Method for producing a product comprising at least two components, such as components and / or assemblies, processing plant and product

Abstract

Method for producing a product (2) comprising at least two components, such as components and / or assemblies, such as a motor vehicle or assembly of a motor vehicle, comprising the steps: a. measuring an actual geometry of a first component (4) and an actual position of at least one first fixing means (6) arranged on the first component (4) and measuring an actual geometry of a second component (8) to be joined to the first component (4); b. comparing the actual geometry of the first component (4) and the actual position of the at least one first fixing means (6) on the first component (4) with a desired geometry of the first component (4) stored in a control unit (20), or a desired position of the first fixing means (6), and comparing the actual geometry of the second component (8) with a desired geometry of the second component (8) stored in a control unit (20). c. Determining a deviation or agreement between the actual geometry and the desired geometry of the first component (4) or between the actual position and the desired position of the first fixing means (6) and determining a deviation or agreement between the actual geometry and the desired geometry of the second component (8); d. Calculating a nominal position of at least one second fixing means (10) to be arranged on the second component (8) by the control unit (20) at least as a function of the deviation or agreement of the actual geometry with the nominal geometry of the first component (4), the actual position with the nominal position of the first fixing means (6) and the actual geometry with the nominal geometry of the second component (8); e. Arranging the at least one second fixing means (10) at the desired position on or on the second component (8).

