JP3784698B2 - Side panel take-out method and take-out device - Google Patents

Description

[0001]
[Field of the Invention]
The present invention relates to a method and an apparatus for taking out side panels of a vehicle body that are stacked in a predetermined mounting position one by one in an automobile assembly line.
[0002]
[Prior art]
In an automobile assembly line, as a device for taking out a plurality of stacked side panels of a vehicle body one by one and placing them on a predetermined position of the line, for example, in Japanese Patent Publication No. 7-16839, a plurality of sheets are stacked by a hanger. There is disclosed a workpiece take-out device that includes an aligning means for aligning the outer periphery of a suspended work (side panel) and a cutting-out means for cutting out overlapping works one by one. Japanese Laid-Open Patent Publication No. 2000-343340 discloses a workpiece supply apparatus provided with a cutting unit that aligns a plurality of stacked workpieces and cuts the workpieces one by one in that state. Since these devices all align a plurality of stacked workpieces and cut out the workpieces one by one in that state, the workpieces can be reliably taken out one by one.
[0003]
However, in these apparatuses, since the work must be aligned, the structure of the apparatus becomes complicated. Further, if the type of work (vehicle type) is changed, the apparatus must be changed in accordance with the change.
[0004]
In recent years, the form of production has shifted from mass production of the same vehicle type to production of many types of vehicle types, and thus an apparatus that can easily cope with a change in vehicle type has been desired.
[0005]
[Problems to be solved by the invention]
An object of the present invention is to improve a method and an apparatus for taking out a side panel of a car body of an automobile, and more specifically, to provide a method and an apparatus for taking out a side panel that can easily cope with a change of a vehicle type. To do.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, a method for taking out side panels according to the present invention is a method for taking out a plurality of side panels of a vehicle body that are stacked in a predetermined placement position one by one by suction means, A posture detecting step for detecting the posture of the side panel from at least three measurement points on the surface of the side panel; and detecting the straight portion of the side sill portion and the straight portion of the front pillar lower portion of the side panel to detect the side panel. A position detection step for detecting the position of the side panel, and the suction means is moved to a predetermined holding position in accordance with the posture and position of the side panel detected by the posture detection step and the position detection step. A suction holding process for sucking and holding the side panels, and a cutting process for cutting out the side panels sucked and held by the suction means one by one from the mounting position; Characterized by comprising.
[0007]
According to the side panel take-out method of the present invention, the position and posture of the side panel are detected by the position detection step and the posture detection step, and the suction means is moved to the posture and position of the side panel by the suction holding step. The side panels are sucked and held by the suction means, and the side panels are cut out one by one from the mounting position by the cutting step. As described above, according to the take-out method of the present invention, the suction means is moved according to the posture and position of the side panel to be sucked and held, so that it is not necessary to position the side panel at a predetermined position in advance.
[0008]
For this reason, even in an assembly line of an automobile that handles various types of vehicles, the suction means is moved according to the difference in the types of vehicles, so that it is not necessary to change the equipment according to the outer shape of the side panel as in the prior art. Note that either the posture detection step or the position detection step may be performed first.
[0009]
On the other hand, the side panels are provided with irregularities that match the shape of the vehicle body. Therefore, when a plurality of sheets are conveyed in a superimposed manner, the side panels bite each other. For this reason, when taking out by the take-out device, other side panels that bite the side panel held by the device are also taken out, making it difficult to take out one by one.
[0010]
Therefore, the side panel take-out method of the present invention is a method of cutting out the side panels one by one with the front pillar lower portion being suspended by a hanger, and the cutting step includes the step of removing the front pillar lower of the side panel. A rear release step of tilting the rear side of the side panel forward with the side as a fulcrum to release the biting between the side panels on the rear side, and tilting the side sill side forward with the roof side of the side panel as a fulcrum A side sill releasing step for releasing the biting between the side panels on the side sill side, and a roof releasing step for tilting the roof side forward with the side sill side of the side panel as a fulcrum to release the biting between the side panels on the roof side And among the pulling-out processes for pulling out the side panel horizontally and forward, the rear releasing process, the side Le releasing step, and carrying out the drawer step after one or more steps of the roof releasing step.
