DE10347553A1 - Assembly of automobile bodywork parts, according to the vehicle design, positions the parts accurately on both sides of the chassis and aligned with each other on each side - Google Patents

Abstract

To assemble the bodywork of an automobile (25), the corresponding bodywork parts (27,27',28,28', 37,37') are arranged on the left and right sides of the chassis (26). They are aligned so that the end points of the parts on the left side are at the same intervals from the start point of the chassis as those on the right side, and the gaps between the parts have the same width on both sides of the chassis. The bodywork parts are manipulated by robotics and optical sensors to ensure that they are placed in the correct positions.

Description

In the ongoing production of a motor vehicle are the attachments from behind to the body of the body. First will on one side the back door installed, then the front door and finally the fender. Through this construction sequence, the length tolerances of the vehicle wander in the corner "hood / fender / headlight". As a consequence, that just for motor vehicles with a sharp transition between headlight, hood and fender the length tolerance right to left for the End user becomes visible.

This can be compensated by turning the mudguards in length to the front edge of the front door. Turning around causes today but fixing and fitting problems in the spotlight area.

One Another, very complex concept for mounting a shapely motor vehicle is proposed by DE-PS 37 26 292.

It Object of the invention to provide a method to a shapely Manufacture motor vehicle.

These The object is solved by the subject matter of the independent claims. Advantageous developments arise from the respective dependent Claims.

The Invention uses a sensor-guided door installation to compensate for the length offset at the attachments. This is an optimal vehicle quality for the customer and especially a nice front view ensured.

The Invention is based on the realization that all attachments today be installed with mechanical devices to the body. The devices are set to mean values so that manufacturing tolerances Part of the entire shell can be partially offset. With the installation system according to the invention is in the current production no significant manual adjustment on the screwing required more to the required fit quality consistent sure. Also with a production on two lines, like with higher quantity applied, a good adjustment of the devices in length is possible, even if the two Lines are not the same quality deploy.

The Development represents a further development of a sensor-guided door installation through which an individual compensation of the length tolerances left to right is reached.

• – Die Aufnahmen müssen nicht mehr Mittelwerte justiert werden, d. h. die Positioniergenauigkeit schwankt nicht mehr in dem über die Mittelwerte vorgegeben Toleranzbereich. Starke Schwankungen des Längenversatzes am Scheinwerfer rechts zu links durch die Produktion auf mehren Fertigungslinien gehören der Vergangenheit an.
• – Es ist ein individueller Einbau der Anbauteile in Bezug auf die Längentoleranzen im Scheinwerferbereich möglich. Der Roboter betrachtet für den Türeinbau nicht nur seine Fahrzeugseite, sondern stellt einen Bezug zur anderen Seite und/oder zum Scheinwerferbereich her. Anders als bei den heute in der Fertigung eingesetzten mechanischen Vorrichtungen, die auf statistische Mittelwerte eingestellt werden, erfolgt die für jedes Fahrzeug spezifische Passungseinstellung für die Länge durch eine manuelle Nachrichtoperation.
• – Die Reaktionszeit vom Erkennen einer Änderung im Verlauf der Fertigungstoleranzen über die Einstellung der Vorrichtung oder der Eingabe eines Offset-Wertes in der Software ist sehr kurz, da keine Rückmeldung von einem Werker mehr erfolgen muss.
• – Bei den meisten Fahrzeugmodellen können gerade in der Anlaufphase Beanstandungen im Bereich der Scheinwerferpassung vermieden werden.
• – Durch die Verwendung eines Industrieroboters als Handhabungseinrichtung können verschleißbedingte Passungsänderungen stets ausgeglichen werden.
• – Weitere Verbesserung der Spaltmaß- und Fallungstoleranzen im Sichtbereich des Kunden.
• – Die Verbesserung der Spalt- und Fallungstoleranzen beruht auf die Verbesserung der Positioniergenauigkeit und auf den flexiblen Einbau der Türen, individuell für jedes Fahrzeug.
• – Verbesserung des für den Kunden sichtbaren Übergangs-Scheinwerfer/Haube/Kotflügel.
• – Reduzierung der Nachrichtoperation durch den individuellen Aufbau eines jeden Fahrzeugs. Jede Tür wird bestmöglich in die Karosserieöffnung positioniert, sowie mit dem optimalen Längentoleranzausgleich versehen.
• – Durch die dynamische Anpassung der Sollwerte innerhalb der vorgegebenen Toleranz werden die Türen und die Kotflügel individuell in jede Karosserieöffnung in Länge positioniert. Die manuelle Einstellung über die Eingabe von Offset-Werten wird durch die automatische Berechnung ersetzt. Änderungen in den Fertigungstoleranzen werden automatisch bis zu einem gewissen Grenzbereich korrigiert. Das beschriebene System führt automatisch die Kontrolle und Dokumentation der Qualität als letzte Operation eines Taktes aus.
• – Durch die berührungsfreie Aufnahme der Bauteile mittels Lasersensoren tritt fast kein mechanischer Verschleiß an qualitätsrelevanten Positioniereinheiten auf.
• – Das System kann bei ähnlichen Türen kombiniert werden, da softwaretechnisch eine notwendige Modellunterscheidung integriert werden kann.
• – Das Investment für die Anschaffung des Systems ist nahezu identisch, wie das Investment für die Neuanschaffung des statisch sensorgeführten Systems.

