DE102017003395A1 - Method for producing a body shell - Google Patents

Abstract

An embodiment of the invention is a method of manufacturing a body shell comprising the steps of: providing parts (3, 14, 28, 31) of the body shell, connecting the body parts (3, 14, 28, 31) - Roof construction with at least one joining method to the body shell, so that between the parts (3, 14, 28, 31) at least one seam to be sealed (25) is formed, applying a sealant (27) on at least one seam to be sealed (25) in that an application device (4) is moved by a robot along a movement line in space as a function of movement data, so that at least one seal coating (26) is formed by the sealant (27), wherein during movement of the application device (4) with at least one optical sensor (9) each one to be sealed with the sealant seam (25) is optically detected, so that optical data from each a seam (25) are determined and depending on n the optical data, the application device (4) is moved along the line of motion in space.

Description

The present invention relates to a method for producing a body shell and a device for applying a sealant to at least one seam to be sealed as at least one seal coating on a body shell.

Motor vehicles as passenger cars have a body as a body shell and numerous other components, such as a drive motor, on. The body as a structural component requires a high rigidity and is formed by a body shell. At the bodywork shell, the other components, such as drive motor, wheels, drive shafts, gearbox, seats or interior trim, indirectly or directly attached.

For the production of body shell construction, a steel sheet is unrolled from a steel roll. In order to prevent corrosion on the steel sheet before processing into the body shell, the steel sheet rolled up on the steel roll is often provided on the surface with an anti-corrosion coating, in particular oil coating. The unrolled steel sheet is cut off and then converted into parts of the bodyshell. Subsequently, the parts of the body shell with different joining methods, such as welding, riveting, gluing or clinching, are connected to the body shell. Between the parts seams form after joining. Subsequently, the components of the motor vehicle are indirectly or directly attached to the body shell as the body of the motor vehicle. The components are, for example, a drive motor, a transmission, seats or an interior trim.

The joining methods, such as spot welding, have the property that the seams between the joined parts are not tight. For this reason, it is necessary to apply a seal coating on the seams. In this case, an application device with an application nozzle is moved along a movement line by a robot, and at the same time a sealant is applied from the application nozzle to the region at the seam, thereby sealing the seam. The movement line depends on movement data. The movement data are calculated from the known geometry of the body shell and the geometry of the seams on the body shell. For capturing the exact orientation of the robot relative to the fixed body shell several images of temporarily fixed body shell are made by cameras at different positions and then edited with an image processing software, so that from these pictures the exact location of the body shell can be calculated relative to the robot. This exact position of the body shell relative to the robot is included in the calculation of the motion data, ie, in an actual xyz displacement of the body shell to a fictitious position of the body shell, the motion data corresponding to the difference between the fictitious and actual position of the body shell adapted. However, tolerances occur in the manufacture of the bodyshell so that the geometrical data of the seams do not correspond exactly to the actual geometrical positions of the seams due to given construction documents. In addition, with the photos taken of the body shell, the position of the body shell can not be fully accurately recorded. For this reason, it is necessary to apply a strip-shaped sealing coating with a width of approximately 20 mm with the application device, although a width of approximately 5 mm would suffice for the sealing of the seams. This substantially greater width of the strip-shaped sealing coating is necessary in order to compensate for manufacturing inaccuracies or errors in detecting the position of the body shell accordingly to ensure that the seam is sealed. In a disadvantageous way, substantially more sealing material is applied for sealing the seams than is actually necessary, because the exact actual position of the seams in the space is not known or has not been detected.

The DE 10 2008 010 965 B4 shows a method for three-dimensional path guidance of a robot head with an attached thereto in a defined relative position optical test head on an object along a target path in a defined working position on a visually distinctive path with the following steps: optical scanning of the prominent path on the object by the probe by means of Triangulation-Lichtschnittverfahrens, evaluation of the detected at the actual position signals in real time, constant readjustment of the actual path of the robot head in the direction of target path to the probe both parallel to the longitudinal direction and parallel to the transverse direction of the target path and thus the striking Keep track, keep the nominal distance between the distinctive path and the actual path, and in a target corridor to keep the predetermined target path, wherein reflected from the distinctive path, linear images of two different optical sensors with the same direction of illumination as the direction of illumination be taken and not sufficiently equal received light quantity of the two sensors with the same angle of view on a not vertical irradiation direction is closed and this deviation of the irradiation direction from the perpendicular to the longitudinal direction of the distinctive path is automatically corrected.

