WO2007003375A1

WO2007003375A1 - Method and device for joining joining structures, particularly during the assembly of vehicle components

Info

Publication number: WO2007003375A1
Application number: PCT/EP2006/006389
Authority: WO
Inventors: Ewald Quell
Original assignee: Edag Engineering + Design Ag
Priority date: 2005-06-30
Filing date: 2006-06-30
Publication date: 2007-01-11
Also published as: DE102005030944B4; DE102005030944A1

Abstract

The invention relates to a method for joining a first joining structure (1) and a second joining structure (2), during which: d) a model (3), which is true to the contours of the first joining structure (1), and the second joining structure (2) are positioned together in a joining position; e) the model (3) and the second joining structure (2) are measured with regard to accurate fit with one another in the joining position, and; f) a connecting device (12) for connecting the joining structures (1, 2) with accurate fit is created or fastened to the second joining structure (2) according to the measurement.

Description

Method and device for joining joining structures, in particular in the

Assembly of vehicle components

The invention relates to the accurate fitting of joining structures for producing a joining composite from the joining structures. In particular, the invention relates to the mounting of attachments to vehicle structures, such as the mounting of a vehicle door, hood, flap or light on a body or a body part.

WO 96/36525 discloses a method for the automatic assembly of a component on a motor vehicle body. The components and bodies are measured in pairs relative to each other to fit accuracy and positioned until they occupy a joining position relative to each other, in which the requirements for accuracy of fit are met. In the joining position, the component is then mounted. In order to optimize the process, WO 96/36525 proposes to re-measure the fitting assembly formed from the vehicle body and the component after installation in order to compensate for setting of the component due to its own weight in subsequent components of the series. The measured data obtained after assembly at the joint assembly are used as correction data for the assembly of the following components in the series.

In conventional series production, the bodies with the assembled components are painted after the assembly of the components or subjected to another joint manufacturing process. If the component is, for example, a vehicle door, it is dismantled again after the manufacturing process that has passed through together with the body in order, for example, to improve the accessibility for mounting a seating group. Afterwards, the component has to be reassembled. The assembly, disassembly and reassembly is complex and therefore time-consuming and costly. A the Reason for comparable effort is operated for the accurate installation of, for example, tail lights.

It is an object of the invention to simplify the automatic and accurate assembly of joining structures to be joined together, such as attachments and body parts of vehicles they represent.

In a method for joining, preferably with at least positive connection, a first joining structure and a second joining structure, according to the invention a contour-conforming model is provided for at least one of the joining structures. The model and the other of the joining structures are positioned relative to one another in a joining position which the first and the second joining structure are to occupy in the subsequent joining assembly, wherein the model and the respective joining structure are measured relative to one another for the exact positioning. The model is at least as far contour true, as required for measuring in order to determine and adjust a sufficient accuracy of fit.

In preferred embodiments, the model and vehicle structure are evaluated for uniformity of a gap existing between the model and the vehicle structure; H. to a representative gap, measured. The gap width is preferably measured as the gap width and pitch, and the joining position is optimized to these two dimensions or, if appropriate, also checked only for compliance with predetermined nominal values. The geometry of the model coincides with the modeled vehicle structure at least at discrete measuring points. For the measurement of the gap dimension, the model and the modeled vehicle structure thus coincide, at least at discrete measuring points, with an edge of the modeled vehicle structure delimiting the gap.

In the following it is assumed that the first joint structure is modeled.

