Holding device, assembly station and procedure

Abstract

The invention relates to a holding device (6) for the automated handling of a painted outer skin component (2) of a vehicle body (2), wherein the outer skin component (2) has several component openings (9), each of which is enclosed by an opening edge (10) and has an inner opening cross-section (11), wherein the holding device (6) has a clamping frame (12) for holding the respective outer skin component (2). The handling of large outer skin components (2) is simplified if the clamping frame (12) has several cylindrical clamping elements (13) projecting parallel to each other from the clamping frame (12), which are arranged on the clamping frame (12) in such a way that the clamping elements (13) penetrate into one of the component openings (9) to hold the outer skin component (2), wherein the clamping elements (13) each have an element outer cross-section (15) and are configured so that they are adjustable between a release state in which the element outer cross-section (15) is smaller than the opening inner cross-section (11) of the component opening (9) assigned to the respective clamping element (13), and a holding state in which the element outer cross-section (15) is enlarged compared to the release state to such an extent that the respective clamping element (13) is pre-tensioned against the opening edge (10) of the respective component opening (9) to hold the outer skin component (2) on the clamping frame (12).

Description

[0001] The present invention relates to a holding device for the automated handling of a painted exterior body panel of a vehicle body. The invention also relates to an assembly station for mounting a painted exterior body panel onto a vehicle body, which is equipped with such a holding device. Finally, the invention also relates to a method for mounting a painted exterior body panel onto a vehicle body using such a holding device.

[0002] Modular construction is increasingly being considered in the manufacture of motor vehicles, particularly passenger cars, with a clear trend towards the use of large modules. While in conventional vehicle body manufacturing, the components to be assembled are typically unpainted, modular construction also allows for the installation of painted components. This is especially true for body panels, i.e., components or add-on parts that form part of the outer skin of the finished vehicle body. Reliable handling of painted body panels is complex and requires significant effort to avoid damaging the paintwork. This is particularly true for painted body panels configured as large modules.

[0003] From DE 20 2007 009 334 U1, a holding device for the automated handling of a vehicle component is known, wherein the vehicle component has several component openings, each of which is framed by an opening edge and has an inner opening cross-section, and wherein the holding device has a clamping frame for holding the respective vehicle component. The clamping frame has several cylindrical clamping elements projecting parallel to each other from the clamping frame, which are arranged on the clamping frame in such a way that the clamping elements penetrate into each of the component openings for holding the vehicle component, wherein the clamping elements each have an element outer cross-section that is smaller than the inner opening cross-section.In the known holding device, the clamping elements are also equipped with locking balls, which serve as latches to lock the clamping element inserted into the respective component opening and for this purpose engage the opening edge of the respective component opening in a form-fitting manner.

[0004] A similar holding device is known from DE 10 2015 011 859 A1, in which the clamping elements are equipped with gripping arms that engage behind the opening edge of the respective component opening in a form-fitting manner to lock the clamping element inserted into the respective component opening.

[0005] From CN 210 968 968 U, a visual guidance system is known that is suitable for the automatic transport of a car roof cover. The system comprises a robot, a gripper height disc, a robot gripper, a visual 3D scanner, a scanner connection device, an industrial control cabinet, a robot control cabinet, a valve terminal, a vacuum generator, a clamping cylinder, and a vacuum suction cup.

[0006] From DE 103 03 844 A1, an assembly tool for a handling device is known, which serves to position body components on a vehicle body. The assembly tool comprises a gripping mechanism and a positioning mechanism, wherein the positioning mechanism contains at least one forming element whose component contact surface is adapted to the target contour of the component. This device is particularly suitable for ensuring correct contact between the body component and the vehicle body. The gripping device can be equipped with a suction gripper that secures the component within the field of vision.

