Honda Giken Kogyo Kabushiki Kaisha

Takayuki Hoshino

Takashi Uehara

Kimitake Uzuyama

Takeo Yoshiji

Hirobumi Morita

Nobuyoshi Shimada

Teruhisa Noguchi

Shigehiro Umegai

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

Apparatus and method for mounting window glasses on automobile

A robot apparatus is operable in a Cartesian coordinate system for moving a workpiece gripped by a hand thereof. The robot apparatus includes a self-propelled X-axis slide unit movably mounted on an X-axis rail unit extending in the direction of the X-axis of the Cartesian coordinate system. A Y-axis slide unit extending in the Y-axis direction normal to the X-axis direction has one end fixed to the X-axis slide unit. A self-propelled Z-axis slide unit is movably mounted on the Y-axis slide unit, and a slide base to which the robot hand is attached is mounted on the Z-axis slide unit. Lead wires connected to drive mechanisms for driving the X-axis slide unit, the Y-axis slide unit, and the Z-axis slide unit pass through case members, and are housed in the X-axis rail unit and connected to a terminal box secured to an end of the X-axis rail unit. The X-axis, Y-axis, and Z-axis slide units are prevented from interfering with the respective tracks of other units during operation of the robot apparatus, so that the working envelope of the robot apparatus can be increased.

Robot apparatus

Growing community of inventors

Kawagoe, Japan

Takayuki Hoshino