Foaming system for foaming a body component of a motor vehicle body and process

Abstract

The invention relates to a foaming system for filling at least one body component of a motor vehicle body with foam, having at least one cavity, according to claim 1. Furthermore, the invention relates to a method for filling at least one body component of a motor vehicle body with foam, according to claim 10.

Description

[0001] The invention relates to a foaming system for foaming at least one body component of a motor vehicle body having at least one cavity according to patent claim 1. Furthermore, the invention relates to a method for foaming at least one body component of a motor vehicle body according to patent claim 10.

[0002] EP 2 283 987 A2 discloses a foam application device for hollow chamber elements, such as windows or door frames, comprising a support / fixing unit for at least one hollow chamber element to be foamed and at least one supply and introduction unit for the foam material to be introduced into the hollow chamber element, which is designed to cooperate with the hollow chamber element received in the support / fixing unit for the purpose of introducing the foam material.

[0003] Furthermore, DE 10 2018 006 545 A1 discloses a foaming system for filling a cavity of a motor vehicle body shell with foam, the foaming system comprising a foam lance, via which a foam can be provided for the cavity, and a nozzle which can be inserted into an opening making the cavity of the motor vehicle component accessible and which is adapted in its inner cross section to an outer cross section of the foam lance.

[0004] It is an object of the invention to provide a foaming system for foaming at least one body component of a motor vehicle body having at least one cavity, and a method for foaming at least one body component of a motor vehicle body, so that the body component can be foamed with particularly little effort.

[0005] This object is achieved according to the invention by a foaming system for foaming at least one body component of a motor vehicle body having at least one cavity, with the features of patent claim 1, and by a method for foaming at least one body component of a motor vehicle body, with the features of patent claim 10. Advantageous embodiments of the invention are the subject of the dependent patent claims and the description.

[0006] A first aspect of the invention relates to a foaming system for foaming at least one body component of a motor vehicle body having at least one cavity or for the motor vehicle body.

[0007] The term "motor vehicle body" can be understood, in particular, as the body of a motor vehicle or the motor vehicle. The motor vehicle is designed, for example, as a passenger car. The body is preferably designed as a self-supporting body. For example, the body at least partially defines an interior space of the motor vehicle. The interior space, which can be referred to, in particular, as the vehicle interior, can be understood, in particular, as a passenger compartment or a passenger cell.

[0008] A body component can be understood, in particular, as a component of the motor vehicle body. The body component can be designed as a single component or as an assembly, for example, comprising several separately formed components. In other words, the body component can be designed as a single piece or in multiple pieces. Alternatively or additionally, the body component can be the motor vehicle body, i.e., in particular, a bodyshell of the motor vehicle.

[0009] The foaming system has at least one plug provision device for providing at least one filler plug. This means that the filler plug can be provided or is provided by the plug provision device. In other words, the plug provision device has at least one provision area in which the filler plug can be or is arranged, in particular manually or automatically.

[0010] The foaming system comprises at least one robot, which is designed, for example, as an industrial robot, in particular a separate robot from the plug supply device. The robot can be referred to, in particular, as a foaming robot.

[0011] The filler plug can in particular be referred to as a foam plug. The filler plug is designed to arrange, in particular to close, a through-opening in the body component. Preferably, the cavity opens into the environment of the body component via the through-opening. This means that the cavity is or can be connected to the environment via the through-opening, in particular fluidically. Thus, the through-opening opens, for example, at one end into the cavity and at the other end into the environment. The filler plug is preferably designed to prevent foam located in the cavity from escaping, in particular via the through-opening, particularly when the filler plug is arranged or received in the through-opening.In other words, the through-opening can be closed or sealed by the filler plug, whereby the foam can be prevented from escaping from the cavity via the through-opening by the filler plug. The through-opening is designed, for example, as a vent opening, which can in particular be referred to as a vent hole.

