发明名称 |
METHOD AND DEVICE FOR PRODUCING A CONNECTING AREA ON A PRODUCTION PART |
摘要 |
A method for the mounting of an add-on part ( 3 ) on a workpiece ( 1 ), in particular on a vehicle body, the intention being for the add-on part ( 3 ) to be aligned on the workpiece ( 1 ) in a precisely positioned manner in relation to a reference region ( 12, 13 ). Use is made of a robot-guided mounting tool ( 5 ) which is connected fixedly to a sensor system ( 20 ). In order to achieve the precisely positioned alignment of the add-on part ( 3 ), an iterative control operation is run through, in the course of which first of all an (actual) measured value of the sensor system ( 20 ) is produced and is compared with a (desired) measured value produced within the context of a setting-up phase. A movement vector of the mounting tool ( 5 ) is calculated from the difference between the (actual) measured value and (desired) measured value using a Jacobi matrix calculated within the context of the setting-up phase, and the mounting tool ( 5 ) with the add-on part ( 3 ) fixed therein is iteratively displaced in relation to the workpiece ( 1 ) by these movement vectors until the desired position is reached. This positioning task can be resolved without a metric calibration of the sensor system ( 20 ). |
申请公布号 |
EP1537008(B1) |
申请公布日期 |
2015.05.06 |
申请号 |
EP20030750493 |
申请日期 |
2003.09.06 |
申请人 |
VMT VISION MACHINE TECHNIC BILDVERARBEITUNGSSYSTEME GMBH |
发明人 |
BONSE, MARCUS;KOLB, THOMAS;OSTERTAG, FRANK;PHILIPP, ENRICO;STAHS, THOMAS;THALER, HEIKO |
分类号 |
B25J9/10;B62D65/00;B21D28/34;B23P19/04;B23P21/00;B25J9/16;B25J13/08;B62D65/02;B62D65/06;G05B19/401 |
主分类号 |
B25J9/10 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|