DE102008018848A1 - Method for automated component assembly, corresponding assembly tool device and corresponding industrial robot - Google Patents

Abstract

The method is used for automated assembly of at least one component (10) by means of an industrial robot (14) to an object (12), wherein the object (12) and / or the industrial robot (14) by means of a conveying device (16) is moved and wherein the Industrial robot (14) has a base (18), a positioning device (20) movable relative to the base (18) and an assembly tool device (22) connected to the positioning device (20), and wherein a relative movement between the object (12) and during assembly of the component the base (18) of the industrial robot (14) takes place and wherein the industrial robot (14) automatically grips the component (10) by means of the assembly tool device (22), positions and mounts it on the object (12). In this case, it is provided that the assembly tool device (22) is at least temporarily rigidly connected to the positioning device (20) and / or to the base (18) at least in one mounting direction (X, Z) until the assembly tool device (22) is assembled during component mounting by means of a positive and / or non-positive connection temporarily to the object (12) in at least one mounting direction (X, Z) is rigidly coupled, and then, until the completion of the component attachment to the object (12), the assembly tool device (22) at least partially floating relative to the positioning device (20) and / or the base (18) by means of an activatable floating bearing (30) is stored.

Description

The The invention relates to a method for automated assembly at least a component by means of an industrial robot to an object, wherein the object and / or the industrial robot by means of a conveyor is moved, and wherein the industrial robot is a base, a relative to the base movable positioning and one with the positioning having associated mounting tool means, and wherein during the component mounting a relative movement between the object and the base of the industrial robot takes place, and wherein the industrial robot automated by means of assembly tooling the component engages, positioned and mounted on the object, according to the Preamble of claim 1.

Further The invention relates to a mounting tool device and a Industrial robot for carrying out the method according to The preamble of claim 29 and claim 36, respectively.

A method of the type mentioned and a suitable assembly tool device and a suitable industrial robot are from the DE 10 2005 048 377 A1 known. According to this method, a precise location wheel assembly can be done on a vehicle in flow operation by means of a robot. For this purpose, the robot movement is synchronized to the movement of the subsidized vehicle. This method is relatively expensive in terms of achieving the positioning accuracy of the vehicle wheel by means of a robot during the complete wheel assembly.

It Object of the invention, a method of the aforementioned Kind of suggest that a relative simple and reliable automated assembly of the component to the object allows.

Further It is an object of the invention to provide a for carrying out the Method suitable assembly tool device and a suitable To propose industrial robots.

The The object is achieved by a method having the features of claim 1. The invention draws characterized in that the assembly tool device at least in a mounting direction temporarily as long as rigid with the positioning and / or is connected to the base until the assembly tool device during the component assembly by means of a positive and / or non-positive Connecting temporarily to the object in at least one mounting direction is rigidly coupled, and that subsequently, until the end the component attachment to the object, the assembly tool device at least partially relative to the positioning device and / or floating to the base by means of an activatable floating bearing is stored. By temporarily floating storage it is possible by means of an industrial robot a component reliable to mount an object automated without being a relative Complex measuring and control system during component mounting must be used. It thus at relative low cost a reliable component assembly and in particular Component mounting possible, even if between the base of the industrial robot and the object a relative movement in one single or multi-directional. Due to the high reliability the method is particularly suitable for use in mass production.

According to one possible embodiment, the object by means of the conveyor relative to the base of the industrial robot moved, wherein the base is stationary relative to the conveying device is arranged. Alternatively, it is also possible that the base of the industrial robot by means of the conveyor is moved relative to the stationary object. Furthermore, can also the base of the industrial robot as well as the object be moved by means of a corresponding conveyor, wherein during the component mounting a relative movement between the object and the base of the industrial robot. The movement of the object can take place in a single conveying direction or also a sequence and / or a superimposition of individual movements different types and / or in different directions be. The proposed method can thus be advantageous in a wide variety of ways Mounting situations reliable and under relative be realized with little effort.

At least a part of the assembly tool device can be rotatable and / or displaceable relative to the positioning device of the industrial robot. In this case, according to a preferred embodiment, the assembly tool device has a component gripping unit for automated component removal, a component fastening unit for automated component fastening and a camera unit for automated component geometry and / or component position detection or for automated object geometry and / or object position detection. The component gripping unit, the component mounting unit and at least a part of the camera unit can be actuated and / or moved independently of one another. Furthermore, the component gripping unit, the component mounting unit and the camera unit can be controlled independently of one another by means of a control unit of the industrial robot. Advantageously, the assembly tool device is designed as a module universal tool device, which in turn is a single-function modules can have. Such assembly tool device can be universally connected in particular with existing robot systems and used relatively easy to handle.