The object of the present invention is therefore to provide a method for producing a body shell and a device for applying a sealant to at least one seam to be sealed as at least one seal coating available in which the seal coating with high accuracy to the position of the sealed Seam can be applied to the seam to be sealed.

This object is achieved with a method for producing a body shell with the steps: provide parts of the body shell, connecting the parts of the body shell with at least one joining method to the body shell, so that between the parts at least a seam to be sealed is formed, applying a sealant to at least one seam to be sealed by an application device is moved by a robot along a line of movement in space in response to movement data, so that at least one seal coating is formed by the sealant, wherein during the movement of the application device with at least one optical sensor per a sealed with the sealant seam is optically detected, so that optical data are determined by the one seam and depending on the optical data, the application device is moved along the line of motion in space. During the movement of the application device, the seam to be sealed is optically detected by the at least one optical sensor so that the geometric position or position of the seam to be sealed is determined from the optical data and the known position or position in the space of the at least one optical sensor is calculated in space and thus in dependence on the optical data, the application device is moved in space, d. h., That the line of movement of the application device is calculated in dependence on the optical data. As a result, the geometric position of the sealed seam in the space or relative to the robot can be detected very accurately, so that it is sufficient to apply the seal coating with a width of approximately 4 mm for a secure sealing of the seam to be sealed. As a result, the sealant can be optimized in an advantageous manner and selectively applied only to those areas where it is necessary for the actual sealing of the seam.

In particular, the optical data are evaluated with a control unit and depending on the optical data, the position of each seam to be sealed in space is determined and depending on certain position of the seal a seam in space, the movement data are calculated. In particular, the position of each seam to be sealed in the space relative to the robot is determined or calculated.

In a further embodiment, depending on the optical data, the application device is moved at a predetermined distance from the seam to be sealed. A predetermined distance is necessary to allow optimal application of the sealant to the seam to be sealed.

In a supplementary embodiment, depending on the optical data, the application device is moved in a predetermined spatial orientation relative to the seam to be sealed. An optimal alignment of the application device to the seam to be sealed is necessary to allow an optimal application of the sealant to the seam.

Preferably, the application device and the at least one optical sensor are moved simultaneously along the line of movement. The application device and the at least one optical sensor are thus combined to form a common working member and are moved together by the robot simultaneously along the line of movement.

In one variant, the application device and the at least one optical sensor are moved together by the robot, in particular only one robot, along the line of movement.

Appropriately, the motion data before the optical detection of at least one seam to be sealed with the at least one optical sensor depending on the geometry of the body shell, in particular the geometry of the at least one sealed seam, and / or in dependence on the position of the body shell calculated relative to the robot and after the optical detection of the at least one seam to be sealed, the movement data are specified in dependence on the optical data detected by the at least one optical sensor. For the movement data, preferably no photos of the entire body shell with a camera are detected for a determination of the position of the entire body shell to the robot, so that this effort is saved. The body shell is temporarily stopped only during movement at a predetermined position on a processing station and this known predetermined coarse position of the body shell and the data for the geometry of the seams and the Bodywork shell serve for a determination of the movement data as a rough determination of the movement data for a first coarse positioning of the working organ before the application of the sealant. The optically recorded optical data for the seam is then followed by a fine positioning of the working member to the seam to be sealed during movement of the working member and during the application of the sealant, ie that in the fine positioning the working member is aligned exactly with respect to the seam to be sealed.

In a further embodiment, the seam to be sealed is detected with the at least one optical sensor at a distance of less than 50 cm, 30 cm, 20 cm, 10 cm or 5 cm from the at least one optical sensor.

In particular, the distance during the execution of the method is kept substantially constant.

In a further refinement, after the application of the at least one seal coating with the at least one optical sensor, the already applied at least one seal coating is optically detected, so that optical data of the seal coating are determined. Thus, not only the position of the seam to be sealed but also the properties and the geometry of the applied at least one seal coating can be optically detected with the at least one optical sensor.

