Method and device for the positionally precise mounting of a hinged flap on a part

A method for mounting a flap on a workpiece, the flap being positioned precisely with respect to a reference area on the workpiece using a gripping tool guided by a robot, the gripping tool including a securing device for holding the flap and a sensor system fixedly connected to the gripping tool, the sensor system including at least one sensor, the method including:

• moving the gripping tool during a positioning phase from a proximity position independent of a workpiece position of the workpiece in a working space of the robot into a mounting position, the flap in the mounting position being held in the gripping tool and being oriented in a precisely positioned fashion with respect to the reference area of the workpiece, the flap being connected to the workpiece in the mounting position of the gripping tool,
• the moving including running an iterative closed-loop control process, the closed-loop control process including:
• generating an actual measured value of the at least one sensor;
• comparing the actual measured value with a setpoint measured value generated during a setup phase,
• calculating a movement vector of the gripping tool from a difference between the actual measured value and the setpoint measured value using a Jacobi matrix calculated during the setup phase;
• and
• moving the gripping tool by an amount equal to the movement vector.

A device for mounting a flap on a workpiece comprising:

• a gripping tool guided using a robot;
• a sensor system fixedly connected to the gripping tool and including a metrically-non-calibrated sensor;
• an open-loop control system for open-loop controlling the robot and the gripping tool;
• and
• an evaluation unit for evaluating measured values of the sensor system.