Automated fastening system and fastening method for automotive production lines

Abstract

The invention relates to an automated fastening system and method for a car production line. The fastening system comprises a first handling robot (10) for handling a transfer bracket, a second handling robot (20) for handling a body part, a fastening robot for tightening a bolt of the transfer bracket into the body part, a control system (50) for controlling the fastening robot to tighten the bolt of the transfer bracket into the body part, for finding out whether the tightening is qualified, for ending the fastening operation in case of qualification and for repeating the tightening operation, for controlling the fastening robot to loosen the bolt in case of unqualified tightening after a predetermined number of cycles, for finding out whether the bolt is loosened, for signaling an external intervention in case of unqualified loosening, for controlling the fastening robot to switch to an inspection position for finding out a bolt status in case of qualified loosening, for returning to the fastening operation in case of a qualified bolt status, and for replacing the transfer bracket in case of an unqualified bolt status.

Description

Technical Field

[0001] This invention relates to the field of automotive manufacturing technology, and more specifically, to a fastening system for automating an automotive production line and a corresponding fastening method for automating an automotive production line. Background Technology

[0002] In the automobile manufacturing process, body parts of the white body, such as the lower body, need to be transferred to downstream workstations after manufacturing. At these downstream workstations, these body parts can be assembled with other body components to form a complete white body, or painted, etc. For this purpose, transfer racks can be used to secure the body parts to be transferred, and then transport them to the downstream workstation. In practice, the handling of body parts is usually automated with the help of robots, while the handling of transfer racks and the connection between the transfer racks and body parts are typically done manually. The manual operation of transfer racks and the manual connection between the transfer racks and body parts are costly. Summary of the Invention

[0003] The purpose of this invention is to provide an automated fastening system and a corresponding automated fastening method for automobile production lines, thereby reducing the workload of operators, improving production efficiency, and ensuring production quality.

[0004] A first aspect of the present invention proposes a fastening system for automation in an automotive production line, comprising:

[0005] A first transport robot is configured to transport a transfer bracket to an automotive production line, the transfer bracket having bolts loosely held in place for tightening.

[0006] A second transport robot is configured to transport body parts of a white body to an automotive production line, wherein the body parts have a predetermined position relative to a transfer bracket at which bolts of the transfer bracket can be tightened into the body parts.

[0007] A fastening robot configured to tighten bolts of a transfer bracket into a vehicle body component;

[0008] A control system configured to perform the following operations:

[0009] - Fastening operation: Control the fastening robot to tighten the bolts of the transfer bracket into the vehicle body parts;

[0010] - First inspection: Check whether the bolts of the transfer bracket to the vehicle body parts are tightened properly;

[0011] - End of operation: If the tightening is qualified, control the fastening robot to leave the transfer bracket and end the fastening operation;

[0012] - Cyclic tightening operation: If the tightening is not up to standard, the tightening operation is repeated within a predetermined first number of cycles m, and then the first check is performed until the tightening is up to standard;

[0013] - Loosening operation: If the tightening is still unsatisfactory after a predetermined first number of cycles m, the tightening robot is controlled to loosen the bolt; and then,

[0014] - Second check: Determine if the bolts are loose;

[0015] - Intervention introduction operation: If it is found that the bolt is not loose, an external intervention signal is issued so that the bolt can be loosened with the help of external intervention;

[0016] - Position switching operation: After confirming that the bolts are loose and normal, control the fastening robot to switch to the inspection position;

[0017] - Third inspection: Check the condition of the bolts at the inspection position of the fastening robot;

[0018] - Return Operation: If the bolt is in normal condition, control the fastening robot to reset and return to the fastening operation;

[0019] - Replacement operation: In case of abnormal bolt condition, issue a control command so that the first handling robot replaces the transfer bracket with the abnormal bolt with another transfer bracket, and then controls the fastening robot to reset and return to the fastening operation.

[0020] The automated fastening system according to the invention enables virtually complete automation of the handling of the transfer bracket and its fastening to the vehicle body components. Only in exceptional cases, due to defects in the transfer bracket itself, is minimal external intervention required.

