WO1993022186A1 - Process and device for mounting doors in car bodies - Google Patents

Process and device for mounting doors in car bodies Download PDF

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Publication number
WO1993022186A1
WO1993022186A1 PCT/EP1993/001042 EP9301042W WO9322186A1 WO 1993022186 A1 WO1993022186 A1 WO 1993022186A1 EP 9301042 W EP9301042 W EP 9301042W WO 9322186 A1 WO9322186 A1 WO 9322186A1
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WO
WIPO (PCT)
Prior art keywords
door
cutout
following
robot
measured
Prior art date
Application number
PCT/EP1993/001042
Other languages
German (de)
French (fr)
Inventor
Gerhard Albrecht
Hermann Bischof
Manfred Dietmayer
Original Assignee
Kuka Schweissanlagen + 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 + Roboter Gmbh filed Critical Kuka Schweissanlagen + Roboter Gmbh
Priority to EP93909864A priority Critical patent/EP0593719A1/en
Publication of WO1993022186A1 publication Critical patent/WO1993022186A1/en

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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.

Abstract

A process and device are disclosed for mounting doors (12) in car bodies (2) by means of a robot (1). The robot (1) uses a holding device (13) to seize the door (12) from a defined location and positions it in front of the door opening (3) of the car body (2). The door opening (3) is then measured and the door (12) is accurately fitted into the door opening (3), with pre-aligned hinges (16), and is held therein until the hinges (16) are secured to the car body (2). For weight compensation purposes, the door (12) may be mounted in an inclined slightly open position. The door opening (3) is measured with a sensor device (17) arranged on the holding device (13) with sensors for scanning edges and surfaces of the car body (2).

Description

B E S C H R E I B U N G DESCRIPTION
Verfahren und Vorrichtung zur Montage von Türen inMethod and device for assembling doors in
FahrzeugkarosserienVehicle bodies
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Montage von Türen in Fahrzeugkarosserien mit Hilfe eines Roboters gemäß den Merkmalen im Oberbegriff des Verfahrens- und Vorrichtungshauptanspruches.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.
Aus der DE-OS 33 42 570 ist es bekannt, eine Fahrzeugtüre im Türausschnitt einer Karosserie zu montieren, indem die Scharnierlage gemessen und danach die Türe über eine raumgelenkig bewegliche und schwimmende Lagerung in den Türausschnitt eingepaßt wird. Diese Anordnung setzt eine komplizierte Halterung mit mehreren Zusatzachsen voraus. Außerdem orientiert sich das Montageverfahren an der Scharnierlage und nicht an der Türlage im Ausschnitt. Hierdurch kann es zu gewissen Montageungenauigkeiten kommen.From DE-OS 33 42 570 it is known to mount a vehicle door in the door cut-out of a body by measuring the hinge position and then fitting the door into the door cut-out via a flexible, floating bearing. This arrangement requires a complicated bracket with several additional axes. In addition, the assembly process is based on the hinge position and not on the door position in the cutout. This can lead to certain assembly inaccuracies.
Es ist Aufgabe der vorliegenden Erfindung, ein Verfahren und eine Vorrichtung zur Montage von Türen in Fahrzeugkarosserien aufzuzeigen, das eine höhere Paßgenauigkeit ermöglicht.It is an object of the present invention to provide a method and a device for mounting doors in vehicle bodies, which enables a higher fitting accuracy.
Die Erfindung löst diese Aufgabe mit den Merkmalen im Verfahrens- und Vorrichtungshauptanspruch. Nach der Erfindung wird der Türausschnitt der Fahrzeugkarosserie vermessen und danach die Türe paßgenau eingesetzt. Hierdurch stimmt die Türlage am fertigmontierten Fahrzeug ganz exakt, wobei auf eventuellen Verzug und gegebenenfalls auch auf Größenunterschiede des TürausSchnitts Rücksicht genommen werden kann. Die Scharnierlage und Scharniermontage richten sich dann vorzugsweise nach der gewünschten Türlage im Türausschnitt.The invention solves this problem with the features in the main method and device claim. According to the invention, the door cutout of the vehicle body is measured and then the door is inserted with a precise fit. As a result, 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.