The procedure according to the invention is advantageous in many respects:

• - The recordings no longer need to be averaged, ie the positioning accuracy no longer fluctuates in the tolerance range specified above the mean values. Strong fluctuations in the length offset on the headlight right to left due to production on several production lines are a thing of the past.
• - It is possible an individual installation of the attachments in relation to the length tolerances in the headlight area. The robot not only looks at the side of the vehicle for door installation but also makes reference to the other side and / or the headlight area. Unlike mechanical devices used today in manufacturing, which are set to statistical averages, the length adjustment for each vehicle is made by a manual message operation.
• - The reaction time from detecting a change in the course of manufacturing tolerances on the setting of the device or the input of an offset value in the software is very short, since no feedback from a worker must be made.
• - For most vehicle models, complaints about headlamp leveling can be avoided, especially during the start-up phase.
• - By using an industrial robot as a handling device wear-related changes in fit can always be compensated.
• - Further improvement of the gap and drop tolerances in the field of vision of the customer.
• - The improvement of the gap and pitch tolerances is based on the improvement of the positioning accuracy and on the flexible installation of the doors, individually for each vehicle.
• - Improvement of the visible to the customer transition headlight / hood / fender.
• Reduction of the message operation by the individual construction of each vehicle. Each door is optimally positioned in the body opening, as well as provided with the optimal length tolerance compensation.
• - By dynamically adjusting the setpoints within the specified tolerance, the doors and fenders are individually positioned in each body opening in length. The manual setting via the entry of offset values is replaced by the automatic calculation. Changes in the manufacturing tolerances are automatically corrected up to a certain limit range. The described system performs auto Consistently control and document quality as the last operation of a bar.
• - By the contact-free recording of the components by means of laser sensors occurs almost no mechanical wear on quality-relevant positioning units.
• - The system can be combined with similar doors, as software necessary, a necessary model distinction can be integrated.
• - The investment for the acquisition of the system is almost identical, as the investment for the new acquisition of the static sensor-guided system.

Different as one conceivable possibility, one Use industrial robots, the invention does not use a Measuring system for positioning the doors in the body the measuring sensors are stationary are built on a frame. In such a measuring system, the body opening and the door were measured with different sensors and from it an optimal Calculated position. This position would then be by means of coordinate transformation passed on to the robot. The robot would take this position without one Approach control. As a result, the positioning tolerance of the Robot directly in the for precipitate the visible quality of the gap. The invention avoids this.