If the measurement shows that the model and the second joining structure are positioned relative to one another in the joining position, a connecting device for the precise joining of the joining structures is produced on the second joining structure or attached. This is preferably still while the model and the second joining structure occupy the joining position. The connecting device is held immovable relative to the model during measurement and positioning, so that it participates in its movements during positioning, and is also automatically positioned relative to the second joining structure and can be fastened to the second joining structure, for example by means of screwed or welded connection , Instead of a prefabricated, only to be fastened connecting device, the connecting device can also be formed on the second joining structure, for example milled or drilled or produced in any other way. A generation by drilling or milling offers, for example, for the installation of a lamp. When mounting a vehicle door, the connecting device is preferably a prefabricated hinge element of a hinge, generally a hinge, which is attached to the second vehicle structure. The connection device to be fastened can be held by a positioning device which also holds and moves the model. Preferably, a holding device is attached directly to the model for attaching the connecting device, which holds the connecting device releasably. The holding device, whether part of the positioning device or preferably of the model, may in particular be a tensioning device which removably clamps or clamps the connecting device. Although it is preferred in the case of a prefabricated connecting device, when the connecting device is fastened, as long as the model and the second joining structure are still in the joining position, it should not be ruled out that first moves the model from the joining position and then only the connecting means on the second Joining structure is fixed, for example on the basis of a previously attached to the second joining structure mark or in that the positioning recognizes the position that has taken the connection means after the accurate positioning. In the different variants, the connecting device is respectively produced or fastened to the second joining structure as a function of the measurement on which the positioning in the joining position is based.

The invention simplifies the assembly of the joining structures. If it concerns vehicle bodies or body parts and, for example, doors, these must Joining structures are not first grooved and mounted in one step, for example painted together, then dismantled and finally reassembled. Rather, these or joining structures of other types are connected only once, by final assembly. The handling of a model for positioning the respective joining structure and the model relative to one another and, based thereon, providing the joining structure with the connecting device is simpler than the production of the fitting accuracy by directly connecting the joining structures. If in a series production the positioning device, preferably a robot with sufficiently many degrees of freedom of translation and rotation, always hold only the same model and does not have to grasp and move a new joining structure for each joining compound, this simplifies and accelerates the joining process. By bringing the joining structures together for the first time for final assembly, the flexibility of production is also increased. Thus, the joining structure forming the subsequent joining structure may be separated from each other, for example at different locations at the same manufacturer or possibly also at different manufacturers before they are merged in the final assembly.

Further, by using a model, accessibility to the second joining structure can be improved to facilitate the creation or attachment of the connection means. Thus, a model can be cut out or broken at the point in question far more generously than the modeled joining structure, since the model is not subject to the limitations of the modeled joining structure, but only has to be sufficiently contour-accurate for the measurement, possibly only at discrete measuring points.

In a further development, the first joining structure is equipped in a similar manner with a connecting device by this connection means on the first joining structure so shaped or otherwise generated or attached as a prefabricated connection means that the required fit between the first joining structure and a contoured model of the second joining structure and is guaranteed later in the joint assembly of the joining structures. With regard to the model of the second joining structure and the production or attachment of the connecting device to the first joint structure, the above statements apply equally. However, if the first joining structure is an attachment, it may be advantageous if the positioning device holds and moves the first joining structure instead of the model.

Because of the use of a model for at least one of the joining structures, preferably one model per joining structure type, changes in the geometry of respectively identical joining structures, for example bodies or body parts, can be detected reliably and quickly, since always against the same structure, namely the respective model , is measured. In particular, measured data obtained by means of one model and measurement data obtained by means of the other model can be exchanged between the corresponding joining devices. If, for example, a certain trend with respect to the geometry, for example deviations in the length or height of a door opening, is established, the relevant deviation can advantageously be compensated in the production or attachment of one or the other of the connecting devices or in a clever combination in both connecting devices. In this case, it is decided by a suitable algorithm which of the connection devices should be modified in which way with regard to the detected deviation for its compensation.

Since both the connection device of the first joining structure and the connecting device of the second joining structure can be used for compensation, more degrees of freedom are also available for the modification. If the joining structures are, for example, vehicle bodies and vehicle doors, and if the connecting devices are each hinge elements of a hinge, then these connecting devices can be translationally or rotationally displaced with respect to their positions relative to the respective joining structure, for example about two mutually perpendicular or at least non-parallel axes of rotation common spatial coordinate system and along at least one translation axis of the coordinate system, wherein the translation axes are preferably at right angles to each other, but at least not parallel. When mounting the connecting devices depending on a flat surface, for example, with respect to each of the surfaces are two degrees of freedom of translation and a degree of freedom of rotation to Available. The surfaces of the joint structures should not be parallel in the condition of the joint assembly which is relevant to the accuracy of fit.