Die Erfindung ermöglicht es, bereits bei der Türmontage spätere Lageveränderungen zu berücksichtigen. Im fertigen Zustand haben die Fahrzeugtüren je nach Ausstattung ein niedrigeres oder höheres Gewicht, was Scharnierseitig zu gewissen Nachgiebigkeiten führen kann. Dem kann durch einen gezielten Schrägeinbau der Türe bei der Montage entgegengewirkt werden. Die Türe muß auch nicht bei der Montage in den Türausschnitt versenkt werden. Sie kann auch in leicht geöffneter Stellung montiert werden, was größere Schräglagenvorhalte ermöglicht. Die paßgenaue Montage der Türe stellt darauf ab, daß im Endzustand die Türe die richtige Lage im Türausschnitt hat.The invention makes it possible to take account of later changes in position already during door assembly. 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.
Die Vermessung des Türausschnittes kann auf unterschiedliche Weise und an unterschiedlichen Stellen im Herstellungsablauf der Fahrzeugkarosserie erfolgen. Im bevorzugten Ausführungsbeispiel der Erfindung wird die Vermessung in der Montagestation durchgeführt. Dies bietet eine maximale Genauigkeit und hohe Flexibilität. Besonders günstig ist es, wenn die Vermessung durch eine Sensoreinrichtung vorgenommen wird, die mit der zu montierenden Türe mitbewegt wird. Zur Vermessung kann aber auch ein stationäres Kamerasystem oder eine andere Einrichtung dienen, die eine getrennte Vermessung vor der Türenmontage durchführt.The door cutout can be measured in different ways and at different points in the manufacturing process of the vehicle body. In the preferred embodiment of the invention, 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.
Der Türausschnitt wird an drei oder mehr charakteristischen Punkten vermessen, was vorzugsweise durch Abtastung von Kanten und Flächen im Ausschnittsbereich, insbesondere am Türfalz, geschieht. Hierdurch kann zuverlässig ein eventueller Verzug der Karosserie festgestellt werden. Neben der Lagevermessung des Türausschnittes kann zusätzlich auch eine Größenvermessung stattfinden. Dies ist nützlich, um in der Endlage der montierten Türe einen gleichmäßigen, umlaufenden Spalt zwischen Türe und Türausschnitt zu haben. Außerdem kann bei viertürigen Fahrzeugen die Montage des zweiten Türenpaares nach der Position des bereits montierten ersten Türenpaares ausgerichtet werden, um eine insgesamt paßgenaue Lage aller Türen zu erreichen.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. In addition to the position measurement of the door cutout, 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. In addition, in the case of four-door vehicles, 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.
Zusätzlich zum Türausschnitt können auch die Scharnieraufnahmen an der Fahrzeugkarosserie vermessen werden. Dies empfiehlt sich insbesondere dann, wenn im Scharnierbereich enge Toleranzen vorliegen. Die Vermessung des Türausschnittes und gegebenenfalls auch der Scharnieraufnahmen haben den weiteren Vorteil, daß diese Meßdaten an eine Bearbeitungsvorrichtung, beispielsweise einen Schweiß- oder Schraubroboter, übergeben werden können, der die Scharniere dann befestigt. Diese Bearbeitungsvorrichtung kann aufgrund der Vorinformation auf eine eigene Senεorik verzichten.In addition to the door cutout, 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.
In den Unteransprüchen sind weitere vorteilhafte Ausgestaltungen der Erfindung angegeben. Further advantageous embodiments of the invention are specified in the subclaims.
Die Erfindung ist in den Zeichnungen beispielsweise und schematisch dargestellt.The invention is shown in the drawings, for example and schematically.