[0012] The robot has at least one receiving device by means of which the filler plug provided by the plug providing device can be received or is received and can be arranged or is arranged in the through-opening of the body component, in particular spaced apart from the plug providing device, in order to close the through-opening by means of the filler plug.In other words, it is provided that the filler plug provided by the plug provision device can be or is transported by means of the receiving device of the robot, in particular automatically, from the plug provision device, in particular from the provision area, to the body component and the filler plug can be or is introduced, in particular inserted, into the through-opening by means of the receiving device of the robot, in particular subsequently.This means that the filler plug provided by the plug provision device can be received or is received by the receiving device, and the through-opening, in particular the cavity, can be closed or is closed by the filler plug by the receiving device, in particular by arranging or receiving the filler plug in the through-opening. Thus, a process for foaming the cavity of the body component, referred to in particular as a foaming process, comprises at least one step for receiving the plug, in particular by means of the receiving device, and at least one step for inserting the filler plug into the through-opening, referred to in particular as a foaming hole.

[0013] The robot has at least one foaming device, by means of which at least one foam can be or is introduced into the cavity via a filler opening of the filler plug arranged or received in the through-opening, in particular directly, in order to fill the cavity with foam. This means that by means of the foaming device, the foam can be or is introduced into the cavity via the filler plug received in the through-opening, i.e. with the mediation of the filler plug, in particular the filler opening, in order to fill the cavity at least partially, in particular predominantly or completely, with the foam. In other words, by means of the foaming device, the foam can be introduced into the cavity via the through-opening through the filler plug, in particular its filler opening.

[0014] Introducing the foam into the cavity or filling the cavity with foam can be understood, in particular, as filling the cavity with foam. In particular, the filling plug is arranged in the through-opening by means of the receiving device, in particular first, and then, in particular subsequently, the cavity is filled with foam by means of the foaming device through the filling plug, i.e., via the filling plug arranged in the through-opening. This means that the filling plug is arranged in the through-opening before the foam is introduced. The foam is designed, for example, as acoustic foam, in particular as a two-component acoustic foam.

[0015] Preferably, the filler plug, in particular via the filler opening, can only be flowed through by the foam on one side, i.e. in only one direction. This means that the filler plug, in particular the filler opening, can be flowed through or is flowed through by the foam in a first direction for introducing the foam into the cavity and cannot be flowed through or is flowed through by the foam in a second direction different from the first direction, in particular opposite to the first direction. This means that flow through the filler plug, in particular the filler opening, in the second direction is prevented or is prevented. In other words, flow through the filler plug, in particular the filler opening, in the second direction is prevented.The filler plug is therefore preferably designed to introduce the foam into the cavity via the filler opening, particularly in the first direction, and to prevent the foam from escaping from the cavity, particularly from the body component, via the filler opening, particularly in the second direction. Thus, closing the through-opening by means of the filler plug preferably involves closing the through-opening to prevent the foam from escaping, particularly in the first direction, while still allowing the foam to be introduced into the cavity via the filler opening by means of the foaming device.

[0016] The invention is based in particular on the following findings and considerations: It can be provided that defined cavities in the body are to be filled with foam for acoustic reasons. This foam, which can in particular be referred to as acoustic foam, can for example generally consist of two components. The foam, in particular the components, can expand after being introduced into the cavity or into the respective cavities. This can in particular be referred to as expanding the foam. The foam can be injected into the cavity via a foaming nozzle, which can be introduced into the through opening, referred to in particular as the inlet opening, in particular by means of the industrial robot.To prevent undefined escape of the expanding foam, particularly in the cavity, from the cavities, especially after the foaming device or the foaming nozzle has been retracted, it can be provided to close the through-opening with so-called foam plugs before the foam is introduced. The filler plug, particularly referred to as a foam plug, can act similarly to a valve which, when pierced by the foaming nozzle, can allow foam introduction, i.e., the introduction of the foam into the cavity. When the foaming nozzle has been retracted, especially after sufficient material or foam has been injected into the cavity, can close the through-opening and thus prevent undefined foam escape.In a conventional foaming system or a conventional method for foaming the body component, it can usually be provided that the filler plug can be mounted manually on the body or body component before the foaming process starts, for example by locking it into the through-opening. This can be referred to in particular as plug insertion. Such a manual activity of inserting a plug, for example in the interior of the body, can be particularly ergonomically unfavorable and / or error-prone, since the insertion of the plug can, for example, be forgotten, especially occasionally. Furthermore, such a manual activity can make the foaming of the body component particularly time-consuming, which can lead to particularly high labor costs, for example.