[0021] In some embodiments, the first transport robot may be configured to transport the transfer bracket to an inspection table for inspecting the transfer bracket before transporting it to a predetermined position on the automotive production line. This allows for the substantial elimination of defective transfer brackets before they are transported to their predetermined position on the automotive production line, thereby further ensuring normal automated fastening operations.

[0022] In some embodiments, the fastening system may include: a front-mounted first handling robot for moving a first transfer bracket to a front position on the automotive production line; and / or a rear-mounted first handling robot for moving a second transfer bracket to a rear position on the automotive production line.

[0023] In some embodiments, the first transfer bracket may have four bolts forming a quadrilateral. In principle, the number of bolts on the first transfer bracket can be configured according to actual needs, for example, 2 to 10 bolts, particularly 2 to 6. Typically, these bolts are arranged substantially symmetrically on both sides of the body-in-white. However, it is also possible that all bolts are arranged on the same side of the body-in-white; or that the number of bolts on both sides of the body-in-white is not the same, for example, 2 bolts on one side of the body-in-white and 4 bolts on the other side.

[0024] In some embodiments, the fastening system may include a first fastening robot located at the front of both sides of the vehicle body.

[0025] In some implementations, each first fastening robot may be configured to operate at least one bolt, such as two bolts, on the same side as the first fastening robot.

[0026] In some implementations, two first fastening robots may be configured to first partially tighten two first bolts on one diagonal (e.g., tighten to about 1 / 2 of a predetermined tightening torque), then fully tighten two second bolts on the other diagonal, and finally fully tighten the two first bolts.

[0027] In some embodiments, the second transfer bracket may have two bolts on both sides of the body-in-white.

[0028] In some embodiments, the fastening system may include second fastening robots located behind both sides of the body-in-white, each second fastening robot being configured to operate bolts on the same side as the second fastening robot.

[0029] In principle, the number of bolts on the second transfer bracket can be configured according to actual needs, for example, 2 to 10 bolts, especially 2 to 6 bolts. Typically, these bolts are arranged substantially symmetrically on both sides of the body-in-white. However, it is also possible that all bolts are arranged on the same side of the body-in-white; or that the number of bolts on both sides of the body-in-white is not the same, for example, 2 bolts on one side of the body-in-white and 4 bolts on the other side.

[0030] In some embodiments, the body component is the lower body. In the context of this invention, a complete body-in-white can also be understood as "a body component".

[0031] In some implementations, the first quantity m can range from 1 to 5, for example, 2, 3, or 4.

[0032] In some embodiments, the fastening system may include a counter configured to continuously count events in which the same bolt is found to be improperly tightened but its condition is found to be normal during inspection. The control system is configured to determine that the bolt condition is abnormal when the count count n reaches a threshold value, where n is 2 to 5. Typically, the counter may be integrated into the control system in software.

[0033] In some implementations, the control system may be configured to,

[0034] - If the tightening of a bolt on the first transfer bracket fails after repeated tightening operations, the two bolts on the corresponding diagonal will be loosened; and a loosening status check of the aforementioned bolt and a subsequent bolt status check will be performed; and

[0035] - When it is determined that the bolt condition of a certain bolt is abnormal, control the two first fastening robots to loosen all four bolts of the first transfer bracket, then control the two first fastening robots to withdraw from the first transfer bracket, then control the first handling robot in front to replace the current first transfer bracket with another first transfer bracket, and then control the two first fastening robots to reset, and then return to the fastening operation for the first transfer bracket.

[0036] In some embodiments, the fastening system may include a clamping system configured to receive a first transfer bracket in a first region of the clamping system, a second transfer bracket in a second region of the clamping system, and a vehicle body component above the clamping system.