According to the invention the doors are installed and the attachments to the best possible length position in the body opening. There is a sensor-guided door installation with an optimized dynamic placement, in each case on the left and right side of the vehicle aesthetically equal width door column or fender column be generated, as a boundary condition extending through the attachments resulting length the relevant vehicle side is generated so that about the same length Vehicle pages arise. This will make unsightly inequalities on the vehicle's bow avoided. With such a sensor-guided door installation, the length covers become direct measured at the predetermined edge of the gap to be positioned. It will be the length the doors, the length the sidewall opening or the sidewall shift left to right.

By the introduction of the calculation of the length compensation between the Both sides of the vehicle, the target column in the vehicle length dynamic so changed, that the front end is straight and built on the headlight area without length offset can be. By dividing the length tolerance on all lateral Columns are caused by small gap changes the length tolerances are not Visible for eliminated the customer.

Of the sensor-guided door installation has attached a simple robotic gripper to the laser sensors are. The sensors are attached to the same places where later During the shell audit, the gap and impact quality of the door to the body are recorded. The sensors are set up so that they are on a so-called Pre-position directly measure the gap and the fall to the body. The Concept is independent the type or manufacturer of sensors and software.

For the consideration of the length compensation are on both sides of the body in the area of the side wall opening behind (C-column Height "Belt Line") and front (A-pillar height A-pillar foot) additional sensors introduced Service. The sensors detect in the station in front of the door installation the length the sidewall opening both sides and their offset to each other.

Of the Calculate correction values of the different columns for length positioning for the individual column according to a simple formula, as in the embodiment will be shown.

From this a correction value is calculated that matches the desired columns of the best possible Door position deducted or added. This happens at the rear door installation under consideration the side wall opening length, the Sidewall shift left to right at the edge to the back door gap and the length the back door. At the front door is calculated from the measured values of the built-in back door (on edge to the front door) a correction value to the front door transferred and the length the front door recorded with a comparison left to right. The doors will be each with the corrected length columns individually fitted into each body. This results a minimal offset of the front edge of the front doors left to the right. The minimized offset left to right then shows up in a significant improvement in the fit quality in the headlight area. The column on the left side of the vehicle are in this length compensation not identical to the columns on the right side of the vehicle but only in your allowable Tolerance corrected. The user can visually no difference recognize the column, since it does not simultaneously the column of the left and right vehicle side can see.

at the best possible Positioning the door in the individual body opening with compensation of the length tolerances the other sensors of the audit measuring points are also measured and included in the calculation.

If All components were built within your manufacturing tolerances are ideally all over the length a vehicle side positioned column in about the same size.

These inventive length control in Connection with the best-fit control becomes for step 5 of the process description applied.

The The invention will be described below with reference to the drawings.

1 shows the body of a motor vehicle in plan view, having parts with large error tolerance ΔL4,

2 shows the body 1 in the side view,

3 illustrates the inventive installation of a left rear side door, a left front side door and a left fender in the motor vehicle 1 and 2 .

4 illustrates the calculation of length offset correction values for the assembly method according to the invention,

5 illustrates the procedure in the assembly process according to the invention by means of control loop;

6 shows a schematic representation of a robot arm with a door when installed in the body 1 and 2 and

7 illustrates the operation of one for the installation of the door 6 used laser sensor.

1 and 2 show motor vehicle 25 at a time before its final assembly in a view from above and from the side. The car 25 divided into a body 26 , in a left front door 27 , in a right front door 27 ' , in a left back door 28 , in a right back door 28 ' in a left fender 37 , in a right fender 37 ' , in a tailgate 38 in a hood 39 and in a front plate 40 , All these parts are in a shell condition in which they are not yet painted. Furthermore, no attachments are attached.