[0017] In contrast, the foaming system according to the invention allows the body component or the cavity of the body component to be foamed with particularly little effort. This can be achieved in particular by integrating the plug insertion process, i.e., the positioning of the filler plug in the through-opening, into the, in particular, fully automated, foaming system. This means that a preliminary process relating to plug insertion can be integrated into the, in particular, fully automated foaming system. In this case, subsystems already present in the foaming system, in particular for plug insertion, can be used. Thus, the foaming system according to the invention allows a manual process, namely the assembly of the filler plug, to be integrated into an automatic system in the form of the foaming system, whereby ergonomically and / or economically problematic activities can be automated, in particular without major additional investment.In particular, labor costs can be avoided or kept to a minimum through automation. Overall, it can be seen that the foaming system according to the invention can achieve automatic foam plug placement by the foaming robot.

[0018] In a further embodiment, it is provided that the foaming system, in particular the robot, has at least one, for example optical, detection device, by means of which a position of the through-opening can be detected or is detected in order to arrange the filler plug in the through-opening by means of the receiving device. In other words, it is provided that the position of the through-opening can be detected or is detected by means of the detection device and that the filler plug can be arranged or is arranged in the through-opening by means of the receiving device depending on the detected position. This means that the through-opening, referred to in particular as the receiving hole, in which the filler plug is to be installed, i.e. is to be installed, can be located or is located by means of the detection device.This allows the filler plug to be positioned particularly reliably and / or precisely in the through-hole. Furthermore, the position of the through-hole can be detected with minimal effort.

[0019] The position of the through-opening can be understood, in particular, as a position or location of the through-opening on the body component and / or in space. In particular, the position of the through-opening is a position or location of the through-opening relative to the robot, in particular the receiving device.

[0020] For example, it is provided that at least one image of the through-opening can be or is captured by means of the, in particular optical, capture device from a plurality of, in particular different, perspectives. In other words, the through-opening can be optically captured from a plurality of perspectives by means of the capture device. It is preferably provided that the filler plug can be or is arranged in the through-opening by means of the recording device depending on the images captured, in particular from a plurality of perspectives. As a result, the filler plug can be or is arranged in the through-opening particularly reliably and / or particularly precisely. Furthermore, the filler plug can be arranged in the through-opening with particularly little effort. The image can be understood, for example, as a respective photograph.For example, at least one-dimensional, in particular three-dimensional, distance between the robot, in particular the receiving device, and the through-opening is calculated based on the captured images. This can be referred to in particular as a 3D offset calculation. Depending on the calculated distance, the filler plug can be positioned in the through-opening by means of the receiving device.

[0021] In a further embodiment, the foaming system, in particular the robot, has at least one control device by means of which, in particular before the foam is introduced into the cavity, it can be determined or will be determined whether the filler plug is arranged in a, in particular desired, target position in the through-opening through which the foam is to be introduced by means of the foaming device, in particular also with the aid of the filler plug. In other words, it is provided that a check can be carried out or will be carried out by means of the control device to determine whether the filler plug has been correctly inserted into the through-opening before the introduction of the foam into the cavity begins. In this way, the correct arrangement of the filler plug in the through-opening can be ensured with particularly little effort. Furthermore, errors when foaming the body component can be avoided particularly reliably.In particular, the foaming process can be designed to be particularly reliable and cost-effective. Determination can be understood, in particular, as detection.

[0022] The target position can be understood in particular as a predetermined or correct target position of the filler plug. It is preferably provided that the foam is introduced into the cavity by means of the foaming device via the through-opening, and in particular via the filler plug, if it is recorded or detected by the control device that the filler plug is in the target position. Furthermore, it is preferably provided that the introduction of the foam into the cavity by means of the foaming device does not take place if it is recorded or detected by the control device that the filler plug is in a position different from the target position or if the filler plug is not arranged in the through-opening but is, for example, spaced apart from the through-opening.

[0023] In a further embodiment, it is provided that the control device has at least one optical detection device for detecting the filler plug, which is arranged in particular in the through-opening. This means that the desired position can be detected or is detected by means of the optical detection device. It can therefore be detected by means of the optical detection device whether the filler plug is arranged in the desired position in the through-opening. In other words, the check is carried out optically. This optical detection device can be the detection device by means of which the position of the through-opening can be detected or is detected, or it can be a second detection device or second optical detection device designed separately from the last-mentioned detection device.By means of the control device having the optical detection device, the desired position of the filler plug can be determined particularly easily and / or particularly reliably or precisely.