[0037] A second aspect of the invention proposes a fastening method for automation in an automotive production line, the method comprising the following steps:

[0038] A first handling robot is used to transport a transfer bracket to the automobile production line, the transfer bracket having bolts loosely held in the transfer bracket to be tightened;

[0039] A second handling robot is used to transport body parts of the white body to the automobile production line, wherein the body parts have a predetermined position relative to the transfer bracket, at which the bolts of the transfer bracket can be tightened into the body parts;

[0040] The fastening method further includes:

[0041] - Fastening operation: Using a fastening robot, the bolts of the transfer bracket are tightened into the vehicle body parts;

[0042] - First inspection: Check whether the bolts of the transfer bracket to the vehicle body parts are tightened properly;

[0043] - End of operation: If the tightening is qualified, control the fastening robot to leave the transfer bracket and end the fastening operation;

[0044] - Cyclic tightening operation: If the tightening is not up to standard, the tightening operation is repeated within a predetermined first number of cycles m, and then the first check is performed until the tightening is up to standard;

[0045] - Loosening operation: If the tightening is still unsatisfactory after a predetermined first number of cycles m, the tightening robot is controlled to loosen the bolt; and then,

[0046] - Second check: Determine if the bolts are loose;

[0047] - Intervention introduction operation: If it is found that the bolt is not loose, an external intervention signal is issued so that the bolt can be loosened with the help of external intervention;

[0048] - Position switching operation: After confirming that the bolts are loose and normal, control the fastening robot to switch to the inspection position;

[0049] - Third inspection: Check the condition of the bolts at the inspection position of the fastening robot;

[0050] - Return Operation: If the bolt is in normal condition, control the fastening robot to reset and return to the fastening operation;

[0051] - Replacement operation: In case of abnormal bolt condition, issue a control command so that the first handling robot replaces the transfer bracket with the abnormal bolt with another transfer bracket, and then controls the fastening robot to reset and return to the fastening operation.

[0052] In some embodiments, the fastening method is carried out by means of a fastening system according to the first aspect of the invention.

[0053] In principle, each individual feature described for the fastening system in the first aspect can be transferred to the fastening method in the second aspect as an additional feature of an extension of the fastening method.

[0054] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0055] The invention will now be described in more detail with reference to the accompanying drawings and exemplary embodiments. A brief description of the drawings is as follows:

[0056] Figure 1 This is a schematic plan view of a fastening system for automation of an automobile production line according to an exemplary embodiment of the present invention.

[0057] Figures 2A to 2C These are front view, top view, and side view of a first transfer bracket according to an exemplary embodiment of the present invention.

[0058] Figures 3A to 3C These are front view, top view, and side view of a second transfer bracket according to an exemplary embodiment of the present invention.

[0059] Figure 4 This is a perspective view of a clamping system according to an exemplary embodiment of the present invention.

[0060] Figure 5 This is a flowchart of a fastening method for automating an automotive production line according to an exemplary embodiment of the present invention. Detailed Implementation

[0061] Several exemplary embodiments will now be described more fully with reference to the accompanying drawings. It should be understood that elements not essential for understanding the invention may be omitted from the drawings for ease of illustration and understanding. In the drawings, the same reference numerals may denote the same parts or parts that function identically. Numerous specific details, such as examples of specific parts, devices, and methods, are set forth in the following description to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that not all of these specific details are necessarily required. The exemplary embodiments should not be construed as limiting.

[0062] Figure 1 This is a schematic plan view of an automated fastening system for an automobile production line according to an exemplary embodiment of the present invention. This automated fastening system reduces operator workload, increases production efficiency, and ensures production quality.

[0063] In the illustrated embodiment, the automated fastening system includes two first handling robots 10, namely a front first handling robot 10 and a rear first handling robot 10. The front first handling robot 10 is configured to retrieve a first transfer bracket 70 (see schematically shown shelf 7) from the shelf 7. Figures 2A to 2C The first transfer bracket 70 is then moved to a forward position on the automotive production line. In the illustrated embodiment, the first transfer bracket 70 is to be moved into the first area 16 of the clamping system 90 (see...). Figure 4 A detailed description of the exemplary construction of the first transfer bracket 70 will be provided below. Figures 2A to 2C More detailed explanation. The first handling robot 10 is configured to retrieve a second transfer rack 80 from the schematically shown shelf 8 (see...). Figures 3A to 3C The second transfer bracket 80 is then moved to a later position on the automotive production line. In the illustrated embodiment, the second transfer bracket 80 is to be moved to the second area 17 of the clamping system 90 (see...). Figure 4 A specific exemplary construction of the second transfer bracket 80 will be referred to below. Figures 3A to 3C To explain in more detail.