In a supplementary variant, the method is controlled and / or regulated as a function of the optical data of the at least one seal coating

In a further variant, in the case of optically detected defects of the at least one sealing coating, an error message is output and / or the method is interrupted. Due to the optical detection of the applied at least one seal coating thus errors can be detected optically, for example, a too narrow width of the seal coating or a complete omission of the application of the seal coating due to a clogged application nozzle. Thus, errors in the application of the seal coating can already be detected at the station for applying the seal coating on the body shell.

In a further embodiment, the at least one strip-shaped sealing coating with a width of less than 10 mm, 7 mm or 5 mm is applied to the body shell.

Device according to the invention for applying a sealant to at least one seam to be sealed as at least one seal coating on a body shell, comprising a robot for moving an application device, the application device attached to the robot, in particular an application nozzle, a line for supplying a sealant to the application device, a control and / or regulating unit, wherein at least one optical sensor for optically detecting the at least one seam to be sealed is attached to the robot.

In an additional embodiment, a method described in this patent application can be executed with the device.

In an additional embodiment, the sealant is cured with UV light.

In an additional embodiment, after cleaning the body shell in a cleaning system and before heating the body shell in a cathodic furnace, the body shell of an electrochemical dip coating, in particular cathodic electrocoating, and / or phosphating supplied.

Preferably, a strip-shaped sealing coating is applied for each seam.

In a further embodiment, the at least one seal coating with the application device is applied to the bodywork shell after the cathodic kiln, then a base coat is applied, then the body shell is heated in an oven and then a coating, in particular and a topcoat and preferably a clearcoat, applied to the body shell and then the body shell is heated in an oven.

Preferably, after the application of the at least one seal coating and the base coat, the body shell is heated in an oven, so that the at least one seal coat and the base coat is cured.

Preferably, after applying the at least one seal coating, the body shell is heated in an oven, so that the at least one seal coating is cured.

In a further embodiment, the parts of the body shell are provided by metal, in particular steel and / or a light metal, for example aluminum, preferably a metal sheet is rolled with an anti-corrosion coating on the surface of a metal roll, the unrolled metal is cut into parts and the parts are formed. The parts made of metal are thus made available, for example, from steel and / or from light metal, in particular aluminum.

Suitably, the optical sensor is an image sensor.

In an additional embodiment, the optical data is image data.

Preferably, the optical data are evaluated with an image processing program in the control and / or regulating unit.

In a supplementary variant, at first a partial section of the seam to be sealed is optically detected and then the application device is positioned relative to this optically detected section as a function of the optical data of this section and the sealant is applied and subsequently a further section of the seam to be sealed is optically detected and subsequently the application device is positioned as a function of the optical data of this subsection relative to this optically detected subsection and this process is repeated several times. The seam to be sealed has a multiplicity of notional sections, which are detected optically one after the other. The subsections can also be optically recorded in succession as infinitesimal small subsections.

In a further embodiment, the sealant is PVC or an adhesive.

The application device preferably comprises a plurality of application nozzles, for example three flat-jet nozzles.

In an additional embodiment, the sealant is applied simultaneously with a plurality of application nozzles.

A seam is in particular a joint. A gap is in particular a small gap between two parts. The two parts joined together lie on each other, so that forms at the contact point between the two superimposed parts, the joint. The gap can also be microscopic.

In an additional embodiment, the at least one seam to be sealed is optically detected with a plurality of optical sensors.

Preferably, a plurality of optical sensors are attached to the robot.

In a further embodiment, the application device and the at least one optical sensor are attached to a robot arm.

In a supplementary variant, the thickness and / or width of the at least one seal coating is controlled and / or regulated as a function of the optical data of the at least one seal coating. In a deviation of the optically detected actual width to a predetermined desired width of the at least one seal coating, the method is controlled and / or regulated such that the desired width is reached again, for example by the nozzle shape of the application device is changed and / or the Distance of the application device to be sealed in each case a seam is changed.

In an additional variant, the time duration between the optical detection of a subsection of the at least one seam to be sealed with the at least one optical sensor and the application of the sealant to this optically detected subsection of the at least one seam to be sealed is less than 30s, 20s, 10s, 5s, 3s , 2s or 1s.

In a further embodiment, after the application of the sealant as the at least one seal coating, a hardening of the at least one seal coating is carried out, in particular by means of a thermal treatment in an oven.