[0011]
When the front pillar lower portion of the side panel is suspended by a hanger, the rear side is a free end. In the rear releasing step, the rear side that is the free end is tilted forward with the front pillar lower side as a fulcrum to remove the lower bite between the side panels. At this time, the front pillar lower portion may be a fulcrum, and the position above the front pillar lower portion may be a fulcrum. Further, in the side sill releasing step, the side sill side is tilted to remove the biting of the side sill portion, and in the roof releasing step, the roof side is tilted to remove the biting of the roof portion.
[0012]
Thus, in the rear release step, the side sill release step or the roof release step, the biting of each part is released. However, depending on the shape of the side panel, the side panel is a single step among these steps. There is also a thing that the bite between panels is canceled. Therefore, among these steps, one or a plurality of steps are performed to release the biting between the side panels. Moreover, even if it is a case where the biting of side panels is cancelled | released by these processes, when the unevenness | corrugation provided in the side panel is large, it will be in the state which side panels still overlap in the uneven | corrugated part. Therefore, the side panel is pulled out horizontally and forward by the drawing step, and the overlapping of the side panels is released. Thus, the side panels can be reliably cut out one by one by releasing the biting and overlapping of the side panels in the cutting step.
[0013]
In the present invention, it is preferable that the cutting step first performs the rear releasing step, then performs the side sill releasing step and the roof releasing step, and then performs the drawing step. Thus, by performing all the releasing steps, the biting between the side panels can be reliably released, and the side panels can be easily pulled forward in the drawing step. In the cutting step, either the side sill releasing step or the roof releasing step may be performed first.
[0014]
The side panel take-out device of the present invention is a take-out device that takes out one side panel of a vehicle body, which is stacked one by one with the front side facing upward and the front pillar lower portion is suspended by a hanger, and has the following configuration It has.
[0015]
First, a first holding part extending in the width direction on the front side of the side panel, and the first holding part on the rear side of the side panel And flat A second holding portion that extends in a row, and a connecting member that connects one end portion in the longitudinal direction of the first holding portion and the other end portion in the longitudinal direction of the second holding portion.
[0016]
The first holding part detects a straight part of the side sill part of the side panel, a front sensor that detects a straight part of the front pillar lower part of the side panel, and detects a posture of the side panel. A first attitude sensor and a first adsorption means for adsorbing and holding the side panel are provided, and the second holding unit is a second attitude sensor for detecting the attitude of the side panel, and a first adsorbing and holding the side panel. 2 suction means are provided, and the first posture sensor and the second posture sensor detect the posture of the side panel by at least three measurement points in total.
[0017]
Also, Each said The connecting member in a state where the calculating means for calculating the posture and position of the side panel based on the signal from the sensor, and the first holding part and the second holding part are connected. Heavy Posture control means for moving the connecting member with a center position as a fulcrum.
[0018]
In the side panel take-out device according to the present invention, the posture control means moves the connecting member in accordance with the posture and position of the side panel calculated by the calculation means, and the first holding portion and the second holding portion. The first pillar means for sucking and holding the front pillar lower part and the second suction means for sucking and holding the rear side of the side panel and moving the connecting member. To remove the side panel from the hanger. As described above, since the connecting member is moved by the posture control means, the side panel is sucked and held and removed from the hanger, it is not necessary to align the position and posture of the side panel in advance. Accordingly, since the side panels can be taken out one by one while being suspended by the hanger, facilities and the like having the position and posture of the side panels are not required.
[0019]
The first holding part and the second holding part are connected to each other at different ends in the longitudinal direction by the connecting member. Therefore, the center of gravity of the side panel in the width direction of the member obtained by combining the first and second holding portions and the connecting member is substantially the center of the connecting member. The posture control means moves the connecting member with the substantially center of gravity of the connecting member as a fulcrum in a state where the first holding part and the second holding part are connected. The moment generated in the posture control means can be reduced, and the posture of the connecting member can be controlled with a small force.