[0007] From DE 101 21 344 A1, a gripping device for grasping objects, such as vehicle windows or body parts, using a robot arm is known. The gripping device comprises a carrier with several suction grippers, each having an elastic suction element that can be placed on the object to be gripped and pressurized with negative pressure, and a stop that defines the position of the gripped object. These stops are arranged to be displaceable relative to the carrier in the gripping direction and can be fixed in their respective positions by a motor-operated clamping device.

[0008] From DE 10 2008 036 501 B4, a robot gripper is known that is suitable for the automated handling of components, in particular vehicle windshields. The robot gripper consists of a carrier assembly that is attached to a robot arm and includes several suction cups and hold-down devices with pressure pins. These suction cups are elastic suction bodies that are placed on the object to be gripped, such as a vehicle windshield, and pressurized with a vacuum to secure components in the field of vision.

[0009] US Patent 7,044,706 B2 discloses a device for moving vehicle body components, mounted on a robot arm. The device comprises a base plate connected to the robot arm and rotatable screw rods, one mounted to the left and one to the right, each with a driven worm gear at its inner end. A motor centrally located above the base plate drives the worm gears, causing the screw rods to rotate in opposite directions.

[0010] A mechanical arm for gripping materials, particularly lithium batteries, is known from CN 109 015 732 A. The device comprises a base plate, a claw mechanism, a suction cup assembly, rails, a cylinder, a vacuum generator, and a connecting unit. Two parallel rails are mounted on one side of the base plate. The suction cup assembly is mounted between the rails and connected to the base plate. The claw mechanisms are arranged on both sides of the suction cup assembly.

[0011] The present invention addresses the problem of providing an improved or at least a different embodiment for a holding device of the type described above, or for an assembly station equipped with it, or for a method operating with it, which is characterized in particular by high reliability in handling painted outer skin components.

[0012] This problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0013] The invention is based on the general concept of equipping the holding device with several clamping elements configured so that their outer cross-section can be changed. The clamping elements are thus adjustable between a release state and a holding state, which differ in that the element's outer cross-section is larger in the holding state than in the release state. To grip or hold the respective outer skin component, these clamping elements engage in a component opening formed in the respective outer skin component and can then be moved from the release state to the holding state in order to fix the respective outer skin component to the holding device. Within these component openings, the risk of damage to the paintwork of the outer skin component, visible on the finished vehicle body, is largely eliminated or at least significantly reduced.Thus, the holding device presented here enables automated handling of painted exterior skin components.

[0014] In the present context, a “configuration” is synonymous with a “design” and / or “setup”, so that the phrase “configured so that” is synonymous with the phrase “designed so that” and / or “set up so that”.

[0015] According to the invention, it is proposed that the outer skin component has several openings, each of which is framed by an opening edge and has an inner cross-section. The holding device is equipped with a clamping frame for holding the respective outer skin component. The clamping frame has several cylindrical clamping elements projecting parallel to each other from the clamping frame, which are arranged on the clamping frame such that the clamping elements penetrate into each of the openings to hold the outer skin component. For this purpose, the clamping frame is moved relative to the respective outer skin component in a gripping direction parallel to the longitudinal center axis of the clamping elements. The clamping elements each have an outer cross-section and are configured to be adjustable between a release state and a holding state.In the release state, the element's outer cross-section is smaller than the inner cross-section of the component opening assigned to the respective clamping element. In the holding state, the element's outer cross-section is increased compared to the release state to such an extent that, in order to hold the outer skin component to the clamping frame, the respective clamping element rests under pretension against the opening edge of the respective component opening. With the aid of the clamping elements, which engage positively in the component openings, the outer skin component is fixed to the clamping frame transversely to the longitudinal center axis of the respective clamping element, i.e., in a holding plane perpendicular to the longitudinal center axes of the clamping elements, by means of a positive locking mechanism. Parallel to the longitudinal center axis of the clamping elements, the respective outer skin component is fixed to the clamping elements, for example, by frictional locking.