In an additional embodiment, the seam to be sealed is optically detected only with a part of a plurality of optical sensors and with another part of a plurality of optical sensors, the seam to be sealed is optically not detected. Preferably that part of the optical sensors is selected for the optical detection of the seam to be sealed, which due to the line of movement of the optical sensors relative to the seam to be sealed smaller distances to an optically detected portion of the seam to be sealed than the other optical sensors. Geometric changes of the movement line and / or seam to be sealed cause that part of the optical sensors, which optically detect the seam to be sealed, to be changed. In an example annular arrangement of a plurality of optical sensors only the part of the optical sensors for the optical detection of the seam to be sealed is used, which are arranged in the direction of movement in front of the application device.

In an additional embodiment, the seal coating is optically detected only with a part of a plurality of optical sensors, and with another part of a plurality of optical sensors, the seal coating is not optically detected. Preferably that part of the optical sensors is selected for the optical detection of the seal coating, which due to the line of movement of the optical sensors relative to the seam to be sealed smaller distances to an optically detected portion of the seal coating than the other optical sensors. Geometric changes of the line of motion and / or seal coating cause that part of the optical sensors which optically detect the seal coating to be changed. In an example annular arrangement of a plurality of optical sensors only the part of the optical sensors for the optical detection of the seam to be sealed is used, which are arranged in the direction of movement after the application device. Optionally, optical sensors which are arranged laterally to the application device are used neither for the optical detection of the seam to be sealed nor for the optical detection of the seal coating.

Inventive method for producing a motor vehicle with the steps: producing a body shell, provide a drive motor, in particular an electric motor and / or internal combustion engine, provide wheels and seats, connecting the body shell, the drive motor, the wheels and the seats to the motor vehicle, wherein the body shell is made with a method described in this patent application.

Inventive motor vehicle with a body and a drive motor and strip-shaped sealing coatings on the body for sealing seams, wherein the strip-shaped sealing coatings have a width of less than 10 mm, 7 mm or 5 mm.

In a further embodiment, the painting of the body shell is carried out with a base coat and / or a color finish with a specific color and / or a clearcoat.

Preferably, the parts are assembled by welding, in particular spot welding, and / or gluing and / or riveting to the body shell.

The invention further comprises a computer program with program code means which are stored on a computer-readable data carrier in order to carry out a method described in this patent application when the computer program is executed on a computer or a corresponding computing unit.

The invention also relates to a computer program product with program code means which are stored on a computer-readable data carrier in order to carry out a method described in this patent application when the computer program is executed on a computer or a corresponding computing unit.

In the following, an embodiment of the invention will be described in more detail with reference to the accompanying drawings.

• 1 eine Seitenansicht eines Kraftfahrzeuges,
• 2 eine Seitenansicht einer Stahlrolle und einer Schneid- und Tiefziehanlage,
• 3 eine perspektivische Ansicht einer Applikationseinrichtung und von optischen Sensoren,
• 4 einen Schnitt durch zwei Teile des Karosserie-Rohbaues während des Aufbringens eines Abdichtstoffes mit einem Arbeitsorgan,
• 5 eine Ansicht eines Roboters,
• 6 eine stark vereinfachte Darstellung einer Schweißstation, einer Reinigungsanlage, einer Beschichtungsanlage, einer Elektrotauchlackierungsanlage, eines KTL-Ofens, einer Vorrichtung zum Aufbringen der Dichtungsbeschichtung, einer Lackierungsanlage und eines Ofens und

It shows:

• 1 a side view of a motor vehicle,
• 2 a side view of a steel roll and a cutting and thermoforming system,
• 3 a perspective view of an application device and optical sensors,
• 4 a section through two parts of the body shell during the application of a sealant with a working organ,
• 5 a view of a robot,
• 6 a highly simplified representation of a welding station, a cleaning system, a coating plant, an electrodeposition coating plant, a cathodic furnace, a device for applying the seal coating, a paint shop and a furnace and

6 a flowchart of the method steps.

An in 1 illustrated motor vehicle 1 has wheels 21 and a body 2 as body shell 2 on. Inside one of the body 2 limited engine compartment is as a drive motor 15 an electric motor 16 and / or an internal combustion engine 17 arranged. Inside one of the body 2 limited interior are two front seats 19 as seats 18 and three rear seats 20 as seats 18 arranged. The rear seats 20 are combined to form a bench. The seats 18 serve to accommodate persons.