[0020]
Further, in the side panel take-out device according to the present invention, the side panel suspended by the hanger is brought into contact with the side panel on the rearmost surface at at least two positions, and deterring means for suppressing the shaking of the side panel is provided. It is preferable to provide.
[0021]
In the side panel take-out device of the present invention, the side panel on the rearmost surface of the side panel that is stacked by the restraining means is restrained at at least two positions, so that the side panel is restrained from shaking by the hanger and the restraining means. Is done. Thereby, since the side panel does not move even when the side panel is sucked and held by the first and second suction means, the side panel can be reliably sucked and held.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Next, an example of an embodiment of a method and an apparatus for taking out a side panel according to the present invention will be described with reference to FIGS. FIG. 1 is an explanatory view showing a relationship between a take-out device, a hanger, and a side panel showing an example of the embodiment of the present invention, FIG. 2 is an explanatory view showing the take-out device of this embodiment in the left side view of FIG. FIG. 4 is an explanatory view showing the take-out device of the present embodiment in a plan view of FIG. 1, FIG. 4 is a view taken along the arrow A in FIG. 1 in a state where the first vacuum pad is in contact with the side panel, and FIG. FIG. 6 is a block diagram showing the electrical configuration of the take-out device of this embodiment, and FIG. 7 is a diagram showing a process for detecting the posture and position of the side panel. FIGS. 8A and 8B are explanatory views showing a process of taking out the side panels one by one from a plurality of stacked ones.
[0023]
The side panel take-out device 1 of the present embodiment supplies the side panel 2 to the assembly line of the automobile body. As shown in FIG. 1, as shown in FIG. 2 is a device that removes the sheet 2 one by one, and includes a robot arm 4, a hand jig 5 attached to the tip of the robot arm 4, and a backup device 6 that suppresses shaking of the side panel 2 on the rear surface.
[0024]
The movement of the robot arm 4 is controlled by a controller 21 described later. As shown in FIG. 2, the hand jig 5 includes a first holding part 7 disposed in the vicinity of the front pillar lower part 2 f of the suspended side panel 2 and extending in the lateral direction. A second holding portion 8 disposed near the rear side and extending in parallel with the first holding portion 7, and a connecting member 9 that connects the first holding portion 7 and the second holding portion 8 are provided. .
[0025]
In FIG. 2, the connecting member 9 connects the left end portion of the first holding portion 7 and the right end portion of the second holding portion 8 in an oblique direction. The connecting member 9 is connected to the distal end portion of the robot arm 4 at a substantially center of gravity in a state where the first holding portion 7 and the second holding portion 8 are connected.
[0026]
As shown in FIGS. 2 and 4, the first holding unit 7 includes a side sill sensor 10 that detects a straight portion of the side sill portion 2s of the side panel 2, and a front sensor 11 that detects a straight portion of the front pillar lower portion 2f. The first posture sensor 12 for detecting the posture in the plane portion of the front pillar lower portion 2f and the first vacuum pad 13 as the first suction means for sucking and holding the side panel 2 are provided. Further, two first posture sensors 12 are provided in the longitudinal direction of the first holding unit 7. The first vacuum pad 13 has two portions for adsorbing the front pillar lower portion 2 f in the longitudinal direction of the first holding portion 7, and for adsorbing the side sill portion 2 s at the connecting portion between the connecting members 9. There is one thing, and a total of three places. When the first vacuum pad 13 is operated to hold the side panel 2 by suction, the first holding portion 7 is moved to the right in FIG. 3 and 4 indicates the side when the posture of the side panel 2 cannot be detected by the first posture sensor 12 and the second posture sensor 15 described later due to a large inclination of the side panel 2 or the like. This is a pusher for pushing the panel 2 and adjusting its posture.