[0064] The automated fastening system includes a second transport robot 20 configured to transport body parts 60 of a body-in-white to an automotive production line. In the illustrated embodiment, the body part 60 may be a lower body and is transported by the second transport robot 20 above a clamping system 90.

[0065] The transport sequence of the first transfer bracket 70, the second transfer bracket 80, and the body component 60 can be selected according to actual conditions, as long as they do not interfere with each other during transport. When they are all transported onto the fixture system 90, the body component 60 has a predetermined position relative to the first and second transfer brackets 70 and 80, at which bolts 12 and 14 of the first and second transfer brackets 70 and 80 can be tightened into the body component 60. As an improvement, the two first transport robots 10 can be configured to transport the first and second transfer brackets 70 and 80 to corresponding inspection tables (not shown) before transporting them to predetermined positions on the automotive production line, so as to check whether the corresponding transfer brackets 70 and 80 are qualified, and to prevent unqualified transfer brackets 70 and 80 from being transported to the automotive production line.

[0066] like Figure 1As can be seen, the body component 60 of the body-in-white may have four holes 1, 2, 3, and 4 in the front region, which can roughly form a rectangle. The body component 60 has two holes 5 and 6 in the rear region. The body component 60 is fastened to two transfer brackets 70 and 80 through these holes. For this purpose, the automated fastening system may include two front-facing first fastening robots 30, which are responsible for fastening the first transfer bracket 70 to the body component 60; and the automated fastening system may also include two rear-facing second fastening robots 40, which are responsible for fastening the second transfer bracket 80 to the body component 60.

[0067] Each handling robot 10, 20 and each fastening robot 30, 40 can be connected to a common control system 50, for example, via wired or wireless connection. The control system 50 can be configured as a computer, having an input device, a display device, a processor, and a memory. The memory can store computer programs, which, when executed, enable automated fastening methods. External intervention, particularly manual intervention by operators, can be introduced through the input device to troubleshoot abnormal operating conditions. The display device can show the working process, operating parameters, etc.

[0068] Figures 2A to 2C These are front, top, and side views of a first transfer bracket 70 according to an exemplary embodiment of the invention. The first transfer bracket 70 has a beam 13 with two bolt receiving devices 11 at each of its two end regions, each loosely but indiscriminately receiving a bolt 12. Each first fastening robot 30 is configured to operate two bolts 12 at one end region of the beam 13. Referring to the vehicle's longitudinal axis, the left-hand first fastening robot 30 is configured to operate two left-hand bolts 12 that mate with holes 1 and 2 of the body component 60, and the right-hand first fastening robot 30 is configured to operate two right-hand bolts 12 that mate with holes 3 and 4 of the body component 60. Advantageously, the two first fastening robots 30 are configured to first partially tighten two first bolts on one diagonal, for example, bolts 12 corresponding to holes 1 and 4, then fully tighten two second bolts on the other diagonal, for example, bolts 12 corresponding to holes 2 and 3, and finally fully tighten both first bolts.

[0069] Figures 3A to 3CThese are front, top, and side views of a second transfer bracket 80 according to an exemplary embodiment of the present invention. The second transfer bracket 80 has a beam 15, with a bolt receiving device 13 provided at each of its two end regions, each receiving a bolt 14. Each second fastening robot 40 is configured to operate one bolt 14 at one end region of the beam 15. Referring to the vehicle's longitudinal axis, the left-side second fastening robot 40 is configured to operate the left-side bolt 14 that mates with the hole 5 of the body component 60, and the right-side second fastening robot 40 is configured to operate the right-side bolt 14 that mates with the hole 6 of the body component 60.

