DE102008007382A1 - Method and device for positioning a tool on a workpiece of a disk in a motor vehicle - Google Patents

Abstract

The invention relates to a method for positioning a tool on a workpiece, wherein the tool with defined TCP is moved in the vicinity of the workpiece in a first position before the workpiece, at least once points are detected on at least one contour line of the workpiece by sensors as a target, in each case the distance from measuring points to the corresponding contour line in CAD data of the workpiece is determined, a minimization of the distances thus determined is performed and after reaching predetermined minimum distances the tool is moved to a working position defined thereby to the workpiece. In addition, the invention relates to a corresponding device with sensors for measuring measuring points on a contour line of the workpiece, with a determination device for determining the distance of detected measuring points to the corresponding contour line in CAD data of the workpiece to minimize the thus determined distances and with a Control device for moving the tool into a work position calculated in this way with predetermined tolerances, below distances of measuring points to corrected points of the contour line of the workpiece calculated from CAD data.

Description

The The invention relates to a method and a device for positioning a tool arranged on a robotic arm of a robot, as a receiving device for a disc, on a workpiece, as a disc or such a receiving frame of the opening of a Motor vehicle.

The Assembly of the disc, such as in particular a rear window in one Motor vehicle, represents an important step in the production chain Each car manufacturer dar. The rear window must be in the middle of the body be used so that the distances between disc and body for the human eye appear the same. Here are the distances only Tolerances of 0.1 mm allowed.

Either in the rear window as well as in the body there are inaccuracies, by manufacturing tolerances (geometry deviations in the disc / body) arise. additionally Inaccuracies come from position errors in the filing of the Disc and the body added.

At the Manual installation of the disc is usually used a chock, the one at the critical points for ensures an optimal distance between writing and body.

Just in the automotive industry the trend towards automated solutions is not stop and so is the installation of the rear window often with operated according to automation. Here come to the manufacturing tolerances also inaccuracies in the provision or recording of Rear window and in the positioning of the body added. The previous results are often unsatisfactory. The High reject rate requires manual rework. It is already known to detect inaccuracies in or after receiving the disc and when fitting in the body sensors to provide on a gripping tool for gripping the rear window. The obtained sensor data are evaluated one after the other and it be gradual correction values for the offset in single directions or rotations about individual axes are calculated one after the other. in this connection in each step, only a subset of the possible three directions of displacement and three angles of rotation used. Through the solution displacement or rotation successively there are errors in the assignment.

To The prior art is usually with a reference disc and a reference body worked as a base system. such However, reference objects have their own tolerances and are inaccurate afflicted. About that In addition, it makes a considerable effort, such reference objects correctly to measure and in the control device for a handling device with a Teach in gripper tool. About that In addition, it can not be assumed that such in the later production environment Reference objects are available. Methods are also known assume that the disc for recording with the handling device exactly is positioned and therefore no longer measured. Apart from this, that this is usually not the case, beyond that Tolerances from the production of the disc to be considered.

One fundamental problem with using the sensor values in that a unique association between ideal reference point and recorded sensor point is not possible. Because of the occurring Tolerances is not known which point the sensor is on actually measuring object receives. For example, the contour line of the sensor points in Generally not coincident with the contour line of the ideal points to be brought.

Of these, Based on the object of the invention, one for pickup for installation in a body provided disc, in particular a rear window, with a robot system and record this to install in a provided body, with tolerances, the due to production and / or provision (positioning tolerances) are to be considered when recording and installation of the disc.

According to the invention initially mentioned task solved by a method of the type mentioned, at the tool for picking up the disk with defined TCP in nearby of the workpiece is moved in a first position in front of the workpiece, at least once points on at least one contour line of the workpiece through Sensors are detected as measuring points S, respectively, the distance from measuring points determined to the corresponding contour line in CAD data of the workpiece minimizing the distances thus determined, and after Reaching predetermined minimum distances the tool into one thereby defined working position is moved to the workpiece.

to solution the above object, the invention further provides a generic device before, with sensors for measuring measuring points on a contour line of the workpiece, with a determination device for determining the distance in each case from acquired measuring points to the corresponding contour line in CAD data of the workpiece to minimize the distances thus determined and with a control device for moving the tool into a working position calculated in this way with predetermined tolerances below intervals of Measurement points to corrected points calculated from CAD data Contour line of the workpiece.