[0027]
As shown in FIGS. 2 and 5, the second holding portion 8 has a posture in a rear sensor 14 that detects an end portion of the rear wheel house 2 w of the side panel 2 and a planar portion of the side panel 2 above the rear wheel house 2 w. A second attitude sensor 15 to detect and a second vacuum pad 16 as second suction means for sucking and holding the side panel 2 are provided. Two second vacuum pads 16 are provided in the longitudinal direction of the second holding portion 8. When the second vacuum pad 16 is operated to hold the side panel 2 by suction, the robot arm 4 moves the second holding portion 8 to the right in FIG. In addition, the code | symbol S in FIG. 5 is the fall prevention member which approachs the rear wheel house 2w in that case.
[0028]
In the present embodiment, the side sill sensor 10, the front sensor, the first attitude sensor 12, and the second attitude sensor 15 all use distance setting type photoelectric switches. This distance setting type photoelectric switch detects a distance from an inspection object when the inspection object approaches within a predetermined detection range. The first vacuum pad 13 and the second vacuum pad 16 are pads made of flexible synthetic resin and formed in a bellows shape as shown in FIGS. Then, suction and release are controlled by a controller 21 described later.
[0029]
As shown in FIG. 1, the backup device 6 is disposed in front of and in front of the robot arm 4 and the hand jig 5, and is the rear side of the side panel 2 suspended from the hanger 3. By suppressing the shaking of the panel 2, the shaking of the entire side panel 2 suspended on the hanger 3 is suppressed. As shown in FIG. 3, the backup device 6 includes a restraining member 17 that contacts the back surface of the side panel 2, slide means 18 that moves the restraining member 17 back and forth (left and right in FIGS. 1 and 3), An angle adjusting means 19 for adjusting an angle at which the restraining member 17 contacts the side panel 2 and a side sill guide 20 for positioning the side panel 2 in the width direction from the side sill portion 2s side are provided.
[0030]
Next, the electrical configuration of the take-out device 1 of this embodiment will be described with reference to FIG. In the present embodiment, the side sill sensor 10, the front sensor 11, the first attitude sensor 12, the rear sensor 14, and the second attitude sensor 15 are electrically connected to the controller 21. The controller 21 is formed by an electronic device such as a computer and a memory, and includes a calculation unit 22 that calculates a signal from each sensor and converts it into data, and an attitude control unit 23 that drives the robot arm 4.
[0031]
Next, a method for taking out the side panel 2 from the hanger 3 by the take-out device 1 of the present embodiment will be described. In the present embodiment, the side panel 2 is taken out from the hanger 3 by the posture detection process, the position detection process, the suction holding process, and the cutting process.
[0032]
First, the side panel 2 is conveyed from a supply line for parts not shown to a predetermined take-out position in a state where it is suspended by the hanger 3. Specifically, as shown in FIG. 1, the front pillar lower portion 2 f is suspended by two arms 3 a and 3 b of the hanger 3, and a plurality of pieces are stacked. Here, since the left side of the side panel 2 is heavy in FIG. 2, the rear side tends to turn leftward. For this reason, the weight of the side panel 2 concentrates on the arm 3b of the hanger 3. This makes it easier for the side panel 2 to swing around the vertical line V passing through the arm 3b. Further, since the rear side of the side panel 2 is a free end, it is easy to swing around the front pillar lower portion 2f as a fulcrum.
[0033]
As shown in FIG. 3, the backup device 6 brings the restraining member 17 into contact with the side panel 2 on the rearmost surface among a plurality of layers stacked by the slide means 18. At this time, the angle adjusting means 19 adjusts the angle of the suppression member 17 in advance according to the vehicle type. The restraining member 17 is in contact with the vicinity of the side sill portion 2s on the rear side of the side panel 2 and the vicinity of the roof 2r across the vertical line V. As a result, it is possible to suppress the swing of the side panel 2 with the vertical line V as the rotation axis and the swing on the rear side with the front pillar lower portion 2f as a fulcrum. On the other hand, the side sill guide 20 contacts the side sill portion 2s of the side panel 2 by moving from the upper side to the lower side in FIG. Accordingly, the side sill portions 2s of the plurality of side panels 2 are aligned by the side sill guides 20, respectively.