Description

The invention relates to a method for producing a product comprising at least two components, such as components and / or assemblies, to a processing plant which is operable or operated by such a method and to a product which is produced by such a method or by such a processing plant.Methods for producing a product comprising at least two components, such as components and / or assemblies, are known. In this case, the individual components are provided as joining partners. Due to their natural manufacturing tolerances, it can never be entirely avoided that the two components (joining partners) to be joined cannot be joined to one another in their alignment and position with respect to one another without corrections. For this purpose, it is known to clamp the individual components in clamping tools and to perform dimensional adjustments on the geometry-imparting clamping assemblies, which proves to be costly.In the known methods, due to the natural manufacturing tolerances, it is complicated to ensure a final tolerance of the finished product, which can be constructed from a plurality of components.A method for joining two components is known from DE 699 09 709 T2, in which the distance between two components to be joined together is measured before the joining.An object of an embodiment of the invention is to provide a method in which compensating manufacturing tolerances of individual components is facilitated.This object is achieved by a method for producing a product, such as a motor vehicle or assembly of a motor vehicle, comprising at least two components, such as components and / or assemblies, having the steps: a. measuring an ACTUAL geometry of a first component and an ACTUAL position of at least one first securing means arranged on the first component and measuring an ACTUAL geometry of a second component to be joined to the first component; b. matching the ACTUAL geometry of the first component and the ACTUAL position of the at least one first fixing means on the first component with a TARGET geometry of the first component stored in a control unit or a TARGET position of the first fixing means and matching the ACTUAL geometry of the second component with a TARGET geometry of the second component stored in a control unit c. determining a deviation or match of the ACTUAL geometry to the TARGET geometry of the first component or of the ACTUAL position to the TARGET position of the first fixing means and determining a deviation or match of the ACTUAL geometry to the TARGET geometry of the second component; d. calculating by the control unit a TARGET position of at least one second fixing means to be arranged on the second component at least as a function of the deviation or correspondence of the ACTUAL geometry to the TARGET geometry of the first component, the ACTUAL position to the TARGET position of the first fixing means and the ACTUAL geometry to the TARGET geometry of the second component; e. arranging the at least one second fixing means at the TARGET position on or on the second component.The first component and the second component can be components or assemblies of the product. The product can be a motor vehicle or an assembly of the motor vehicle.The method makes it possible to compensate manufacturing tolerances of the individual components, in particular of the first component and of the second component, by calculating the desired position of the second fixing means on the second component. The TARGET position thereby corresponds to a corrected position at which the second fixing means can be fixed, and fulfills a correction function.Because the second fixing means can be fixed at the TARGET position of the second component, wherein the TARGET position is calculated on the basis of the deviations or matches of the ACTUAL geometries to the TARGET geometries and the ACTUAL positions to the TARGET positions, the first component and the second component can be joined together without clamping tools. This enables a so-called best-fit configuration with respect to the product.The first fixing means may be, for example, a fixing means which takes over a female part. In such a case, the second fixing means may be formed as a male part. The first fixing means and the second fixing means constitute a so-called component-integrated feature (BIGM).In one embodiment of the method, it proves to be advantageous if it comprises the following further steps: a. arranging the first component and / or the second component on a processing station of a processing installation; b. arranging the at least one first fixing means on or on the first component; and c. joining the first component to the second component by arranging the at least one first fixing means on the at least one second fixing means.In principle, it is conceivable for the first fixing means to already be joined to the first component. Because of this, step b can only be carried out if necessary.In step c, in which the first component is joined to the second component by arranging the at least one first fixing means on the at least one second fixing means, the first fixing means and the second fixing means can be clipped to one another.The fixing of the first fixing means to the second fixing means can be a pre-insertion. In such a case, it is conceivable that a further method step for final fixing of the first component to the second component is provided by further joining method steps, for example screwing, riveting, adhesive bonding, soldering and / or welding.If the product comprises more components than the first component and the second component, it proves to be advantageous if the calculation of the TARGET position of the at least one second fixing means on the second component by the control unit comprises at least one further fixing means which together with the first component and the second component form the product at least as a function of the deviation or match of the ACTUAL geometry to the TARGET geometry of at least one further component and / or the deviation or match of the ACTUAL POSITION to the TARGET position.In such a case, the TARGET position of the at least one second fixing means on the second component can be optimized taking into account the later end product.In addition, it has proven to be advantageous if the arrangement of the at least one first fixing means on the first component, the arrangement of the at least one second fixing means on the second component and / or the joining of the first component to the second component is effected by at least one first manipulator, such as a human or robot, in particular the processing plant.If the first manipulator comprises a robot, for example, it can be designed to be multiaxial or can have kinematics comprising a corresponding number of degrees of freedom.In order to increase the accuracy of the ACTUAL position of the second fixing means after the arrangement by the first manipulator on the second component, it proves to be advantageous if the method comprises a detection of the ACTUAL geometry of the first manipulator and the ACTUAL position of the first manipulator on the first and / or second component, in particular the ACTUAL position of the first manipulator when arranging the at least one first fixing means on the first component and / or when arranging the at least one second fixing means on the second component.The manipulator can be movable on a travel axis, for example. The manipulator can furthermore make it possible to grasp and operate a joining tool.In a development of the last-mentioned embodiment of the method, it proves to be advantageous if the method comprises controlling at least the first manipulator for reaching the SETPOINT position of the second fixing means by the control unit at least as a function of the ACTUAL geometry of the first manipulator and / or the ACTUAL position of the first manipulator on the first and / or second component.In such a case, the first manipulator can be controlled in a measurement-guided manner.It proves to be advantageous if the measurement of the actual geometry of the first component comprises the measurement of the actual position of the first fixing means on the first component, the measurement of