JP2005125456A - Carrying method and carrying device of panel part - Google Patents

Carrying method and carrying device of panel part Download PDF

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Publication number
JP2005125456A
JP2005125456A JP2003364595A JP2003364595A JP2005125456A JP 2005125456 A JP2005125456 A JP 2005125456A JP 2003364595 A JP2003364595 A JP 2003364595A JP 2003364595 A JP2003364595 A JP 2003364595A JP 2005125456 A JP2005125456 A JP 2005125456A
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pin
panel component
panel
pin holes
claw
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JP4139970B2 (en
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Hidesato Ichino
秀悟 市野
Satoshi Yasumatsu
智 安松
Hitoshi Kihara
均 木原
Masateru Morino
真輝 森野
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To handle door panel parts of a different shape by a common carrying device in the carrying device of the door panel parts of an automobile. <P>SOLUTION: Three pin holes 5, 6 and 7 are bored in advance at common pitches P1, P2 and P3 in many kinds of door panel parts W. A gripping mechanism 13 having pins 17 and two claw chucks 20 arranged at a pitch in common to the pin holes 5, 6 and 7, is installed on the tip of a robot hand 12. The door panel parts W are gripped by diametrally expanding the jaw chucks 20 by projecting a movable clamp of the pins 17 by inserting the pins 17 and the jaw chucks 20 into the pin holes 5, 6 and 7. Thus, the door panel parts W of a different shape can be gripped and handled by the common gripping mechanism 13. Since the jaw chucks can hold the door panel parts W in a specific axis directional range, a degree of freedom of a layout in a shaft directional position of the pin holes 5, 6 and 7 can be enhanced. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、自動車のドアパネル等のパネル部品をロボットハンド等によって把持して搬送するためのパネル部品の搬送方法及び搬送装置に関するものである。   The present invention relates to a panel component transport method and a transport device for gripping and transporting a panel component such as a door panel of an automobile with a robot hand or the like.

自動車の生産ラインにおけるドアの組立工程においては、ドアを構成するパネル部品は、工程間をロボットによって搬送されている。従来、ロボットハンドは、例えば、パネル部品の所定の位置に予め複数のピン孔を穿設しておき、これらのピン孔にピンクランプを挿入することによって、パネル部品を把持している。   In a door assembly process in an automobile production line, panel parts constituting the door are transported between processes by a robot. 2. Description of the Related Art Conventionally, a robot hand grips a panel component by, for example, forming a plurality of pin holes in a predetermined position of the panel component in advance and inserting a pin clamp into these pin holes.

しかしながら、ピンクランプによってパネル部品をクランプする搬送方法では、次のような問題がある。自動車のドアは、デザイン性が高く、ドアを構成するパネル部品は、車型毎に形状が異なり、しかも、複雑な凹凸を有しているため、一定の位置にピン孔を穿設することが困難である。このため、従来のロボットハンドの把持機構は、汎用性に乏しく、車型に応じて交換する必要があり、生産性低下の原因となっている。   However, there are the following problems in the conveying method in which the panel component is clamped by the pin clamp. Automotive doors are highly designable, and the panel components that make up the doors differ in shape from vehicle to vehicle and have complex irregularities, making it difficult to drill pin holes at certain locations. It is. For this reason, the conventional gripping mechanism of the robot hand has poor versatility and needs to be replaced depending on the vehicle type, causing a reduction in productivity.

生産設備に対する汎用性の要求は高く、例えば特許文献１には、ドア形状に応じて移動する保持具を設けて、ドア形状にかかわらず、確実にドアを車体に組付けることができる自動車用ドア組付装置が開示されている。
特開昭６３−２２７７７号公報 The demand for versatility for production facilities is high. For example, Patent Document 1 provides a holding tool that moves according to the door shape, and can be securely assembled to a vehicle body regardless of the door shape. An assembly apparatus is disclosed.
Japanese Unexamined Patent Publication No. 63-22777

本発明は、上記の点に鑑みてなされたものであり、ワーク形状にかかわらず、パネル部品を確実に把持して搬送することができるパネル部品の搬送方法及び搬送装置を提供することを目的とする。   The present invention has been made in view of the above points, and an object of the present invention is to provide a panel component transport method and a transport apparatus that can reliably grip and transport a panel component regardless of the workpiece shape. To do.