In a preferred embodiment it is provided that, for the insertion of a disc in a motor vehicle after reaching predetermined minimum distances, the workpiece in the relative position defined by the receiving device of this taken and inserted into the vehicle, wherein in particular after measurement of measuring points of the contour line of the disc corresponding points of CAD data of the disc are determined, a transformation is determined, which applies the measurement points on the corresponding points on the CAD data, and minimizes the distance of corresponding points S and R and the position of the receiving device by the inverse to the transformation T transformation T ^-1 before the gripping of the disk is corrected or in device-like configuration, that the control device is designed for moving a trained as a recording device for a disc tool in a receiving position for recording as a working position, in particular special the determining means for determining measurement points of the contour line of the disk corresponding to points R of the CAD data of the disk and a transformation T applying the measured points S corresponding points R of the CAD data and minimizes the distance of corresponding points S and R and the control means for Correcting the position of the pickup device around which the transformation T inverse transformation T ^{-1 is formed} before grasping the disc. A preferred development of the method according to the invention provides that for inserting a disk into a motor vehicle as a workpiece in which a disk is gripped by a receiving device on a robotic arm of a robot with defined TCP, after reaching predetermined minimum distances, the disk in the installed position defined relative position is used for receiving opening in this means of the receiving device, wherein in particular after detection of measuring points S 'of the contour line of the border corresponding points R' of the CAD data of the border or R of the disc are determined, a transformation T 'is determined, the measuring points S to the corresponding points R 'or R of the CAD data and minimizes the distance of corresponding points S' and R 'and corrects the position of the pick-up for the transformation T' ^-1 inverse transform T before the picking up of the disc.

In terms of apparatus, it is provided for this purpose that the control device is designed to move a pickup device into a disk to be inserted into the opening of the body, in which case the determination device for determining measuring points S of the contour line of the border corresponds to the CAD data of the border Border and the opening of a transformation T, which applies the measured points S corresponding points R of the CAD data and minimizes the distance of corresponding points S and R and the control means for correcting the position of the pick-up with disc around the transformation T inverse transformation T ^{- 1 is formed} prior to insertion of the disc in the opening.

It In particular, an iterative algorithm is used to To approximate measured sensor points to the given CAD contour line. At every iteration step again, new point correspondences are searched for and found. The The correction values obtained are automatically transferred to the controller Robot transferred and, if appropriate, each of its (pre-) position corrected accordingly or adapted.

(Dot) correspondence between sensor values and CAD values means that the determined Sensor values in principle match the values from the CAD reference contour can (Vorr. No geometrical deviation setpoint-actual). In addition, the procedure can also if it should not be possible to apply the sensor point contour from the CAD model (i.e., the one uniquely detectable by the sensor Sensor value can not be extracted from the CAD system) or vice versa. In principle, however, any CAD reference contour can be used as long as they clearly translate into the optimal sensor position (image) leaves.

In particular, the invention provides a robot in the form of an automatically controlled, freely programmable multipurpose manipulator, which is programmable in three or more axes. This is an industrial robot, which is preferably designed as a joint robot. The abbreviation TCP denotes the so-called tool center point, an imaginary reference point with associated reference coordinate system on the tool carried by the robot, here the receiving device for the ticket be,

The Invention allows the consideration of manufacturing and positioning tolerances when receiving and installing the disc, without prior knowledge of the exact receiving and mounting position, according to the invention with the help of sensor data detected by sensors (measuring points), which in a common reference system be brought to the TCP, starting from an initial one given approximate position, respectively a correct robot position for receiving the disc and / or for installation in the body by means of the method according to the invention Is found.

By the invention is achieved in particular that a (rear) disc so can be installed in the body that the deviations at the required intervals from the edge of the disc to the body or the border of the disc opening in the body can be minimized.

The Sensors can in fixed assignment to the TCP on the tool or robotic arm or else stationary, be arranged in a fixed assignment to the base of the robot.