[0024] For example, it is provided that at least one image of the filler plug can be or is captured from several perspectives by means of the optical detection device of the control device in order to determine, in particular depending on the captured images, whether the filler plug is arranged in the desired position in the through opening.

[0025] For example, the foaming device has at least one foaming nozzle. The foam can preferably be flowed through the foaming nozzle. By means of the foaming nozzle, the foam can be introduced into the cavity via the filling opening of the filler plug arranged in the through-opening, in particular for filling the cavity with foam. For example, the foaming nozzle is retracted, in particular automatically, into the filler plug, in particular into the filling opening of the filler plug, and, in particular subsequently, the cavity or the body component is foamed, in particular automatically, via the foaming nozzle, which is retracted, in particular, into the filler plug.

[0026] In a further embodiment, it is provided that the foam nozzle is mounted in a spring-loaded, in particular movably, manner on a holding device of the foaming device. This means that the foaming device has at least one foam nozzle that is mounted in a spring-loaded, in particular at least indirectly or directly, manner on the holding device. For example, the foam nozzle is movable, in particular sprung, relative to the holding device, in particular relative to a base body of the foaming device. The foam nozzle can be arranged in the through-opening, in particular via the filler plug, in particular in order to introduce the foam into the cavity via the through-opening.

[0027] In a further embodiment, it is provided that by means of the control device, it can be determined or is determined whether the filler plug is arranged in the desired position in the through-opening as a function of at least one position, in particular at least one spring-back movement, of the foam nozzle arranged in the through-opening.In other words, the control device determines that the filler plug is in the desired position when the control device detects that the foaming nozzle is in a first position, in particular relative to the holding device or the base body, and the control device determines that the filler plug is in a position different from the desired position when the control device detects that the foaming nozzle is in a second position different from the first position, in particular relative to the holding device or the base body. As a result, the desired position of the filler plug can be determined particularly reliably and / or with particularly little effort.

[0028] This embodiment is based in particular on the knowledge that if the filler plug is not in the through-opening or is not in the desired target position in the through-opening, the spring-loaded foaming nozzle would not spring back far enough, i.e. would not move back far enough by springs, as would be the case if the filler plug were in the target position in the through-opening.

[0029] In a further embodiment, it is provided that the receiving device is formed separately from the foam nozzle of the foaming device. This means that the receiving device and the foaming nozzle are components formed separately from one another. This allows, for example, a number of filler plugs to be installed, i.e. arranged in the through-opening, with particularly little effort, in particular simultaneously. Alternatively or additionally, damage to the foaming device, in particular the foaming nozzle, can be avoided because when the filler plug is arranged in the through-opening, there is no contact, in particular mechanical contact, between the foaming device, in particular the foaming nozzle, and the body component. This makes it possible to significantly increase security against damage to the foaming device, in particular the foaming nozzle.The receiving device is designed, for example, as a pressing mandrel or has at least one pressing mandrel. The filling plug can be received by means of the pressing mandrel and arranged in the through-opening, in particular pressed into the through-opening. Thus, a pressing mandrel formed separately from the foaming nozzle can be provided.

[0030] In a further embodiment, it is provided that the foam nozzle is designed, in particular at least in part, as the receiving device. This means that the filler plug provided by the plug providing device can be received or is received, in particular automatically, by means of the foam nozzle and can be arranged or is arranged in the through-opening of the body component in order to close the through-opening by means of the filler plug. The foam nozzle can thus be designed both to introduce the foam into the cavity and to receive the filler plug and to arrange the filler plug in the through-opening. As a result, the number of parts of the foaming system can be kept particularly low. As a result, a particularly cost-effective foaming system can be realized.

[0031] In a further embodiment, it is provided that the filler plug can be or is provided in a defined position by means of the plug provision device, whereby the filler plug provided by the plug provision device can be or is received in the defined position by the receiving device of the robot. This means that the filler plug can be or is brought into the defined position for reception by the receiving device by means of the plug provision device. As a result, the plug provided by the plug provision device can be received particularly reliably and / or particularly quickly by means of the receiving device. A particularly reliable and / or particularly fast process for foaming the body component can thus be realized. For example, the plug provision device is designed as a vibrating pot.The defined position can be understood in particular as a defined position and / or orientation of the filling plug, for example in space and / or relative to the provision area.