• 1 Seitenwandöffnung vorne 27 – Karosserie 26
• 2 hohe Seitenwandkante zur Bestimmung der Öffnung vorne 37 – Karosserie 26
• 3 Vordertür 27 – Kotflügel 37
• 4 Vordertür 27 – Hintertür 28
• 5 Hintertür 28 – Karosserie 26 + Seitenwandöffnung hinten sowie Versatz rechts/links 3 + 4 = VT-Länge 4 + 5 = Hat-Länge

How to get in 2 It is particularly clear that a total of 5 measuring points are provided by design-related measures and by quality assurance measures, which are numbered 1 to 5. At the measuring points, the sidewall opening of the body, the length of the individual components (back door and front door) and their offset between the right and left side are measured:

• 1 side wall opening in front 27 - bodywork 26
• 2 high side wall edge to determine the opening in front 37 - bodywork 26
• 3 front door 27 - fenders 37
• 4 front door 27 - back door 28
• 5 backdoor 28 - bodywork 26 + Rear side opening and right / left offset 3 + 4 = VT length 4 + 5 = hat length

there one differentiates both a gap measure, d. H. a distance at the relevant measuring point between the door and the bodywork, a absolute length a component and a so-called "dropping". A fall arises z. B. then, when the door is over Body protrudes or when the body protrudes over the door. Basically it works it in this invention disclosure to the length compensation, d. H. only that gap, that the total length determined is relevant. The goal is the lowest possible gap, with the gap over the Circumferential edge of the door preferably equally distributed should be.

How to get in 1 looks particularly good, are provided here for clarity, components with very high tolerance.

Already the door opening for left back door 28 sits a good way further forward than the door opening for right back door 28 ' , with reference to the rear of the vehicle. This is illustrated by the entered dimension ΔL1.

The Differences in length the doors and the fender on the left side of the vehicle opposite those on the right side of the vehicle are also so big that the endpoint of the doors and the fender on the left side of the vehicle relative to the rear of the vehicle by ΔL4 on at the front lies as the end point of the doors and the fender the right side of the vehicle. The tolerances add up from behind forward on, leaving at the top of the fender the overall length tolerances come to fruition.

The items of the vehicle was only for the sake of clarity half as in 1 and 2 dam vehicle 25 shown.

According to the invention the items are assembled so that the end point of the doors and of the fender on the left side of the vehicle relative to the rear of the vehicle exactly as far ahead as the end point of the doors and the fender the right vehicle side, so that ΔL4 = 0 or approximately 0 applies. For this purpose, the column on the left and right side of the vehicle so reduced or enlarged, so that each side of the vehicle still an aesthetic effect results.

3 and 4 illustrate the calculation of the gap dimensions from the original Lich provided gap dimensions S1, S2 and S3, by each offset correction value K1, K2 and K3 is added. This is done for the right side of the vehicle ("R") and for the left side of the vehicle ("L").

5 illustrates the procedure in the assembly method according to the invention and how the correction values are obtained therefrom. The individual parts are based on the correction values with a control loop in the body 26 assembled.

6 shows a mounting step of the back door 28 in the body 26 , This is the back door 28 with an industrial robot 29 gripped, by means of several suction cups 30 and by means of two positioning pins not shown in this view. At the industrial robot 29 are several laser sensors 31 attached, in such a way that they are in the range of the gap between the back door 28 and the body 26 are located. One laser sensor each 31 is divided into a laser emitter 32 holding one or more laser trays on the bodywork 26 and the back door 28 projected and into a digital camera 33 , which in turn with an evaluation device not shown in this view, this in turn with the control of the industrial robot 29 connected is.

7 illustrates the operation of a laser sensor 31 , How to get in 5 sees particularly clearly generates the laser device 32 a laser fan that acts as a linear reflection on the body 26 and on the back door 28 appears. In the following, the reflection on the back door 28 door line 34 called and the reflection on the bodywork 26 becomes body line 35 called.