For example, after the assembly of the joining structures onto the interconnected connecting devices of the joining structures, the weight of one of the joining structures has an influence and the load significantly influences the fit, one of the joining structures and the model of the other joining structure are preferably connected to each other and again in the connected state to fit accuracy measured. For simulation and measurement, the model should have the same weight as the modeled joint structure. For the measurement, the positioning device, with which the model is positioned, advantageously releases the model at least so far that the weight of the model acts on the connecting devices connected to one another in the joint assembly and, for example, the sagging of a vehicle door can be simulated. Alternatively, the positioning device can exert a controlled force by means of which the conditions can be simulated in the later joint assembly formed from the joining structures.

Correction data for a compensating modification of the connecting devices of subsequent joining structures, which correspond in type to the joining structure connected to the model, are formed from the simulation measurement data obtained by means of the model. Alternatively or additionally, correction data for a compensating modification of the connection devices of the modeled joining structures can be formed.

A device according to the invention for joining first and second joining structures comprises a contoured model of either the first joining structures or the second joining structures or one such model per joining structure type. The device, which in preferred embodiments comprises two sub-devices, one of which works with the one model and the other with the other model, is preferably used in the assembly of attachments and vehicle structures, preferably bodies or body parts. In the case of separate subdevices, one of the subdevices is preferably a joining station within a production line having at least one upstream or downstream further processing station. The other sub-device can be arranged next to the production line or set up at a supplier.

If the joining structures are vehicle structures and attachment parts to be mounted thereon, the device with the model of the attachment parts is preferably arranged in a production line for vehicles. A positioning device for the vehicle structures may be formed by a conventional conveyor line. Preferably, a robot forms the positioning device for the model. The vehicle structures are conveyed in the conveying line to such an automatic handling machine, stopped for positioning and transported away after positioning and optionally repeated measurement in the conveyor line. The automatic handling device determines the position of the respective vehicle structure located in the working area, preferably visually, and positions the model precisely in relation to the vehicle structure. For this purpose, the device further comprises a measuring device for measuring the positions that occupy the model and the vehicle structure relative to each other, and a control that controls the movements of the handling machine based on the measured data to move the model in the exact fitting position.

The measurement is preferably carried out optically, preferably by means of laser. In particular, the light-section method is suitable. This type of measurement is best suited for the determination of gap width and precipitation. The measurement is preferably carried out at predetermined measuring points along the outer contour of the model which is decisive for the accuracy of fit, for which representative measuring points are selected. In order to achieve a gap which is as uniform as possible in terms of optical properties, it may be advantageous to weight the measuring points in terms of their significance. The weighting factors can be manually set and automatically predetermined in this way or, alternatively, predetermined automatically on the basis of a correspondingly programmed algorithm. Preferably, the device has the ability to optimize the weighting factors within a series. The subclaims and their combinations describe advantageous features of the invention.

Exemplary embodiments of the invention are explained below with reference to figures. The features disclosed in the exemplary embodiments form, individually and in each combination of features, the subject matter of the claims and also the embodiments explained above. Show it:

Figure 1 is a joint assembly of a vehicle side wall and a model of a

Vehicle door, Figure 2 a joint assembly of the vehicle door and a model of

Vehicle side wall,

Figure 3 is a data coupling between joining devices and

Figure 4 shows a device for joining tail lights.

In FIG. 1, a side wall 2 of a body shell for a vehicle and a model 3 of a vehicle door to be mounted on the side wall 2 form a joint assembly. In a mass production, the body shells are transported with the side walls 2 stretched on a conveyor line to a joining station formed along the conveyor line, in which the model 3 and the side wall 2 of each located in the joining station body shell are joined. The joining station is equipped with a robot which holds the model 3 and moves relative to the respective side wall 2 in a joining position. In the joining position, the side wall 2 and the model 3 are accurately connected to the joining compound.