[0032] Alternatively, it can be provided, for example, that the plug supply device, designed, for example, as a vibrating table, has, for example, a flat surface as the supply area, on which a plurality of filler plugs lie, which can be localized by means of the robot, in particular by means of the optical detection device, for example by means of a camera, wherein at least one of the localized filler plugs can be or is received by means of the receiving device.

[0033] A second aspect of the invention relates to a method for foaming at least one body component of a motor vehicle body or for the motor vehicle body, in particular by means of a foaming system, preferably according to the first aspect of the invention. The method can be understood, in particular, as a method for operating a foaming system according to the first aspect of the invention. Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention, and vice versa.

[0034] It is provided that at least one filler plug can be provided or is provided by means of at least one plug provision device. Furthermore, in the method, the filler plug provided by the plug provision device is received by means of at least one receiving device of at least one robot and arranged in a through-opening of the body component, in particular spaced apart from the plug provision device, in order to close the through-opening by means of the filler plug. In addition, to fill the cavity with foam, at least one foam is introduced into the cavity via a filler opening of the filler plug arranged in the through-opening by means of at least one foaming device of the robot.

[0035] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combination, but also in other combinations or on their own.

[0036] The invention will now be explained in more detail using a preferred embodiment and with reference to the drawings. They show: Fig. 1 a schematic and perspective partial view of a foaming system according to the invention, by means of which a method according to the invention can be carried out; and Fig. 2 a schematic perspective view of a filler plug received by a receiving device of a foam system according to the invention; and Fig. 3 is a schematic perspective view of a filler plug; and Fig. 4 a schematic and perspective partial view of a foaming system according to the invention for illustrating the arrangement of a filler plug by means of a robot in a through-opening of a body component; and Fig. 5 a schematic and perspective partial view of a foaming system according to the invention according to a further embodiment; and Fig. 6 a schematic and perspective partial view of a foaming system according to the invention according to a further embodiment.

[0037] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0038] Fig. Figure 1 shows a schematic and perspective partial view of a foaming system 1 for foaming at least one body component 2 of a motor vehicle body, said component having at least one cavity. Foaming system 1 can be understood, in particular, as a foaming system for foaming body parts.

[0039] For example, the foaming system 1 has at least one holding device by means of which at least the body component 2 of the motor vehicle body is to be held or is held, in particular fixed in space.

[0040] The foaming system 1 has at least one plug provision device 3 for providing at least one filling plug 4 and at least one robot 5, which is designed, in particular, separately from the plug provision device 3. The filling plug 4 is formed, for example, at least in part, in particular predominantly or entirely, from plastic, in particular from rubber.

[0041] In the exemplary embodiment, the robot 5 has at least one, preferably optical, detection device 6, by means of which at least one position of at least one through-opening 7 of the body component 2 can be detected or is detected. It is preferably provided that at least one image of the through-opening 7 can be detected or is detected by means of the detection device 6 from a plurality of perspectives 8 to 11. The detection device 6 has, for example, a plurality of, in particular four, cameras 12 to 15, by means of which the respective image can be detected or is detected.Thus, the robot 5 moves, for example with the detection device 6, which is designed in particular as an image processing system, into a work space in which the motor vehicle body or the body component 2 is located, and takes, for example by means of the four cameras 12 to 15, a respective photo to locate the through opening 7 in the space.

[0042] The robot 5 has at least one receiving device 16, by means of which the filler plug 4 provided by the plug provision device 3 can be received or is received, in particular automatically, and can be arranged or is arranged in the through-opening 7 of the body component 2, in particular depending on the position of the through-opening 7 detected by the detection device 6, i.e., for example, depending on the captured images, in order to close the through-opening 7 by means of the filler plug 4. Thus, for example, the position of the through-opening 7 can be detected by means of the detection device 6 in order to arrange the filler plug 4 in the through-opening 7 by means of the receiving device 16.

[0043] The robot 5 has at least one foaming device 17, which, for example, has at least one foaming nozzle 18, in particular through which foam can flow. It is provided that, by means of the foaming device 17, in particular by means of the foaming nozzle 18, at least one foam can be or is introduced, in particular automatically, into the cavity via at least one filling opening 19 of the filler plug 4 arranged in the through-opening 7, in order to fill the cavity with foam. Foam can thus be injected into the cavity or cavities in an automated manner by means of the robot 5. Thus, automatic assembly of the filler plug 4 and automatic introduction of the foam via the assembled filler plug into the cavity can be effected by means of the foaming system 1.

