HUE035472T2

HUE035472T2 - Eljárás ajtó felszerelésére egy jármûkarosszérián

Info

Publication number: HUE035472T2
Application number: HUE13194840A
Authority: HU
Inventors: Patrick Mueller; Horst Ziermann
Original assignee: Siemens Ag
Priority date: 2013-11-28
Filing date: 2013-11-28
Publication date: 2018-05-02
Also published as: PT2878522T; EP2878522B1; US10040496B2; WO2015078696A2; EP2878522A1; PL2878522T3; ES2647937T3; MX2016006835A; WO2015078696A3; US20170174279A1

Description

71724S/MK {6P2S76532}

Eljárás ajtó folszarelésére egy jármükarosszérián Method for mounting δ door on 3 vehicle body

Description

In conventional methods for robot-guided automatic installation of add-on parts on vehicle bodies, a vehicle body is firstly moved by means of a conveyor system into a production ansa, into which the add on parts are also supplied by means of storage agulppteot dr containers. Add-on parts, for example, include engine hoods, tailgates, wings or doors. During the add-on part installation, the add-on parts are removed from trie respective container by means of a robot and installed on the vehicle body.

Do 3? 26 292 Cl describes a method for installing vehicle doors having a door body forming a load-bearing structure, In the cavity of which a unit carrier fixed to the door body is arranged to hold door internal esse.fobiles. First of ail, the door body without unit carriar is inserted with on accurate fit into door openings on the body that are provided ter the purpose, After that, the door body used is detected by measurement at defined measuring points, Measured values determined in the process are related to further measured values which are determined at measuring points on the body In on area of door pillar and roof frame.. The door body Is then dlsfoOPhted and transported to a door installation station. There, the vehicle door Is completed by Installing the unit carrier and further Infernal fittings, with the aid of a door Installation device using the measured results at the measuring points. Finally, renewed installation of the completed vehicle door Is carried out on the vehicle further fmished in the meantime m parallel operations, WO 1996/036525 discloses a method for the automatic installation of a component of a motor vehicle body, in which the motor vehicle body is measured automatically before installation of the component. After that, a necessary i resta I lati on position of the component is determined and an installation device installing the installation part ss controlled appropriately. Following the installation of the installation part, an actual position of the component In relation to the motor vehicle body Is again measured. Correction data for the installation of the corresponding component, of the following motor vehicle body is obtained from the determined position of the installed component, K: a: M1» tj| Si is Ι|Ρ|«ί Wll I j|l|l i II ill I I! ill: Ili illII! Ill illii

Db 103 47 554 Al describes s method for installing »3 body port on a body, in which »30 installation device provided with elnvabie actuators is used, Here, the Installation device has; a holder for the body pert. After the body part has been picked up by the holder, a measunug position of the body part on the body is approached end alignment and cap dimensions are measured by means of optical measuring sensors at a plurality of measuring points as actual values. The actual values are then compared with predefined reference values and correction values are determined. The installation device is respectively moved by the correction values until the actual values coincide with the !'-eofor»'i" vaines. The body pan o» nna!i> I \ea to the body. WO 2007/003375 A1 discloses a method for joining a first joining structure and a second joining structure,, in which an accurately contoured model of the first joining structure and the second joining structure are positioned in relation to each ether in a joining position. The model and the second joining structure ere measured^ relative to each ether for fitting accuracy in the joining position. Depending on the measurement., a connecting device for use accurately fitting connection of the joining structures is produced on or fixed to the second joining structure.

Db 10 2Ö06 04803Ö A1 describes a method for determining at least one gap dimension assigned to two contours,. In which a threewlimensional Image of a region with the gap to be examined is produced, Measured values of contours determining the gap are then smoothed, Starting from a first measuring point on one of the smoothed contours, at a measuring point for which the gap dimension is to be determined, a second measuring point on the respective other smoothed contour Is determined in accordance with a stored instruction. The gap dimension sought Is determined between the two measuring' points. In order to produce the three-dimensional image, a projector projects encoded light onto a region to he imaged, A camera records this region sn a color or gray value image, from Which a topographic image is generated with the aid of triangulation, EP 2 423 639 81 discloses a method for determining gap dimension or flushness of body parts of a motor vehicle, in which body parts to he aligned in relation to one another ere scanned three-dimensionally In a multiplicity of predefinable measuring areas, each by means of a scanning device. Here, a 3-D surface profile of the body parts is measured as objects to be measured. The measuring areas »are configured so as to be vehicle-specific. The scanning devices are aligned with at least one body joint by using a predefined vehicle-specific configuration, From scanning values acquired by means of the scanning devices, three-dimensional surface elements to be assigned to the body iparfs to be aligned a-ru determined within the measuring areas. Hare, three-dimensional surface: elements assigned to the body parts to he aligned within the measuring areas are identified from scanned vaines acquired by means ortho scanrung de'-ices. For the three-dimensional surface elements determined, in each case type, position and orientation In space are determined. Prom type, position and orientation of at feast two adjacent three-dimensional surface: elements, gap dimensidh end fiushness for at least two body parts to he alig tied with each other are determined..