A joining device arranged in the joining station comprises the robot as a positioning device for the model 3 and the conveying line as a positioning device for the side walls 2 transported in series to the joining station. A machining device for fastening articulated elements 12 can be provided in addition to the robot or on an arm of the Robotic attached, which is independent of a model 3 holding arm of the robot movable. The positioning device fixes the model 4 in a measuring room. In particular, the measuring space can form the usual Cartesian vehicle coordinate system with the X-axis pointing in the longitudinal direction of the vehicle, with Z as the vertical axis and the Y-axis pointing in the lateral direction. The coordinate system is shown by way of example in FIG. 1 relative to the side wall 2.

The robot serves as a carrier for a plurality of measuring members 6 of a measuring device for measuring a gap, which is established during the joining between the side wall 2 and the model 3. Through the measurement, the gap width and the precipitation at discrete measuring points are determined as gap dimensions. The measuring points are selected along the outer contour of the model 3 delimiting the gap on the one side such that critical points for the quality of the gap are detected by the measurement. The measuring members 6 are arranged distributed along the outer contour of the model 3 accordingly. The measuring members 6 can be attached directly to the model 3. Preferably, however, the robot keeps the measuring members 6 separate from the model 3 in the arrangement suitable for the measurement, as shown by way of example in FIG. The gap is optically measured. The measuring elements 6 are lasers in combination with cameras for receiving the reflected laser light. The measurement is performed in a light-section method, preferably with the EDAG BestFit Assembly System. On one arm of the robot, a holding member for holding the model 3 is attached. On the model 3, a docking member 5 is attached or formed, on which the holding member holds the model 3 relative to a base of the robot in a position defined by the location and the orientation.

The geometry of the model 3 must match the modeled door only at the measuring points and with respect to the positions of the hinge elements 12.

The model 3 is provided with a holding device 13, which holds the hinge elements 12 in position relative to the model 3 as in the case of the door to be connected in a final assembly with the side wall 2 releasably, preferably fixed. The hinge elements 12 form the connecting means of the side wall 2 for the subsequent assembly of a door, for which the model 3 is mounted in the joining station representative. After fastening the hinge elements 12, the holding device 13 is released from the hinge elements 12, to be able to move the model 3 out of the door opening again. The holding device 13 is preferably formed so that the model 3 can again be moved from the door opening exactly as it was previously moved to the joining position. Thus, for example, the holding device 13 may have two clamping jaws per articulated element 12, which are automatically movable into and out of the clamping engagement with the respective joint element 12, so that the model 3 can be moved out of the door opening along the Y-axis. Alternatively, it would also be conceivable to form the holding device 13 itself as joint elements which correspond to the joint elements of the door hinge which is still to be formed in a final assembly. The hinge elements 12 and the holding device 13 in this case would form an arrangement which is at least substantially similar to the later hinge. For example, in such an embodiment, the robot could hold the hinge elements 12 in position with the model 3.

For joining, the robot moves the model 3 into the door opening of the side wall 2. For this purpose it grasps the side wall 2, preferably optically, and positions the model 3 accordingly. For more precise positioning, the gap formed between the side wall 2 and the model 3 is measured by means of the measuring members 6. The measurement data obtained from the measurement are fed to a controller or controller of the robot. The controller automatically controls or controls the movements of the robot according to a programmed algorithm so that the model 3 relative to the side wall

2 is positioned in a joining position in which an optimum gap is set according to width and pitch under predefinable quality criteria. While the robot is the model

3 holds in the joining position, the processing device attached to the hinge elements 12 on the side wall. 2

After fixing the hinge elements 12, the model 3 is mechanically decoupled from the robot, so that it can sit in the created connection, in the exemplary embodiment, the hinge 12, 13 under its own weight. The model 3 is as heavy as the modeled door, so that by means of the model 3, the setting process of the later final mounted door in the simulation is taken into account. Once the setting process is completed, the gap is measured again. From this Repeat measurement wins the joining device correction data for a compensating Vorhalt in subsequent joining operations of the same series.