[0034]
Next, in the posture detection step, the posture control means 23 brings the hand jig 5 close to the side panel 2 suspended from the hanger 3 by the robot arm 4 from a predetermined measurement start position. Since the first attitude sensor 12 and the second attitude sensor 15 use distance setting type photoelectric switches, each sensor is set when the distance from the side panel 2 reaches a preset distance in each sensor. Is turned on. Since the coordinates of each sensor when the hand jig 5 is at the measurement start position are stored in advance in the calculation means 22, the side panel is determined according to the coordinates of each sensor and the position where each sensor is turned on. The coordinates of each measurement point in 2 are calculated. Thereby, it is possible to detect how the posture of the side panel 2 is.
[0035]
Next, the position of the side panel 2 is detected in the position detection step. Since the side panel 2 has straight portions in the front pillar lower portion 2f and the side sill portion 2s, the position of the side panel 2 is specified using these two straight portions. Specifically, first, the hand jig 5 is moved rightward in FIG. 7B by the robot arm 4, and the position of the straight portion of the side sill portion 2 s is detected by the side sill sensor 10. At this time, the rear sensor 14 detects the end of the rear wheel house 2w. Next, the hand jig 5 is moved upward in FIG. 7C by the robot arm 4, and the position of the straight portion of the front pillar lower portion 2 f is detected by the front sensor 11.
[0036]
As described above, when the side sill sensor 10, the rear sensor 14, and the front sensor 11 detect the positions of the straight portions of the side sill portion 2s, the rear wheel house 2w, and the front pillar lower portion 2f, the controller 21 uses the calculation means 22 to measure each measurement point. Calculate the coordinates of. Since the side sill portion 2s and the front pillar lower portion 2f are orthogonal to the front side and the side sill side of the side panel 2 (the upper left corner of the side panel 2 in FIG. 7), the position of the entire side panel 2 is detected. Can do. Furthermore, in the present embodiment, the end of the rear wheel house 2w is also detected, and the position of the side panel 2 is detected at a total of three points, so that the position of the side panel 2 can be detected more accurately. .
[0037]
In the present embodiment, the measurement start position of the hand jig 5 is set to the left side and the lower side of the side panel 2 in advance in FIG. When the side sill sensor 10 detects the straight portion of the side sill portion 2s, the hand jig 5 is moved to the right as shown in FIG. 7B, and the front sensor 11 detects the straight portion of the front pillar lower portion 2f. In some cases, the hand jig 5 is moved upward as shown in FIG. In this way, by shifting the measurement start position in a predetermined direction in detecting the position of the side panel 2 in advance, the hand jig 5 can be moved in one direction for detecting each measurement point. Each measurement point can be detected.
[0038]
Next, the side panel 2 is sucked and held by the hand jig 5 in the sucking and holding step. First, the controller 21 moves the robot arm 4 by the posture control means 23 and moves the hand jig 5 according to the posture and position of the side panel 2 calculated by the calculation means 22. Thereby, as shown in FIG.4 and FIG.5, the 1st vacuum pad 13 and the 2nd vacuum pad 16 are arrange | positioned in a predetermined | prescribed suction holding position. In this state, the controller 21 starts sucking the first vacuum pad 13 and the second vacuum pad 16, and sucks and holds the side panel 2 with these vacuum pads 13 and 16.
[0039]
At this time, since the back surface of the rearmost side panel 2 is suppressed by the backup device 6, even if the frontmost side panel 2 is sucked and held by the hand jig 5, shaking of the other side panels 2 is suppressed. Yes.
[0040]
Next, the side panels 2 suspended by the hangers 3 in the cutting process are taken out one by one. This cutting process includes a rear releasing process, a side sill releasing process, a roof releasing process, and a drawing process. Here, in the state where the side panel 2 is suspended by the hanger 3, it is easy for the rear side, which is a free end, to release the uneven biting between the side panels 2, but the front pillar lower portion 2f is a hanger. Since it is in contact with the three arm portions 3a, it is difficult to release the uneven biting. Therefore, with reference to FIGS. 8A to 8D, the description will be given of the release of the unevenness in the front pillar lower portion 2f suspended from the hanger 3. FIG.