上記の課題を解決するために、請求項１の発明に係るパネル部品の搬送方法は、ワークであるパネル部品に、予め所定のピッチで複数のピン孔を設けておき、前記ピン孔に対応する位置に配置され、該ピン孔に挿入して拡径することによって一定の軸方向範囲にある前記パネル部品をチャック可能な爪チャックを備えた把持手段によって、前記パネル部品を把持することを特徴とする。
請求項２の発明に係るパネル部品の搬送方法は、上記請求項１の構成において、前記パネル部品には３つのピン孔を設けておき、前記把持手段は、前記ピン孔に挿入されるピン及び前記パネル部品に当接して前記ピンの挿入位置を規定する突当部を有する１つのピンクランプと、２つの前記爪チャックとを備えていることを特徴とする。
請求項３の発明に係るパネル部品の搬送方法は、上記請求項１又は２の構成において、前記爪チャックの外周部には、軸方向に沿って凹凸を有する山切り形状のチャック部が形成されていることを特徴とする。
請求項４の発明に係るパネル部品の搬送方法は、上記請求項１乃至３のいずれかの構成において、異なる種類のパネル部品に共通のピッチでピン孔を設けておき、共通の把持手段によって、前記パネル部品を把持することを特徴とする。
請求項５の発明に係るパネル部品の搬送装置は、ワークであるパネル部品に所定のピッチで配置された複数のピン孔に対応して配置され、該ピン孔に挿入して拡径することによって一定の軸方向範囲にある前記パネル部品をチャック可能な爪チャックを備えた把持手段によって、前記パネル部品を把持することを特徴とする。
請求項６の発明に係るパネル部品の搬送装置は、上記請求項５の構成において、前記把持手段は、前記パネル部品に配置された３つのピン孔に対応して、該ピン孔に挿入されるピン及び前記パネル部品に当接して前記ピンの挿入位置を規定する突当部を有する１つのピンクランプと、２つの前記爪チャックとを備えていることを特徴とする。
また、請求項７の発明に係るパネル部品の搬送装置は、上記請求項４乃至６のいずれかの構成において、前記爪チャックの外周部には、軸方向に沿って凹凸を有する山切り形状のチャック部が形成されていることを特徴とする。 In order to solve the above-described problem, the panel component transport method according to the first aspect of the present invention provides a plurality of pin holes at a predetermined pitch in advance in a panel component that is a workpiece, and corresponds to the pin holes. The panel component is gripped by gripping means provided with a claw chuck that is disposed at a position and is capable of chucking the panel component in a certain axial range by being inserted into the pin hole and expanding in diameter. To do.
According to a second aspect of the present invention, there is provided a panel component transport method according to the first aspect, wherein the panel component is provided with three pin holes, and the gripping means includes a pin inserted into the pin hole, and One pin clamp having a contact portion that abuts against the panel component and defines the insertion position of the pin, and two claw chucks are provided.
According to a third aspect of the present invention, there is provided a method for conveying a panel component according to the first or second aspect, wherein an outer peripheral portion of the claw chuck is formed with a chevron-shaped chuck portion having irregularities along the axial direction. It is characterized by.
According to a fourth aspect of the present invention, there is provided a panel component transport method according to any one of the first to third aspects, wherein pin holes are provided at a common pitch in different types of panel components, and a common gripping means is used. The panel component is gripped.
According to a fifth aspect of the present invention, the apparatus for transporting panel parts is arranged corresponding to a plurality of pin holes arranged at a predetermined pitch in the panel parts which are workpieces, and is inserted into the pin holes to expand the diameter. The panel component is gripped by gripping means including a claw chuck capable of chucking the panel component in a certain axial range.
According to a sixth aspect of the present invention, there is provided the apparatus for conveying a panel component according to the fifth aspect, wherein the gripping means is inserted into the pin hole corresponding to the three pin holes arranged in the panel component. One pin clamp having an abutting portion that abuts on the pin and the panel part and defines the insertion position of the pin, and two claw chucks are provided.
According to a seventh aspect of the present invention, there is provided the apparatus for conveying a panel component according to any one of the fourth to sixth aspects, wherein the outer periphery of the claw chuck has a mountain-like shape having irregularities along the axial direction. A chuck portion is formed.