[0016] According to an advantageous embodiment, all clamping elements can be configured identically so that they each have the same outer cross-section in the released state. Alternatively, an embodiment is also conceivable in which at least two clamping elements are configured differently, such that they differ from each other in the released state by different lengths and / or different outer cross-sections.

[0017] According to an advantageous embodiment, the respective clamping element can be configured as a clamping mandrel with two tension members that are adjustable relative to each other such that an axial adjustment of the two tension members relative to each other with respect to the longitudinal center axis of the clamping element changes the outer cross-section of the element. Such clamping mandrels are robust, operate with high reliability, and ensure high stability for fixing the respective outer skin component to the clamping frame. This makes the holding device particularly suitable for handling outer skin components configured as large modules.

[0018] According to an advantageous embodiment, the clamping mandrel can be configured as a wedge clamping mandrel, such that the two clamping elements form two sleeves, a first sleeve and a second sleeve. The first sleeve can be axially supported and / or attached to the clamping frame at one end and have an outer wedge surface at the other end. The second sleeve can have an inner wedge surface at one end that is complementary to the outer wedge surface and lies flat against it, and an end face at the other end. The respective wedge clamping mandrel can also have a clamping core that extends concentrically through the two sleeves, has a head supported at one end against the end face of the second sleeve, and allows an axial tensile force to be applied at the other end to adjust the clamping mandrel from the release state to the holding state.The tensile force introduced into the wedge clamping core presses the head against the end face of the second sleeve, causing the second sleeve to slide with its inner wedge surface against the outer wedge surface of the first sleeve, which is supported on the clamping frame. This increases the element's outer cross-section. To move the wedge clamping mandrel from the holding position to the release position, an axial compressive force can be introduced into the clamping core. This compressive force can be generated or assisted by a spring mechanism that drives the second sleeve away from the first sleeve.

[0019] The longitudinal center axis of each cylindrical clamping element defines an axial direction that extends parallel to the longitudinal center axis. This axial direction also defines a radial direction that extends perpendicular to the axial direction and is perpendicular to the longitudinal center axis.

[0020] According to an advantageous embodiment, the clamping frame may have at least one actuator for adjusting at least one of the clamping elements between the release state and the holding state. It is generally possible for each clamping element to have a separate actuator. It is also conceivable that several clamping elements can be adjusted simultaneously between the release state and the holding state using a single actuator.

[0021] According to an advantageous embodiment, the respective actuator can be coupled to the respective clamping core in such a way that the tensile force for adjusting the clamping mandrel from the release state to the holding state can be introduced into the clamping core by means of the actuator. In this way, the clamping frames designed as wedge-type clamping mandrels can be operated automatically with particular ease.

[0022] According to an advantageous embodiment, the outer skin component may have at least one indirect viewing area which, when the outer skin component is attached to the vehicle body, is concealed from the outside by another vehicle component, such as a trim element or another outer skin component, such as a door. It is advantageous to arrange the component openings within such an indirect viewing area. This ensures that the component openings are typically concealed on the finished vehicle body. In particular, any damage to the paintwork at the opening edge, potentially caused by the clamping element, is not visible on the finished vehicle body.

[0023] According to an advantageous embodiment, the clamping frame may also have at least one vacuum gripper which rests against the outer skin component to hold it in place and holds the outer skin component on the clamping frame by means of negative pressure. With the aid of such a vacuum gripper, which typically operates with a suction cup, the respective outer skin component is fixed to the clamping frame parallel to the longitudinal center axis of the clamping elements in one direction by positive locking and held in the opposite direction by negative pressure. Transverse to the longitudinal center axes of the clamping elements, i.e., in the holding plane, the respective vacuum gripper creates a force-fit fixation of the outer skin component to the clamping frame.Especially with outer skin components configured as large modules, the use of one or more vacuum grippers in addition to the multiple clamping elements can be advantageous to prevent distortion of the outer skin component during handling.