mit di = mind(Si, R) (2)wobei S_i die am Werkstück gemessenen Messpunkte, R zugehörige CAD-Daten auf der CAD-Konturlinie des Werkstücks, D_res der gewichtete Gesamtabstand aller Messpunkte S_i von den entsprechenden Punkten R der CAD-Daten und g_i ∊ [0, 1] einen Gewichtungsfaktor für jeden Messpunkt S_i angeben. Hierdurch können einzelne Abstände an besonders auffälligen Stellen stärker minimiert werden und die Abstände daher besser angeglichen werden als an weniger auffälligen Stellen. Gegebenenfalls kann auch ein beliebiger Offset für das Aufnehmen und das Einbauen der Scheibe definiert werden. Ein Offset kann dazu genutzt werden eine bewusste oder prozessbedingte Abweichung von der Soll-Position zu erreichen oder aber auch zum Ausgleich von systematischen Fehlern, die sich beispielsweise aus Kalibrierfehlern (Sensorlage oder TCP-Koordinatensystem) ergeben.In a preferred embodiment of the invention, it can be provided that individual detected points are prioritized and / or minimizations of distances are provided with different weights, in particular according to FIG

With d i = mind (p i , R) (2) where S _{i is} the measurement points measured on the workpiece, R is the associated CAD data on the CAD contour line of the workpiece, D _{res is} the weighted total distance of all measurement points S _i from the corresponding points R of the CAD data and g _i ε [0, 1] Specify the weighting factor for each measuring point S _i . As a result, individual distances can be more minimized at particularly conspicuous places and the distances are therefore better aligned than at less conspicuous places. Optionally, any offset for picking up and installing the disk can also be defined. An offset can be used to achieve a deliberate or process-related deviation from the nominal position or else to compensate for systematic errors resulting, for example, from calibration errors (sensor position or TCP coordinate system).

By The invention will improve the quality of the Installation of the disc increased, and a manual rework when rear window installation (fine adjustment) eliminated. The values of automated quality measurement, such as the tolerances of windscreen and body, can stored and documented in a database. Essential is that the inventive method and the device according to the invention with CAD models or data of disc and body as reference is working.

The inventive method goes in contrast to the prior art, in which of a exact positioning of the disc is assumed (which is not given is) explicitly from the presence of manufacturing tolerances and Positioning and compensates for this. By the method according to the invention a good correspondence between sensor values and CAD reference object is established.

to increase accuracy, thereby reducing acceptable tolerances can, can according to a preferred embodiment of the method according to the invention be provided that points on the contour line of the disc and / or the border be detected three-dimensionally by the sensors, wherein in particular recorded by different sensors from different locations Measuring points in a single common coordinate system, preferably that of the TCP.

The used sensors can be designed in such a way that they measure the points on the real objects (disc, border the opening on the body) by means of the light-section method, wherein the sensors are designed in particular as laser scanners. alternative can be worked by means of light transit time method. As alternative Sensors are ultrasonic sensors, light transit time sensors or stereo camera systems used.

According to the method of the invention measuring points are measured on the real workpiece, a Minimization of distances to corresponding points of the CAD data and then a correction the position of the receiving device relative to the male to the workpiece, namely the disc or provided with the disc receiving device relative to the opening at the body. While the predetermined tolerances, if necessary already after a corresponding Process passage can be achieved, provides a preferred Embodiment of the invention, that the above-mentioned inventive step sequences possibly repeated several times until the corresponding tolerance values are reached or fallen below become.

In a concrete embodiment of the method according to the invention, it can be provided that, after measurement of measuring points S of the contour line of the disc, corresponding points R of the CAD data of the disc are determined, a transformation T is determined which links the measuring points S to the corresponding points R of the CAD Data and the distance of corresponding points S and R is minimized and the position of the recording device is corrected by the transformation T inverse transformation T ^-1 before grasping the disc or by detecting measurement points S 'of the contour line of the border corresponding points R 'the CAD data of the border or R of the disc are determined, a transformation T' is determined, which applies the measuring points S to the corresponding points R 'or R of the CAD data in the installed position and the distance of corresponding points S' and R 'Minimized and the position of the receiving device to those for the transformation T' inverse Tran sation T'- ¹ is corrected before grasping the disc.

in the Frame of the invention can be provided that the adhesive bead before or after determining the position of the disc applied to the body becomes.

at the iteration method according to the invention For each iteration step, one measurement each with measurement evaluation, the calculation of the correction value and the movement / procedure of the Robot to be performed around the correction value. This requires a certain time. Are to achieve a certain quality z. B. five or five More steps may be needed so a quick glue can be used in this Time may already begin with the curing. In this case It may be useful to find the optimum robot position when installing to determine the disc before the adhesive application, leaving the disc can be moved directly into its installation position with adhesive.