the actual geometry of the second component and / or the measurement of the actual position of the first manipulator during the arrangement of the at least one first fixing means on the first component and / or during the arrangement of the at least one second fixing means on the second component by a fixed measuring device and / or a measuring device arranged on a second manipulator or the first manipulator arranging the fixing means on the components.If the measuring device is arranged in a fixed position, the measuring can be carried out simply and in a time-efficient manner. If the measuring device is fixed to a second manipulator, the usability of the measuring device is extended.In the latter case, calibration method steps can be provided if the measuring device is fixed to a second manipulator.By providing the measuring device, a measurement of the component geometry of the first components and / or of the second component and of the first fixing means and / or of the second fixing means and their position on the first component or the second component is made possible. Furthermore, a correction of the first manipulator to the securing means can be effected. The measuring device can comprise, for example, a camera system in which a tracker is, for example, permanently installed. This allows so-called active robot tracking.Furthermore, the measuring device can comprise a photogrammetry bar with at least three cameras, by means of which a plurality of tools and components, such as components or fixing means, that can be fixed to the manipulator can be detected.Finally, in one embodiment of the method, it proves to be advantageous if the method comprises the step of measuring the product by the measuring device. This allows the manufacturing tolerances and accuracy to be checked after the individual components of the product have been joined.In addition, the object is achieved by a processing plant for carrying out a method having at least one of the aforementioned features, having at least one processing location on or on which at least one first component and / or one second component is arrangeable or arranged, having at least one first manipulator for handling and / or processing the first component and / or second component and for arranging first fixing means on the first component and / or second fixing means on the second component, having at least one measuring device for measuring the first component, the second component, the first fixing means and / or the second fixing means and having at least one control unit for controlling the at least one first manipulator in a measurement-guided manner.A seventh axis can be realized by the rotary table in addition to the six axes of the robot.Finally, the object is achieved by a product having at least one first component and having a second component joined to the first component, which is produced by a method having at least one of the aforementioned features and / or which is produced in or on a processing installation having at least one of the aforementioned features.Further features, details and advantages of the invention are evident from the appended patent claims, from the drawing and from the following description of a preferred embodiment of the method.The drawing shows: FIG. 1 shows a schematic isometric illustration of individual components and joining stages of the product; FIG. 2 is a top view of a processing installation; FIG. 3 shows a schematic flow diagram of a method.FIG. 1 shows an embodiment of a product, generally denoted by the reference numeral 2, which is produced by a method according to FIG. 3.In the embodiment shown in FIG. 1, the product 2 comprises two first components 4 to which first fixing means 6 are fixed. In addition, the exemplary embodiment of the product 2 according to FIG. 1 shows two second components 8, to each of which two second fixing means 10 are fixed. The first fixing means 6 are designed as a female part and the second fixing means 10 as a male part.FIG. 2 shows a plan view of a processing plant provided overall with the reference numeral 12, on which a product 2 according to FIG. 1 can be produced and a method according to FIG. 3 can be carried out. In the embodiment of the processing plant 12 shown in FIG. 2, the latter comprises a first manipulator 14, by means of which the first component 4, the second component 8, the first fixing means 6 and the second fixing means 10 can be handled. These can be deposited at a processing station 16 in the processing installation 12.In addition, the processing plant 12 comprises a measuring device 18, which in the exemplary embodiment shown in FIG. 2 is arranged in a stationary manner and with which the first components 4, the second components 8, the first fixing means 6, the second fixing means 10 and the first manipulator 14 can be measured. In addition, the processing plant 12 comprises a control unit 20, by means of which the method can be monitored and by means of which in particular the first manipulator 14 can be controlled.In the exemplary embodiment shown in FIG. 2, the first manipulator 14 comprises a 6-axis robot which is movable in a linearly guided manner. The machining station 16 comprises a rotary table which is rotatable about an axis out of the table plane and thereby constitutes a seventh axis.The method according to the invention is described with reference to FIG. 3 while viewing FIGS. 1 and 2 together:In a first step 100, the first component 4 and / or the second component 8 is arranged on the machining location 16 of the machining installation 12.In a subsequent optional step 101, the first fixing means 6 are fixed to the first component 4 by the manipulator 14. However, it is also conceivable that the first components 4 are already arranged in step 100 with fixing means 6 fixed to the first components 4.In a subsequent step 102, the ACTUAL geometry of the first component 4 and the ACTUAL position of the first fixing means 6 arranged on the first component 4 are measured. In addition, the actual geometry of the second component 8 is also measured by the measuring device 18.In a subsequent method step 103, the ACTUAL geometry of the first component 4 and the ACTUAL position of the at least one first fixing means 6 are matched to a TARGET geometry of the first component 4 stored in the control unit 20, or to the TARGET position of the at least one first fixing means 6, and the ACTUAL geometry of the second component 8 is matched to a TARGET geometry of the second component 8 stored in the control unit 20.In a step 104, a deviation or match of the ACTUAL geometry to the TARGET geometry of the first component 4 or of the ACTUAL position to the TARGET position of the at least one first fixing means 6 and a deviation or match of the ACTUAL geometry to the TARGET geometry of the second component 8 are determined.From these deviations and matches, in a subsequent step 105, a TARGET position of the at least one second locating means on the second component 8 is calculated.In a subsequent step 106, the first manipulator 14 is thereby controlled by the control unit 20 in such a way that it arranges the at least one second fixing means 10 at the TARGET position calculated in step 105 on or on the second component 8. In this case, the first manipulator 14 can be controlled by the control unit 20 in cooperation with the measuring device 18. In such a case, the measuring device 18 detects the ACTUAL geometry of the first manipulator 14 and the ACTUAL position of the first manipulator 14 on the first component 4 and / or on the second component 8.After the second fixing means 10 have been arranged at the DESIRED position, the first component 4 can be joined to the second component 8 in a subsequent step 107.The features of the invention disclosed in the above description, in the claims and in the drawing can be essential both individually and in any combination in the realisation of the invention in its various embodiments.List of reference characters2 Product 4 First component 6 First fixing means 8 Second component 10 Second fixing means 12 Processing installation 14 First manipulator 16 Processing station 18 Measuring device 20 Control unit 100- 107 Method steps