[0044] In Fig. 2 and Fig. 3 shows the filler plug 4. In this case, Fig. 3 shows a schematic perspective view of the filler plug 4, in particular obliquely from the rear. In the exemplary embodiment, the filler plug 4, in particular its filler opening 19, can be pierced by the foaming nozzle 18. This means that the foaming nozzle 18 can be or is guided through the filler plug 4, in particular through the filler opening 19, at least in part. The foam can preferably be introduced into the cavity via the filler plug 4, i.e., via the filler plug 4, when the foaming nozzle 18 is guided through the filler plug 4, in particular through the filler opening 19, i.e., is located at least in part within the filler plug 4.Preferably, the introduction of the foam into the cavity via the filling opening 19 is prevented and / or the escape of the foam via the cavity via the filling opening 19 is prevented if the foam nozzle 19 is not passed through the filling plug 4, in particular the filling opening 19, and the filling plug 4, in particular the filling opening 19, is free of the foam nozzle 18.

[0045] For example, it is provided that the foaming nozzle 18 is designed as the receiving device 16 or at least as a receiving element of the receiving device 16. In other words, the foaming nozzle 18 has the receiving device 16 or at least the receiving element of the receiving device 16 for receiving the filler plug 4. This is shown in Fig. 2, in which the foaming nozzle 18 designed as a receiving device 16 or as a first receiving element 20 is shown. In particular, Fig. 2 shows a schematic and perspective partial view of the foaming device 17. The robot 5, which is designed, for example, as an industrial robot, can thus mount the filler plug 4 in the, in particular localized, through-opening 7 of the body component 2 or the body by means of the foam nozzle 18. This is shown in Fig. 4, in which a schematic and perspective partial view of the foaming system 1 is shown. Fig. The view shown in Figure 2 corresponds in particular to an oblique or perspective bottom view of the Fig. 4 contained foaming device 17, which in Fig. 4 is illustrated by an arrow 22

[0046] For example, it is provided that the receiving device 16 is formed separately from the foaming nozzle 18 of the foaming device 17 or that the receiving device 16 has at least one receiving element formed separately from the foaming nozzle 18 for receiving the filling plug 4 provided by the plug providing device 3. This is exemplified in Fig. 1. In the Fig. 1, the foaming nozzle 18 has a first receiving element 20 or the foaming nozzle 18 is designed as the first receiving element 20 of the receiving device 16. Furthermore, the device with the in Fig. 1, the receiving device 16 has at least one second receiving element 21, which is formed in particular separately from the first receiving element 20 or the foam nozzle 18, by means of which the filling plug 4 provided by the plug provision device 3 can be received. In the embodiment shown in Fig. 1 shown embodiment, two, in particular additional, of the receiving elements 21 are provided, on which in Fig. 1 in particular already insert filler plug 4.

[0047] Fig. 5 shows the foaming system 1 in a schematic and perspective partial view, in which Fig. 5 illustrates how the robot 5 mounts filler plugs 4 into the, in particular localized, through-opening 7 by means of the receiving elements 21, which can in particular be referred to as additional receiving devices.

[0048] In the exemplary embodiment, it is provided that the foaming system 1, in particular the robot 5, has at least one control device 23, by means of which it can be determined or is determined whether the filler plug 4 is arranged in a, in particular desired, target position in the through-opening 7, through which the foam is to be introduced by means of the foaming device 17, in particular by means of the foaming nozzle 18. For this purpose, the control device 23 has, for example, the optical detection device 6 for detecting the filler plug 4. The optical detection device 6 can thus, for example, be part of the control device 23. For example, the control device 23 has at least one electronic computing device.For example, at least one signal, in particular an optical signal, characterizing the position or the desired position of the filler plug 4 in the through-opening 7 can be detected by means of the optical detection device 6, wherein it can be determined or is determined by means of the electronic computing device as a function of the detected signal whether the filler plug 4 is arranged in the desired position in the through-opening 7. Fig. 6 shows a schematic and perspective partial view of the foaming system 1, in which Fig. 6 illustrates how the control device 23, which is designed, for example, as an image processing system, checks, in particular by means of the optical detection device 6, whether the filler plug 4 is installed correctly, that is to say in order (iO).