[0024] According to an advantageous embodiment, the outer skin component can have at least one direct viewing area that is unobstructed and visible from the outside when the outer skin component is attached to the vehicle body. Furthermore, the respective vacuum gripper can be arranged on the clamping frame such that it rests against the outer skin component in such a direct viewing area to hold the component on the clamping frame. Such a vacuum gripper is configured so that, when used correctly, it cannot damage the paintwork of the outer skin component. Accordingly, the respective outer skin component can be gripped using the vacuum gripper even in a direct viewing area. This is particularly advantageous for larger outer skin components in order to achieve stable support and positioning of the outer skin component during handling using the clamping elements and the respective vacuum gripper.While indirect viewing areas are preferably located in an edge area of ​​the respective outer skin component, direct viewing areas are usually arranged centrally in or on the outer skin component.

[0025] Each outer skin component has an outer and an inner side. When mounted on the vehicle body, the inner side faces the vehicle body, while the outer side faces away. For ease of assembly, the clamping elements engage the component openings from the outer side, specifically in such a way that they protrude beyond the outer skin component on the inner side. In this case, the component openings are designed as through-holes. This allows the respective vacuum gripper to be conveniently positioned against the outer side of the outer skin component. This approach also has the advantage that the holding device can position and hold the outer skin component on the vehicle body even during the joining process in which the outer skin component is being attached to the vehicle body.

[0026] An assembly station according to the invention is configured for mounting an outer skin component onto a vehicle body. The assembly station includes an assembly robot equipped with a holding device of the type described above. Furthermore, the assembly station can optionally be equipped with a body section in which the respective vehicle body, onto which the respective outer skin component is to be mounted, can be positioned. In particular, the body section can be a section of a production line for manufacturing vehicle bodies or motor vehicles, to which the assembly station is assigned. The assembly station can also be equipped with an outer skin section in which the outer skin component to be mounted onto the vehicle body is provided. The assembly robot can move the clamping frame of the holding device to the outer skin section in order to grasp or pick up an outer skin component there.The outer skin component, held on the clamping frame, can now be moved into the bodywork area using the assembly robot and positioned on the vehicle body in order to carry out the assembly of the outer skin component.

[0027] The method according to the invention, configured for mounting a painted exterior body panel to a vehicle body, is characterized by the provision of the respective exterior body panel, which has several openings, each surrounded by an opening edge and having an inner cross-section. Providing the exterior body panels includes creating the openings and painting the panel. The painted exterior body panel, with its openings, is provided within a specific area of ​​the exterior body. Within the framework of the method, the respective exterior body panel can preferably be grasped by means of a holding device of the type described above and positioned on the vehicle body in a predetermined mounting position. In this mounting position, the exterior body panel can then be attached to the vehicle body.

[0028] According to an advantageous embodiment, the gripping of the respective outer skin component by the holding device is achieved by positioning the clamping frame on the respective outer skin component and aligning the clamping elements with the component openings. If the holding device is equipped with at least one vacuum gripper, the respective vacuum gripper is aligned with respect to the outer skin component in this step. Furthermore, the clamping elements are inserted into the component openings in the release state. During this process, the entire clamping frame moves in a gripping direction that extends parallel to the longitudinal center axis of the clamping elements. If the holding device is equipped with at least one vacuum gripper, the respective vacuum gripper is also brought into contact with the outer surface of the outer skin component.Furthermore, the respective vacuum gripper is activated, creating an initial or pre-fixation of the outer skin component to the clamping frame. In a further step, the clamping elements inserted into the component openings are each moved into the holding position. This results in a second or main fixation of the outer skin component to the clamping frame.

[0029] Further important features and advantages of the invention will become apparent from the dependent claims, the drawings and the associated description of the figures based on the drawings.

[0030] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention as defined by the claims. Components of a higher-level unit, such as a device, apparatus, or arrangement, mentioned above and those to be mentioned below, which are designated separately, can form separate parts or components of this unit or be integral areas or sections of this unit, even if this is depicted differently in the drawings.