Of the Industrial robots can contain a control unit that works with the Conveyor and / or with the object at least temporarily operatively connected. This allows the automated assembly process of the component to an existing and possibly changing Conveying situation are adjusted process-reliable.

The Positioning of the assembly tool device by means of the industrial robot takes place during the coupling of the assembly tool device the object preferably by means of a coarse positioning within the displacement area of the floating storage. As part of the Rough positioning of the assembly tool device can be a centered Operating position of the floating storage to be controlled for Ensuring always sufficient self-sufficient Adjusting movement of the assembly tool device by means of the floating Storage relative to the positioning. According to one possible embodiment variant is the floating Storage at least in a mounting direction perpendicular to a Component mounting stop direction, in particular by means of one or several swimming sleds. Such a floating storage is relatively simple and compact feasible.

The Mounting tool means may be in a component mounting stop direction be floating and in particular resiliently mounted to avoid a collision that damages the component and / or the object during assembly and especially during positioning of the component on the object.

Preferably Only the component gripping unit and the component mounting unit by means of the floating storage relative to the positioning temporarily floating while at least part of the camera unit always rigid with the positioning of the industrial robot can be connected.

The Camera unit preferably detects one or more mounting-relevant Connection geometries on the component and / or on the object. It will be the connection geometries preferably spatially detected.

With Advantage engages the component gripping unit by means of a centering unit The component defines the position. The component is preferably attached to a predetermined removal position location defined. Due to the Location-defined arrangement of the components may possibly also to each other geometrically different components in succession means a correspondingly formed component gripping unit reliable be grasped.

The Component may be a vehicle wheel and the object may be a vehicle the vehicle wheel is mounted on a wheel hub of the vehicle. The Connection geometry can be a hole pattern of the vehicle wheel and / or the wheel hub of the vehicle. The vehicle can by means of an automatically controlled screwing the component mounting unit defined to be bolted to the wheel hub of the vehicle. through the screwing tool is preferably at the same time a plurality tightened to wheel bolts on the vehicle defined. Be with advantage the wheel bolts are arranged in advance on the vehicle wheel or in the screwing tool, when the component gripping unit engages the vehicle wheel. It can the vehicle wheel or the screwing tool automated with the appropriate Wheel bolts are fitted before each gripping operation. The Component gripping unit preferably engages the vehicle wheel on the tire outer circumference positive and / or positive fit.

The Component may alternatively also a body attachment and in particular an exterior attachment that attaches to the bodywork of a vehicle is mounted. In this case, the body attachment cohesively and / or non-positively and / or positively be attached to the body of the vehicle. The body attachment For example, it can be a roof module.

Further the problem is solved by a mounting tool device with the features of claim 29. The inventive Montagewerkzeugeinrichtung characterized by the fact that they have a Component gripping unit, a component mounting unit and a camera unit and as a multi-functional tooling device with an industrial robot operatively connected. With such a mounting tool device can be mentioned in relation to the procedure mentioned above Benefits.

The Camera unit can a plurality of spaced apart arranged camera systems have for spatial geometry and / or Positioning of the component and / or the object.

The component gripping unit can furthermore have a plurality and preferably three gripping elements which are distributed uniformly over a circumference and can be moved radially. According to a preferred embodiment, the gripping elements are always arranged centered and positionable. The gripping elements preferably have a Oberflä chenstruktur and / or surface coating, which favors a sufficient Reibhaftung the component. If appropriate, the gripping elements can also have a form-fitting gripping geometry.

The Mounting tool device advantageously has a connecting flange for connection to the positioning device of the industrial robot on.

Further the problem is solved by an industrial robot with The features of claim 36. The industrial robot stands out in that he is a multi-axis articulated robot.