The relevant prier art EP 2 40$ 810 AT relates to a method for mounting a door on a vehicle In which at least one bodywork-side b|nge: part is positioned on and' fitted to a door cutout of the vehicle bodywork by means of a first auxiliary device and using a reference point system and in which a door-side hinge part to be connected to the bodywork-side hinge part is positioned on and fixed to the door by means of a second auxiliary device and using a reference point system, The bodywork-side hinge parts are received by the auxiliary device on a hinge axis portion, Furthermore, the doer-side hinge parts ate received by means of the second auxiliary device on a second hinge axis portion, After fixing the door-side hinge parts, the door is bung on the respectively assigned bodywork-side funge parts without any further alignment.

The present invention is based on the object of devizing a method for installing an addon part on a vehicle body which can be used withou t vehicle type-specific installation devices for a multiplicity of different vehicle types end permits reduced insfelletioh execution times.

According to the invention, this object is achieved by a method having the features specified in Patent Claim I, Advantageous developments of the present invention are specified in the dependent patent claims.

In accordance with the method of the invention for installing an add-on part on a vehicle body, a plurality of body hinge halves are installed on the vehicle body, in each case: by using a first reference point system comprising body reference points. The body hinge halves are each defined with regard to then- arrangement in the vehicle longitudinal axis and In the vehicle vertical axis by the reference peint system, A pivot axis of the add-on part is defined by hinge holes or hinge bolts of the body hinge halves,

Furthermore, at least one vehicle transverse axis coordinate of the installed body hinge halves Is measured, A plurality of add-on part hinge halves is Installed on the add-on part., so each case by using the first reference point system end a second reference point-system comprising add-on pert reference points, The add-on part hinge halves are each defined with regard to their transformed arrangement in the vehicle longitudinal axis and in the vehicle vertical axis by the second reference point system. In this connection, for example, a reference to a finally installed, closed state of the add-on part can be subsumed in a transformed arrangement.

According to the invention, at least one correction value for the add-on pert hinge halves with regard to theif transformed arrangement in the veh-.r.le transverse axis ss determined from the measured vehicle transverse axis coordinate of the body hinge halves, The add-on part binge halves are installed by using the determined correction value. Furthermore, add-on part is moved by means of a positioning device to a measuring position at a predefinable distance from the vehicle body. At the measuring position, position and or-entauon of hinge bolts or hinge holes of the add -on part hinge halves are determined and are compared with position and orientation of corresponding hinge holes or hinge bolts of the body hinge halves, By using a comparison result,, the add -on port is suspended by means of the positioning dev-ce with its add-on part hinge halves on the body binge halves Installed ors the vehicle body,

On the basis of a definition of the arrangement of the add-on part in relation to the vehicle body via coordinated positiemmg of the body hinge halves and the add--on part hinge halves,, measurement of the add-on pert on the vehicle body with regard to gap dimension: and flushness and any possibly required correction of the arrangement can be dispensed with, This results In a considerable saving in time, 53ince add-on part, hinge installation positions on the add-on part are defined by the second reference point system, it is not necessary for the positioning device to pick up the add-on part, highly precisely, For this reason, in principle a universel positioning device can be used fora plurality of different vehicle types:.

For Instance, the positioning device can comprise a suction gnpper unit for picking up the add-on part and therefore be equipped to pick up a multiplicity of different add-on parts-Preferably, the add-on part is picked up from a component storage device by means of the positioning device even before the installation of the add-on part h-nge halves.. In this way, the number of installation devices used can be minimised. This in turn results sn reduced setup times. According to a preferred refinement of the present Invention, the: suction gnpper unit -s adjustable m the vehicle longitudinal axis and in the vehicle vertical axis, Here, by adjusting the suction gripper unit m the veh-c.le longuudfna! axis V ' «. ' V " C ' X * ' * U\ ' , < s ti? ’il U V <ί ' U ifi Hi < *|'p dux t U e device is defined, This facilitates specific positioning -of the Md -on part.