Im einzelnen zeigenShow in detail
Fig. 1: eine Montagestation in der Übersicht,1: an overview of an assembly station,
Fig. 2 und 3: eine vom Roboter gehaltene Türe in2 and 3: a door held by the robot in
Seitenansicht und Draufsicht undSide view and top view and
Fig. 4: eine Karosserie mit dem Türausschnitt inFig. 4: a body with the door cutout in
Seitenansicht.Side view.
In Fig. 1 ist eine Montägestation (22) dargestellt, in der Türen (12) in Karosserien (2) von Fahrzeugen mittels eines Roboters (1) montiert werden. In der gezeigten Anordnung werden die Türen in die Seitenteile der Karosserie (2) montiert. In ähnlicher Weise können auch Hecktüren oder Heckklappen montiert werden.1 shows an assembly station (22) in which doors (12) in bodies (2) of vehicles are mounted by means of a robot (1). In the arrangement shown, the doors are mounted in the side parts of the body (2). In a similar way, rear doors or tailgates can also be installed.
Die Karosserie (2) wird mit einem geeigneten Transportsystem in die Montagestation (22) gebracht. Die Türen (12) werden über eine geeignete Fördervorrichtung (nicht dargestellt) in einer Rüststation (18) abgelegt. Die Rüststation (18) hat eine Justiervorrichtung (20), mit der die Türe (12) in einer exakten und definierten Lage gehalten werden kann. Dies kann beispielsweise durch entsprechende Auflagen oder Anschläge geschehen. Die Türe (12) hat bereits in geeigneter Weise anmontierte Scharniere (16). Die Justiervorrichtung (20) besitzt geeignete Anschläge oder dergleichen, mit denen die Scharniere (16) in eine vorausgerichtete Lage gebracht werden können. Für die Montage der Türen (12) ist ein Roboter (1) vorgesehen, der an seiner Roboterhand (23) eine Haltevorrichtung (13) trägt, mit der die Türe (12) ergriffen und in den Türausschnitt (3) (vgl. Fig. 4) an der Karosserie (2) gesetzt werden kann. Die Haltevorrichtung (13) ist starr mit der Roboterhand (23) verbunden und folgt damit allen Bewegungen des Roboters (1) unmittelbar. Die Haltevorrichtung (13) kann hierdurch robotergesteuert in bestimmte Lagen gebracht und dort gehalten werden.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 and held there.
Für die Fixierung der Scharniere (16) an den dafür vorgesehenen Scharnieraufnahmen (5) der Karosserie (2) ist eine Bearbeitungsvorrichtung (19), beispielsweise ein Roboter mit einem Schweiß- oder Schraubwerkzeug vorgesehen. Die Anordnung und Ausgestaltung dieser Bearbeitungsvorrichtung (19) richtet sich nach der Ausbildung und Anordnung der Scharniere bzw. der Fahrzeugkarosserie.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.
Zur Ermittlung der Einbau- und Montagelage der Türe (12) an der Karosserie (2) wird der Turausschnitt (3) vermessen. Durch die Vermessung wird zumindest die Lage des TürausSchnitts (3) ermittelt und der Robotersteuerung mitgeteilt, so daß der Roboter (1) die Türe (12) paßgenau montieren kann. Zusätzlich zur Lage kann auch die Größe des Türausschnitts (3) vermessen werden. Dies ermöglicht ein Ein itteln der Türe (12). Fig. 4 zeigt eine viertürige Karosserie (2). Die Größenvermessung empfiehlt sich vor allem für die Montage der zweiten Türe, da hierdurch auch auf die Lage der bereits montierten ersten Türe Bezug genommen werden kann. Die Vermessung des TürausSchnittes (3) erfolgt im gezeigten Ausführungsbeispiel in der Montagestation (22). Hierfür ist vorzugsweise eine Sensoreinrichtung (17) vorgesehen, die an der Haltevorrichtung (13) befestigt ist und vom Roboter (1) mitbewegt wird. Die Vermessung des Türausschnittes (3) erfolgt dadurch während der Montage der Türe (12). Alternativ kann auch ein stationäres Kamerasystem oder eine andere geeignete Vermessungseinrichtung vorgesehen sein, die den Türausschnitt (3) vermißt und die Daten an die Robotersteuerung übermittelt.To determine the installation and assembly position of the door (12) on the body (2), 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). For this purpose, 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). Alternatively, 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.