Further Advantages of the invention will become apparent from the description. The invention is based on a preferred embodiment below Referring to a schematic drawing explained in more detail.

there demonstrate:

1 a schematic perspective view of a stationary arranged industrial robot with a mounting tool device according to the invention in a wheel assembly to a moving means of a conveyor vehicle;

2 a schematic side view of the assembly tool of the 1 ;

3 a schematic perspective view of the assembly tool of the 2 with a vehicle wheel during wheel assembly;

4 a schematic plan view of the separate component gripping unit of the assembly tool device of 2 in release position;

5 a schematic plan view of the separate component gripping unit of 4 in gripping position;

6 a schematic perspective view of the separate component mounting unit of the assembly tool of the 2 ;

7 a schematic perspective view of a separate part of the camera unit of the assembly tool of the 2 , and

8th a schematic perspective view of a separate rotary drive system of the component gripping unit of the assembly tool of the 2 ,

In 1 is schematically an industrial robot 14 shown, which is designed as articulated robot. The industrial robot 14 has a stationary base 18 and one regarding the base 18 movable positioning device 20 in the form of a known Knickarmsystems on. At the free end of the positioning 20 is a mounting tool device 22 attached to the automated mounting of a vehicle wheel 10 to a vehicle 12 suitable is. This is the vehicle 12 by means of a known per se conveyor 16 conveyed in the X direction, so that during the wheel assembly, a relative movement between the moving vehicle 12 and the stationary base 18 of the industrial robot 14 he follows. Even if the vehicle 12 during the wheel assembly in a single main conveying direction, namely in the X direction is moved, during the vehicle movement may also be sequences and / or superpositions of individual movements of different types (translation, rotation) and / or in different directions (X, Y) , Z direction) occur.

The 2 and 3 show the assembly tool device 22 of the 1 schematically in an enlarged view. The assembly tool device 22 is a trained as a module universal tooling device by means of a connecting flange 46 with the positioning device 20 of the industrial robot 14 (not in the 2 and 3 shown) can be connected. In this case, the assembly tool device 22 for automated wheel assembly several single-function modules, namely a component gripping unit 24 , a component mounting unit 26 and a camera unit consisting of two separate camera systems 28 . 29 , The component gripping unit 24 serves for the automated removal of the vehicle wheel 10 for example, from a suitable delivery device (not shown in the figures). The component mounting unit 26 is used for automated attachment of the vehicle wheel 10 at the vehicle 12 and the camera unit 28 . 29 for automated detection of the geometry and / or the position of the vehicle wheel 10 or for the automated detection of the geometry and / or the position of the vehicle 12 ,

In this case, the component gripping unit 24 , the component mounting unit 26 and the camera unit 28 . 29 independent of each other by means of a control unit of the industrial robot 14 controllable. The component gripping unit 24 , the component mounting unit 26 and the camera unit 28 . 29 are independent of each other by means of the control unit of the industrial robot 14 actuatable and in the X, Y and Z directions by means of the floating bearing 30 stored floating. Furthermore, the component gripping unit 24 , the component mounting unit 26 and the camera unit 29 by means of a rotary drive system 52 around the axis 48 according to double-turn arrow 50 rotatably movable. The rotary drive system 52 is in 8th Also separately as a single module assembly toolsin direction 22 shown schematically. Optionally, the industrial robot 14 Also included is a special control unit that works with the conveyor 16 and / or with the vehicle 12 at least temporarily operatively connected.

The camera unit 28 . 29 recorded as montagerelevante connection geometry on the vehicle wheel 10 and at the wheel hub of the vehicle 12 each existing hole pattern geometry. This is due to the spaced-apart camera systems 28 . 29 performed a spatial geometry detection. Depending on the detected hole pattern geometry, the component gripping unit 24 and the component mounting unit 26 (together with the camera system 29 ) by means of a rotary drive system 52 around the axis 48 be moved in an exact Radaufnahmeposition.

The component gripping unit 24 engages the vehicle wheel arranged in a defined position at a predetermined removal position 10 on the tire outer circumference frictionally, wherein by means of a centering unit 38 the vehicle wheel 10 of three uniformly distributed over a circumference arranged and displaceable in the radial direction gripping elements 44 always centered. It shows the 4 the component gripping unit 24 with their gripping elements 44 in a release position, since the gripping elements 44 radially over the circumference of the vehicle wheel 10 stick out while 5 the component gripping unit 24 in gripping position points to the circumference of the vehicle wheel 10 adjacent gripping elements 44 ,

6 schematically shows the component mounting unit 26 the assembly tool device 22 , The component mounting unit 26 contains five evenly arranged on a circumference screwing tools 40 as an electric screwdriver 54 are formed. The screwing tools 40 are by means of the control unit of the industrial robot 14 automatically controlled and serve the vehicle wheel 10 defined in an exact mounting position to the wheel hub of the vehicle 12 tightening. Here are all five wheel bolts by means of the screw 40 at the same time on the wheel hub of the vehicle 12 defined attracted (see also 3 ).