本発明に係るパネル部品の搬送方法及び搬送装置によれば、ワークであるパネル部品に、予め所定のピッチで複数のピン孔を設けておくことにより、異なる形状のパネル部品を共通の把持手段によって確実に把持することができる。このとき、爪チャックは、一定の軸方向範囲にあるパネル部品をチャックすることができるので、ピン孔のレイアウトの自由度を高くすることができ、搬送装置の汎用性を高めることができる。   According to the method and apparatus for transporting panel parts according to the present invention, panel parts that are workpieces are provided with a plurality of pin holes at a predetermined pitch in advance, so that different shaped panel parts can be held by a common gripping means. It can be securely gripped. At this time, the claw chuck can chuck the panel components in a certain axial range, so that the degree of freedom of the layout of the pin holes can be increased and the versatility of the transport device can be improved.

以下、本発明の一実施形態を図面に基づいて詳細に説明する。
図１及び図２に示すように、本実施形態に係る搬送装置１は、自動車のドアを構成するドアインナパネル２、サッシフレーム３、ヒンジサイドパネル４等を含むドアパネル部品Ｗをヘミング、スポット溶接等の工程間においてハンドリングするためのものである。
ワークであるドアパネル部品Ｗのドアインナパネル２には、予め３つのピン孔５、６、７が穿設されている。３つのピン孔５、６、７のピッチＰ１、Ｐ２及びＰ３は、車型にかかわらず、搬送装置１によって搬送される全てのドアパネル部品Ｗに対して共通の値が使用される。 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
As shown in FIGS. 1 and 2, the transport apparatus 1 according to the present embodiment hemmes and spot welds a door panel component W including a door inner panel 2, a sash frame 3, a hinge side panel 4, and the like that constitutes an automobile door. It is for handling between these processes.
In the door inner panel 2 of the door panel component W that is a workpiece, three pin holes 5, 6, and 7 are formed in advance. As for the pitches P1, P2, and P3 of the three pin holes 5, 6, and 7, a common value is used for all door panel components W conveyed by the conveying device 1 regardless of the vehicle type.

搬送装置１は、スライドテーブル８、ターンテーブル９、アーム１０、１１等を組合わされてロボットハンド１２に必要な自由度を与えたものであり、ロボットハンド１２の先端部には、把持機構１３（把持手段）が取付けられている。把持機構１３には、ドアパネル部品Ｗの３つのピン孔５、６、７に対応する１つのピンクランプユニット１４（ピンクランプ）及び２つの爪チャックユニット１５が設けられている。   The transfer device 1 is a combination of a slide table 8, a turntable 9, arms 10, 11, and the like that gives the robot hand 12 a necessary degree of freedom. A gripping mechanism 13 ( Gripping means) is attached. The gripping mechanism 13 is provided with one pin clamp unit 14 (pin clamp) and two claw chuck units 15 corresponding to the three pin holes 5, 6 and 7 of the door panel component W.

ピンクランプユニット１４には、図３に示すように、ピン孔５に挿入可能なピン１７が設けられており、ピン１７の基部側面には、エアシリンダ等の駆動装置（図示せず）によって格納及び突出可能な可動クランプ１８が設けられている。そして、図３（Ａ）に示すように、可動クランプ１８を格納して、ピン１７をピン孔５に挿入し、図３（Ｂ）に示すように、ドアインナパネル２をピン１７の基部の突当部１９に当接させ、可動クランプ１８を突出させることによって、ドアインナパネル２をクランプすることができる。なお、ピン１７の先端部は、ピン孔５に挿入しやすいように、尖った形状となっている。   As shown in FIG. 3, the pink lamp unit 14 is provided with a pin 17 that can be inserted into the pin hole 5, and is stored on the base side surface of the pin 17 by a drive device (not shown) such as an air cylinder. In addition, a movable clamp 18 that can project is provided. 3 (A), the movable clamp 18 is stored, the pin 17 is inserted into the pin hole 5, and the door inner panel 2 is attached to the base of the pin 17 as shown in FIG. 3 (B). The door inner panel 2 can be clamped by bringing the movable clamp 18 into contact with the abutting portion 19. The tip of the pin 17 has a sharp shape so that it can be easily inserted into the pin hole 5.

爪チャックユニット１５には、図４に示すように、ピン孔６、７に挿入可能な爪チャック２０が設けられている。爪チャック２０は、２つのフィンガ２１からなる２つ割り構造であり、エアシリンダ等の駆動装置（図示せず）によって、２つのフィンガ２１を閉じた縮径位置（図４（Ａ）参照）と、２つの爪フィンガ２１を開いた拡径位置（図４（Ｂ）参照）とをとることができる。   As shown in FIG. 4, the claw chuck unit 15 is provided with a claw chuck 20 that can be inserted into the pin holes 6 and 7. The claw chuck 20 has a split structure composed of two fingers 21 and has a reduced diameter position (see FIG. 4A) in which the two fingers 21 are closed by a driving device (not shown) such as an air cylinder. The enlarged diameter position (see FIG. 4B) where the two claw fingers 21 are opened can be taken.