At the Add the Disc on the body intervene due to the adhesion of the adhesive forces between Grippers (vacuum cups) and disc as well as between disc and Body on. The body could by the forces occurring change their position. The goodness would become at a time x deteriorate spontaneously. The procedure would do this recognize immediately (distances get bigger) and counteract accordingly by the iteration method (measuring method) this positional shift by continuous evaluation and Check the measured values would return to the optimal position.

If when joining would change the position of the disc in the gripper, so could this shift of measured by the sensors and taken into account when installed in the body be determined by individual correction values and by correct amount Offsetting the resulting correction value and determined to the Transmit robot becomes. For this purpose, the measuring mode of the sensors between the disc and the body be formed.

Further Advantages and features of the invention will become apparent from the claims and from the description below, in the embodiments of the invention are explained in detail with reference to the drawings. Showing:

1a a device according to the invention arranged on the receiving device Sen sensors for receiving a disc;

1b a device according to the invention with arranged on the receiving means sensors for inserting the disc in a body;

2a a device according to the invention with stationary sensors for receiving a disc;

2 B the same inventive device of 2a with stationary sensors for inserting the discs in a body;

3a C representations of setpoint and, based on measuring points, detected starting actual position of a rear window of a motor vehicle ( 3a ), the representation of corrective steps ( 3b ) and the setpoint and actual position after a first correction step ( 3c );

4 the position of a rear window to be used in the rear window opening of a body, held by a robot, the associated desired and actual positions of the border of the opening; and

5 a complete procedure for carrying out the method according to the invention.

The 1a to 2 B show devices according to the invention with a robot 1 in the form of an articulated robot with a robotic arm 2 , at the free end of which is a robot hand 3 located. At the robot hand 3 is a tool 4 attached. Its TCP is with 5 designated. The tool has a crosshead 6 on, at the suction cups 7 as a receiving device for a rear window 8th are located. Furthermore, at the Traverse 6 sensors 9 attached with which the position of the disc 8th and later the body 12 can be detected. This is for inclusion by a receiving device 7 on a recording station 10 on.

For position determination and control of the robot 1 this is with a determination and control device 11 connected.

The 1b shows the use of a robot 1 from the reception station 10 recorded disc 8th in the opening, while in the embodiment of the 1a . 1b the sensors 9 at the crossbar 6 and thus in a fixed relation to the TCP 5 are arranged, the design of the 2a . 2 B stationary or stationary sensors 9.1 . 9.2 which thus have a fixed proper relationship to the base of the robot.

The sensors 9.1 are at the reception station 10 , the sensors 9.2 in the insertion position of the body 12 arranged.

To use one on the receiving station 10 provided disk moves the robot 1 first the receiving device 7 in a position in front of the disc 8th , Subsequently, based on the measurement of the position of the disc by means of the sensors 9 a correction of the position of the receiving device 7 in front of the disc 8th and when a desired position has been reached with sufficient accuracy, the pickup of the disc 8th by means of the robot ( 1a . 2a ) and then the transfer of the disc to the body provided 12 of a motor vehicle. Again, the robot moves 1 now the disc 8th supporting receiving device 7 in a pre-position in front of a frame or a border 13 edged opening 14 the body 12 into which the disc 8th is to use. Subsequently, the exact position of the body 12 and thus the opening 14 by means of the sensors 9.1 detected and due to this detection takes place a correction of the insertion position of robots 1 or disc 8th , Once the desired position has been achieved with sufficient accuracy, the disk is applied to the adhesive bead application in the bodywork 12 built-in ( 2a . 2 B ). The exact method according to the invention for position correction will be explained below with reference to the further figures.

bzw. ein minimaler Gesamtabstand gemäß

In the 3 is the actual position of a rear window in a solid line 8th relative to a robot positioned in front of it in a predetermined preposition, together with a desired position 15 the rear window in which the robot expects the rear window in its pre-position. The expected position of the disc (dashed line 15 ) and the actual position of the disc 8th (solid line) thus deviate from each other. The sensors detect a finite number of measuring points S along, for example, the edge of the pane. The detected sensor points are located somewhere on the contour line of the disk, but can not be assigned to exactly one exact point of this or the contour line per se. As in 2 B is shown, for the measuring points S _i , i = 1... N, the minimum distance to the reference contour line, represented by a point set R, is calculated in each case according to FIG

or a minimum total distance according to

The distance values are iteratively minimized by an algorithm, resulting in an improvement of the target slice position to the actual actual position, as reflected in FIG 3c shows.