[0031] Preferred embodiments of the invention are shown in the drawings and are explained in more detail in the following description, wherein identical reference numerals refer to identical or similar or functionally identical components.

[0032] They show, schematically, Fig. 1 A highly simplified view of an assembly station equipped with a holding device, Fig. 2 an enlarged view of a clamping element of the holding device, Fig. 3. A flowchart of a procedure for operating the assembly station.

[0033] Accordingly Fig. The assembly station 1 comprises an assembly station 1, which serves to mount a painted exterior body component 2 onto a highly simplified representation of the vehicle body 3, and an assembly robot 4, which has a multidimensionally movable robot arm 5. The assembly robot 4 is further equipped with a holding device 6, which is configured for the automated handling of the painted exterior body component 2. The holding device 6 is attached to the robot arm 5 so that it can be manipulated by the robot arm 5 within its reach. The assembly station 1 can also have a body area 7 in which the respective vehicle body 3, to which the respective exterior body component 2 is to be mounted, can be positioned. Furthermore, the assembly station 1 can have an exterior body area 8 in which the exterior body component 2 to be mounted on the vehicle body 3 is provided.

[0034] According to Fig. 1 The respective outer skin component 2 has several component openings 9, which according to Fig. 2 each are surrounded by an opening edge 10 and each has an inner opening cross-section 11. According to Fig. The holding device 6 has a clamping frame 12 configured to hold the respective outer skin component 2. The clamping frame 12 is equipped with several clamping elements 13, which are cylindrically configured and each have a longitudinal center axis 14. This longitudinal center axis 14 defines an axial direction extending parallel to the longitudinal center axis 14 and a radial direction extending transversely to the axial direction and perpendicular to the respective longitudinal center axis 14.

[0035] The clamping elements 13 extend from the clamping frame 12 such that their longitudinal center axes 14 are parallel to each other. In other words, the clamping elements 13 extend axially from the clamping frame 12 parallel to each other. Furthermore, the clamping elements 13 are spatially distributed on the clamping frame 12 such that each clamping element 13 penetrates one of the component openings 9 to hold the outer skin component 2. In other words, the clamping elements 13 are arranged on the clamping frame 12 in a manner complementary to the positioning of the component openings 9 on the outer skin component 2.

[0036] The clamping elements 13 possess according to Fig. The clamping elements 13 have an outer cross-section 15 and are adjustable between a release state and a holding state. In the release state, the outer cross-section 15 is smaller than in the holding state. Furthermore, in the release state, the outer cross-section 15 is smaller than the inner cross-section 11 of the opening. This makes it particularly easy to insert the clamping elements 13 into the component openings 9 in the release state. In the holding state, however, the outer cross-section 15 is enlarged to the point where it is at least equal to the inner cross-section 11 of the opening. In any case, the outer cross-section 15 is enlarged in the holding state compared to the release state to such an extent that, in order to hold the outer skin component 2 to the clamping frame 12, the respective clamping element 13 is pre-tensioned against the edge 10 of the respective component opening 9. This creates a frictional connection, and thus a force-fit connection, between the respective clamping element 13 and the edge 10 of the opening 9, respectively, by means of the holding state.this creates the outer skin component 2. This fixes the outer skin component 2 to the tensioning frame 12.

[0037] According to the in Fig. In the preferred embodiment shown in 2, the respective clamping element 13 can be configured as a clamping mandrel 16. In the embodiment shown in Fig. In the example shown in Figure 2, the mandrel 16 is also configured as a wedge mandrel 17. The mandrel 16 has two tendons 18, namely a first tendon 18.1 and a second tendon 18.2. The two tendons 18 are adjustable relative to each other. The mandrel 16 is configured such that an axial adjustment of the two tendons 18 leads to a change in the element's outer cross-section 15. In particular, an axial adjustment of the two tendons 18, in which the two tendons 18 move towards each other, leads to an increase in the element's outer cross-section 15.