After the measuring process is completed, the robot resumes the model 3 again. The connection of the joint elements 12 and 13 is released, and the robot moves the model 3 from the joining position, so that in the production line, the next body shell with side wall 2 can be transported into the joining station.

The mechanical decoupling for the simulation of the setting process can take place between the docking member 5 and the holding member of the robot fixed thereto or between the holding member and a base of the robot. If the retaining member is decoupled from the base, for example, then a joint with joint elements which can be locked relative to one another connects the retaining member to the base. Optionally, two such joints with mutually perpendicular or at least not parallel hinge axes connect the retainer to the base. A single hinge may also be formed so as to provide the flexibility required to simulate the setting process alone. For the blocking of the joint or the plurality of joints, a blocking device is provided, which can be released for mechanical decoupling in order to obtain the required mobility between the joint elements. After completion of the measuring operation, the joint or the plurality of joints is stiff again by means of the blocking device to move the model 3 from the joining position or for the next joining operation again in the new joining position relative to the next side wall 2. Alternatively, immediately the docking member 5 and the retaining member may form such a joint.

FIG. 2 shows a further joining composite, which forms a vehicle door 1 to be mounted on the side wall 2 of FIG. 1 and a model 4 of the side wall 2. The joint assembly 1, 4 can be installed in a joining station in addition to the production line, as well as at another place of manufacture, for example in the formation of the door 1, in principle, also at a possible supplier. The doors 1 must be brought together with the side walls 2 only for final assembly. A joining device for joining doors 1 each with the model 4 comprises a positioning device for the model 4.

The joining device further comprises, as a positioning device for the doors 1, a robot which may be a duplicate of the robot of the joining device described with reference to FIG. Furthermore, the joining device comprises a measuring device with measuring elements 7. The measuring device can also be a duplicate of the measuring device of FIG. 1, in particular the measuring elements 6 and 7 can each be the same. The measuring points are preferably selected along the outer contour of the door 1 as the measuring points of the arrangement of Figure 1, accordingly, the measuring members 7 as the measuring members 6 are arranged. The docking member 5 may correspond to the docking member 5 of the model 3 comprehensive joining device. While the docking member 5 of the model 3 is attached directly to the model 3 or formed thereon, in the joining device comprising the model 4, a tensioning device 8 is additionally provided, by means of which the docking member 5 is detachably fixed to the door 1.

On the model 4, a holding device 14 is comparable to the holding device 13 is formed. Joint elements 11 form a connecting device of the door 1. The hinge elements 11 form after mounting the door 1 together with the hinge elements 12 of the side wall 2, a hinge for the door 1. The said with respect to the holding device 13 applies equally to the holding device 14, in particular it may be formed as a clamping device for releasably clamping the hinge elements 11 or comprise hinge elements corresponding to the hinge elements 12 of the later hinge, relative to which the hinge elements 11 are fixed for joining with the model 4.

As already described with reference to the joining operation with the model 3, the robot moves the door 1 into the door opening of the model 4 and positions it there accurately relative to the model 4. The positioning takes place with constant feedback of the measurement data supplied by the measuring elements 7, so that the joining position is obtained according to the predetermined quality criteria optimal gap. By means of a processing device attached to another arm of the robot or from may be formed by another robot, the hinge elements 11 are attached to the door 1. The hinge elements 11 form the connecting device of the door 1 for the subsequent final assembly.

After the door 1 and the model 4 are connected to each other by means of the hinge 11, 14 to a joint assembly, the door 1 is mechanically decoupled from the robot, so that they can sit under their own weight in the hinge 11, 14. Once the setting process is completed, the gap is measured again. From the measured data obtained by the repeated measurement correction data for subsequent joining operations of the same series are obtained. Finally, the door 1 is resumed by the robot and moved after the release of the hinge elements 11 and 14 from the joining position. The clamping device 8 is released from the door 1. The robot is now free again to receive the next door 1. The door 1 can be painted and finished before finally being mounted on the side wall 2.

The robot handling the doors 1 may be formed with respect to the holding of the doors and the mechanical decoupling for the setting of the doors 1 like the model 3 handling robot.

