Method and device for the positionally precise mounting of an add-on part on a vehicle body

A method for the mounting of an add-on part ( 3 ) on a workpiece ( 1 ), in particular on a vehicle body, the intention being for the add-on part ( 3 ) to be aligned on the workpiece ( 1 ) in a precisely positioned manner in relation to a reference region ( 12, 13 ). Use is made of a robot-guided mou...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	STAHS THOMAS, BECKER FRAUKE, SCHRECK ANDREAS, SCHULER BERND
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMBINED OPERATIONS CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS HAND TOOLS LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MACHINE TOOLS MANIPULATORS MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVINGMATERIAL METAL-WORKING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS MOTOR VEHICLES OTHER WORKING OF METAL PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS PUNCHING METAL REGULATING TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION TECHNICAL SUBJECTS COVERED BY FORMER USPC TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS TRAILERS TRANSPORTING UNIVERSAL MACHINE TOOLS WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS ORPROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	A method for the mounting of an add-on part ( 3 ) on a workpiece ( 1 ), in particular on a vehicle body, the intention being for the add-on part ( 3 ) to be aligned on the workpiece ( 1 ) in a precisely positioned manner in relation to a reference region ( 12, 13 ). Use is made of a robot-guided mounting tool ( 5 ) which is connected fixedly to a sensor system ( 20 ). In order to achieve the precisely positioned alignment of the add-on part ( 3 ), an iterative control operation is run through, in the course of which first of all an (actual) measured value of the sensor system ( 20 ) is produced and is compared with a (desired) measured value produced within the context of a setting-up phase. A movement vector of the mounting tool ( 5 ) is calculated from the difference between the (actual) measured value and (desired) measured value using a Jacobi matrix calculated within the context of the setting-up phase, and the mounting tool ( 5 ) with the add-on part ( 3 ) fixed therein is iteratively displaced in relation to the workpiece ( 1 ) by these movement vectors until the desired position is reached. This positioning task can be resolved without a metric calibration of the sensor system ( 20 ).