[0038] In the wedge-type clamping mandrel 17, the two clamping elements 18 are designed as two sleeves 19, forming a first sleeve 19.1 and a second sleeve 19.2. The first sleeve 19.1 is axially supported and / or attached to the clamping frame 12 at one end 20 and is equipped with an external wedge surface 22 at the other end 21. The second sleeve 19.2 has an internal wedge surface 24 at one end 23 that is complementary to the external wedge surface 22 and rests flat against the external wedge surface 22. At the other end 25, the second sleeve 19.2 has an end face 26. In the example of the Fig. 2 The outer wedge surface 22 and the inner wedge surface 24 are each inclined at 45° to the longitudinal center axis 14. At least the wedge clamping mandrel 17 is also equipped with a clamping core 27, which extends concentrically through the two sleeves 19. The clamping core 27 has a head 28, which can be supported or is supported on the end face 26 of the second sleeve 19.2. In Fig. In the 2nd position, the head 28 is spaced from the end face 26, so that the release state exists. In the release state, the element's outer cross-section 15 is smaller than the opening's inner cross-section 11, so that the clamping element 15 can be inserted or pushed through into the component opening 9 in a gripping direction 29. The gripping direction 29 is in Fig. 2 indicated by an arrow and extends axially, i.e. parallel to the respective longitudinal center axis 14.

[0039] Furthermore, the clamping core 27 is configured at its end furthest from the head 28 such that a tensile force 30 can be introduced into the clamping core 27 there. The tensile force 30 is in Fig. 2 is indicated by an arrow. The tensile force 30 serves to adjust the wedge-type clamping mandrel 17 from the release state to the holding state. For this purpose, the clamping core 27 is adjusted relative to the sleeves 19 in the direction of the tensile force 30 until its head 28 comes to rest against the end face 26. Subsequently, the tensile force 30 causes an axial adjustment of the two sleeves 19 relative to each other. In particular, at least the second sleeve 19.2 is axially adjusted relative to the first sleeve 19.1. The inner wedge surface 24 can then slide on the outer wedge surface 22, causing the first sleeve 19.1 and / or the second sleeve 19.2 to adjust radially eccentrically relative to each other. As a result, the element's outer diameter 15 increases until the wedge-type clamping mandrel 17 is radially clamped against the opening edge 10.

[0040] According to Fig. 2. The clamping frame 12 can be equipped with at least one actuator 31, which is configured to adjust at least one of the clamping elements 13 between the release state and the holding state. Optionally, the respective actuator 31 can also be configured so that it can adjust the respective clamping element 13 back from the holding state to the release state. In the example shown here, the respective actuator 31 is coupled to the respective clamping core 27 in a suitable manner. Consequently, the tensile force 30 for adjusting the wedge clamping mandrel 17 from the release state to the holding state can be introduced into the clamping core 27 by means of the actuator 31.

[0041] According to Fig. 1. The outer skin component 2 can be configured as a large module 32, which here, purely as an example, forms a vehicle side wall 33. This vehicle side wall 33 can include outer skin components of an A-pillar 34, a B-pillar 35, and a C-pillar 36. The outer skin component 2 has at least one indirect viewing area 37, which is characterized by the fact that, when the outer skin component 2 is attached to the vehicle body 3, it is concealed from the outside by another vehicle component. This other vehicle component could, for example, be a trim element (not shown here) in the area of ​​the B-pillar 37, which, when attached, conceals the indirect viewing area 37 there. At the lower end of the A-pillar 34, the other vehicle component could, for example, be a vehicle door (not shown here), which, in the closed position, conceals the indirect viewing area 37 there.It may be advantageous to design the component openings 9 in such an indirect viewing area 37 on the outer skin component 2. This means that the component openings 9 on the finished vehicle body 3 are concealed and not visible, or only with difficulty visible.

