least one sensor comprising the steps of:

passing the windshield gripper carrying the said at least one sensor over the windshield opening across edges of the opening; and

, detecting said edges, using said at least one sensor, as said at least one sensor passes across said edges of said windshield opening.

2. A process according to claim 1, further comprising:

measuring the windshield opening in at least four axes first on a gross scale and then on a fine scale.

3. A process according to claim 2, wherein a mounting groove having free inner edges is defined around the windshield opening, and the gross measurement includes determining the position of at least two of the free inner edges by passing over the windshield opening in a transverse direction, and deriving a reference point from that for the fine measurement and finally determining the distance of the windshield from the windshield opening.

4. A process according to claim 3, wherein outer edges of the windshield mounting groove are defined by a step encircling the opening, the process further including taking a fine measurement of the position of the step edge with respect to the support groove by passing over the support groove and the step edge and thereafter deriving the mounting midpoint of the windshield form this measurement, and subsequently starting from the mounting midpoint position already calculated, approaching an edge of the windshield opening that is visible on the vehicle adjacent the step of the supporting groove in a direction towards the step edge to determine at least one point thereof, and turning the windshield around this point until another point on said step is detected.

5. A process according to claim 2, including pressing the windshield into the windshield opening at a plurality of points distributed over its surface with equal pressure but through differential adjustable paths.

6. A process for mounting a windshield into an opening in a frame of a vehicle having a windshield support groove with lateral, top and bottom end steps around said groove, and using a manipulator having a movable manipulator arm carrying a gripping device engageable with the windshield and having a plurality of gross sensors and fine sensors spaced around the windshield, comprising:

using the gross sensors to control the manipulator arm to move the manipulator arm to position the gripping device to engage the windshield and to effect an initial positioning of the windshield in the opening to the frame, and thereafter using the fine sensors to control the manipulator arm to reposition the windshield in the frame.

7. A process according to claim 6, wherein said gripping device includes a central portion connected to the manipulator arm, a plurality of radially extending angularly spaced arms, plurality of suction gripping members being adjustably mounted on said arms for movement toward and away from the windshield for engagement and disengagement therefrom, said arms providing sensor support on each side of the windshield adjacent the top and bottom of the windshield in a sensor mounted on each of said supports, said gripping members comprising suction elements having means for supplying and removing a fluid therefrom for engagement and disengagement from the windshield, and including the step of applying only some of said gripping arms to the windshield while rotating said windshield.

8. A device for mounting a windshield in a vehicle windshield opening and for attachment to a rotatable and pivotal manipulator arm, comprising:

a combined gripping device and sensor holder engageable with the arm and being rotatable therewith and including at least one gross sensor carried by said gripping device; and

, at least two fine sensors, for detecting each edge of the windshield opening carried by said gripping device, positioned on a side of the gripping device which is for engagement with a side of the windshield and located at spaced locations from each other.

9. A device according to claim 8, including at least one distant sensor carried on said gripping device for sensing the position of a windshield relative to a vehicle windshield receiving opening.

10. A device according to claim 8, including at least two sensors carried by said gripper and sensor member which extend laterally beyond the windshield when it is engaged by said grippers and comprise reflected light detectors.

11. A device according to claim 8, wherein said gripping device has a plurality of fluid pressure operated adjusting piston and cylinder members held thereby so that they can engage adjustably said windshield at spaced locations and including a fluid pressure line connected to each of said adjusting piston and cylinder members.

12. A process for positioning a windshield relative to a windshield opening including employing first and second sensors carried by a windshield gripper to measure the windshield opening;

positioning the windshield using the windshield gripper in a centered position corresponding to the measured windshield opening;

moving the windshield gripper along the installation line over the opening carrying the first sensor across the edge of the opening to be measured;

transmitting an edge signal representing the position of the first sensor as it is carried across the edge;

moving the gripper further until a second sensor is carried across the edge of the opening to be measured;

transmitting an edge signal representing the position of the second sensor;

calculating, from the position signals transmitted, the distance of the sensors in a direction of motion resulting from the crooked position, this value representing the sine of the error angle relative to the distance between the sensors of the gripper;

evaluating the error angle to determine a correction factor for the position of the windshield.

13. A process according to claim 12, further comprising:

measuring the windshield opening in at least four axes first on a gross scale and then on a fine scale.

14. A process according to claim 12 wherein:

the gross measurement includes determining the position of at least two of the inner edges of a mounting groove defined around the receiving opening by passing over the windshield opening in a transverse direction, and deriving a reference point from that step of passing for the fine measurement and, finely, determining the distance of the windshield from the windshield opening.

15. A process according to claim 14, wherein:

the windshield opening includes an encircling step edge defining the mounting groove around the windshield opening inwardly of the step edge and further comprising taking a fine measurement of the position of the step edge in respect to the support groove by passing over the support groove and the step edge and thereafter deriving the mounting mid-point of the windshield from this measurement, and subsequently starting from the mounting mid-point position already calculated, approaching an edge of the windshield opening that is visible on the vehicle adjacent the step of the supporting groove in a direction towards the step edge to determine at least one point thereof, and turning the windshield around this point until another point on said step is detected.