[0070] Figure 4 This is a perspective view of a clamping system 90 according to an exemplary embodiment of the present invention. The clamping system 90 is configured as a frame including a plurality of rods. Multiple clamps are disposed on the frame. The vehicle body component 60 is securely held above the clamping system 90 without changing position during the fastening process. Furthermore, as mentioned above, two first handling robots 10 are capable of transporting corresponding transfer brackets 70, 80 into the clamping system 90. These transfer brackets 70, 80 can be stably held in position by the two first handling robots 10 using the clamping system 90 for subsequent fastening operations. Not only the handling robots 10 but also the fastening robots 30, 40 are commercially available. For example, KUKA robots can be used in such automated fastening systems.

[0071] Figure 5 This is a flowchart of a fastening method 100 for automating an automotive production line according to an exemplary embodiment of the present invention. This fastening method can be achieved by means of, for example... Figure 1 The automated fastening system shown is implemented.

[0072] Following the automated handling of the first and second transfer brackets 70 and 80, and the automated handling of the vehicle body component 60, an automated fastening process can be performed by each of the fastening robots 30 and 40. The fastening operating devices of each fastening robot 30 and 40 can operate synchronously or sequentially. This can be predetermined according to actual needs. The two first fastening robots 30 and the two second fastening robots 40 can operate synchronously or sequentially. This, too, can be predetermined according to actual needs. The automated fastening process first includes step 110, in which the fastening operation is performed.

[0073] For each fastening robot 30, 40 with a fastening device for a corresponding bolt 12, 14, after the fastening process is initiated, in step 110, the control system 50 can control the fastening robot to tighten the corresponding bolt of the corresponding transfer bracket into the body component 60. Next, in step 120, the control system 50 can perform a first check: determining whether the tightening of the bolt of the corresponding transfer bracket into the body component 60 is qualified. Typically, a fastening force-time curve can be used, where the actual curve is compared with a pre-stored standard curve; if the deviation exceeds a predetermined level, the tightening is deemed unqualified; otherwise, the tightening is deemed qualified. For the first transfer bracket 70, if all four bolts 12 are tightened successfully, the control system 50 can control the two first fastening robots 30 to leave the first transfer bracket 70, ending the fastening operation between the first transfer bracket 70 and the body component 60. For the second transfer bracket 80, after both bolts 14 have been tightened to the required tightness, the control system 50 can control the two second fastening robots 40 to move away from the second transfer bracket 80, thus ending the fastening operation between the second transfer bracket 80 and the vehicle body component 60. Please see [link / reference needed]. Figure 5 Step 160 in the process.

[0074] If any bolt 12 of the first transfer bracket 70 is not tightened properly, the tightening operation is repeated within a predetermined first number m (e.g., within the range of 1 to 5, such as 2, 3, 4) cycles, followed by the first inspection, until the tightening is satisfactory. For details, please refer to [link to relevant documentation]. Figure 5 Step 130 in the process.

[0075] If, after a predetermined first number of cycles m, the tightening of one of the bolts 12 is still unsatisfactory, the first fastening robot is controlled to loosen at least one corresponding bolt. For the first transfer bracket 70, pairs of bolts 12 can be loosened. For example, if the tightening of one bolt 12 corresponding to hole 1 is unsatisfactory, both bolts 12 corresponding to holes 1 and 4 can be loosened. Please see [link to documentation] for details. Figure 5 Step 140. Next, a second check is performed: to determine whether one or both bolts are loose. Advantageously, the second check can be performed using a camera system, and the images or videos captured by the camera system can be processed by the control system 50 to identify whether the bolts are loose. For this purpose, please see... Figure 5 Step 150. Alternatively, the inspection of bolt loosening can also be performed manually, i.e., by introducing external human intervention. If it is found that the bolt loosening is abnormal, the control system 50 can send an external intervention signal to introduce external human intervention to ensure that the bolt is loosened. For this purpose, please see Figure 5 Step 200 in the process.