[0042] According to Fig. 1. The clamping frame 12 can also be equipped with at least one vacuum gripper 38. Several vacuum grippers 38 can be used advantageously. Each vacuum gripper 38 is configured such that it rests against the outer skin component 2 to hold the respective outer skin component 2 and holds the outer skin component 2 to the clamping frame 12 by means of negative pressure. The vacuum gripper 38 has, in the usual manner, a suction cup 39 and a vacuum pump 40, with the aid of which the required negative pressure can be generated. It is clear that, in principle, several vacuum grippers 38 can also work together with a common vacuum pump 40 to generate the negative pressure at the suction cups 39.

[0043] According to Fig. 1. The outer skin component 2 also has at least one direct viewing area 41 which, when the outer skin component 2 is attached to the vehicle body 3, is unobstructed from the outside and thus fully visible. By way of example only, and without limitation of generality, three vacuum grippers 38 are shown here, which are arranged on the clamping frame 12 such that they come into contact with the outer skin component 2 in such a direct viewing area 41 on the outer skin component 2 in order to hold it on the clamping frame 12.

[0044] The following will be based on Fig. A method 42 for mounting a painted outer skin component 2 onto a vehicle body 3 is described in more detail. In a first step S1, the respective outer skin component 2 is provided in the outer skin area 8, wherein the outer skin component 2 already has the component openings 9 and is painted. Thus, the provision of the outer skin component 2 according to the first step S1 includes the manufacture of the outer skin component 2 and therefore also includes the creation of the component openings 9 and the painting of the outer skin component 2. In a second step S2, the respective outer skin component 2 is gripped using the holding device 6 and in a third step S3 is positioned in a predetermined mounting position on the vehicle body 3. In a fourth step S4, the outer skin component 2, positioned on the vehicle body 3 using the holding device 6, is attached to the vehicle body 3.

[0045] The second step S2 can be according to Fig. 3 optionally subdivide into several sub-steps. In a first sub-step S2.1, the clamping frame 12 is positioned on the respective outer skin component 2. Positioning is expediently carried out on an outer side of the outer skin component 2 that, in the assembled state, faces away from the vehicle body 3 and in Fig. 1 is facing the viewer. In a second sub-step S2.2, the clamping elements 13 are aligned with the component openings 9 and any vacuum grippers 38 are aligned with the direct viewing areas 41. In a third sub-step S2.3, the clamping elements 13 are inserted into the component openings 9 in their released state. Here, the clamping frame 12 is adjusted in the gripping direction 29 against the outer skin component 2, so that the clamping elements 13 engage in the respective component opening 9 in the gripping direction 29. The adjustment of the clamping frame 12 or the clamping elements 13 in the gripping direction 29 is in Fig.1 indicated by several arrows. In an optional fourth sub-step S2.4, the vacuum grippers 38, if present, are brought into contact with the outer skin component 2 in the respective direct line of sight 41. In an optional fifth sub-step S2.5, the vacuum grippers 38, if present, are activated so that they adhere to the outer skin component 2 in the respective direct line of sight 41 by means of the negative pressure. In a sixth sub-step S2.6, the clamping elements 13, which are inserted into the component openings 9, are each moved into the holding position. Subsequently, the outer skin component 2 is secured to the holding frame 12 against the gripping direction 29 by the vacuum grippers 38 by means of a positive fit, and in the gripping direction 29 by the vacuum grippers 38 by means of the negative pressure and by means of the clamping elements 13 by means of a frictional fit.The outer skin component 2 is secured to the clamping frame 12 transversely to the gripping direction 29 by means of positive locking by the clamping elements 13 and by means of force locking by the vacuum grippers 38.