The method can be repeated until the calculated distances of the measuring points on the contour line of the disc (actual position) relative to the desired position falls below predetermined tolerance values, as determined above. The robot 1 or the recording device carried by him 7 for the disc 8th is moved to the appropriate position and takes in this position on the disc.

The same applies to the use of the disc 8th in the associated opening 14 (here rear window opening) of the body 12 of a motor vehicle, as indicated by 4 is clarified.

Here is the target contour line 17 (dotted lines) of the border of the opening for receiving the disc by the robot 1 or more precisely its receiving device 7 held disc 8th certainly. The robot moves with the disc 8th again in a predetermined position in front of the opening 14 the body of the vehicle with its actual contour line 16 the border, the latter of the target contour line 17 differs. In the same way, measuring points are again determined and their distance compared with nominal measuring points and a minimization is carried out to predetermined tolerances, whereupon the disc is then inserted or installed in the body.

Before inserting the disc 8th in the body is a bead of adhesive on the peripheral edge of the disc and / or in the region of the border 13 the opening created, this can be done after all calculations or before.

The entire procedure is in detail in the 5 shown.

First, to record the disc 8th the robot 1 or more precisely its receiving device for the disc 8th led to a position A in front of the disc. Subsequently, the position of the disk relative to the robot is measured (step B), and the correction values are calculated in the above manner (step C).

Then done a query as to whether the calculated correction values are at intervals between Actual and target positions of points leading below a given Tolerance are (step D). If this is not the case, then the Position of the robot corrected (step E) and takes place re-measuring, calculating correction values and the tolerance query (Steps B to D).

are the resulting tolerances are small enough after picking re-measure the disc and it will (step H) checks if the Disc was recorded correctly (step I).

Subsequently, the proceeds Robot with the picked up slice in a pre-position in front of the receiving opening the body of the motor vehicle, in which to install the disc is (step J).

Here In the same way, a measurement of the receiving opening or Points on a contour line of the border of the same (step K).

Then be in turn, the required correction values between actual position and nominal position calculated (step L) and it is queried whether due to the calculated correction after performing the correction the differences between actual and target values below a specified tolerance lie (step M). If this is not the case, then the preposition becomes corrected (step N) and the measurement, correction and tolerance checking steps K to M are carried out again until the deviation between actual and target values is lower than specified Tolerances are. No later than At this time, the disc or the border of the body provided with a bead of adhesive (the process step is not explicit shown), the mistake with the adhesive bead on the Disc after the same by the robot before execution the measurements and correction calculations can be made. Finally done the installation of the disc in the opening the body of the motor vehicle (step P).

1

robot

2

Actual position

3

Target contour line

4

recording device

5

Actual contour line

6

traverse

7

suckers

8th

rear window

9

sensors

9.1

sensors

9.2

sensors

10

receiving station

11

destination and control device

12

body

13

border

14

opening

15

Nominal position

A

pre-position

R

set of points

S

measuring points

Claims (24)

Method for positioning a robot arm a robot arranged tool, such as a receiving device for one Disk, on a workpiece, as a disc or such a receiving frame of the opening of a Motor vehicle, wherein a. the tool with defined TCP in nearby of the workpiece is moved in a first position before the workpiece, b. at least once ba. Points on at least one contour line of the workpiece Sensors are detected as measuring points S, bb. each the distance from measuring points to the corresponding contour line in CAD data of the Workpiece determined becomes, bc. minimizing the distances thus determined will, and c. after reaching predetermined minimum distances the Moves tool in a working position defined thereby to the workpiece becomes. Method according to claim 1, characterized in that that for inserting a disc in a motor vehicle c1. to Reaching predetermined minimum distances the workpiece in the This defined relative position to the receiving device of this seized and d. is used in the vehicle. A method according to claim 2, characterized in that approximately after measurement of measuring points S of the contour line of the disc corresponding points R of the CAD data of the disc are determined, cb. a transformation T is determined which applies the measurement points S to the corresponding points R of the CAD data and minimizes the distance of corresponding points S and R, and cc. the position of the recording device is corrected by the transformation T inverse transformation T ^-1 prior to the gripping of the disc. Method according to one of claims 1 to 3, characterized that for inserting a disc in a motor vehicle as a workpiece, at a disc from a receiving device on a robot arm a robot with defined TCP is taken, c2. to Reaching predetermined minimum distances the disc in this way defined relative position to the receiving opening in this by means of Recording device is used. A method according to claim 4, characterized in that da. after detection of measuring points S 'of the contour line of the border, corresponding points R' of the CAD data of the border or R of the pane are determined, db. a transformation T 'is determined which applies the measurement points S to the corresponding points R' or R of the CAD data and minimizes the distance of corresponding points S 'and R' and dc. the position of the pickup is corrected for the transformation T ' ^-1 inverse transformation T before the picking up of the disc. Method according to one of the preceding claims, characterized characterized in that the steps ba. to bc. and / or approx. to cc. or there. to dc. iteratively performed several times, in particular until predetermined minimum distances reached by measuring points to the corresponding contour line and / or have fallen below or achieved a desired quality of the iteration in such a way is that change the distances or the change of the Total distance between two iteration steps less than one is freely specified limit. Method according to one of the preceding claims, characterized characterized in that the measuring points through the sensors by means of light section method or the time of flight method. Method according to one of the preceding claims, characterized characterized in that the measuring points are determined by laser scanners, ultrasonic sensors, Light transit time sensors or stereo camera systems recorded as sensors become. Method according to one of the preceding claims, characterized characterized in that the points on the contour line of the disc and / or the border detected three-dimensionally by the sensors become. Method according to one of the preceding claims, characterized in that individual detected points are prioritized and / or minimizations of distances are provided with different weights, in particular according to

