公开(公告)号：WO2004026672A3

公开(公告)日：2004-09-23

申请号：PCT/EP0309921

申请日：2003-09-06

申请人： DAIMLER CHRYSLER AG ,  BROSE VOLKER ,  KRAUS HELMUT ,  PHILIPP ENRICO ,  RIESTENPATT GENANNT RICHTER MI ,  SCHULER BERND

发明人： BROSE VOLKER ,  KRAUS HELMUT ,  PHILIPP ENRICO ,  RIESTENPATT GENANNT RICHTER MI ,  SCHULER BERND

IPC分类号： B25J9/10 ,  B21D28/34 ,  B23P19/04 ,  B23P21/00 ,  B25J9/16 ,  B25J13/08 ,  B62D65/00 ,  B62D65/02 ,  B62D65/06 ,  G05B19/401

CPC分类号： B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

摘要： The invention relates to a method for the positionally precise mounting of a hinged flap (3) on a production part (1), particularly for mounting a vehicle door on a vehicle body. To this end a robot-guided gripping tool (5) is used that comprises a fixing device (14) for holding the hinged flap (3) and comprises a sensor system (18), which is connected in a fixed manner to the gripping tool (5). Within the scope of a positioning phase (A-2), the gripping tool (5) is, in a first step, moved from a proximity position (37), which is independent of the position of the production part (1) in the working area (27) of the robot (7), and into a mounting position (29), in which the flap (3) held in the fixing device (14) of the gripping tool (5) is aligned in a positionally precise manner with regard to the production part (1). In order to approach the mounting position (29), an iterative control process is run through over the course of which an (actual) measured value of the sensor system (18) is firstly generated that is compared to a (set) measured value generated within the scope of a setting-up phase. A displacement vector of the gripping tool (5) is calculated based on the difference between the (actual) measured value and (set) measured value while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the gripping tool (5) is displaced by this displacement vector. The flap is subsequently attached to the production part (1) with the aid of fastening elements (9). A metric calibration of the sensor system (18) of the gripping tool (5) can be forgone in order to perform this positioning task.

摘要翻译： 本发明涉及一种用于将挡板（3）定位精确地安装在工件（1）上的方法，特别是用于将车门安装在车身中。 为此目的，使用机器人引导的夹持工具（5），其具有用于保持挡板（3）的固定装置（14）和牢固地连接到夹紧工具（5）的传感器系统（18）。 在第一步骤中，夹持工具（5）在从接近位置（37），它是独立于机器人（7）的工作腔（27）在工件（1）的位置的定位阶段（A-2），在一个 安装位置（29）移动，其中在夹持片（3）的夹持工具（5）的固定装置（14）中相对于工件（1）精确地对齐。 要启动组装位置（29）通过一个迭代控制处理传递，首先，（实际）产生测得的，其中的测量值的过程中所述传感器系统（18）的值与在设置阶段（靶）产生的信号进行比较。 从（实际）测量值与（期望的）的测量值之间的差是通过使用计算出的夹持器工具（5）的位移向量设置阶段雅可比矩阵期间计算，和夹持工具（5）通过该位移矢量位移。 随后，通过紧固元件（9）将翼片（3）附接到工件（1）。 为了解决这个定位任务，可以省去夹持工具（5）的传感器系统（18）的公制校准。