Due to the arrangement of the camera 33 with respect to the laser device 32 and because of the geometric features of the back door 28 and bodywork 26 results between door line 34 and body line 35 in the picture taken by the camera 33 a horizontal distance h, which indicates a fall between the back door 28 and bodywork 26 hin hinet. The gap between backdoor 28 and bodywork 26 at the relevant measuring point can immediately as an interruption between the door line 34 and the body line 35 be determined and will be in 5 indicated by the dimension v.

For assembly, the back doors are first 28 . 28 ' in the body 26 installed in accordance with the new assembly coordinates and bolted there. Subsequently, the front doors 27 . 27 ' taking into account the new assembly coordinates in the body 26 installed and screwed. Finally, the fenders 37 . 37 ' taking into account the new assembly coordinates to the body 26 screwed.

• 1. Die Karosserieweite und Säulenstellung für die Scharnieranschraubflächen werden in der Station vor dem Türeinbau mittels Sensoren gemessen. Daraus werden die Weite und Neigung der Scharniere an die Tür errechnet. Diese Position bzw. Werte werden als Sollwerte an die Scharniermontage-Station (Schritt 3) weitergegeben. Durch die vorherige Berechnung der Weitenposition, bzw. Scharnierposition kann das zweimalige Anfahren der Karosserie mit dem Roboter vermieden werden. Dadurch erreichen wir eine Taktzeitreduzierung des gesamten Montageablaufs.
• 2. Die stationär aufgebauten Sensoren (Station vor dem Türeinbau) für die Ermittlung der Längenunterschiede messen die Größe der Seitenwandöffnung und die Verschiebung der Länge rechts zu links. Diese Werte werden als erste Eingabe in der Berechnungssoftware gesendet (siehe 2, Sensoren 1, 2 + 5).
• 3. Der Roboter holt mit seinem Greifer die Tür aus einem Zwischengestell. Die Tür wird über zwei Aufnahmestifte und Sauger an der Türhaut im Greifer positioniert. Die Messsensoren im Roboter -Greifer messen während des Transports der Tür zur Scharniervormontagestation die absolute Länge der Tür. Die Tür wird aus dem Transportgestell entnommen
• 4. Einmessen der Weiten-Position der Tür an der Scharniermontage-Vorrichtung: Der Roboter fährt mit der Tür von der Karosserie zur Scharniermontagestation. Dort wird die Position des Roboters über die vorher transferierten Abstände zur Säule und über die Simulationsflächen der Seitenwand im Bereich der Säule korrigiert. Hierfür sind an der Scharniermontagevorrichtung die Anlageflächen der Scharniere an die Säule und Bezugsflächen der Seitenwand mittels CAD-Daten nachgebildet. Sind die gemessenen Abstandsmaße an der Scharniermontagevorrichtung identisch mit den vorher an der Karosserie gemessen Maße können die Scharniere türseitig verschraubt werden. Zur Einstellung, bzw. Berücksichtigung des Schraubverzuges können die Sollwerte der einzelnen Sensoren mit einem Offset versehen werden.
