EP0593719A1 - Procede et dispositif de montage de portieres dans des carrosseries d'automobiles - Google Patents

Procede et dispositif de montage de portieres dans des carrosseries d'automobiles

Info

Publication number
EP0593719A1
EP0593719A1 EP93909864A EP93909864A EP0593719A1 EP 0593719 A1 EP0593719 A1 EP 0593719A1 EP 93909864 A EP93909864 A EP 93909864A EP 93909864 A EP93909864 A EP 93909864A EP 0593719 A1 EP0593719 A1 EP 0593719A1
Authority
EP
European Patent Office
Prior art keywords
door
cutout
following
robot
measured
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP93909864A
Other languages
German (de)
English (en)
Inventor
Gerhard Albrecht
Hermann Bischof
Manfred Dietmayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of EP0593719A1 publication Critical patent/EP0593719A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor

Definitions

  • the invention relates to a method and a device for mounting doors in vehicle bodies with the aid of a robot according to the features in the preamble of the main method and device claim.
  • the invention solves this problem with the features in the main method and device claim.
  • the door cutout of the vehicle body is measured and then the door is inserted with a precise fit.
  • the door position on the fully assembled vehicle is exactly correct, taking into account any delay and possibly also size differences of the Door cutout can be taken into account.
  • the hinge position and hinge assembly are then preferably based on the desired door position in the door cutout.
  • the invention makes it possible to take account of later changes in position already during door assembly.
  • the vehicle doors In the finished state, the vehicle doors have a lower or higher weight depending on the equipment, which can lead to certain flexibility on the hinge side. This can be counteracted by installing the door at an angle.
  • the door does not have to be sunk into the door cutout during assembly. It can also be installed in a slightly open position, which enables larger incline positions.
  • the precise fitting of the door is based on the fact that the door has the correct position in the door cutout in the final state.
  • the door cutout can be measured in different ways and at different points in the manufacturing process of the vehicle body.
  • the measurement is carried out in the assembly station. This offers maximum accuracy and high flexibility. It is particularly favorable if the measurement is carried out by a sensor device which is moved along with the door to be assembled. However, a stationary camera system or another device can also be used for the measurement, which carries out a separate measurement before the door is installed.
  • the door cutout is measured at three or more characteristic points, which is preferably done by scanning edges and surfaces in the cutout area, in particular at the door rebate. In this way, a possible distortion of the body can be reliably determined.
  • a size measurement can also take place. This is useful in order to have an even, circumferential gap between the door and the door cutout in the end position of the assembled door.
  • the assembly of the second pair of doors can be aligned according to the position of the already assembled first pair of doors in order to achieve an overall precisely fitting position of all doors.
  • the hinge mountings on the vehicle body can also be measured. This is particularly recommended when there are tight tolerances in the hinge area.
  • the measurement of the door cutout and possibly also the hinge receptacles have the further advantage that these measurement data can be transferred to a processing device, for example a welding or screwing robot, which then fastens the hinges.
  • This processing device can dispense with its own sensors based on the prior information.
  • Fig. 4 a body with the door cutout in
  • FIG. 1 shows an assembly station (22) in which doors (12) in bodies (2) of vehicles are mounted by means of a robot (1).
  • the doors are mounted in the side parts of the body (2).
  • rear doors or tailgates can also be installed.
  • the body (2) is brought into the assembly station (22) using a suitable transport system.
  • the doors (12) are placed in a set-up station (18) by means of a suitable conveyor device (not shown).
  • the set-up station (18) has an adjusting device (20) with which the door (12) can be held in an exact and defined position. This can be done, for example, by appropriate conditions or stops.
  • the door (12) has hinges (16) already mounted in a suitable manner.
  • the adjusting device (20) has suitable stops or the like with which the hinges (16) can be brought into a pre-aligned position.
  • a robot (1) is provided for the assembly of the doors (12), which carries on its robot hand (23) a holding device (13) with which the door (12) is gripped and into the door cutout (3) (see Fig. 4) can be placed on the body (2).
  • the holding device (13) is rigidly connected to the robot hand (23) and thus follows all movements of the robot (1) directly. As a result, the holding device (13) can be brought into certain positions under robot control
  • a processing device (19) for example a robot with a welding or screwing tool, is provided for fixing the hinges (16) to the hinge receptacles (5) of the body (2) provided for this purpose.
  • the arrangement and design of this processing device (19) depends on the design and arrangement of the hinges or the vehicle body.