For the production of body shell 2 be a variety of parts 31 with different joining methods, in particular spot welding, to the body shell 2 connected with each other. At a welding station 36 become the parts 3 . 31 to the body shell 2 by means of Spot welding joined together ( 6 ). The parts 3 . 31 are made of steel. Deviating from this, the parts 3 . 31 However, both steel and plastic and / or as sandwich panels (not shown) may be formed. In the production of body shell 2 becomes a steel sheet 28 from a steel roll 12 ( 2 ) unrolled, that is, it is unrolling 37 of the steel sheet 28 from the steel roll 12 , To corrosion on the steel sheet 28 to avoid is the steel sheet 28 with an anti-corrosion coating, for example an oil coating as a thin film of oil, provided on the surface. Additionally and / or alternatively, an aluminum sheet may be unrolled from an aluminum roll (not shown). After unrolling the steel sheet 28 takes place in a cutting system 13 ( 2 ) a severing 38 of the unrolled steel sheet 28 in parts 14 of the steel sheet 28 before reshaping. In 2 the promotion of the parts takes place 14 in a conveying direction from left to right. The not yet formed parts 14 are then reshaped, in particular, for example, in a thermoforming system 30 as a forming plant 29 , There is a reshaping 39 Of the parts 14 to the deformed parts 31 , The oil coating supports deep drawing. In this case, other forming methods, such as bending, are used and / or also takes place a punching of the parts 14 , This allows parts 31 be provided with a variety of geometries.

For the production of body shell 2 be a variety of parts 31 with a variety of joining methods, in particular by means of welding and gluing, to each other to the body shell 2 connected ( 6 ). After the complete connection 40 all parts 31 of the body shell 2 to the then completed body shell 2 a cleaning takes place 41 of the body shell 2 in a cleaning plant 7 and then a coating 42 of the body shell 2 in a phosphate coating plant 8th with a phosphate coating, in particular an iron phosphate coating. Subsequently, on the body shell 2 in an electrocoating plant 32 for cathodic electrocoating a cathodic electrodeposition coating 43 carried out and then takes place heating 44 of the body shell 2 in a KTL oven 33 , In the KTL oven 33 A hardening of the electrocoating takes place, which in the electrocoating plant 32 on the body shell 2 has been applied.

A robot 22 ( 5 ) has several robot arms 23 on, by means of robot joints 24 are pivotally movable relative to each other. At the end of a robotic arm 23 is a working organ 10 of the robot 22 attached. The working organ 10 includes an application device 4 with three application nozzles 5 and a large number of optical sensors 9 as image sensors 9 , The robot 22 and the working organ 10 form a device 11 for applying a seal coating 26 , The optical sensors 9 are substantially concentric with the application device 4 aligned ( 3 ). Through a line 6 becomes a sealant 27 , namely PVC, to the application device 4 promoted and then penetrates from the three application nozzles 5 out, so that creates a seam 25 between two parts 3 of the body shell 2 can be sealed. The application device 4 This is moved along a line of movement in space and brings a strip-shaped seal coating 26 with a width of 4 mm on the body shell 2 on. The body shell 2 has a large number of seams to be sealed 25 on, giving a total of a strip-shaped sealing coating 26 in a length of about 100 m on the body shell 2 is applied. For moving the application device 4 and the optical sensors 9 As the working organ 10 along a line of movement in space, it is necessary for the robot 22 from a control and / or regulating unit 55 is controlled and / or regulated on the basis of or in dependence on movement data.

For this reason, a coarse positioning first takes place 45 of the working organ 10 relative to the seam to be sealed 25 , The movement data or the position data for this coarse positioning 45 , in particular before the beginning of a sealing process for a seam 25 , are calculated from stored data on the geometry of the bodyshell 2 and the geometry of the seams to be sealed 25 as well as the given position of the carcass shell 2 relative to the robot 22 , During and before carrying out the application 49 the sealing coatings 26 is the body shell 2 at the processing station with the robot 22 temporarily fixed. It will be an optical detection 46 the seam to be sealed 25 carried out with the optical sensors 9 and then those from the optical sensors 9 recorded optical data in the control and / or regulating unit 55 a processing 47 supplied, so that from this optical data, the exact position of the seam to be sealed 25 can be detected in space relative to the robot 22 or to the working organ 10 on the robot 2 so that thereby a fine positioning 48 of the working organ 10 to the seam to be sealed 25 depending on the optical data. Subsequently, the application is 49 the seal coating 26 executed. The optical detection 46 the seams 25 with the optical sensors 9 , the processing 47 the optical data and the fine positioning 48 as well as the application 49 the seal coating 46 is executed simultaneously or inline. During the movement of the working organ 10 in the room thus becomes a partial section of the seam 25 visually detected a section on which the seal coating 26 with the application device 4 is applied. It thus takes place during the movement of the working organ 10 along the line of motion in the room a constant post-correction due to the optical data, ie, that the coarse positioning 45 due to the optical data in a fine positioning 48 is specified.