Claims

Method for producing a product (2) comprising at least two components, such as components and / or assemblies, such as a motor vehicle or assembly of a motor vehicle, having the steps: a. measuring an ACTUAL geometry of a first component (4) and an ACTUAL position of at least one first fixing means (6) arranged on the first component (4) and measuring an ACTUAL geometry of a second component (8) to be joined to the first component (4); b. matching the ACTUAL geometry of the first component (4) and the ACTUAL position of the at least one first fixing means (6) on the first component (4) with a TARGET geometry of the first component (4) stored in a control unit (20), or a SETPOINT position of the first fixing means (6) and matching the ACTUAL geometry of the second component (8) with a SETPOINT geometry of the second component (8) stored in a control unit (20). c. determining a deviation or match of the ACTUAL geometry to the SETPOINT geometry of the first component (4) or the ACTUAL position to the SETPOINT position of the first fixing means (6) and determining a deviation or match of the ACTUAL geometry to the SETPOINT geometry of the second component (8); d. calculating a TARGET position of at least one second fixing means (10) to be arranged on the second component (8) by the control unit (20) at least as a function of the deviation or correspondence of the ACTUAL geometry to the TARGET geometry of the first component (4), the ACTUAL position to the TARGET position of the first fixing means (6) and the ACTUAL geometry to the TARGET geometry of the second component (8); e. arranging the at least one second fixing means (10) at the TARGET position on or on the second component (8).Method according to claim 1, characterised bythe steps: a. arranging the first component (4) and / or the second component (8) on a processing station (16) of a processing installation (12); b. arranging the at least one first fixing means (6) on or on the first component (4); and c. joining the first component (4) to the second component (8) by arranging the at least one first fixing means (6) on the at least one second fixing means (10).Method according to claim 1 or 2, characterised in that the calculation of the TARGET position of the at least one second fixing means (10) on the second component (8) by the control unit (20) at least as a function of the deviation or correspondence of the ACTUAL geometry to the TARGET geometry of at least one further component and / or the deviation or correspondence of the ACTUAL POSITION to the TARGET position of at least one further fixing means which together with the first component (4) and the second component (8) form the product.Method according to at least one of the preceding claims, characterized in that the arrangement of the at least one first fixing means (6) on the first component (4), the arrangement of the at least one second fixing means (10) on the second component (8) and / or the joining of the first component (4) to the second component (8) is effected by at least one first manipulator (14), such as a human or robot, in particular the processing plant (12).Method according to claim 4, characterised bythe fact that the ACTUAL geometry of the first manipulator (14) and the ACTUAL position of the first manipulator (14) on the first and / or second component (8), in particular the ACTUAL position of the first manipulator (14), are determined during the arrangement of the at least one first fixing means (6) on the first component (4) and / or during the arrangement of the at least one second fixing means (10) on the second component (8).Method according to claim 5, characterised bythe control unit (20) moving at least the first manipulator (14) to reach the TARGET position of the second fixing means (10) at least as a function of the ACTUAL geometry of the first manipulator (14) and / or the ACTUAL position of the first manipulator (14) on the first and / or second component (8).Method according to one of Claims 4 to 6, characterized in that the measurement of the ACTUAL geometry of the first component (4) comprises the measurement of the ACTUAL position of the first fixing means (6) on the first component (4), the measurement of the ACTUAL geometry of the second component (8) and / or the measurement of the ACTUAL position of the first manipulator (14) during the arrangement of the at least one first fixing means (6) on the first component (4) and / or during the arrangement of the at least one second fixing means (10) on the second component (8) by means of a fixed measuring device (18) and / or a measuring device (18) arranged on a second manipulator or the first manipulator (14) arranging the fixing means (6, 10) on the components (4, 8).Method according to at least one of the preceding claims, characterized byfirsting the product (2) by the measuring device (18).Processing plant (12) for carrying out a method according to one of Claims 1 to 8, having at least one processing station (16) on or on which at least one first component (4) and / or one second component (8) is arrangeable or arranged, having at least one first manipulator (14) for handling and / or processing the first component (4) and / or second component (8) and for arranging first fixing means (6) on the first component (4) and / or second fixing means (10) on the second component (8), having at least one measurement device (18) for measuring the first component (4), the second component (8), the first fixing means (6) and / or the second fixing means (10) and having at least one control unit (20) for measurement-guided actuation of the at least one first manipulator (14).Product (2) having at least one first component (4) and having a second component (8) joined to the first component (4), which is produced by a method according to one of Claims 1 to 8 and / or which is produced in or on a processing plant (12) according to Claim 9.

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