爪フィンガ２１の外周部には、軸方向に沿って凹凸を有する山切り形状のチャック部２２が形成されており、縮径位置の爪チャック２０をドアインナパネル２のピン孔６、７に挿入し、図４（Ｂ）に示すように、拡径位置とすることにより、チャック部２２によってドアインナパネル２をチャックすることができる。このとき、図４（Ｂ）中に仮想線で示すように、チャック部２２が形成された範囲Ｌの中であれば、ドアインナパネル２を任意の位置でチャックすることができる。なお、爪チャック２０の先端部は、ピン孔６、７に挿入しやすいように、尖った形状となっている。
ピンクランプユニット１４のピン１７と、２つの爪チャックユニット１５の爪チャック２０とは、ドアパネル部品Ｗの３つのピン孔５、６、７に対応して、これらと同じピッチで配置されている。 A chamfered chuck portion 22 having irregularities along the axial direction is formed on the outer peripheral portion of the claw finger 21, and the claw chuck 20 at the reduced diameter position is inserted into the pin holes 6 and 7 of the door inner panel 2. Then, as shown in FIG. 4B, the door inner panel 2 can be chucked by the chuck portion 22 by setting the diameter expansion position. At this time, the door inner panel 2 can be chucked at an arbitrary position within the range L in which the chuck portion 22 is formed, as indicated by a virtual line in FIG. 4B. The tip of the claw chuck 20 has a sharp shape so that it can be easily inserted into the pin holes 6 and 7.
The pins 17 of the pink lamp unit 14 and the claw chucks 20 of the two claw chuck units 15 are arranged at the same pitch as these corresponding to the three pin holes 5, 6 and 7 of the door panel component W.

以上のように構成した本実施形態の作用について次に説明する
搬送装置１のスライドテーブル８、ターンテーブル９、アーム１０、１１等を適宜作動させてロボットハンド１２を移動させ、可動クランプ１８を格納したピン１７及び縮径位置とした爪チャック２０をドアインナパネル２のピン孔５、６、７に挿入し、突当部１９をドアインナパネル２に当接させる。 The operation of the present embodiment configured as described above will be described next. The robot hand 12 is moved by appropriately operating the slide table 8, the turntable 9, the arms 10, 11 and the like of the transfer device 1, and the movable clamp 18 is stored. The pin 17 and the claw chuck 20 in the reduced diameter position are inserted into the pin holes 5, 6, and 7 of the door inner panel 2, and the abutting portion 19 is brought into contact with the door inner panel 2.

ピン１７の可動クランプ１８を突出させ、爪チャック２０を拡径位置として、ドアインナパネル２をクランプ及びチャックする。これにより、ドアパネル部品Ｗを把持機構１３によって把持することができ、ハンドリングすることができる。
その後、ピン１７の可動クランプ１８を格納し、爪チャック１０を縮径位置とすることにより、クランプ及びチャックを解除することができ、ドアパネル部品Ｗを把持機構１３から離脱させることができる。 The movable clamp 18 of the pin 17 is protruded, the claw chuck 20 is set to the diameter expansion position, and the door inner panel 2 is clamped and chucked. Accordingly, the door panel component W can be gripped by the gripping mechanism 13 and can be handled.
Thereafter, the movable clamp 18 of the pin 17 is stored and the claw chuck 10 is set to the reduced diameter position, whereby the clamp and the chuck can be released, and the door panel component W can be detached from the gripping mechanism 13.

このようにして、ドアインナパネル２に、予め所定のピッチＰ１、Ｐ２、Ｐ３で３つのピン孔５、６、７を穿設しておくことにより、形状の異なるドアパネル部品Ｗを共通の搬送装置１によってハンドリングすることが可能となり、搬送装置１の汎用性を高めて生産性を向上させることができる。なお、３つのピン孔５、６、７は、たとえばドアインナパネル２のプレス成形時に容易に穿設することができる。   In this way, the door inner panel 2 is preliminarily formed with the three pin holes 5, 6, and 7 at the predetermined pitches P1, P2, and P3, so that the door panel parts W having different shapes can be transported in common. 1 can be handled, and the versatility of the transfer apparatus 1 can be enhanced to improve productivity. The three pin holes 5, 6, 7 can be easily drilled, for example, when the door inner panel 2 is press-formed.