Preferabiy, in each case 2 hinges are provided per add-on part. Hero,, before their installation, both body hinge naives are picked up jointly by means of a first gripper unit in accordance with the pivot axis of the add-on part and are positioned on the vehicle body in an instaiiation position. In addition, before their instaiiation, both add-on pant hinge halves are preferably picked up jointly by means of a second gripper unit sn accordance with the pivot axis of the add-on part and are positioned on the add-on part in an installation position. This perents rapid and accurate installation of the body mnge halves and add-on part hinge haives.

According to an advantageous development of the method according to the inventionf the body hinge haives are each Installed on the vehicle body by means of a first screw-inserted from a body inner side arid a second screw subsequently inserted from a body outer Side, As compared with primary external screw fixing, this permits reduced loading on the body hinge haives and therefore a reduced danger of de-adjustment of the body hinge haives during their instaiiation on the vehicle body, The add-on part hinge halves are preferably each mounted on the add-on part by nutans of exactly one screw introduced from the outside,

According to a particularly preferred refinement of the method according to the invention, the body binge haives have hinge holes, while the add-on part hinge halves have binge bolts. This permits particularly simple suspension of the add-on part for installation on the vehicle body. Preferably, position and orientation of the installed body lange halves are in each case scanned by means of a sensor arranged beside the vehicle body above an expected installation position. This permits partlcuiariy reliable detection of the Installation position of the body hinge haives. Advantageously, position and orientation of the installed add-on part binge baives ace in each case scanned at the measuring position before the suspension the add-on part on the vehicle body by means of a sensor arranged beside the vehicle body at the height of an expected measuring position, ‘Has permits a space-saving arrangement of the sensors for measuring the body hinge halves and add-on part hinge halves.

The present invention will be explained in more detail below in an exemplar/ embodiment us-ng the drawing,, sn which: figure 1 shows a flowchart relating to the performance: of a :method for installing an add-on part on a vehicle body, figure 2 shows a body hinge half and an add-on past hinge half, figure 3 shows on arrrangenwftt of sensors for sensing position eno orientation of Installed body hinge halves, figure 4 shows en arrangement, of sensors, for sensing, position and orientation of installed add-on pert hinge halves, figure 5 shows a positioning device tor picking op add-on parts and Installing the same on vehicle bodies.

According to the flowchart illustrated in figure 1, in order to Install an add-on part on a vehicle body, firstly a plurality of body hinge halves are installed on the vehicle body,, in each case by using a first reference point system comprising body reference points (step :IQ1). The body binge halves am each defined with regard to their arrangement in iheir vehicle longitudinal axis and in the vehicle vertical axis by the reference point system·« Here, a pivot axis of the add-on port is defined by hinge holes or hinge bolts of the body binge halves,

According to step .102; at least one vehicle transverse axis coordinate of the installed body binge halves Is then measured. From the measured vehicle transverse axis coordinate of the body hinge halves, at least one correction value for associated add-on part hinge halves with regard to their transformed arrangement in the vehicie transverse axis is determined (step 103), Then, a plurality of add-one part hinge halves are installed on the add-on part, in each case by using the first reference point system and a second reference point system comprising add on part reference points (step 104). The add-on part hinge halves are each defined with regard to their transformed arrangement in the vehicle longitudinal axis and in the vehicle vertical ax<s by the second reference point system. In addition, tne add-on part hinge halves are installed by using the correction value determined in accordance with step 103,

Following installation of the add-on part hinge halves, the add-on part is moved by means of a positioning device to a measuring position at a predefloable distance from the vehicle body (step IOS). At the measuring position, Io accordance with step löd, position and orientation of hinge bolts or hinge holes of the add-on part hinge halves are determined and are compared with position and orientation of corresponding binge holes or hinge bolts oh the body hinge halves, Finally, by using a comparison result, the addon: part is suspended by means of the positioning: device with its add-on part hinge halves on the body hinge halves installed ôb fclie vehieie body (step 10?},

In the present exemplary embodiment, in each esse ? hinges are provided per add-on port. Advantageously, before their installation, both body hinge helves are picked up jointly by means of a first gripper unit in accordance with the pivot axis of the add-on part and are positioned on the vehicle body in an installation position, In a way analogous thereto, preferably before their instaliation. both add on part hinge halves are picked op jointly by means of a second gripper unit m accordance with the pivot axis of the add-on part and are positioned on the add-on part in an installation position.