• 5. Nach dem türseitigen Verschrauben der Scharniere fährt der Roboter auf eine programmierte Messposition zur Karosserie. Die Messsensoren werden ausgelöst und die tatsächlichen Maße werden über eine Pixelberechnungssoftware ausgerechnet.
• 6. Die gemessenen Werte (Istwerte) werden mit den Sollwerten verglichen. Daraus wird ein Korrekturwert bestimmt. Der Korrekturwert wird über die softwareseitige Berechnung der bestmöglichen Position der Tür in die Karosserie mit den Ausgleich des Längenversatzes bestimmt, wie in der Einführung zu Kapitel 5 beschrieben. Die gemessenen Werte werden über die Software mit den dynamischen Sollwerten verglichen und so korrigiert, dass sie mittels der Korrekturwerte die neuen Sollwerte an der Karosserie erreichen. Die Sollwerte sind die dynamische Anpassung der konstruktiven Nominalwerte der Spalte und Fallungen aus der Produktzeichnung, unter Ausnutzung der Toleranzen. Der Roboter verfährt jeweils um die berechneten Korrekturwerte. Diese Schleife wird solange wiederholt bis die Istwerte, die an der Karosserie gemessen werden, mit den errechneten Sollwerten übereinstimmen. Die Sollwerte werden dynamisch individuell für jedes Fahrzeug innerhalb der vorgegebenen Toleranz errechnet Das ist vergleichbar mit der Einstellung der Spanner und Aufnahmen an den heutigen mechanischen Einbauvorrichtungen oder mit der Offset-Eingabe in der Berechnungssoftware beim statischen sensorgeführten Türeinbau an jedem Fahrzeug. Dafür werden Toleranzgrenzen für die einzelnen Messpunkte festgelegt, sodass jede Messgröße in einem bestimmten Toleranzbereich liegen soll. • Anfahren der Messposition • Durchführung der Messung • Ermitteln der bestmöglichen Position mit Ausgleich des Längenversatzes gemäß Berechnung in 4 • Ermitteln des Korrekturausgleichsvektors • Positionieren der Tür auf die bestmögliche Position mit Ausgleich des Längenversatzes
• 7. Die Tür wird mittels fest eingestellten Wert um den theoretischen Drehpunkt der Tür angehoben. Die Tür sackt später durch die Gewichtserhöhung bei der Komplettierung am fertigen Fahrzeug ab. Um diesen Absackwert wird die Tür im Karosserierohbau angehoben, damit die fertige Tür später optimal in der Öffnung sitzt.
• 8. Die Tür wird nun karosserieseitig an die Säule verschraubt.
• 9. Der Robotergreifer lässt die Tür nun los und fährt etwas von der Karosserie zurück.
• 10. Die Tür wird mit einem Zylinder, der die Gewichtskraft einer fertig ausgerüsteten Tür simuliert heruntergedrückt. Danach werden die Sensoren abermals ausgelöst um eine Messwertaufnahme an der Fertigen Karosserie durchzuführen. Die Messwerte werden für jedes Fahrzeug gespeichert und können über eine Auswertesoftware als Qualitätsbericht ausgegeben werden. Dies entspricht einer 100 % "Online"-Kontrolle. Pneumatischer Niederhalter bringt eine simulierte Türgewichtskraft in die Tür ein.
• 11. Der Einbauzyklus ist beendet, die nächste Karosserie kann in die Station einfahren und der Ablauf beginnt von vorne. Die fertige Karosserie fährt in die VT-Station und wird dort analog zum Hintertürablauf fertiggestellt.