Die Ausschnittsvermessung erfolgt vorzugsweise durch Abtasten der Kanten und zumindest teilweise auch der Flächen der Fahrzeugkarosserie (2) im Ausschnittsbereich. Hierbei wird die Vermessung an drei oder mehr für den Türausschnitt (3) charakteristischen Meßpunkten (8,9,10,11,24) vorgenommen. Wie Fig. 4 zeigt, erfolgt der VermessungsVorgang an der zweiten Türe in ähnlicher Weise. Die Meßpunkte tragen hier die Bezugsziffern (δ'/θ^lO1).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 (δ ' / θ ^ 10 1 ).
An der in Fig. 4 gezeigten Karosserie (2) ist ein Karosserie-Bezugspunkt (11) vorgesehen, der für die Ausrichtung der einzelnen Karosserieteile zueinander als Bezugspunkt dient. Der Karosserie-Bezugspunkt (11) kann einer der vorerwähnten Meßpunkte zur Ermittlung des Türausschnitts (3) sein. Im gezeigten Ausführungsbeispiel befindet er sich am Vorderholm (6) der Karosserie (2). Er sitzt vorzugsweise etwa mittig zwischen den beiden Scharnieraufnahmen (5). Er ist beispielsweise als kreisrundes Loch ausgebildet. Der Karosserie-Bezugspunkt (11) kann aber auch in irgendeiner anderen Weise gestaltet und auch an einer anderen Stelle angeordnet sein. Er kann auch entfallen. Im gezeigten Ausführungsbeispiel wird zunächst der Karosserie-Bezugspunkt (11) mit der Sensoreinrichtung (17) abgetastet. Hierdurch wird mit einem geeigneten kantentastenden Sensor die Öffnung vorzugsweise kreuzweise überfahren und aus den Kantensignalen in Verbindung mit der Wegmessung des Roboters (l) der Mittelpunkt der Karosserieöffnung, die den Karosserie-Bezugspunkt (11) darstellt, berechnet. Der Karosserie-Bezugspunkt (11) hat eine vorgegebene und genau eingehaltene Beziehung zum Türausschnitt (3). Durch den ersten Meßvorgang kann dadurch die AusSchnittsläge hinsichtlich der translatorischen X- und Z-Achse bestimmt werden. Fig. 4 zeigt das betreffende Koordinatensystem.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). As a result, 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.
Am Meßpunkt (8) , der auf der Oberfläche des Vorderholms (6) nahe des Karosserie-Bezugspunktes (11) liegt, wird durch einen geeigneten Abstandssensor die Ausschnittslage in der Y-Achse ermittelt. Damit kennt die Robotersteuerung die Ausschnittslage im Vorderholmbereich nach den drei translatorischen Achsen X,Y und Z.At the measuring point (8), which lies on the surface of the front spar (6) near the body reference point (11), 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.
Lageabweichungen können nun noch hinsichtlich der drei rotatorischen Achsen bestehen. Hierzu werden nacheinander der Meßpunkt (9) im Dachbereich und der Meßpunkt (10) im Bodenbereich mit der Sensoreinrichtung (17) angefahren. Am Meßpunkt (9) wird durch Überfahren des Türfalzes (4) die Falzkante ermittelt und danach durch Flächenabtastung der Abstand zum Dachholm ermittelt. Am Meßpunkt (10) kann eine Abstandsmessung genügen. Durch die beschriebene Vermessung kann die Lage des Türausschnitts (3) nach allen sechs Freiheitsgraden ermittelt und berechnet werden. Es ist möglich, weitere charakteristische Meßpunkte an der Karosserie (2) abzutasten. Fig. 4 zeigt einen Meßpunkt (24) an der Knickstelle des Vorderholms (6) . Es ist auch möglich, noch weitere Meßpunkte anzufahren. Der Karosserie-Bezugspunkt (11) ist im gezeigten Ausführungsbeispiel als Loch ausgebildet und vermag aufgrund seiner Form keine Informationen über den Abstand in der Y-Achse zu übermitteln. Hierzu ist der benachbarte Meßpunkt (8) vorgesehen. Bei einer anderen Ausbildung des Karosserie-Bezugspunktes (11) kann auch die Höhenmessung an gleicher Stelle durchgeführt werden.Positional deviations can now still exist with regard to the three rotary axes. For this purpose, the measuring point (9) in the roof area and the measuring point (10) in the floor area are approached with the sensor device (17). At the measuring point (9), 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. Using the measurement described, 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. In the exemplary embodiment shown, 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.