[0049] For example, the foaming nozzle 18 is spring-mounted on a holding device 24 or by means of a holding device. For example, it can be determined by means of the control device 23, depending on a, in particular detected, position, in particular a spring-back movement, of the foaming nozzle 18 arranged in the through-opening 7, whether the filler plug 4 is arranged in the desired position in the through-opening 7. Thus, the control device 23 has, for example, at least one second detection device, in particular designed separately from the detection device 6, by means of which the position, in particular the spring-back movement, of the foaming nozzle 18 arranged in the through-opening 7 can be detected or is detected.For example, at least one signal characterizing the position, in particular the spring-back movement, of the foaming nozzle 18 arranged in the through-opening 7 can be detected by means of the second detection device, wherein it can be determined or is determined by means of the electronic computing device as a function of the signal characterizing the position, in particular the spring-back movement, whether the filler plug 4 is arranged in the desired position in the through-opening 7.

[0050] For example, it is provided that the filler plug 4 can be provided or is provided in a defined position by means of the plug provision device 3, whereby the filler plug 4 provided by the plug provision device 3 can be received or is received in the defined position by means of the receiving device 16, in particular by means of the respective receiving element 20, 21 of the robot 5. The plug provision device 3 is designed, for example, as a vibrating pot. Thus, the filler plug 4 can be picked up, for example, from the vibrating pot, or it can be provided in another way.

[0051] For example, the filler plug 4 remains in a motor vehicle that has the motor vehicle body. This means that the motor vehicle, for example, has the filler plug 4 in its fully manufactured state.

[0052] Overall, it can be seen that in order to be able to automatically place filler plugs 4, referred to above as plugs, within the vehicle body, the following subsystems may be required: - Body fixation (the vehicle body or at least the body component moves into the foaming system 1 and is stopped there in a particularly defined position). - Localizing the inlet opening, for example via an image processing system, in the room, in particular by means of the detection device 6. - Plug provision, for example by means of the vibrating pot, which brings the filling plugs to be installed, for example as bulk material, into a defined orientation. - The receiving device 16, designed for example as an actuator, which receives the filler plugs 4 in the supply and inserts them into the localized through openings 7. - If necessary, check whether the filler plug 4 has been correctly inserted, for example via an image processing system, in particular by means of the control device 23.

[0053] Some of the subsystems outlined here can be particularly complex and require high investment costs. Thus, these subsystems alone may not be more cost-effective than manual plug assembly, for example.

[0054] Foaming systems currently in operation, which can be described as conventional foaming systems, for example, may already have most of the necessary subsystems, since these may also be required for a foaming process, particularly referred to as a foaming process: - Body fixation (the vehicle body or at least the body component 2 moves into the foaming system 1 and is stopped there in the defined position). - Localization of the passage openings 7, for example via an image processing system, in the room, in particular by means of the detection device 6. - Check whether the filler plug 4 has been correctly inserted, for example via an image processing system, in particular by means of the control device 23. - A device, designed, for example, as an actuator, which introduces the foaming nozzle 18 into the localized through-opening 7. This device, which may be the foaming device 17, would have to be supplemented, for example, by one or more component receptacles for receiving the filler plugs 4, which can be realized, for example, by means of a simple cylindrical mandrel, in particular with a taper at the front and / or rear.

[0055] These subsystems can be used for both processes, i.e., for the foaming process and for a plugging process, i.e., for arranging the filler plug 4 in the through-opening 7. Thus, for example, only one system for plug provision, for example, by means of the vibrating pot, in particular in the form of the plug provision device 3, of the filler plug 4 to be installed, in particular as bulk material, for example in a defined orientation, needs to be added. Furthermore, on the foaming device 17 of the robot 5, which is designed, for example, as a foaming head, for example, at least one receiving device, which is designed, for example, as a mandrel and / or a pin and which, for example, receives the filler plug 4 and can insert it into the through-opening 7, which is designated, in particular, as the inlet opening.Alternatively or additionally, the foaming nozzle 18 could also accommodate the filling plug 4.