[0041]
First, prior to the rear releasing step, the side panel 2 is moved to the right in FIG. 8A by the robot arm 4 to secure a space for pulling out the side panel 2 in a drawing step described later. This operation is performed only before the step of first taking out the side panel 2 when the side panel 2 is conveyed by the hanger 3.
[0042]
Next, in the rear releasing step, as shown in FIG. 8 (a), the rear side of the side panel 2 is forward (see FIG. 8) with the upper portion of the front pillar lower portion 2f suspended by the hanger 3 as a fulcrum F. Tilt to the left side of 8 (a). At this time, the side panel 2 positioned behind the foreground side panel 2 has an upper portion of the front pillar lower portion 2f restrained by the foremost side panel 2 and a lower portion of the front pillar lower portion 2f (FIG. 8). Since (*) in (a) is in contact with the arm portion 3a of the hanger 3, it does not follow the movement of the front side panel 2. Thereby, the lower biting of the front pillar lower portion 2f is released. Moreover, since the rear side of the side panel 2 is a free end, the uneven biting is released by this rear releasing step. At this time, the fulcrum F may be positioned above the front pillar lower portion 2f in FIG.
[0043]
Next, in the side sill releasing step, as shown in FIG. 8B, the side sill 2s side is tilted forward (left side in FIG. 8B) with the roof 2r side of the side panel 2 as a fulcrum F. Thereby, the biting on the side sill side of the front pillar lower portion 2f is released. Next, in the roof releasing step, as shown in FIG. 8 (c), the roof 2r side is tilted forward (left side in FIG. 8 (c)) with the side sill 2s side of the side panel 2 as a fulcrum F. Thereby, the biting on the roof side of the front pillar lower portion 2f is released. Next, in the drawing process, the entire side panel 2 is translated forward as shown in FIG. Thereby, the overlap in the uneven portion of the front pillar lower portion 2f is released.
[0044]
Then, after the overlapping of the side panels 2 is released by the drawing process, the side panels 2 sucked and held by the hand jig 5 by the robot arm 4 are taken out one by one from the hanger 3 and conveyed to an assembly line (not shown). The At this time, since the side sill releasing step and the roof releasing step are to release the biting of the side panel 2 in the width direction, either one may be performed first. Further, before the drawing process, the robot panel 4 may push back the side panel 2 backward (right side in FIG. 8A) to prevent the second and subsequent side panels 2 from following. This is because once the biting between the side panels 2 is released, no biting occurs on the second side panel 2 even if the side panel 2 is pushed back somewhat.
[0045]
In the present embodiment, as described above, the robot arm 4 moves the hand jig 5 according to the posture and position of the side panel 2, sucks and holds the hand jig 5 in this state, and removes it from the hanger 3. Here, the shape of the front pillar lower portion 2f and the side sill portion 2s does not change greatly even if the vehicle type is different, and the shape near the rear wheel house does not change significantly. Therefore, by detecting the posture and position of the side panel 2 at a location where the change in shape is small depending on the vehicle type, and holding it by the first vacuum pad and the second vacuum pad, the side panel 2 of a different vehicle type can be obtained. Can also be taken out of the hanger 3 in accordance with its posture and shape.
[0046]
Further, since the backup device 6 can easily change the angle of the restraining member 17 in accordance with each vehicle type by the angle adjusting means 19, even if the side panel 2 is of a different vehicle type, the back-up device 6 can easily suppress shaking. Can do. Further, since the side sill guide 20 also has the side sill guide 20 abutted only in one direction by aligning the side sill guide 20 from a single direction, the side sill guide 20 corresponds to many types of vehicles without changing the side sill guide 20. be able to.
[0047]
In the above embodiment, the state in which the side panel 2 is suspended by the hanger 3 has been described as an example. However, the present invention is not limited to this, and a plurality of side panels 2 are stacked and placed on a cart (not shown). Can be taken out one by one by the take-out device 1.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a relationship between a take-out device, a hanger, and a side panel according to an example of an embodiment of the present invention.
FIG. 2 is an explanatory view showing the take-out device of the present embodiment in the left side view of FIG.
3 is an explanatory view showing the take-out device of the present embodiment in a plan view of FIG. 1. FIG.