Zur Vermessung des Türausschnittes (3) an der hinteren Fahrzeugtüre wird zunächst der Meßpunkt (8') angefahren. Hier werden die benachbarte vertikale Kante des Türfalzes (4) abgetastet und auch der Abstand der Karosseriefläche im Meßpunkt (81) ermittelt. In einem dritten Meßvorgang kann die darüberliegende horizontale Kante des rückwärtigen Fensterausschnittes abgetastet werden. Hierzu kann auch im Falz (4) eine Abstandsmessung erfolgen. Beim hinteren Türausschnitt (3) wird der Meßpunkt (8! ) dadurch in allen drei translatorischen Achsen X, Y, Z festgelegt. Die Meßpunkte (9*) und (10*) dienen wie beim vorderen Türausschnitt (3) dann zur Ermittlung der rotatorischen Achslagen.To measure the door cutout (3) on the rear vehicle door, the measuring point (8 ') is first approached. Here 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. In a third measurement process, the horizontal edge of the rear window section lying above it can be scanned. For this purpose, a distance measurement can also be carried out in the fold (4). With the rear door cutout (3), 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.
Zur Vermessung der Türausschnitte (3) wird die Haltevorrichtung (13) mit der Sensoreinrichtung (17) in geeigneter Weise über den Türausschnitt (3) und die benachbarten Karosseriebereiche hinwegbewegt.To measure the door cutouts (3), 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.
Die Sensoren der Sensoreinrichtung (17) können in beliebig geeigneter Weise ausgebildet sein und berührungslos oder taktil arbeiten. Möglich sind lineare Wegaufnehmer, Fahnenschalter, optische Lichttaster, optisch analog arbeitende Abstandssensoren, Ultraschallsensoren, Profil erkennende Sensoren mit Lichtschritt-Kamera-System und dergleichen andere Ausführungsformen. Die Sensoreinrichtung (17) befindet sich nahe der Türkanten und steht geringfügig seitlich vor. Für den Vermessungvorgang kann der Roboter (1) die Haltevorrichtung (13) kippen und gegenüber dem Türausschnitt (3) schräg stellen, wobei der jeweils benötigte Sensor an den jeweiligen Meßpunkt angenähert wird. Die Sensoren können hierzu in entsprechender Weise schräg ausgerichtet sein.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. For the measurement process, 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. For this purpose, the sensors can be aligned obliquely in a corresponding manner.
Die Sensoren sind in geeigneter Anzahl vorhanden. Beispielsweise sind ebenso viele Sensoren vorgesehen, wie Meßpunkte (8,9,10,11,24) vorhanden sind. Die Sensoren nehmen vorzugsweise auch eine den Meßpunkten entsprechende Lage an der Haltevorrichtung (13) ein.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.
Zusätzlich zum Türausschnitt (3) können auch die Scharnieraufnahmen (5) vermessen werden. Im gezeigten Ausführungsbeispiel sind die Scharnieraufnahmen (5) als Scharnierlöcher ausgebildet, durch die die Scharniere (6) bei der Türmontage gesteckt werden. Es sind aber auch andere Gestaltungsmöglichkeiten, wie Anschlagflächen oder dergleichen möglich. Die Vermessung der Scharnieraufnahmen (5) kann in gleicher Weise wie beim Türausschnitt (3) geschehen.In addition to the door cutout (3), the hinge receptacles (5) can also be measured. In the exemplary embodiment shown, the hinge receptacles (5) are designed as hinge holes through which the hinges (6) are inserted during door assembly. However, 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).