  • the door cutout (3) is measured. At least the position of the door cutout (3) is determined by the measurement and communicated to the robot controller so that the robot (1) can fit the door (12) with a precise fit. In addition to the position, the size of the door cutout (3) can also be measured. This enables the door (12) to be centered.
  • Fig. 4 shows a four-door body (2). The size measurement is particularly recommended for the installation of the second door, since this also makes it possible to refer to the position of the already installed first door.
  • the measurement of the door cutout (3) takes place in the embodiment shown in the assembly station (22).
  • a sensor device (17) is preferably provided, which is attached to the holding device (13) and is moved by the robot (1).
  • the measurement of the door cutout (3) takes place during the assembly of the door (12).
  • a stationary camera system or another suitable measuring device can be provided, which measures the door cutout (3) and transmits the data to the robot controller.
  • the cutout measurement is preferably carried out by scanning the edges and at least partially also the surfaces of the vehicle body (2) in the cutout area.
  • the measurement is carried out at three or more measuring points (8, 9, 10, 11, 24) which are characteristic of the door cutout (3). As shown in FIG. 4, the measurement process on the second door is carried out in a similar manner.
  • the measuring points have the reference numerals ( ⁇ ' / ⁇ ⁇ 10 1 ).
  • a body reference point (11) is provided on the body (2) shown in FIG. 4 and serves as a reference point for aligning the individual body parts with one another.
  • the body reference point (11) can be one of the aforementioned measuring points for determining the door cutout (3). In the exemplary embodiment shown, it is located on the front spar (6) of the body (2). It is preferably located approximately in the middle between the two hinge receptacles (5). It is designed, for example, as a circular hole.
  • the body reference point (11) can also be designed in any other way and can also be arranged at a different location. It can also be omitted. In the exemplary embodiment shown, the body reference point (11) is first scanned with the sensor device (17).
  • the opening is preferably crossed over with a suitable edge-scanning sensor and the center point of the body opening, which represents the body reference point (11), is calculated from the edge signals in conjunction with the path measurement of the robot (l).
  • the body reference point (11) has a predetermined and precisely maintained relationship to the door cutout (3). Through the first measuring process, the cut-out position with respect to the translatory X and Z axes can be determined. 4 shows the coordinate system in question.
  • the cutout position in the Y-axis is determined by a suitable distance sensor.
  • the robot controller thus knows the cutout position in the front spar area according to the three translatory axes X, Y and Z.
  • Positional deviations can now still exist with regard to the three rotary axes.
  • the measuring point (9) in the roof area and the measuring point (10) in the floor area are approached with the sensor device (17).
  • the fold edge is determined by running over the door rebate (4) and then the distance to the roof spar is determined by area scanning.
  • a distance measurement at the measuring point (10) can suffice.
  • the position of the door cutout (3) can be determined and calculated according to all six degrees of freedom. It is possible to scan further characteristic measuring points on the body (2).
  • Fig. 4 shows a measuring point (24) at the kink of the front spar (6). It is also possible to approach further measuring points.
  • the body reference point (11) is designed as a hole and, due to its shape, is unable to transmit any information about the distance in the Y axis.
  • the adjacent measuring point (8) is provided for this. If the body reference point (11) is designed differently, the height measurement can also be carried out at the same location.
  • the measuring point (8 ') is first approached.
  • the neighboring vertical edge of the door rebate (4) is scanned and the distance between the body surface at the measuring point (8 1 ) is determined.
  • the horizontal edge of the rear window section lying above it can be scanned.
  • a distance measurement can also be carried out in the fold (4).
  • the measuring point (8 ! ) Is thereby determined in all three translatory axes X, Y, Z.
  • the measuring points (9 *) and (10 *) then serve, as with the front door cutout (3), to determine the rotary axis positions.
  • the holding device (13) with the sensor device (17) is moved in a suitable manner over the door cutout (3) and the adjacent body areas.
  • the sensors of the sensor device (17) can be designed in any suitable manner and work in a contactless or tactile manner.
  • Linear displacement sensors, flag switches, optical light sensors, optically analog are possible working distance sensors, ultrasonic sensors, profile-detecting sensors with light step camera system and the like other embodiments.
  • the sensor device (17) is located near the door edges and protrudes slightly to the side.
  • the robot (1) can tilt the holding device (13) and position it obliquely with respect to the door cutout (3), the sensor required in each case being approximated to the respective measuring point.
  • the sensors can be aligned obliquely in a corresponding manner.