4 is a view taken in the direction of arrow A in FIG. 1 in a state in which the first vacuum pad is in contact with the side panel.
FIG. 5 is a view taken in the direction of arrow B in FIG. 1 in a state in which the second vacuum pad is in contact with the side panel.
FIG. 6 is a block diagram showing an electrical configuration of the take-out device of the present embodiment.
FIG. 7 is an explanatory diagram showing a process of detecting the posture and position of the side panel.
FIG. 8 is an explanatory view showing a step of taking out the side panels one by one from a plurality of stacked ones.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Extraction device, 2 ... Side panel, 3 ... Hanger, 7 ... 1st holding part, 8 ... 2nd holding part, 9 ... Connecting member, 10 ... Side sill sensor, 11 ... Front sensor, 12 ... 1st attitude | position sensor, DESCRIPTION OF SYMBOLS 13 ... 1st vacuum pad (1st adsorption | suction means), 15 ... 2nd attitude | position sensor, 16 ... 2nd vacuum pad (2nd adsorption | suction means), 22 ... Calculation means, 23 ... Attitude control means.

Claims (5)

A method of taking out a side panel of a vehicle body that has been placed in a predetermined placement position in a stacked manner by a plurality of sheets by suction means,
A posture detection step of detecting the posture of the side panel from at least three measurement points on the surface of the side panel;
A position detection step of detecting the straight portion of the side sill portion of the side panel and the straight portion of the front pillar lower portion to detect the position of the side panel;
A suction holding step of moving the suction means to a predetermined holding position according to the posture and position of the side panel detected by the posture detection step and the position detection step, and sucking and holding the side panel by the suction means; ,
A side panel taking-out method comprising: a step of cutting out the side panels sucked and held by the sucking means one by one from the mounting position. The side panel has the front pillar lower portion suspended by a hanger,
The cutting step includes a rear releasing step in which the rear side of the side panel is tilted forward with the front pillar lower side of the side panel as a fulcrum to release the biting between the side panels on the rear side, and the side panel A side sill releasing step of tilting the side sill side forward with the roof side of the side sill to release the biting between the side panels of the side sill side, and tilting the roof side forward with the side sill side of the side panel as a fulcrum Of the roof releasing step of releasing the biting between the side panels of the side, and the drawing step of pulling out the side panel horizontally and forward,
The method for removing a side panel according to claim 1, wherein the pulling-out step is performed after one or more of the rear releasing step, the side sill releasing step, and the roof releasing step. 3. The method for removing a side panel according to claim 2, wherein, in the cutting out step, the rear releasing step is first performed, the side sill releasing step and the roof releasing step are subsequently performed, and then the drawing step is performed. . A take-out device that takes out a side panel of a vehicle body, one by one, stacked with a plurality of front sides facing upward, and a front pillar lower portion suspended by a hanger,
A second holding portion which is a first holding portion, in line planar with said first holding portion in the rear side of the side panels extend that extends in the width direction on the front side of said side panels, said first A connecting member that connects one end portion in the longitudinal direction of the holding portion and the other end portion in the longitudinal direction of the second holding portion;
The first holding unit detects a straight part of the side sill part of the side panel, a front sensor that detects a straight part of the front pillar lower part of the side panel, and a first sensor that detects the attitude of the side panel. An attitude sensor and a first adsorption means for adsorbing and holding the side panel are provided, and the second holding unit detects a attitude of the side panel, and a second adsorption for adsorbing and holding the side panel. Means, and the first posture sensor and the second posture sensor detect the posture of the side panel by a total of three measurement points,
Calculating means for calculating the orientation and position of the side panel by a signal from each of said sensors, said connecting centroid position of the coupling member as a fulcrum while connecting the second holding portion and the first holding portion An apparatus for taking out a side panel, comprising: a posture control means for moving a member. The said side panel is contact | abutted at the position of the last side among the side panels suspended by the said hanger at the position of at least 2 points | pieces, The suppression means which suppresses the shaking of the said side panel is provided. Side panel take-out device.

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