The electric screwdrivers 54 the component mounting unit 26 are circumferentially evenly distributed and to the hole pattern of the vehicle 10 adapted, wherein in the center of the electric screwdriver assembly, the camera system 29 is positioned. The camera system 29 is in 7 shown separately as a compact assembly.

8th shows a schematic representation of the rotary drive system 52 that is a drive wheel 56 has, by means of which a defined rotational movement in the pivot bearing 58 the assembly tool device 22 , the component gripping unit 24 and the camera system 29 according to double arrow 50 (see also 2 ) can be generated.

The functioning of the industrial robot 14 mounted assembly tool device 22 is as follows:
A vehicle wheel 10 is arranged in a defined position at a predetermined removal position of a delivery device. The corresponding wheel bolts can already be in the holes provided for the vehicle wheel 10 be plugged. Alternatively, the wheel bolts on the respective screwing 40 the assembly tool device 22 be held for example by means of suction and / or magnetic systems. The industrial robot 14 moves with the assembly tool device 22 , which is floating at this time only in vehicle wheel stop direction and otherwise rigid with the positioning 20 of the industrial robot 14 is connected to the removal position and engages the position-defined arranged vehicle 10 by means of the gripping elements 44 centered on the tire outer circumference. Subsequently, the screwdrivers 40 by a suitable threading movement in contact with the vehicle wheel 10 arranged wheel bolts or are brought by the screwdrivers 40 held wheel bolts in the holes provided the vehicle wheel 10 by means of a suitable movement of the screwing tools 40 plugged. When the assembly tool device 22 the vehicle wheel 10 has gotten the control of the industrial robot 14 a corresponding signal, for example in the form of a triggered by a light barrier pulse.

The industrial robot 14 then moves with the gripped vehicle wheel 10 a predetermined measuring position, in which by means of the camera unit 28 . 29 a reference contour, such. B. a centering collar of the corresponding hub of the vehicle 12 , and / or the hole pattern geometry of the wheel hub is determined spatially. Because the vehicle 12 by means of the conveyor 16 is continuously moved in the X direction, takes place during the now to be achieved coupling of the vehicle wheel 10 with the wheel hub of the vehicle 12 a synchronized movement of the positioning device 20 of the industrial robot 14 with the moving vehicle 12 , The vehicle wheel 10 becomes by means of the industrial robot 14 on the centering collar of the wheel hub of the vehicle 12 plugged to form a mechanical coupling of the vehicle wheel 10 (and thus also assembly tool device 22 and the positioning device 20 ) and the vehicle 12 in the X direction and in the Z direction. In Y-direction is the assembly tool device 22 - As already mentioned above - stored floating to avoid the Fahrzeu Degree 10 and / or the hub damaging collision in making the mechanical coupling. Optionally, to make the mechanical coupling a suitable and from the control system of the industrial robot 14 monitored or with a corresponding signal deactivatable pendulum motion of the positioning 20 with the vehicle wheel 10 respectively. By means of a suitable sensor unit, the correct production of the mechanical coupling to the control unit of the industrial robot 14 reported, so this is the floating storage 30 the assembly tool device 22 in the X direction and in the Z direction.

Now, the positioning of the assembly tool device takes place 22 by means of the industrial robot 14 by means of a coarse positioning within the displacement range of the floating bearing 30 , As part of the coarse positioning of the assembly tool device 22 becomes a centered operating position of floating storage 30 activated to ensure always adequate automatic adjustment of the assembly tool device 22 by means of floating storage 30 relative to the positioning device 20 , In this operating setting of the assembly tool device 22 the automatic tightening of the wheel bolts takes place on the vehicle 12 by means of the activatable electric screwdriver 54 preferably with monitoring of the torque and / or the angle of rotation.

After the successful assembly of the vehicle wheel 10 at the vehicle 12 become the component gripping unit 24 and the component mounting unit 26 of the vehicle wheel 10 separated by the component gripping unit 24 the release position (see 4 ) and the assembly tool device 22 by means of the positioning device 20 along the Y-direction of vehicle wheel 10 is moved away. It is then a predetermined center position of the floating storage 30 the assembly tool device 22 approached and in this position the floating storage 30 automatically locked, ie deactivated. This can, for example, in a floating storage 30 take place in the form of corresponding floating slide by positioning suitable bolts. Subsequently, a new process cycle for mounting a vehicle wheel can take place.