このとき、爪チャック２０は、山切り形状のチャック部２２が形成された軸方向範囲Ｌにおいて、ドアインナパネル２をチャックすることができる。これにより、ピン孔６、７の軸方向位置の誤差を吸収することができる。また、自動車のドアはデザイン性が高く、車型によってドアインナパネル２の形状も大きく異なるが、ピン孔６、７の軸方向位置の許容範囲を広くすることができるので、所定のピッチＰ１、Ｐ２、Ｐ３を有する３つのピン孔５、６、７のレイアウトの自由度が高くなり、多種多様の車型の生産に適用することができる。   At this time, the claw chuck 20 can chuck the door inner panel 2 in the axial range L in which the mountain-shaped chuck portion 22 is formed. Thereby, the error of the axial direction position of the pin holes 6 and 7 can be absorbed. In addition, the door of an automobile has high design, and the shape of the door inner panel 2 varies greatly depending on the vehicle type. However, since the allowable range of the axial positions of the pin holes 6 and 7 can be widened, the predetermined pitches P1 and P2 , The degree of freedom of the layout of the three pin holes 5, 6, 7 having P 3 is increased, and can be applied to the production of a wide variety of vehicle types.

なお、上記実施形態において、爪チャック２０は、２つのフィンガ２１からなる２つ割り構造となっているが、このほか、３つ割り以上の拡径可能な分割構造とすることもできる。しかしながら、爪チャック２０の寸法、必要な強度及び駆動機構の複雑さ考慮すると、２つ割り構造であることが望ましい。   In addition, in the said embodiment, although the nail | claw chuck | zipper 20 has the split structure which consists of the two fingers 21, it can also be set as the division | segmentation structure in which diameter expansion of 3 or more is possible. However, considering the size of the claw chuck 20, the required strength, and the complexity of the drive mechanism, a split structure is desirable.

上記実施形態において、把持機構１３のピンクランプユニット１４を爪チャックユニット１５として、これら３つの全てを爪チャックユニット１５とすることも可能であるが、これらの１つをピンクランプユニット１４とすることにより、突当部１９を位置決めの基準とすることができるので、いずれか１つはピンクランプユニット１４であることが望ましい。   In the above embodiment, the pin clamp unit 14 of the gripping mechanism 13 can be used as the claw chuck unit 15 and all three can be used as the claw chuck unit 15, but one of these can be used as the pin clamp unit 14. Thus, the abutting portion 19 can be used as a positioning reference, and any one of them is preferably the pin clamp unit 14.

また、ピン孔、並びに、これに対応するクランプユニット及びチャックユニットは、４つ以上設けることも可能であるが、把持機構１３の把持強度、位置決め性及びピン孔のレイアウトの自由度を考慮すると、３つであることが望ましい。   Moreover, although it is possible to provide four or more pin holes, and corresponding clamp units and chuck units, considering the gripping strength of the gripping mechanism 13, positioning properties, and the freedom of layout of the pin holes, It is desirable that there are three.

さらに、上記実施形態では、一例として、自動車のドアパネル部品をハンドリングするための搬送方法及び搬送装置について説明しているが、本発明はこれに限らず、他のパネル部品をハンドリングするための搬送方法及び搬送装置にも同様に適用することができる。   Furthermore, in the said embodiment, although the conveying method and conveying apparatus for handling the door panel component of a motor vehicle are demonstrated as an example, this invention is not restricted to this, The conveying method for handling other panel components In addition, the present invention can be similarly applied to the transfer device.

本発明の一実施形態に係る搬送装置の把持機構及びワークである自動車のドアパネル部品を示す斜視図である。It is a perspective view which shows the door panel components of the motor vehicle which is the holding | grip mechanism of the conveying apparatus which concerns on one Embodiment of this invention, and a workpiece | work. 図１に示す搬送装置がドアパネル部品を把持してハンドリングしている状態を示す斜視図である。It is a perspective view which shows the state which the conveying apparatus shown in FIG. 1 hold | grips and handles a door panel component. 図1に示す搬送装置のピンクランプユニットがインナパネルをクランプする過程を示す図である。FIG. 2 is a diagram showing a process in which a pin clamp unit of the transport device shown in FIG. 1 clamps an inner panel. 図１に示す搬送装置の爪チャックユニットがインナパネルをチャックする過程を示す図である。It is a figure which shows the process in which the nail | claw chuck | zipper unit of the conveying apparatus shown in FIG. 1 chucks an inner panel.