Nach oder während des Vermessungvorganges wird in der Robotersteuerung die Lage des Türausεchnittes (3) und gegebenenfalls auch die Lage der Scharnieraufnahme (5) berechnet. Hieraus wird die Montageposition der Türe (12) berechnet und mit der Halterung (13) und der Türe (12) dann angefahren. Hierbei werden zugleich die vorausgerichteten Scharniere (16) in Position zu den Scharnieraufnahmen (5) gebracht. Im gezeigten Ausführungsbeispiel werden sie eingesteckt.After or during the measurement process, 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.
Die Montagelage der Türe (12) kann exakt mittig im Türausschnitt (3) sein. Es ist aber gleichermaßen möglich, bewußte Lageabweichungen vorzusehen. Beispielsweise kann zum Gewichtsausgleich die Türe (12) in Schräglage montiert werden, um eine spätere Verformung im Scharnierbereich durch das Türgewicht auszugleichen. Hierzu wird der benötigte Schräglage vorhält vorab ermittelt und dann entsprechend als Offset in die Robotersteuerung eingegeben. Bezogen auf Fig. 4 wird dann die Türe (12) so eingebaut, daß ihre rechte obere Ecke unter Umständen über den Türausschnitt (3) hinwegragt. Zur Vermeidung von Kollisionen kann dann die Türe (12) in leicht geöffneter Stellung, etwa 5 bis 10 °, eingebaut werden.The mounting position of the door (12) can be exactly in the center of the door cutout (3). However, it is equally possible to provide deliberate deviations in position. For example, to balance the weight, 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. For this purpose, the required inclined position is determined beforehand and then entered accordingly as an offset in the robot controller. With reference to Fig. 4, the door (12) is then installed so that its upper right corner may protrude beyond the door cutout (3). To avoid collisions, the door (12) can then be installed in a slightly open position, approximately 5 to 10 °.
Der Roboter (1) hält die Türe (12) bei der Montage in Position, bis die Scharniere (16) von der Bearbeitungsvorrichtung (19) zumindest vorläufig an der Karosserie (2) befestigt sind. Dies kann durch Schweißen oder Schrauben erfolgen. Die Scharnierposition richtet sich dann nach der Position der Türe (12) im Turausschnitt (3).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).
Bei der Vermessung des Türausschnittes (3) kann auch der Scharnierspalt berechnet werden. In der gezeigten Ausführungsform ist dies der Spalt zwischen der etwas breiteren Scharnierplatte und der Oberfläche des Vorderholmes (6) . Dieser Spalt ist für das Anschweißen des Scharnieres (16) maßgeblich. Die aus der Ausschnittsvermessung ermittelten Werte werden von der Robotersteuerung an die Bearbeitungsvorrichtung (19) übergeben. Letztere ist dadurch in der Lage, zielgenau die Scharniere (16) zu schweißen, zu schrauben oder in anderer Weise an der Karosserie (2) zu befestigen. Fig. 1 bis 3 verdeutlichen die Ausbildung der Haltevorrichtung (13). Sie besitzt eine Saugvorrichtung (14), mit der die Türe (12) ergriffen und festgehalten wird. Wie Fig. 3 verdeutlicht, befinden sich die Saugnäpfe vorzugsweise in der unteren Türhälfte. Zusätzlich kann eine Abstützung (15) vorgesehen sein. Sie besteht beispielsweise aus hervorragenden Stützbolzen, die an den Türrändern anliegen. Die Abstützungen (15) können so verteilt sein, daß sie mit einem oder mehreren der Meßpunkte (9, 10, 24) in montierter Stellung in Deckung kommen.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.