In detail, the procedure is as follows:

• 1. The body width and column position for the hinged mounting surfaces are measured in the station in front of the door installation by means of sensors. From this, the width and inclination of the hinges to the door are calculated. This position or values are forwarded as set values to the hinge mounting station (step 3). By prior calculation of the width position or hinge position, it is possible to avoid having to drive the body twice with the robot. As a result, we achieve a cycle time reduction of the entire assembly process.
• 2. The stationary sensors (station in front of the door assembly) for determining the differences in length measure the size of the side wall opening and the shift of the length from right to left. These values are sent as the first input in the calculation software (see 2 , Sensors 1, 2 + 5).
• 3. The robot uses its gripper to retrieve the door from an intermediate frame. The door is positioned in the gripper via two locating pins and suction cups on the door skin. The measuring sensors in the robot gripper measure the absolute length of the door during transport of the door to the hinge pre-assembly station. The door is removed from the transport rack
• 4. Measuring the width position of the door on the hinge mounting device: The robot moves the door from the body to the hinge mounting station. There, the position of the robot is corrected via the previously transferred distances to the column and via the simulation surfaces of the side wall in the region of the column. For this purpose, the contact surfaces of the hinges are simulated to the column and reference surfaces of the side wall by means of CAD data on the hinge mounting device. If the measured distance measurements on the hinge mounting device are identical to the measurements previously measured on the body, the hinges can be screwed on the door side. For setting, or taking into account the screw distortion, the setpoints of the individual sensors can be provided with an offset.
• 5. After screwing the hinges on the door, the robot moves to a programmed measuring position to the body. The measuring sensors are triggered and the actual dimensions are calculated using a pixel calculation software.
• 6. The measured values (actual values) are compared with the setpoints. From this, a correction value is determined. The correction value is determined by the software calculation of the best possible position of the door in the body with compensation of the length offset, as described in the introduction to Chapter 5. The measured values are included in the software the dynamic setpoints are compared and corrected so that they reach the new setpoints on the body by means of the correction values. The setpoints are the dynamic adjustment of the constructive nominal values of the gaps and slopes from the product drawing, taking advantage of the tolerances. The robot moves in each case by the calculated correction values. This loop is repeated until the actual values measured on the body coincide with the calculated setpoints. The setpoint values are dynamically calculated individually for each vehicle within the specified tolerance. This is comparable to the setting of the clamps and shots on today's mechanical installation devices or with the offset input in the calculation software for the static sensor-guided door installation on each vehicle. For this, tolerance limits are set for the individual measuring points, so that each measured variable should lie within a certain tolerance range. • Approaching the measuring position • Carrying out the measurement • Determining the best possible position with compensation of the length offset as calculated in 4 • Determine the correction compensation vector. • Position the door in the best possible position with compensation for the longitudinal offset
• 7. The door is raised by a fixed value around the theoretical pivot point of the door. The door sags later by the weight increase in the completion of the finished vehicle. The door is raised in the bodywork around this bagging value, so that the finished door sits optimally in the opening later.
• 8. The door is now bolted to the body side of the pillar.
• 9. The robot gripper releases the door and returns slightly from the bodywork.
• 10. The door is depressed with a cylinder that simulates the weight of a fully equipped door. Thereafter, the sensors are again triggered to perform a measured value recording on the finished body. The measured values are stored for each vehicle and can be output as a quality report via an evaluation software. This corresponds to a 100% "online" control. Pneumatic hold down brings a simulated door weight force into the door.
• 11. The installation cycle is finished, the next body can enter the station and the procedure starts from the beginning. The finished body moves into the VT station and is completed there in the same way as the back door.

1

measuring point

2

measuring point

3

measuring point

4

measuring point

5

measuring point

25

motor vehicle

26

body

27

In front of the door

28

back door

29

industrial robots

30

suction cup

31

laser sensor

32

laser device

33

camera

34

door line

35

body line

36

hinge

37

fender

38

tailgate

39

Engine Hood

40

Frontblech

Claims (16)

