Automated robotic windshield and rear-glass installation

Need

The stop position of the body in the station and the body tolerance of the aperture vary from cycle to cycle, so the programmed pose does not coincide exactly with the aperture. On inclined, curved glass a small rotation changes the four corner gaps in different directions.

Solution approach

Because the sensors ride on the gripper, the relative pose between glass and aperture is measured directly: laser lines at the four corners locate the aperture edge in the approach plane. A common shift and rotation are computed from the corner offsets; the nominal and measured contours are compared on screen and the glass is lowered along the corrected path.

Process steps

1. 01

   Approach

   The robot brings the glass on its vacuum gripper to the programmed pose above the aperture.

2. 02

   3D measure

   Laser lines at the corners measure where the aperture edge really is.

3. 03

   Path correction

   Shift and rotation are computed from the corner offsets; the robot corrects its path.

4. 04

   Set glass

   The glass is lowered along the corrected path and pressed into the aperture.

5. 05

   Verify

   The perimeter gap is checked and the gripper releases the glass.