符号の説明Explanation of symbols

１ 搬送装置、５，６，７ ピン孔、１３ 把持機構（把持手段）、１４ ピンクランプユニット（ピンクランプ）、１７ ピン、１９ 突当部、２０ 爪チャック、２２ チャック部、Ｗ ドアパネル部品（パネル部品）
DESCRIPTION OF SYMBOLS 1 Conveyance device, 5, 6, 7 Pin hole, 13 Gripping mechanism (gripping means), 14 Pink lamp unit (pin clamp), 17 Pin, 19 Abutting part, 20 Claw chuck, 22 Chuck part, W Door panel component (panel parts)

Claims (7)

ワークであるパネル部品に、予め所定のピッチで複数のピン孔を設けておき、前記ピン孔に対応する位置に配置され、該ピン孔に挿入して拡径することによって一定の軸方向範囲にある前記パネル部品をチャック可能な爪チャックを備えた把持手段によって、前記パネル部品を把持することを特徴とするパネル部品の搬送方法。 A plurality of pin holes are provided in advance at a predetermined pitch in a panel component that is a workpiece, and the pin parts are arranged at positions corresponding to the pin holes, and are inserted into the pin holes to expand the diameter so that a certain axial range is obtained. A method of transporting a panel component, characterized in that the panel component is gripped by gripping means having a claw chuck capable of chucking the panel component. 前記パネル部品には３つのピン孔を設けておき、前記把持手段は、前記ピン孔に挿入されるピン及び前記パネル部品に当接して前記ピンの挿入位置を規定する突当部を有する１つのピンクランプと、２つの前記爪チャックとを備えていることを特徴とする請求項１に記載のパネル部品の搬送方法。 The panel component is provided with three pin holes, and the gripping means includes a pin inserted into the pin hole and a contact portion that abuts against the panel component and defines the insertion position of the pin. The panel component conveying method according to claim 1, further comprising a pink lamp and two claw chucks. 前記爪チャックの外周部には、軸方向に沿って凹凸を有する山切り形状のチャック部が形成されていることを特徴とする請求項１又は２に記載のパネル部品の搬送方法。 3. The panel component conveying method according to claim 1, wherein a crest-shaped chuck portion having irregularities along the axial direction is formed on an outer peripheral portion of the claw chuck. 異なる種類のパネル部品に共通のピッチでピン孔を設けておき、共通の把持手段によって、前記パネル部品を把持することを特徴とする請求項１乃至４のいずれかに記載のパネル部品の搬送方法。 5. A method of transporting panel parts according to claim 1, wherein pin holes are provided at different pitches in different types of panel parts, and the panel parts are gripped by a common gripping means. . ワークであるパネル部品に所定のピッチで配置された複数のピン孔に対応して配置され、該ピン孔に挿入して拡径することによって一定の軸方向範囲にある前記パネル部品をチャック可能な爪チャックを備えた把持手段によって、前記パネル部品を把持することを特徴とするパネル部品の搬送装置。 It is arranged corresponding to a plurality of pin holes arranged at a predetermined pitch in a panel component which is a workpiece, and the panel component in a certain axial range can be chucked by inserting into the pin hole and expanding the diameter. A panel component transporting apparatus, wherein the panel component is gripped by gripping means having a claw chuck. 前記把持手段は、前記パネル部品に配置された３つのピン孔に対応して、該ピン孔に挿入されるピン及び前記パネル部品に当接して前記ピンの挿入位置を規定する突当部を有する１つのピンクランプと、２つの前記爪チャックとを備えていることを特徴とする請求項５に記載のパネル部品の搬送装置。 The gripping means includes a pin inserted into the pin hole and a contact portion that abuts against the panel part and defines the insertion position of the pin corresponding to the three pin holes arranged in the panel part. The panel component conveying apparatus according to claim 5, comprising one pin clamp and two claw chucks. 前記爪チャックの外周部には、軸方向に沿って凹凸を有する山切り形状のチャック部が形成されていることを特徴とする請求項５又は６に記載のパネル部品の搬送装置。
7. The panel component conveying apparatus according to claim 5, wherein a crest-shaped chuck portion having irregularities along the axial direction is formed on an outer peripheral portion of the claw chuck.
JP2003364595A 2003-10-24 2003-10-24 Method and apparatus for conveying panel parts Expired - Fee Related JP4139970B2 (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008066023A1 (en) * 2006-12-01 2008-06-05 Hirotec Corporation Work hand apparatus and work transfer method
FR2909300A1 (en) * 2006-12-04 2008-06-06 Renault Sas Sheet metal e.g. front door panel, gripper for motor vehicle, has multifunction devices in which one of device is movable in translation on frame using translation unit and movably placed along longitudinal axis of central beam
JP2009012087A (en) * 2007-07-02 2009-01-22 Honda Motor Co Ltd Method for assembling assembly
FR2923795A1 (en) * 2007-11-15 2009-05-22 Peugeot Citroen Automobiles Sa Lateral opening frame assembling and mounting method for motor vehicle, involves assembling external skin, trim and metallic reinforcement pieces by utilizing geometric reference plane, and placing hinges of frame on trim by utilizing plane
JP2009279703A (en) * 2008-05-22 2009-12-03 Honda Motor Co Ltd Conveyance system
JP2009291873A (en) * 2008-06-04 2009-12-17 Honda Motor Co Ltd Conveyor system
JP2010228017A (en) * 2009-03-26 2010-10-14 Honda Motor Co Ltd Gripping device
JP2014122027A (en) * 2012-12-19 2014-07-03 Brose Fahrzeugteile Gmbh & Co Kg Hallstadt Interface between holding and equilibration device and door module for automobile door
DE102014105980B4 (en) * 2013-05-02 2016-03-17 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Part transfer system using existing part features and methods of using the part transfer system
FR3059582A1 (en) * 2016-12-02 2018-06-08 Peugeot Citroen Automobiles Sa DEVICE FOR GRIPPING OBJECTS WITH ROTARY FEEDING ELEMENTS
JP2019181649A (en) * 2018-04-17 2019-10-24 トヨタ自動車株式会社 Conveyance method
JP7354373B1 (en) 2022-07-15 2023-10-02 株式会社牧野フライス製作所 Robots and robot systems