Method for assembling corresponding body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) one behind the other on a left and a right side of a body ( 26 ), with the aid of a provided with controllable actuators mounting device ( 29 ), which is a recording ( 30 ) for the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ), wherein the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) are mounted so that the end point of the body parts ( 27 ; 28 ; 37 ) on the left side of the body ( 26 ) based on a starting point on the body ( 26 ) is approximately the same distance as the end point of the body parts ( 27 '; 28 '; 37 ' ) on the right side of the vehicle. A method according to claim 1, characterized in that the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) are mounted so that gaps between the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) have on each side of a vehicle approximately the same width. A method according to claim 1 or claim 2, characterized in that for mounting a body part ( 28 ) in a body ( 26 ), with the aid of a provided with controllable actuators mounting device ( 29 ), which is a recording ( 30 ) for the body part ( 28 ), the method comprising the following steps: - receiving the body part ( 28 ) with the recording ( 30 ), - Approaching a measuring position of the body part ( 28 ) in the body ( 26 ), - measuring gap and / or pitch measures as actual values at several measuring points, namely by means of optical measuring sensors ( 31 ), - comparison of the actual values with predetermined nominal values, determination of correction values and methods of the mounting device ( 29 ) in each case by the correction values until the actual values agree with the nominal values, - fixing the body part ( 28 ) on the body ( 26 ). A method according to claim 3, characterized in that after fixing the body part ( 28 ) on the body ( 26 ) for quality control, the step of further measuring gap and / or pitch dimensions as actual values at a plurality of measuring points by means of the optical measuring sensors ( 31 ) is provided. A method according to claim 4, characterized in that before the step of further measuring to simulate a weight or other operating load, the step of loading the body part ( 28 ) is provided. Method according to one of claims 3 to 5, characterized in that for fastening the body part ( 28 ) on the body a hinge ( 36 ) is provided, wherein after the step of the method of the mounting device ( 29 ), in each case by the correction values, as long as the actual values coincide with the nominal values, the following steps are provided: measuring a hinge spacing at attachment points of the hinge ( 36 ) on the body part ( 28 ) and on the body ( 26 ), - Saving this hinge distance is set as the target value for the hinge assembly, - Transfer of all measured values to a mounting device at a hinge screw station, - Procedure of the body part ( 28 ) to the hinge assembly station, wherein the hinge assembly station simulates contact surfaces of the hinge to the body, - screwing the hinge ( 36 ) with the body part ( 28 ), - method of the body part ( 28 ) to the original location in the area of the body ( 26 ). A method according to claim 6, characterized in that the measurement of a hinge distance at attachment points of the hinge ( 36 ) on the body part ( 28 ) and on the body ( 26 ) with stationary sensors. A method according to claim 6 or claim 7, characterized in that the screwing of the hinge ( 36 ) with the body part ( 28 ) for setting and / or consideration of a Schraubverzuges with an offset value. Method according to one of claims 6 to 8, characterized in that after the step of the method of the body part ( 28 ) to the original location in the area of the body ( 26 ), the following steps are carried out again: measuring gap and / or fall dimensions as actual values at several measuring points, namely by means of optical measuring sensors ( 31 ) - comparing the actual values with predetermined set values, determining correction values and methods of the mounting device ( 29 ) in each case by the correction values until the actual values agree with the setpoints. Method according to one of claims 6 to 9, characterized in that before the step of fastening the body part ( 28 ) on the body ( 26 ) the step of lifting the body part ( 28 ) is provided by a predetermined value. Method according to one of claims 6 to 10, characterized in that before the step of fastening the body part ( 28 ) on the body ( 26 ) the step of lifting the body part ( 28 ) is provided. Method according to one of claims 3 to 11, characterized in that the body part ( 28 ) for attachment to the body ( 26 ) is screwed. Method according to one of claims 3 to 12, characterized in that when performing the steps of comparing the actual values with predetermined set values, the determination of correction values and the method of the mounting device ( 29 ) in each case by the correction values, as long as until the actual values coincide with the desired values, a weighting of different measuring points according to tolerance thresholds takes place. Method according to one of claims 3 to 13, characterized in that optical measuring sensors ( 31 ), a facility ( 32 ) for emitting a laser beam fan and a camera ( 33 ) with image evaluation system for the evaluation of reflections of the laser beam fan has. Motor vehicle with corresponding body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) one behind the other on a left and a right side of a body ( 26 ), wherein the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) are arranged so that the end point of the body parts ( 27 ; 28 ; 37 ) on the left side of the body ( 26 ) based on a starting point on the body ( 26 ) is approximately the same distance as the end point of the body parts ( 27 '; 28 '; 37 ' ) on the right side of the vehicle. Motor vehicle according to claim 15, characterized ge indicates that the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) are arranged so that gaps between the body parts ( 27 . 27 '; 28 . 28 '; 37 . 37 ' ) have on each side of a vehicle approximately the same width.