Die Haltevorrichtung (13) kann eine Fixiervorrichtung (21) zum Festhalten der Scharniere (16) aufweisen. Sie besteht beispielsweise aus geeigneten Zangen oder Greifern, die zudem beweglich sein können. Hierdurch ist sichergestellt, daß die Scharniere (16) ihre ausgerichtete und montagegerechte Lage behalten, über die Fixiervorrichtung (21) kann nach dem Ansetzen der Türe (12) an der Karosserie (2) auch noch das zugehörige Scharnier (16) etwas bewegt werden. Hierdurch läßt sich beispielsweise eine Anlage an einer Kante am Scharnierloch (5) erzielen, um eine besonders schweißgerechte Position zu erzielen. 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.
S T Ü C K L I S T EPARTS LIST
Roboter Karosserie, Seitenteil Türausschnitt Türfalz Scharnieraufnahme, Scharnierloch Vorderholm Mittelholm Meßpunkt Meßpunkt Meßpunkt Meßpunkt, Karosserie-Bezugspunkt Türe Haltevorrichtung Saugvorrichtung Abstützung Scharnier Sensoreinrichtung Rüststation BearbeitungsVorrichtung Justiervorrichtung Fixiervorrichtung Montagestation Roboterhand Robot body, side panel door cutout hinge mount, hinge hole front spar center bar measuring point measuring point measuring point measuring point, body reference point door holding device suction device support hinge sensor device set-up station processing device adjusting device fixing device assembly station robot hand

Claims

P A T E N T A N S P R Ü C H E PATENT CLAIMS
1. ) Verfahren zur Montage von Türen in1.) Procedure for installing doors in
Fahrzeugkarosserien mit einem Roboter, dadurch g e k e n n z e i c h n e t, daß die Tür (12) vom Roboter (1) mit einer Haltevorrichtung (13) in definierter Lage ergriffen und vor dem Turauschnitt (3) positioniert wird, daß der Türausschnitt (3) der Karosserie (2) vermessen und die Türe (12) dann paßgenau mit vorausgerichteten Scharnieren (16) in den Türausschnitt (3) eingefügt und gehalten wird, bis die Scharniere (16) an der Karosserie (2) befestigt sind.Vehicle bodies with a robot, characterized in that the door (12) is gripped by the robot (1) with a holding device (13) in a defined position and positioned in front of the door cutout (3) such that the door cutout (3) of the body (2) measured and then the door (12) is inserted and held in the door cutout (3) with pre-aligned hinges (16) until the hinges (16) are attached to the body (2).
2. ) Verfahren nach Anspruch 1, dadurch g e k e n n z e i c h n e t, daß die Türe (12) mit Schräglagenvorhalt zum Gewichtsausgleich montiert wird.2.) Method according to claim 1, characterized in that the door (12) is mounted with incline provision for weight compensation.
3. ) Verfahren nach Anspruch 1 oder 2, dadurch g e k e n n z e i c h n e t, daß die Türe (12) in leicht geöffneter Stellung montiert wird.3.) Method according to claim 1 or 2, characterized in that the door (12) is mounted in a slightly open position.
4. ) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß der Türausschnitt (3) nach der Lage und gegebenenfalls auch nach der Größe vermessen wird.4.) Method according to claim 1 or one of the following, characterized in that the door cutout (3) is measured according to the position and optionally also according to the size.
5. ) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß zusätzlich die Scharnieraufnahmen (5) an der Karosserie (2) vermessen werden. 5.) Method according to claim 1 or one of the following, characterized in that the hinge receptacles (5) on the body (2) are also measured.
6. ) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß der Türausschnitt (3) an mindestens drei charakteristischen Meßpunkten (8,9,10,11) vermessen wird. 6.) Method according to claim 1 or one of the following, characterized in that the door cutout (3) is measured at at least three characteristic measuring points (8,9,10,11).
. ) Verfahren nach Anspruch 6, dadurch g e k e n n z e i c h n e t, daß ein oder mehrere Meßpunkte Karosserie-Bezugspunkte (11) sind.. ) Method according to claim 6, characterized in that one or more measuring points are body reference points (11).