Subsequently, an application is carried out 50 a primer as a primer on the body shell 2 and then a heating of the body shell 2 in an oven 35 carried out at about 150 ° C for a period of 20 minutes, so that the applied strip-shaped sealing coatings 26 and the base coat hardens. Subsequently, the application is carried out 52 a cover or paint finish and an application 53 the clearcoat on the body shell 2 and a second heating 54 in an oven 35 , so that the color and clearcoat cures. After the manufacturing step 54 become the remaining components of the motor vehicle 1 indirectly or directly to the body shell 2 fastened for the final production of the motor vehicle 1 , The remaining components are, for example, the drive motor 15 , the seats 18 , the wheels 21 , a transmission (not shown) and an interior trim (not shown) and an air conditioner (not shown).

Overall, with the inventive method for producing the body shell 2 and the device according to the invention 11 for applying the sealant 27 on the at least one seam to be sealed 25 as at least one seal coating 26 on the body shell 2 significant benefits. While moving the working organ 10 with the robot 22 is inline and simultaneously each a section of the seam to be sealed 26 detected, which before each a section of the seam 25 located at one point in time the sealant 27 is applied. Because of the optical sensors 9 recorded optical data can thus be a fine positioning 48 of the working organ 10 with regard to the seam to be sealed 25 be carried out so that thereby the seal coating 26 with a high accuracy on the seam to be sealed 25 can be applied and thereby only a width of the strip-shaped sealing coating 26 of about 4 mm is necessary. This will no longer seal off 27 for secure sealing of the seam 25 used as actually necessary, because the position of the seam to be sealed 25 exactly known and thereby errors or tolerances in the manufacture of the body shell 2 be included. The optical sensors 9 not only allow a section of the seam to be made at one point in time 25 before applying the seal coating 26 to capture, but also a section of the seam 25 on the already the seal coating 26 has been applied, ie, that the already applied seal coating 26 from the optical sensors 9 is detected. This allows an examination of the properties and / or the geometry of the applied seal coating 26 be executed so that errors can be detected and responded accordingly. For example, with a clogged application nozzle 5 the process of applying 49 be canceled or with an insufficient width of the applied seal coating 26 the pressure with which the sealant 27 the application nozzles 5 is fed, be changed.

At least one exemplary embodiment has been described, it being noted that a large number of variants exist for this purpose. It should also be appreciated that the embodiment or the embodiments are only examples and are not intended to limit the scope, applicability, or construction in any way. The description above provides the person skilled in the art with suitable guidance for carrying out at least one embodiment. It is to be understood that various changes may be made in the function and arrangement of the described components in an exemplary embodiment without departing from the scope of the following claims and from the equivalents of the following claims.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

Body shop

3

Part of the bodyshell

4

application device

5

application nozzle

6

management

7

purifier

8th

coating plant

9

Optical sensor

10

working body

11

Apparatus for applying the seal coating

12

steel roller

13

cutting machine

14

Parts before forming

15

drive motor

16

electric motor

17

internal combustion engine

18

Seat

19

front seat

20

back seat

21

wheel

22

robot

23

robot arm

24

The robotic articulation

25

seam

26

seal coating

27

sealer

28

sheet steel

29

forming plant

30

Thermoforming machine

31

Parts after forming

32

Electrodeposition coating plant

33

CDP oven

34

paint shop

35

oven

36

welding station

37

Unrolling steel from a steel roll

38

Cutting the unrolled steel

39

Forming the separated parts

40

Connecting the parts to a welded joint, in particular spot welded joint

41

Cleaning the body shell in a cleaning plant

42

Coating of the bodyshell with a phosphate coating, in particular iron phosphate coating