With

where S _{i is} the measurement points measured on the workpiece, R is the associated CAD data on the CAD contour line of the workpiece, D _{res is} the weighted total distance of all measurement points S _i from the corresponding points R of the CAD data and g _i ε [0, 1] Specify the weighting factor for each measuring point S _i . Method according to one of the preceding claims, characterized characterized in that by different sensors of different Measuring points recorded in a single common coordinate system, preferably that of TCP, further processed. Method according to one of the preceding claims, characterized in that the sensors are in fixed relation to the TCP and / or stationary are arranged. Method according to one of the preceding claims, characterized in that prior to insertion of the disc on this and / or the border is applied a bead of adhesive. Method according to claim 11, characterized in that that the adhesive bead before or after determining the position of the disc is applied to the body. Device for positioning a tool arranged on a robotic arm of a robot, such as a receiving device, on a workpiece, such as a pane or a frame receiving the opening of a motor vehicle, with sensors for measuring measuring points on a contour line of the workpiece; Determining device for determining in each case the distance of detected measuring points to the corresponding contour line in CAD data of the workpiece to minimize the so determined from states and - corrected by a control device for moving the tool into a calculated working position with predetermined tolerances below distances of measuring points S. Points of the contour line of the workpiece calculated from CAD data ( 1' ). Device according to claim 15, characterized in that in that the control device is designed to operate as a receiving device for one Disk trained tool in a receiving position for recording is designed as a working position. Apparatus according to claim 16, characterized in that the determining means for determining measuring points S of the contour line of the disc ( 8th ) corresponding points R of the CAD data of the disc and a transformation T applying the measured points S corresponding points R of the CAD data and the distance of corresponding points S and R minimized and the control means for correcting the position of the receiving means to those for transformation T inverse transformation T ^-1 before grasping the disc ( 8th ) are formed. Device according to claim 15, characterized in that in that the control device is used to move a disc Recording device in a disc to be inserted into the opening of the body Working position is formed. Apparatus according to claim 18, characterized in that the determining means for determining measurement points S of the contour line of the border corresponding points R of the CAD data of the border and the opening of a transformation T, which applies the measured points S corresponding points R of the CAD data and the distance of corresponding points S and R minimizes, and the control means for correcting the position of the pick-up means with disc around the transformation T inverse transformation T ^-1 before the insertion of the disc ( 8th ) is formed in the opening. Device according to one of claims 15 to 19, characterized that the sensors are permanently attached to the tool, the TCP or stationary are arranged. Device according to one of claims 15 to 20, characterized that the sensors for measuring the measuring points by means of the light section method are formed. Device according to one of claims 15 to 21, characterized that the sensors are designed as laser scanners. Device according to one of claims 15 to 22, characterized in that sensors for three-dimensional detection of the points on the contour line of the disc ( 8th ) and / or the border ( 5 ) are formed. Device according to one of claims 15 to 23, characterized by a device for applying a bead of adhesive before insertion of the disc ( 8th ) on these and / or the border ( 13 ).