FIG. 3 shows a schematic representation of a data-related coupling of the two joining devices via a common control plane. For a tolerance-optimized final assembly, the measurement data obtained before and after the setting of the model 3 and the setting of the doors 1, preferably also the correction data, are fed to the respective other joining device, preferably by radio or via fixed data lines.

If, for example, it is determined on the basis of the data by means of statistical evaluation that a trend has established with respect to a deviation from an ideal geometry of the doors 1 or the side walls 2, an optimal correction strategy is determined by means of a computer. By way of example, it is assumed that the length of the doors 1 measured in the X direction and also the Y position of the roof-near upper edge of the side wall 2 have changed relative to the bottom-near lower edge of the door opening. Due to the use of models 3 and 4 with always the same geometry, as far as it is relevant for the measurement, the cause of the deviation can be identified and assigned to the respective component, either the doors 1 or the side walls 2. Since both on the doors 1 and on the side walls 2 whose connection means 1 1 and 12 are provided by way of measurement and positioning, the positions of the connection means 11 and 12 can be determined according to location and orientation both on the doors 1 and on the side walls 2 be modified so that the determined deviation can be compensated in the sense of an approximation to an optimum under the given circumstances Spaltgüte. If the joint elements 12 are fastened, for example, to a flat mounting surface of the side wall 2, which is spanned by the X and Z axes of the measuring coordinate system, and furthermore the joint elements 11 are fastened to a flat mounting surface of the door 1, which is in the modeled closed state the door 1 and the model 3 extends in a Y-Z plane of Messkoordinatensystems, so the length deviation in the side walls 2 along the X-axis and detected between the upper and the lower edge of the door opening deviation by a rotation angle change of the Joint elements 11 formed connecting device of the doors 1 are compensated for the X-axis. For this purpose, the statistical evaluation of the measurement and correction data provides default values that are fed to the joining devices for carrying out the respective modification. In the exemplary embodiment, the data comparison is performed via the control level, which has access to the stored measurement and correction data in order to manage it and to evaluate it statistically for modifications in the sense of a tolerance-optimized final assembly.

FIG. 4 shows a joining station for joining tail light models 3 to bodyshells 2. The conveying line on which the bodyshells 2 are transported into the joining station and again out of the joining station is indicated as a dashed line. Pro model 3 is provided for its handling a positioning device 15 formed as a robot. The two positioning devices 15 are arranged next to the conveyor line. The maximum range of motion of the respective robot arm is indicated for fixed positioning devices 15 by circles. With each located in the joining position model 3 are on the body shell 2, for example, at the rear or side walls, the Connecting devices for the two taillights created or attached. With the exception of the simulated setting operation, the joining operation for the tail light models 3 corresponds to the joining operation for the doors 1. The remainder, in particular the data adjustment, applies equally to the designs there for the tail light models 3.

The joining station is equipped with a station computer 9. Via the station computer 9, the data comparison with the joining device for the joining operation of the taillights and the body model is performed. The joining station is equipped with several models 3 for different taillights. In the embodiment, there are two different models 3, for the shelves within the manipulation circuits of the position means 15 are indicated. This increases the flexibility of the joining station. Corresponding to the number of retained models 3, bodies 2 can be prepared for the final assembly of rear lights. A model change can be made without further delay, even without delay in the conveyor line. Accordingly, for other attachments, such as doors 1, 3 models can be kept for different vehicle types in the joining station in question.

Claims

claims

1. A method for joining a first joining structure (1) and a second joining structure (2), in which a) a contour-conforming model (3) of the first joining structure (1) and the second joining structure (2) positioned to one another in a joining position, b) the model (3) and the second joining structure (2) in the joining position relative to each other measured to fit accuracy c) and at the second joining structure (2) depending on the measurement, a connecting device (12) for accurately connecting the joining structures (1, 2) is generated or attached.