According to a preferred embodiment, the body hinge halves 201 have hinge holes 211, while the add-on part hinge halves 202 have hinge bolts 221. The body hinge halves 203. are each Installed on the vehicle body by means of a first screw inserted from a body inner side and a second screw subsequently inserted from the body outer side. For the first screw, in each case a threaded hole 2x2. is therefore provided on the body hinge halves 201, while the body hinge helves 201 each have a through hole 213 for the second screw. The add -on part hinge halves .202. are preferably each mounted on the add-on part by means of exactly one screw. To ties end, the add-on pert hinge helves 202. each have a through hole 222, The arrangement shown in figure 3 of sensors for scanning position end orientation of installed body hinge halves, for a parallel acquisition of both body hinge halves, comprises a sensor 301, 302 respectively for scanning an assoc-ated hinge half. Position and orientation ortho installed body hinge helves cue in each case scanned by means of the sensor 301, 302 arranged beside the vehicle body above an expected installation position,

As compared with the arrangement illustrated In figure 3,. the arrangement according to figure 4 is supplemented by sensors 401-403 for scanning position and orientation of installed add-on pari hinge halves. Fora paroliéi acquisition of both add-on part hinge halves., in each case a sensor 401, 402 for scanning an associated hinge half Is provided, Position and orientation of the installed add-on part binge halves at. the measuring position before the suspension of the add -on part on the vehicle body are In each case scanned by means of the sensor 40:1, 402 arranged beside the vehicle body at the height of an expected measuring position. An additional sensor 403 is provided to scan a lower edge of the add on part os a reference feature and, accordingly, is arranged at an expected measuring position underneath the vehicle body.

The positioning device illustrated In hgure 5 for picking up add-on parts and installing the same on vehicle bodies comprises a suction gripper unit for picking up the add-on part, which unit, comprises a plurality of suction elements SOI that can be aligned with an outer contour of tbs add-on part and a plurality of supporting elements SOS. and carrying elements 503. The supporting elements SO?. Interact with the suction elements 501. end are used to support the add-on part attracted by suction by the suction elements 501, Accordingly, the supporting elements 502 are configured such that they can be adapted to the outer contour of the add-on part.. The carrying elements 50.3 are used to support, the add-on part at the lower edge thereof and therefore also for a definition of the position of the add-on part within the suction gripper unit.

The suction gripper unit is adjustable In the vehicle longitudinal axis and in the vehicle vertical axis, By means of an adjustment of the suchen gripper unit in the vehicle longitudinal reels and in the vehicle vertical axis, a position of the add-on part m relation to the positioning device can he defined, Preferably, the add-on part is picked up from a component storage device by means of the positioning device even before the installation of the add-on part, hinge halves.