Claims

[1] Holding device (6) for automated handling of a painted outer skin component (2) of a vehicle body (2), - wherein the outer skin component (2) has several component openings (9), each of which is surrounded by an opening edge (10) and has an inner opening cross-section (11), - wherein the holding device (6) has a clamping frame (12) for holding the respective outer skin component (2), which has several cylindrical clamping elements (13) extending parallel to each other from the clamping frame (12), which are arranged distributed on the clamping frame (12) such that the clamping elements (13) penetrate into one of the component openings (9) to hold the outer skin component (2), - wherein the clamping elements (13) each have an element outer cross-section (15) and are configured such that they are adjustable between a release state in which the element outer cross-section (15) is smaller than the opening inner cross-section (11) of the component opening (9) assigned to the respective clamping element (13), and a holding state in which the element outer cross-section (15) is enlarged compared to the release state to such an extent that, in order to hold the outer skin component (2) on the clamping frame (12), the respective clamping element (13) is pre-tensioned against the opening edge (10) of the respective component opening (9). [2] Holding device (6) according to claim 1, characterized by , - that the respective tensioning element (13) is configured as a tensioning mandrel (16) which has two tendons (18) that are adjustable relative to each other such that an axial adjustment of the two tendons (18) relative to each other changes the element's outer cross-section (15). [3] Holding device (6) according to claim 2, characterized by , - that the clamping mandrel (16) is configured as a wedge clamping mandrel (17), - that the two tension members (18) form two sleeves (19), namely a first sleeve (19.1) and a second sleeve (19.2), - that the first sleeve (19.1) is supported and / or attached at one end to the tensioning frame (12) and has an outer wedge surface (22) at the other end, - that the second sleeve (19.2) has at one end an inner wedge surface (24) complementary to the outer wedge surface (22) and lying flat against the outer wedge surface (22) and at the other end an end surface (26), - that the respective wedge clamping mandrel (17) has a clamping core (27) which extends concentrically through the two sleeves (19), which has at one end a head (28) which can be supported or supported on the end face (26) of the second sleeve (19.2) and at the other end a tensile force (30) can be introduced to adjust the wedge clamping mandrel (17) from the release state to the holding state. [4] Holding device (6) according to any one of the preceding claims, characterized by , - that the clamping frame (12) has at least one actuator (31) for adjusting at least one of the clamping elements (13) between the release state and the holding state. [5] Holding device (6) according to claims 3 and 4, characterized by , - that the respective actuator (31) is coupled to the respective clamping core (27), so that the tensile force (30) for adjusting the wedge clamping mandrel (17) from the release state to the holding state can be introduced into the clamping core (27) by means of the actuator (31). [6] Holding device (6) according to any one of the preceding claims, characterized by , - that the outer skin component (2) has at least one indirect viewing area (37) which, when the outer skin component (2) is attached to the vehicle body (3), is obscured from the outside by another vehicle component, - that the component openings (9) are each arranged in such an indirect viewing area (37). [7] Holding device (6) according to any one of the preceding claims, characterized by , - that the clamping frame (12) also has at least one vacuum gripper (38) which is attached to the outside of the outer skin component (2) to hold the outer skin component (2) and holds the outer skin component (2) on the clamping frame (12) by means of negative pressure. [8] Holding device (6) according to claim 7, characterized by , - that the outer skin component (2) has at least one direct viewing area (41) which is uncovered and visible from the outside when the outer skin component (2) is attached to the vehicle body (3), - that the respective vacuum gripper (38) is arranged on the clamping frame (12) in such a way that it rests against the outer skin component (2) in such a direct line of sight (41) to hold the outer skin component (2) on the clamping frame (12). [9] Assembly station (1) for mounting a painted outer skin component (2) onto a vehicle body (3), - with an assembly robot (4) equipped with a holding device (6) according to one of the preceding claims. [10] Method (42) for mounting a painted outer skin component (2) onto a vehicle body (3), - in which the respective outer skin component (2), which has several component openings (9), each of which is enclosed by an opening edge (10) and has an opening inner cross-section (11), is provided in an outer skin area (8), - wherein the respective outer skin component (2) is grasped by means of a holding device (6) according to one of claims 1 to 8 and positioned on the vehicle body (3) in a predetermined mounting position in which the outer skin component (2) is attached to the vehicle body (3).

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