Abstract: Automotive body shop is being with low automation rate in parts loading. Some parts with special rack in which parts are well separated and fixed and the parts are stacked in order are realized automatic loading. But the most of remained are disorderly stacked parts in metal bin. It is urgent to develop the standard engineering solution to implement automatic loading for the parts disorderly stacked in the bin. The study object is one typical sheet metal part. It is disorderly stacked in the standard metal bin with concave and convex surfaces. One standard solution is provided for this object by the combination of part gripper, stand for part posture adjustment and process gripper. At mean time, studies the payback period of investment between manual picking and automatic picking through one real example. For the automatic picking of disorderly stacked parts in the Body Shop, the key point is to separate the parts picking gripper from process gripper to simplify the automatic picking system of disorderly stacked parts. The payback period study also shows the standard solution for the disorderly stacked parts is lean and implementable.

Key words: Disordered parts; Representative features; Vision guiding; Automatic picking; Gripper; Tolerance

摘要： 汽车制造工厂车身车间的上料自动化率处于一个比较低的水平，一些特殊分隔包装的 零件以及有序堆叠的零件实现了自动化，但更多的是无序堆叠零件，急需研发无序堆叠零件 自动抓料的标准工程解决方案。研究对象为一种典型的金属薄板零件（在标准金属箱内无规 则堆叠放置、正反面凹凸特征不同）。针对此研究对象，提供了一种由抓料抓手、零件姿态调 整装置、工艺抓手组成的标准解决方案，实现无序堆叠钣金零件自动抓取。同时通过一个实 例，进行了人工上料方案替换为自动上料方案的投资回收期研究。车身车间的无序堆叠零件 自动抓料的标准解决方案，关键点是抓料抓手与工艺抓手的功能分离，简化了无序零件自动 抓料系统的复杂程度；同时投资回收期研究表明，无序堆叠零件自动抓取的标准解决方案是 精益的，可实施的。

关键词: 无序零件；代表性特征；视觉引导；自动抓料；抓手；容差