at Automated component mounting can also provide highly accurate setup and / or calibrating the industrial robot relative to the conveyor respectively. Thus, the positioning accuracy of the assembly tool device be further increased relative to the object. Furthermore, by means of Signal exchange between the robot and the conveyor a predefinable assembly procedure of the robot - and thus the tool - and / or the conveyor depending on the current and possibly variable Funding situation done. A particularly critical subsidy situation can z. B. a sudden, not intended stop the Be conveyor during component assembly (a so-called EMERGENCY STOP situation). At such a sudden Standstill of the conveyor may possibly without interruption be remounted on the non-moving object or possibly interrupting the assembly process only after renewed conveying movement of the object to be automatically assembled.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102005048377 A1 [0003]

Claims (36)

Method for automated assembly of at least one component ( 10 ) by means of an industrial robot ( 14 ) to an object ( 12 ), where the object ( 12 ) and / or the industrial robot ( 14 ) by means of a conveying device ( 16 ), and wherein the industrial robot ( 14 ) One Base ( 18 ), one relative to the base ( 18 ) movable positioning device ( 20 ) and one with the positioning device ( 20 ) associated assembly tool device ( 22 ), and wherein during the component assembly, a relative movement between the object ( 12 ) and the base ( 18 ) of the industrial robot ( 14 ), and wherein the industrial robot ( 14 ) by means of the assembly tool device ( 22 ) the component ( 10 ) automatically accesses the object ( 12 ) and characterized , characterized in that the assembly tool device ( 22 ) at least in a mounting direction (X, Z) temporarily so long rigidly with the positioning device ( 20 ) and / or with the base ( 18 ) is connected until the assembly tool device ( 22 ) during component assembly by means of a positive and / or non-positive connection temporarily to the object ( 12 ) in at least one mounting direction (X, Z) is rigidly coupled, and then, until the completion of the component attachment to the object ( 12 ), the assembly tool device ( 22 ) at least partially relative to the positioning device ( 20 ) and / or to the base ( 18 ) by means of an activatable floating bearing ( 30 ) is stored floating. Method according to claim 1, characterized in that the object ( 12 ) by means of the conveying device ( 16 ) relative to the base ( 18 ) of the industrial robot ( 14 ) and the base ( 18 ) relative to the conveyor device ( 16 ) is arranged stationary. Method according to claim 2, characterized in that the movement of the object ( 12 ) takes place in a single conveying direction (X). Method according to claim 2, characterized in that the movement of the object ( 12 ) is a sequence and / or a superposition of individual movements of different types and / or in different conveying directions (X, Y, Z). Method according to one of the preceding claims, characterized in that at least one part ( 24 . 26 . 29 ) of the assembly tool device ( 22 ) relative to the positioning device ( 20 ) of the industrial robot ( 14 ) is rotatable and / or displaceable. Method according to one of the preceding claims, characterized in that the assembly tool device ( 22 ) a component gripping unit ( 24 ) for automated component removal, a component mounting unit ( 26 ) for automated component mounting and a camera unit ( 28 . 29 ) for automated component geometry and / or component position detection or for automated object geometry and / or object position detection. Method according to claim 6, characterized in that the component gripping unit ( 24 ), the component mounting unit ( 26 ) and at least a part of the camera unit ( 28 . 29 ) are independently operable and / or movable. Method according to claim 5 or 6, characterized in that the component gripping unit ( 24 ), the component mounting unit ( 26 ) and the camera unit ( 28 . 29 ) independently of each other by means of a control unit of the industrial robot ( 14 ) are controllable. Method according to one of the preceding claims, characterized in that the assembly tool device ( 22 ) is a universal tool device designed as a module, which in turn is a single-function module ( 24 . 26 . 28 . 29 ) having. Method according to one of the preceding claims, characterized in that the industrial robot ( 14 ) contains a control unit which is connected to the conveying device ( 16 ) and / or with the object ( 12 ) is at least temporarily operationally operatively connected. Method according to one of the preceding claims, characterized in that the positioning of the assembly tool device ( 22 ) by means of the industrial robot ( 14 ) during the coupling of the assembly tool device ( 22 ) with the object ( 12 ) by means of a coarse positioning within the displacement range of the floating bearing ( 30 ) he follows. A method according to claim 11, characterized in that in the context of coarse positioning of the assembly tool device ( 22 ) a centered operating position of the floating storage ( 30 ) is controlled to ensure an always sufficient automatic adjustment movement of the assembly tool device ( 22 ) by means of floating storage ( 30 ) relative to the positioning device ( 20 ). Method according to one of the preceding claims, characterized in that the floating bearing ( 30 ) takes place at least in a mounting direction (X, Z) perpendicular to a component mounting stop direction (Y), in particular by means of one or more floating slide. Method according to one of the preceding claims, characterized in that the mon daily tooling device ( 22 ) in a component mounting stop direction (Y) floating and in particular resiliently mounted to avoid a component ( 10 ) and / or the object ( 12 ) damaging collision during assembly and in particular during positioning of the component ( 10 ) on the object ( 12 ). Method according to one of the preceding claims, characterized in that only the component gripping unit ( 24 ) and the component mounting unit ( 26 ) by means of floating storage ( 30 ) relative to the positioning device ( 20 ) are temporarily stored floating while at least a portion of the camera unit ( 28 ) always rigid with the positioning device ( 20 ) of the industrial robot ( 14 ) connected is. Method according to one of the preceding claims, characterized in that the camera unit ( 28 . 29 ) one or more mounting-relevant connection geometries on the component ( 10 ) and / or on the object ( 12 ) detected. Method according to one of the preceding claims, characterized in that the component gripping unit ( 24 ) by means of a centering unit ( 38 ) defines the component ( 10 ) attacks. Method according to one of the preceding claims, characterized in that the component ( 10 ) is arranged in a defined position to a predetermined removal position. Method according to one of the preceding claims, characterized in that the component ( 10 ) a vehicle wheel and the object ( 12 ) is a vehicle, wherein the vehicle wheel ( 10 ) to a wheel hub of the vehicle ( 12 ) is mounted. Method according to one of the preceding claims, characterized in that the connection geometry a hole pattern of the vehicle wheel ( 10 ) and / or the wheel hub of the vehicle ( 12 ). Method according to one of the preceding claims, characterized in that the vehicle wheel ( 10 ) by means of an automatically controllable screwing tool ( 40 ) of the component mounting unit ( 22 ) defined on the wheel hub of the vehicle ( 12 ) is screwed. Method according to one of the preceding claims, characterized in that by means of the screwing tool ( 40 ) at the same time a plurality of wheel bolts on the vehicle ( 12 ) is tightened defined. Method according to one of the preceding claims, characterized in that the wheel bolts in advance on the vehicle ( 10 ) or in the screwing tool ( 40 ) are arranged when the component gripping unit ( 24 ) the vehicle wheel ( 10 ) attacks. Method according to one of the preceding claims, characterized in that the vehicle wheel ( 10 ) or the screwing tool ( 40 ) are automatically equipped with the appropriate wheel bolts before each gripping process. Method according to one of the preceding claims, characterized in that the component gripping unit ( 24 ) the vehicle wheel ( 10 ) engages positively and / or positively on the outer circumference of the tire. Method according to one of the preceding claims 1 to 19, characterized in that the component ( 10 ) is a body attachment and in particular an exterior attachment which is attached to the bodywork of a vehicle ( 12 ) is mounted. A method according to claim 26, characterized in that the body attachment ( 10 ) cohesively and / or non-positively and / or positively on the body of the vehicle ( 12 ) is attached. Method according to one of claims 26 or 27, characterized in that the body attachment ( 10 ) is a roof module. Assembly tool device (10) for carrying out the method according to one of the preceding claims, characterized in that the assembly tool device ( 22 ) a component gripping unit ( 24 ), a component mounting unit ( 26 ) and a camera unit ( 28 . 29 ) and as a multifunction tool device with an industrial robot ( 14 ) is operationally connected. Assembly tool device according to claim 29, characterized in that the camera unit ( 28 . 29 ) has a plurality of spaced-apart camera systems for spatial geometry and / or position detection of the component ( 10 ) and / or the object ( 12 ). Assembly tool device according to claim 29 or 30, characterized in that the component gripping unit ( 24 ) a plurality and preferably three uniformly distributed over a circumference arranged and radially movable gripping elements ( 44 ) having. Assembly tool device according to claim 31, characterized in that the gripping elements ( 44 ) are always centered on each other and can be positioned. Assembly tool device according to claim 31 or 32, characterized in that the gripping elements ( 44 ) have a surface structure and / or surface coating which has sufficient frictional adhesion to the component ( 10 ) favors. Assembly tool device according to claim 31 to 33, characterized in that the gripping elements ( 44 ) have a positive gripping geometry. Assembly tool device according to claim 29 to 34, characterized in that it has a connecting flange ( 46 ) for connection to the positioning device ( 20 ) of the industrial robot ( 14 ) having. Industrial robot for carrying out the method according to one of the preceding claims, characterized in that the industrial robot ( 14 ) is a multi-axis articulated robot.