[0056] For example, the following program sequence, i.e. the following procedural steps, is conceivable: 1. The motor vehicle body or at least the body component 2 moves into, in particular its defined, position and is fixed. 2. The robot 5 picks up the filling plug 4 from the plug supply or the plug supply device 3 (vibrating pot output) by means of the pick-up device 16, for example by means of the foaming nozzle 18 or by means of a separate pick-up device 16. 3. The robot 5 moves with at least one camera into a work space in the vehicle body and takes at least one photo to locate the passage opening 7 in the space. 4. The robot 5 moves into the localized through-opening 7 by means of the receiving device 16 and the filler plug 4 plugged thereon and thus mounts the filler plug 4 in the through-opening 7. 5. The robot 5 moves with the foam nozzle 18 into the filling plug 4, which is arranged in particular in the through opening 7, and pumps foam, in particular acoustic foam, into the cavity, for example until a required amount of foam is reached. 6. The robot 5 moves to the next foaming location or to the next vehicle body, in particular to the next vehicle. List of reference symbols 1 foaming system 2 body component 3 Plug supply device 4 filler plugs 5 robots 6 Recording device 7 passage opening 8 first perspective 9 second perspective 10 third perspective 11 fourth perspective 12 first camera 13 second camera 14 third camera 15 fourth camera 16 Recording device 17 Foaming device 18 Foaming nozzle 19 Filling opening 20 first receiving element 21 second receiving element 22 Arrow 23 Control device 24 Holding device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 283 987 A2

[0002] DE 10 2018 006 545 A1

[0003]

Claims

[1] Foaming system (1) for foaming at least one body component (2) of a motor vehicle body having at least one cavity, with at least one plug supply device (3) for providing at least one filler plug (4) and with at least one robot (5), which has: • at least one receiving device (16) by means of which the filler plug (4) provided by the plug providing device (3) can be received and arranged in a through-opening (7) of the body component (1) in order to close the through-opening (7) by means of the filler plug (4); and • at least one foaming device (17), by means of which at least one foam can be introduced into the cavity via a filling opening (19) of the filling plug (4) arranged in the through-opening (7) in order to fill the cavity with foam. [2] Foaming plant (1) according to claim 1, characterized byat least one detection device (6) by means of which a position of the through-opening (7) can be detected in order to arrange the filler plug (4) in the through-opening (7) by means of the receiving device (16). [3] Foaming plant (1) according to claim 2, characterized by that at least one image of the passage opening (7) can be captured from several perspectives (8, 9, 10, 11) by means of the detection device (6). [4] Foaming system (1) according to one of the preceding claims, characterized by at least one control device (23) by means of which it can be determined whether the filling plug (4) is arranged in a desired position in the through opening (7) through which the foam is to be introduced by means of the foaming device (17). [5] Foaming plant (1) according to claim 4, characterized by that the control device (23) has at least one optical detection device (6) for detecting the filler plug (4). [6] Foaming plant (1) according to one of claims 4 or 5, characterized by in that the foaming device has at least one foaming nozzle (18) which is spring-mounted on a holding device (24) and which can be arranged in the through-opening (7), and by means of the control device (23) it can be determined as a function of a position, in particular a spring-back movement, of the foaming nozzle (18) arranged in the through-opening (7) whether the filler plug (4) is arranged in the desired position in the through-opening (7). [7] Foaming system (1) according to one of the preceding claims, characterized by that the receiving device (16) is formed separately from a foaming nozzle (18) of the foaming device (17). [8] Foaming plant (1) according to one of claims 1 to 6, characterized by that the foaming device has at least one foaming nozzle (18) which is designed as the receiving device (16). [9] Foaming system (1) according to one of the preceding claims, characterized by that the filler plug (4) can be provided in a defined position by means of the plug provision device (3), whereby the filler plug (4) provided by the plug provision device (3) can be received in the defined position by means of the receiving device (16) of the robot (5). [10] Method for foaming at least one body component (2) of a motor vehicle body, in which • at least one filling plug (4) can be provided by means of at least one plug provision device (3), • by means of at least one receiving device (16) of at least one robot (5), the filler plug (4) provided by the plug providing device (3) is received and arranged in a through-opening (7) of the body component (2) in order to close the through-opening (7) by means of the filler plug (4), and • for foaming the cavity by means of at least one foaming device (17) of the robot (5), at least one foam is introduced into the cavity via a filling opening (19) of the filling plug (4) arranged in the through-opening (7).

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