| 摘要 |
A method and system for automatically attaching a sub-assembly such as a strut assembly of a strut-type front suspension to a main assembly such as a vehicle body which is transported on a conveyor belt. The method comprises the following steps of: (a) grasping the sub-assembly stored in a bin, carrying the sub-assembly toward the main assembly stopped on the conveyor belt by means of a mechanical hand attached to one of two industrial robots and, on the other hand, carrying an automatic fastening tool holding fastening means toward the main assembly by means of the other robot; (b) positioning the fastening tool carried to the main assembly with respect to the sub-assembly carried to the main assembly; (c) rendering the fastening tool supported by the supporting apparatus and grasped sub-assembly movable with respect to the supporting apparatus and mechanical hand according to the stopped position of the main assembly, while maintaining the positional relationship between the fastening tool and sub-assembly; (d) positioning the fastening tool and sub-assembly with respect to the main assembly; and (e) fastening the fastening means held by the fastening tool to the sub-assembly so that the sub-assembly is attached to the main assembly, while rendering the fastening tool and sub-assembly fixed to the supporting apparatus and mechanical hand, respectively. |