2. The method according to claim 1, further comprising a) positioning the first joining structure (1) and a contoured model (4) of the second joining structure (1) to one another in a joining position, b) the first joining structure (1) and the model (4 ) of the second joining structure (2) in the joining position relative to each other to measure accuracy of fit c) and on the first joining structure (1) depending on the measurement, a connecting device (11) for accurately connecting the joining structures (1, 2) is generated or fixed.

3. Method according to a combination of claims 1 and 2, in which measurement data obtained from the measurement at the second joining structure (2) and the model (3) of the first joining structure (1) are evaluated and the connecting device (11) as a function of the Evaluation on the first joining structure (1) is generated or attached.

4. A method according to a combination of at least one of claims 1 and 2, wherein measured data obtained from the measurement at the first joining structure (1) and the model (4) of the second joining structure (2) are evaluated and the connecting device (12) as a function of the evaluation on the second joining structure (2) is generated or attached.

A method according to any one of the preceding claims, wherein the connecting means (11, 12) is immovable relative to the model (3, 4), preferably held by a positioning means positioning the model (11, 12), and wherein the connecting means (11, 12) in the joining position of the model (3, 4) and the joining structure (2, 1) is attached to the joining structure (1, 2).

6. The method according to any one of the preceding claims, wherein the model (3 or 4) and thus located in the joining position joining structure (2 or 1) temporarily with each other to a joint assembly (2, 3 or 1, 4) connected and the joint assembly ( 2, 3 or 1, 4) is measured for accuracy of fit.

7. The method according to the preceding claim, wherein the model (3 or 4) and the joining structure (2 or 1) accurately positioned to each other in the joining position, connected to a joint assembly (2, 3 or 1, 4) and again in the joint assembly be measured to fit.

8. The method according to the preceding claim, wherein the connecting means (12 or 11) is corrected upon detection of a detected in the joint assembly fit inaccuracy.

9. Method according to one of the two preceding claims, in which a fit inaccuracy found in the joint assembly is taken into account in a further joining structure (2 or 1) measured subsequently with the model (3 or 4).

10. The method according to any one of the preceding claims, wherein the connecting means (11 or 12) of the joining structure (1 or 2) with respect to one, optionally two translation axis (s) (Y, Z or X, Z) and a rotation axis (X or Y) of a spatial coordinate system (X, Y, Z) of the model (4 or 3) or joining structure (1 or 2) located in the joining position or is corrected or corrected in the event of a fit inaccuracy determined by the measurement.

11. Method according to the preceding claim, in which the translation axes (X, Z and Y, Z) are not parallel to one another and the axes of rotation (X and Y) are not parallel to one another.

12. The method according to any one of the preceding claims, wherein for joining of similar first joining structures (1) and similar second joining structures (2) a model (3) of the first joining structure (1) and the second joining structures (2) to each other in a joining position and a model (4) of the second

Joining structure (2) and the first joining structures (1) to each other in one

Be positioned positioning, the models (3, 4) and the joining structures (1, 2) measured in the respective joining position relative to each other to fit accuracy and the joining structures (1, 2) depending on the measurement in each case one

Connecting device (11, 12) for accurately connecting the first

Joining structures (1) are produced or fixed with one of the second joining structures (2).

13. Method according to the preceding claim, in which measurement data obtained from the measurement on the model (3) and at least one of the second joining structures (2) are evaluated and a connecting device (12) on a subsequent further second joining structure (2) as a function of the evaluation is generated or attached.

14. Method according to one of the two preceding claims, in which measurement data obtained from the measurement on the model (4) and at least one of the first joining structures (1) are evaluated and a connecting device (11) on a subsequent further first joining structure (1) in FIG Depending on the evaluation generated or attached.

15. The method according to one of the three preceding claims, wherein from measurements on at least one of the models (3, 4) and thus in each joining position joint structures (2, 1) determines a trend with respect to the geometry of these joining structures (2, 1) and is taken into account in the production or fastening of the connecting devices (11, 12) to the joining structures (1, 2) or the other joining structures (2, 1) represented by the at least one of the models (3, 4).

