Provided is a method for assembling an automobile body including an orientation-maintaining step in which outer side panels (2) and a roof (3) are brought into contact with predetermined parts of an inner skeleton (1) so as to be held in predetermined orientations, and a joining step in which the outer side panels (2) and the roof (3) which have been brought into contact in the orientation-maintaining step are joined to the inner skeleton (1) in a state of enabling to maintain at least an orientation as the automobile body.

An inserting device includes a feeding mechanism, a positioning mechanism, and an assembling mechanism. The feeding mechanism includes a first supporting plate, a second supporting plate, a lifting assembly and a single-axis sliding table. The second supporting plate includes a first place position and an adjacent second place position. The second supporting plate and the first supporting plate can form a receiving space. The lifting assembly lifts trays located on the first place position and the second place position. The single-axis sliding table is received in the receiving space. The single-axis sliding table includes a sliding block. The sliding block receives the tray dropped from the first placing position and further carries the tray away from the first placing position. The positioning mechanism includes a clamping jaw. The clamping jaw clamps a workpiece from the tray and positions the workpiece again. The assembling mechanism assemblies the workpiece on a product.

This gantry type conveying device is provided with: a beam which is horizontally installed; a runner traveling along the beam; an elevator supported to be movable in the vertical direction with respect to the runner; and a loading part which is supported by the lower portion of the elevator and on which a workpiece is loaded. This processing line has the gantry type conveying device and a machine tool. The machine tool is provided with: a base; and a workpiece supporting device provided movable with respect to the base in a forward and backward direction perpendicular to the extending direction of the beam when viewed in a plane.

A method for tuning the force control parameters for a general robotic assembly operation. The method uses numerical optimization to evaluate different combinations of the parameters for a robot force controller in a simulation environment that is built based on a real-world robotic setup. This method performs autonomous tuning for assembly tasks based on closed loop force control simulation, where random samples from a distribution of force control parameter values are evaluated, and the optimization routine iteratively redefines the parameter distribution to find optimal values of the parameters. Each simulated assembly is evaluated using multiple simulations including random part positioning uncertainties. The performance of each simulated assembly is evaluated by the average of the simulation results, thus ensuring that the selected control parameters will perform well in most possible conditions. Once the parameters have been optimized, they are applied to real robots to perform the actual assembly operation.

A method for tuning the force control parameters for a general robotic assembly operation. The method uses numerical optimization to evaluate different combinations of the parameters for a robot force controller in a simulation environment that is built based on a real-world robotic setup. This method performs autonomous tuning for assembly tasks based on closed loop force control simulation, where random samples from a distribution of force control parameter values are evaluated, and the optimization routine iteratively redefines the parameter distribution to find optimal values of the parameters. Each simulated assembly is evaluated using multiple simulations including random part positioning uncertainties. The performance of each simulated assembly is evaluated by the average of the simulation results, thus ensuring that the selected control parameters will perform well in most possible conditions. Once the parameters have been optimized, they are applied to real robots to perform the actual assembly operation.

A system for assembling a plurality of components into an assembly is provided. The system includes an installation table, a first transfer robot, a second transfer robot, and an adhesive dispensing robot. The first transfer robot is configured to assemble some of the plurality of components into a first sub-assembly and transfer the first sub-assembly to the installation table. The second transfer robot is configured to assemble remaining ones of the plurality of components into a second sub-assembly, transfer the second sub-assembly to the installation table, and attach the second sub-assembly to the first sub-assembly. The adhesive dispensing robot is configured to apply an adhesive between the first sub-assembly and the second sub-assembly, after the second sub-assembly is attached to the first sub-assembly, to bond the second sub-assembly to the first sub-assembly.

An aircraft fuselage assembling jig includes: a base provided with a plurality of frame indexes for positioning both ends of a plurality of aircraft fuselage frames; a plurality of header plates, each of which protrudes from the base so as to extend along an aircraft fuselage panel, the header plates being arranged parallel to each other in an axial direction of the aircraft fuselage panel; and a plurality of electric cylinders radially provided on each of the plurality of header plates, the electric cylinders moving respective receiving members in a radial direction of the aircraft fuselage panel, the receiving members contacting a skin included in the aircraft fuselage panel.

An aircraft fuselage assembling jig includes: a base provided with a plurality of frame indexes for positioning both ends of a plurality of aircraft fuselage frames; a plurality of header plates, each of which protrudes from the base so as to extend along an aircraft fuselage panel, the header plates being arranged parallel to each other in an axial direction of the aircraft fuselage panel; and a plurality of electric cylinders radially provided on each of the plurality of header plates, the electric cylinders moving respective receiving members in a radial direction of the aircraft fuselage panel, the receiving members contacting a skin included in the aircraft fuselage panel.

A retainer is rotationally driven about a axis of a ball bearing, and convex areas having pockets provided therein along a ball pitch circle of the retainer and concave areas between adjacent pockets is detected by a sensor. Grease is discharged according to phases of the convex areas and concave areas in the rotationally driven retainer from a dispenser having grease discharge ports arranged to face an annular space.

A retainer is rotationally driven about a axis of a ball bearing, and convex areas having pockets provided therein along a ball pitch circle of the retainer and concave areas between adjacent pockets is detected by a sensor. Grease is discharged according to phases of the convex areas and concave areas in the rotationally driven retainer from a dispenser having grease discharge ports arranged to face an annular space.