43

Performing a cathodic electrocoating on the body shell

44

Heating of the carcass body shell in the cathodic dip-tile oven and hardening of the applied in electrocoating dipcoating

45

Rough positioning of the working organ to the seam during movement of the working organ

46

Optical detection of the seam with the optical sensors

47

Processing the optical data

48

Fine positioning of the working organ to the seam during movement of the working organ depending on the optical data

49

Apply the seal coating

50

Applying a primer as a primer to the body shell

51

Heating the body shell in the furnace and curing the seal coating and the base coat

52

Applying a color finish to the body shell

53

Applying a clearcoat to the body shell

54

Heating the body shell in the oven and curing the color and clearcoat

55

Control and / or regulating unit

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008010965 B4 [0005]

Claims (15)

Method for producing a body shell (2) with the steps: - Providing parts (3, 14, 28, 31) of the body shell (2), - Connecting the parts (3, 14, 28, 31) of the body shell (2) with at least one joining method to the body shell (2), so that between the parts (3, 14, 28, 31) at least one to be sealed Seam (25) is formed, - Applying a sealant (27) on at least one seam to be sealed (25) by an application device (4) by a robot (22) along a line of movement in space is moved in response to movement data, so that of the sealant (27) at least one seal coating (26) is formed, wherein during the movement of the application device (4) with at least one optical sensor (9) each one to be sealed with the sealant seam (25) is optically detected, so that optical data determined by each a seam (25) be moved and depending on the optical data, the application device (4) along the line of movement in space. Method according to Claim 1 , characterized in that the optical data with a control and regulating unit (55) are evaluated and depending on the optical data, the position of each sealed seam (25) is determined in space and depending on certain position of each seal one Seam (25) in the room the movement data are calculated. Method according to Claim 1 or 2 , characterized in that, depending on the optical data, the application device (4) is moved at a predetermined distance from the respective seam (25) to be sealed. Method according to one or more of the preceding claims, characterized in that, depending on the optical data, the application device (4) is moved in a predetermined spatial orientation to the respective seam (25) to be sealed. Method according to one or more of the preceding claims, characterized in that the application device (4) and the at least one optical sensor (9) are moved simultaneously along the line of movement. Method according to Claim 5 , characterized in that the application device (4) and the at least one optical sensor (9) are moved together by the robot (22), in particular only one robot (22), along the line of movement. Method according to one or more of the preceding claims, characterized in that the movement data before the optical detection of the at least one seam to be sealed (25) with the at least one optical sensor (9) depending on the geometry of the body shell (2), in particular the geometry of the at least one seam (25) to be sealed, and / or depending on the position of the body shell (2) relative to the robot (22) and after the optical detection of the at least one seam (25) to be sealed, the movement data are specified as a function of the optical data acquired with the at least one optical sensor (9). Method according to one or more of the preceding claims, characterized in that the one seam to be sealed (25) with the at least one optical sensor (9) at a distance of less than 50 cm, 30 cm, 20 cm, 10 cm or 5 cm to which at least one optical sensor (9) is detected. Method according to Claim 8 , characterized in that the distance during the execution of the method is kept substantially constant. Method according to one or more of the preceding claims, characterized in that after the application of the at least one seal coating (26) with the at least one optical sensor (9), the already applied at least one seal coating (26) is optically detected, so that optical data of the seal coating (26) are determined. Method according to Claim 10 , characterized in that depending on the optical data of the at least one seal coating (26), the method is controlled and / or regulated. Method according to Claim 11 , characterized in that in optically detected errors of at least one seal coating (26) an error message is issued and / or the process is interrupted. Method according to one or more of the preceding claims, characterized in that the at least one strip-shaped sealing coating (26) having a width of less than 10 mm, 7 mm or 5 mm is applied to the body shell (2). Device (11) for applying a sealant (27) to at least one seam (25) to be sealed as at least one A sealing coating (26) on a bodywork shell (2), comprising - a robot (22) for moving an application device (4), - the application device (4) attached to the robot (22), in particular an application nozzle (5), - a line (6) for supplying a sealing substance (27) to the application device (4), - a control and / or regulating unit (55), wherein at least one optical sensor (9) for optically detecting the at least one optical sensor (9) is provided on the robot (22) a seam to be sealed (25) is attached. Device after Claim 14 , characterized in that with the device (11) a method according to one or more of Claims 1 to 13 is executable.

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