16. The method according to any one of the preceding claims, wherein over the circumference of the model (3, 4) at least discrete measuring locations depending on a gap, preferably gap width and precipitation, between the model (3, 4) and the respective joining structure (2, 1 ) and the connecting device (11, 12) in each case on approximation of a predetermined gap, preferably in addition to minimizing the gap dimensions, generated or fixed.

17. The method according to any one of the preceding claims, wherein the joining structures (1, 2) to be joined together are an attachment and a structure, preferably a body or a body part, for a vehicle.

18. The method according to the preceding claim, wherein the first joining structure (1) is a vehicle door, a hood, a flap or a lamp.

19. The method according to any one of the preceding claims, wherein the connecting means (11, 12) at least one first hinge element of at least one joint, preferably a hinge or hinge, for movably connecting the first joining structure (1) with the second joining structure (2).

20. Method according to the preceding claim, in which the first joint element is produced or attached to the first joint structure (1) and a second joint element is attached to the second joint structure (2) and the joint elements for connecting the joint structures (1, 2) to the at least one joint are connected to each other.

21. Device for joining identical first joining structures (1) and similar second joining structures (2), the device comprising: a) a contoured model (3) of the first joining structures (1), b) a positioning device for positioning the model (3) c) a further positioning device for positioning the second joining structures (2), d) wherein the model (3) and the second joining structures (2) can each be positioned in a joining position by means of the positioning devices, e) a measuring device (6) for measuring the Positions which take the model (3) and the respective second joining structure (2) in the joining position relative to one another, f) control or regulation connected to the measuring device (6), by means of which at least one of the positioning devices is dependent on a result of the measurement controlled or regulated is movable to the model (3) and the respective second joining structure (2) to each other precisely in the joining position z u position, g) and a processing device for generating or fixing a connecting device (12) on the respective second joining structure (2).

22. Device according to the preceding claim, wherein the positioning device for positioning the joining structures (1, 2) comprises a conveyor for conveying the joining structures (1, 2) to and from the positioning device for positioning the model (4, 3).

23. Device for joining identical first joining structures (1) and similar second joining structures (2), the device comprising: a) a contour-conforming model (4) of the second joining structures (2), b) a positioning device for positioning the model (4), c) a further positioning device for positioning the first joining structures

(1), d) wherein the model (4) and the first joining structures (1) by means of

Positioning devices can each be positioned in a joining position, e) a measuring device (7) for measuring the positions which the model (4) and the respective first joining structure (1) occupy relative to one another in the joining position, f) one with the measuring device (7) connected control by means of which at least one of the positioning devices is controlled or regulated in dependence on a result of the measurement, in order to position the model (4) and the respective first joining structure (1) precisely in the joining position, g) and a Processing device for producing or fixing a connecting device (11) on the respective first joining structure (1).

24. The device according to claim 21 in combination with the device according to the preceding claim.

25. Device according to one of the preceding claims, wherein at least one of the positioning means comprises a robot with so many degrees of freedom of movement or is formed by such a robot that held by the robot model (3) or held by the robot respectively joint structure ( 1) can be moved accurately by means of the robot in the joining position.

26. Device according to one of the preceding claims, wherein one of the positioning means comprises a base, a joint movably connected to the base, a holding member or docking member (5) supported in the joint for holding the model (3) or one (1) of the joining structures ( 1, 2) and a blocking device for the joint, wherein the joint by means of the blocking device for the positioning of the model (3) or the one (1) of the joining structures (1, 2) blockable and the blocking is releasable to mechanically decouple the model (3) or the one (1) of the joining structures (1, 2) from the base.

27. Device according to one of the preceding claims, wherein the positioning device for positioning of one (2) of the joining structures (1, 2) or their model (4) a fixing device for a fixed fixing of the one (2) of the joining structures (1, 2) or its model (4).

28. Device according to one of the preceding claims, further comprising a holding device (13, 14) which is fixedly connected to the model (3, 4) or the positioning device for the model (3, 4) and the connecting means (12, 11) releasably holds, preferably tensioned.

29. Device according to one of the preceding claims, wherein the device is arranged in a production line for vehicles.