Claims

Szabadalmi igénypontok

3, Eljárás kiegészítő etem felszerelésére egy járműkarosszérián, amelynek sorén " több karosszéria oidaü íéiesukiót (201) egy karosszéria'referenciapontokat tartalmazó első referenciapont rendszer alkalmazásával a jármű ka rosszé rlára szerelünk (301), ' ahol a karosszéria oldal; félcsuklókat (201.) az elrendezésük vonatkozáséban a jármű hossztengely és a jármű magasságtengeíy mentén a referenciapont rendszerrel meg ha tá rozzo k, és - ahol a karosszéria oldali féícsukiók (201) csoklélyukaivai (213) vagy csukiócsapjalvai meghatározzak a kiegészítő elem forgástengelyét, - megmérjük (102) a szereit karosszéria oldali télcsoklók (201) legalább egy gépjármű kereszttengely-koordinátáját, azzal jellemezve, hogy - több kiegészítő elem oldali felesüktől (202) az első referenciapont, rendszer és egy kiegészítő elem referenciapontokat tartalmazó második referenciapont rendszer alkalmazásával a kiegészítő elemre szerelünk (104), ~ shoi a kiegészítő elem oldali féicsukiókat (202) a transzformált elrendezésük vonatkozásában a jármű hossztengely és a jármű magasaágf.engeiy mentén a második referenciapont rendszerrel meghatározzék, - ahol a transzformált elrendezés magában foglal egy hivatkozást a kiegészítő elem végszereit, zárt állapotára, - ahol a karosszéria oldali félcsuklé (201) mért gépjármű kereszttengely-kcordmátájálte! meghatározunk (103) legalább egy korrekciós értéket a kiegészítő elem oldali félcsuklőkhoz (202) a transzformált eírersdezés vonatkozásában a gérylíirmű kereszttengely mentén, és • ahol a kiegészítő elem oldali féicsukiókat (202) a meghatározott, korrekciós érték fel h as z. n á iá-sáv a I szere I j ü k, • a kiegészítő elemet, egy pozicionáló egységgel a jármükarosszériátó! egy előre megadható távolságban egy mérőhelyzetbe mozgatjuk i 3 05), • a mérőhelyen meghatározzak a kiegészítő elem oldali féícsukiók csoklócsapjainak vagy esuklólyukainak helyzetét és irányát és összehasonlítjuk (100) azokat a karosszéria oldali feicsuklók megfelelő csukiólyukainak vagy csukíocsapjainak helyzetével és irányával, · a kiegészítő elem kiegészítő elem oldali felcsuklóit az összehasonlítási eredmény alapján a pozicionáló egység segítségével behelyezzük (107) a járműkarosszériára szerelt, karosszéria oldal; félcsuklókba.
.2. Az 1, igénypont szerinti eljárás, amelynél kiegészítő elemenként 2 csuklót, alkalmazunk, és ahol mindként karosszéria oldali féicsnklót (201) a szerelés előtt együtt io egy alsó fogé egységgel a kiegészítő etem tergéstenyeiyének megfelelőén felveszitek és a já érteké rosezérlán egy szanálási helyzetbe helyezzük, ás amelynél a két kiegészítő éten aidai? föicsuklét (202) a szerelés előtt együtt egy "? mmi kv, q\ mm ¢- i s \ < g \, n m e " ' ? omm u am 'm >\\y 'e > <' ' e \ -> m Ά\ < > a kiegészítő eleméé egy szerelés? helyzet ha helyezzük-
3, Az 1< vágy 3-> igénypegtek égy tea szerinti ei jé rés,, amelynél a pozicionáló egység é kiegészitő elém rnegfogéséhéz egy szlvé-fogó egységgel rendelkezik, 4, A 3, Igénypont szerinti tejáráé., amelynél a ktegészitő elemet .már a kiegészítő elem oldali félcsuklók (202) szerelése előtt fölvesszük peztefönéié egységgel egy aIkatrésztérteó egységből, 5, A 4, Igénypont szerinti eljárás# -amelynél a szivé-4egé egység a jármű hossztengely és -a jármű megesságtengely mentén éíiithatő, ós amelynél a ksagészítö elem helyzetét a pozicionáló egységhez képest a szívó-fogó egység jármű hossztengely és jármű magasségtengely menti állításával határozzuk meg.
4> Az i * S, igénypontok egyike szerinti eljárás# amelynél a karosszéria elénk félcsukiókat (201) a karosszéria belső okiaméi bevezetett első csavarral és ezt követően a karosszéria külső oldalról bevezetett második csavarral szereljük a jarműkarosszénára. 7. A 6. igénypont szerinti eljárás, amelynél a kiegészítő elem oldal? félçsukiôksf (202) pontosan egy csavarral szereljük a kiegészítő elemre. Ó. Az 1 - 7- Igény pontok egyike szerinti eljárás, amelynél a karosszéria ökleli tétesnkióknak (211) csuklólyukai (201} vannak, és a kiegészítő elem oldali fálcsuklóknak (202) csüklóesapjte (221.) vannak. 4< A é< igénypont szerinti eljárás, amelynél a szerelt karosszéria aidai? télcsuklók (201) helyzetét és irányét egy várható szerelési helyzet fölött a jármű karosszéria maitett elrendezett érzékelővel (.301, 302) letapogatjuk. 3.0, A te vagy 0. Igénypontiak egyike szerinti tejárén, amelynél szerelt kiegészítő etem ölnél? föl esc? ki ék (202) helyzetét és irányét a mérési helyen & kiegészítő etemnek a jérîteükarasszériéî'a helyezése előtt égy várhaté szerelési helyzet rnagasságáPéh a ^ármukarosszérsa mellett elrendezett érzékelővel (40X, 402) letapogatjuk.