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008066023A1 (en) * 2006-12-01 2008-06-05 Hirotec Corporation Work hand apparatus and work transfer method
FR2909300A1 (en) * 2006-12-04 2008-06-06 Renault Sas Sheet metal e.g. front door panel, gripper for motor vehicle, has multifunction devices in which one of device is movable in translation on frame using translation unit and movably placed along longitudinal axis of central beam
WO2008068249A1 (en) * 2006-12-04 2008-06-12 Renault S.A.S. Gripper for gripping sheet metal parts of different sizes and/or types
JP2009012087A (en) * 2007-07-02 2009-01-22 Honda Motor Co Ltd Method for assembling assembly
FR2923795A1 (en) * 2007-11-15 2009-05-22 Peugeot Citroen Automobiles Sa Lateral opening frame assembling and mounting method for motor vehicle, involves assembling external skin, trim and metallic reinforcement pieces by utilizing geometric reference plane, and placing hinges of frame on trim by utilizing plane
JP2009279703A (en) * 2008-05-22 2009-12-03 Honda Motor Co Ltd Conveyance system
JP2009291873A (en) * 2008-06-04 2009-12-17 Honda Motor Co Ltd Conveyor system
JP2010228017A (en) * 2009-03-26 2010-10-14 Honda Motor Co Ltd Gripping device
JP2014122027A (en) * 2012-12-19 2014-07-03 Brose Fahrzeugteile Gmbh & Co Kg Hallstadt Interface between holding and equilibration device and door module for automobile door
DE102014105980B4 (en) * 2013-05-02 2016-03-17 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Part transfer system using existing part features and methods of using the part transfer system
FR3059582A1 (en) * 2016-12-02 2018-06-08 Peugeot Citroen Automobiles Sa DEVICE FOR GRIPPING OBJECTS WITH ROTARY FEEDING ELEMENTS
JP2019181649A (en) * 2018-04-17 2019-10-24 トヨタ自動車株式会社 Conveyance method
JP7077742B2 (en) 2018-04-17 2022-05-31 トヨタ自動車株式会社 Transport method
JP7354373B1 (en) 2022-07-15 2023-10-02 株式会社牧野フライス製作所 Robots and robot systems

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