  • the sensors are available in a suitable number. For example, there are as many sensors as there are measuring points (8,9,10,11,24). The sensors preferably also assume a position on the holding device (13) corresponding to the measuring points.
  • the hinge receptacles (5) can also be measured.
  • the hinge receptacles (5) are designed as hinge holes through which the hinges (6) are inserted during door assembly.
  • other design options such as stop surfaces or the like, are also possible.
  • the hinge receptacles (5) can be measured in the same way as for the door cutout (3).
  • the position of the door cutout (3) and, if appropriate, also the position of the hinge receptacle (5) are calculated in the robot controller. From this, the installation position of the door (12) is calculated and then moved to the bracket (13) and the door (12). At the same time, the pre-aligned hinges (16) are brought into position relative to the hinge receptacles (5). In the exemplary embodiment shown, they are plugged in.
  • the mounting position of the door (12) can be exactly in the center of the door cutout (3).
  • the door (12) can be installed in an inclined position in order to compensate for a later deformation in the hinge area due to the weight of the door.
  • the required inclined position is determined beforehand and then entered accordingly as an offset in the robot controller.
  • the door (12) is then installed so that its upper right corner may protrude beyond the door cutout (3).
  • the door (12) can then be installed in a slightly open position, approximately 5 to 10 °.
  • the robot (1) holds the door (12) in position during assembly until the hinges (16) are at least temporarily attached to the body (2) by the processing device (19). This can be done by welding or screwing.
  • the hinge position then depends on the position of the door (12) in the door cutout (3).
  • the hinge gap can also be calculated when measuring the door cutout (3). In the embodiment shown, this is the gap between the somewhat wider hinge plate and the surface of the front spar (6). This gap is decisive for welding the hinge (16).
  • the values determined from the section measurement are transferred from the robot controller to the processing device (19). As a result, the latter is able to precisely weld, screw or otherwise fasten the hinges (16) to the body (2).
  • 1 to 3 illustrate the design of the holding device (13). It has a suction device (14) with which the door (12) is gripped and held. As illustrated in FIG. 3, the suction cups are preferably located in the lower half of the door.
  • a support (15) can also be provided. For example, it consists of excellent support bolts that rest on the door edges. The supports (15) can be distributed such that they come into congruence with one or more of the measuring points (9, 10, 24) in the assembled position.
  • the holding device (13) can have a fixing device (21) for holding the hinges (16). It consists, for example, of suitable pliers or grippers, which can also be movable. This ensures that the hinges (16) keep their aligned and assembly-ready position, after the door (12) has been attached to the body (2) the associated hinge (16) can also be moved somewhat via the fixing device (21). This makes it possible, for example, to make contact with an edge on the hinge hole (5) in order to achieve a position that is particularly suitable for welding.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne un procédé et un dispositif de montage de portières (12) dans des carrosseries d'automobiles (2) à l'aide d'un robot (1). Le robot (1) saisit les portières (12) au moyen d'un dispositif de préhension (13), à un endroit donné et les positionne en face de la découpe de portière (3) pratiquée dans la carrosserie (2). La découpe de portière (3) est ensuite mesurée et les portières (12) sont insérées avec précision dans la découpe (3), avec des charnières (16) pré-alignées, et y sont maintenues jusqu'à ce que les charnières (16) aient été fixées à la carrosserie (2). Les portières peuvent être montées en position inclinée et légèrement ouverte afin d'équilibrer le poids. La découpe de portière (3) est mesurée à l'aide d'un dispositif détecteur (17) placé sur le dispositif de préhension (13) et qui comporte des détecteurs pour balayer les arêtes et les surfaces de la carrosserie (2).
EP93909864A 1992-05-05 1993-04-30 Procede et dispositif de montage de portieres dans des carrosseries d'automobiles Withdrawn EP0593719A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4214863 1992-05-05
DE19924214863 DE4214863A1 (de) 1992-05-05 1992-05-05 Verfahren und Vorrichtung zur Montage von Türen in Fahrzeugkarosserien
PCT/EP1993/001042 WO1993022186A1 (fr) 1992-05-05 1993-04-30 Procede et dispositif de montage de portieres dans des carrosseries d'automobiles

Publications (1)

Publication Number Publication Date
EP0593719A1 true EP0593719A1 (fr) 1994-04-27

Family

ID=6458235

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93909864A Withdrawn EP0593719A1 (fr) 1992-05-05 1993-04-30 Procede et dispositif de montage de portieres dans des carrosseries d'automobiles

Country Status (3)

Country Link
EP (1) EP0593719A1 (fr)
DE (1) DE4214863A1 (fr)
WO (1) WO1993022186A1 (fr)

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CN105436725A (zh) * 2015-12-03 2016-03-30 成都环龙智能***设备有限公司 一种连杆模具视觉检测机智能修复***

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CN105436725B (zh) * 2015-12-03 2018-07-27 成都环龙智能***设备有限公司 一种连杆模具视觉检测机智能修复***

Also Published As

Publication number Publication date
WO1993022186A1 (fr) 1993-11-11
DE4214863A1 (de) 1993-11-11

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