8.) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß der Turauschnitt (3) und die Scharnieraufnahmen (5) durch Abtasten von Kanten und Flächen im Bereich des Türfalzes (4) vermessen werden.8.) Method according to claim 1 or one of the following, characterized in that the door cutout (3) and the hinge receptacles (5) are measured by scanning edges and surfaces in the region of the door rebate (4).
9. ) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß der Türausschnitt (3) und gegebenenfalls die Scharnieraufnahmen (5) in der Montagestation (22) vermessen werden.9.) Method according to claim 1 or one of the following, characterized in that the door cutout (3) and optionally the hinge receptacles (5) are measured in the assembly station (22).
10.) Verfahren nach Anspruch 9, dadurch g e k e n n z e i c h n e t, daß die Vermessung mit einer von der Haltevorrichtung (13) mitbewegten Sensoreinrichtung (17) durchgeführt wird.10.) Method according to claim 9, characterized in that the measurement is carried out with a sensor device (17) moved by the holding device (13).
11.) Verfahren nach Anspruch 1 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß die Vermessungsdaten der Karosserie (2) an eine weitere Bearbeitungsvorrichtung (19) übergeben werden. 11.) Method according to claim 1 or one of the following, characterized in that the measurement data of the body (2) are transferred to a further processing device (19).
12.) Vorrichtung zur Montage von Türen in12.) Device for mounting doors in
Fahrzeugkarosserien mit einem Roboter, dadurch g e k e n n z e i c h n e t, daß der Roboter (1) eine Haltevorrichtung (13) für die Türe (12) trägt, die eine Sensoreinrichtung (17) aufweist.Vehicle bodies with a robot, such that the robot (1) carries a holding device (13) for the door (12), which has a sensor device (17).
13.) Vorrichtung nach Anspruch 12, dadurch g e k e n n z e i c h n e t, daß die Sensoreinrichtung (17) Sensoren zum Abtasten von Kanten und Flächen aufweist.13.) Device according to claim 12, characterized in that the sensor device (17) has sensors for scanning edges and surfaces.
14.) Vorrichtung nach Anspruch 12 oder 13, dadurch g e k e n n z e i c h n e t, daß die Haltevorrichtung (13) eine Saugvorrichtung (14) aufweist.14.) Device according to claim 12 or 13, characterized in that the holding device (13) has a suction device (14).
15.) Vorrichtung nach Anspruch 12 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß die Haltevorrichtung (13) ein oder mehrere zusätzliche Abstützungen (15) für die Tür (12) aufweist.15.) Device according to claim 12 or one of the following, characterized in that the holding device (13) has one or more additional supports (15) for the door (12).
16.) Vorrichtung nach Anspruch 15, dadurch g e k e n n z e i c h n e t, daß die Abstützungen (15) an der Tür (12) derart angeordnet sind, daß sie sich im Bereich der Meßpunkte (8,9,10,11) befinden.16.) Device according to claim 15, characterized in that the supports (15) on the door (12) are arranged in such a way that they are located in the area of the measuring points (8,9,10,11).
17.) Vorrichtung nach Anspruch 12 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß die Haltevorrichtung (13) eine Fixiervorrichtung (21) zum Halten der TürScharniere (16) aufweist. 17.) Device according to claim 12 or one of the following, characterized in that the holding device (13) has a fixing device (21) for holding the door hinges (16).
18.) Vorrichtung nach Anspruch 12 oder einem der folgenden, dadurch g e k e n n z e i c h n e t, daß eine Rüststation (18) mit einer Justiervorrichtung (20) für die definierte Lage der Türe (12) und ihrer Scharniere (16) vorgesehen ist. 18.) Device according to claim 12 or one of the following, characterized in that a set-up station (18) with an adjusting device (20) is provided for the defined position of the door (12) and its hinges (16).
PCT/EP1993/001042 1992-05-05 1993-04-30 Process and device for mounting doors in car bodies WO1993022186A1 (en)

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DE19924214863 DE4214863A1 (en) 1992-05-05 1992-05-05 Method and device for assembling doors in vehicle bodies
DEP4214863.4 1992-05-05

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