[0076] If the bolts are loosened, the control system 50 can control the corresponding fastening robot to switch to the inspection position. For details, please see... Figure 5 Step 170. At this inspection location, a third inspection can be performed: ascertain the condition of the bolts. For this, please see... Figure 5 Step 180. If the bolt condition is normal, counting can be performed, see step 190, and the fastening robot is controlled to reset and return to step 110 of the fastening operation. If the same bolt fails to tighten properly multiple times n (n can be 2 to 5, for example, 2 or 3) while the bolt condition check result is normal, then the bolt condition can be determined to be abnormal.

[0077] If the bolt condition is abnormal, the control system 50 can issue a control command to perform a replacement operation. For example, if the condition of one bolt 12 on the first transfer bracket 70 is abnormal, the two first fastening robots 30 are controlled to loosen all four bolts 12. Then, the two first fastening robots 30 are withdrawn from the first transfer bracket 70. Next, the first handling robot 10 replaces the current first transfer bracket 70 with another first transfer bracket 70 taken from the shelf 7. Then, the two first fastening robots 30 are controlled to reset, and then the process returns to step 110 of the fastening operation for the first transfer bracket 70.

[0078] Similarly, if the bolt condition of one of the bolts 14 on the second transfer bracket 80 is abnormal, the two second fastening robots 40 are controlled to loosen the two bolts 14. Then, the two second fastening robots 40 are withdrawn from the second transfer bracket 80. Then, the first handling robot 10 replaces the current second transfer bracket 80 with another second transfer bracket 80 taken from the shelf 8. Then, the two second fastening robots 40 are controlled to reset and then return to step 110 of the fastening operation for the second transfer bracket 80.

[0079] It should be noted that the terminology used herein is for illustrative purposes only and is not intended to limit the disclosure. The singular forms “a” and “the one” as used herein should include the plural forms unless the context explicitly states otherwise. It is understood that the terms “comprising” and “including,” and other similar terms, when used in the application documents, specifically describe the presence of the stated operation, element, and / or component, without excluding the presence or addition of one or more other operations, elements, components, and / or combinations thereof. The term “and / or” as used herein includes all arbitrary combinations of one or more of the associated listed items. In the description of the drawings, similar reference numerals always denote similar elements.

[0080] The thickness of the elements in the accompanying drawings may be exaggerated for clarity. It is also understood that if an element is described as being on, coupled to, or connected to another element, then the element may be directly formed on, coupled to, or connected to the other element, or there may be one or more intermediate elements between them. Conversely, if the expressions "directly on," "directly coupled to," and "directly connected to" are used herein, it indicates that there is no intermediate element. Other terms used to describe relationships between elements should be interpreted similarly, such as "between" and "directly between," "attached" and "directly attached," "adjacent" and "directly adjacent," etc.

[0081] Terms such as “top,” “bottom,” “above,” “below,” “over,” “under,” etc., are used to describe the relationship of one element, layer, or region relative to another element, layer, or region, as shown in the accompanying drawings. It is understood that these terms should also encompass other orientations of the device in addition to those described in the accompanying drawings.

[0082] It is understood that although the terms "first," "second," etc., may be used herein to describe different elements, these elements should not be limited by these terms. These terms are merely used to distinguish one element from another. Therefore, a first element may be referred to as a second element without departing from the teachings of the inventive concept.

[0083] It can also be considered that all the exemplary embodiments disclosed herein can be arbitrarily combined with each other. Finally, it should be noted that the above embodiments are merely for understanding the present invention and do not constitute a limitation on the scope of protection of the present invention. For those skilled in the art, modifications can be made based on the above embodiments, and these modifications do not depart from the scope of protection of the present invention.

Claims

1. An automated fastening system for a car production line, comprising: - a first handling robot (10) configured to handle a transfer support to the car production line, the transfer support having bolts to be fastened, held loosely in the transfer support; - a second handling robot (20) configured to handle a body-in-white body part (60) to the car production line, wherein the body part has a predetermined position relative to the transfer support at which the bolts of the transfer support can be tightened into the body part; - a fastening robot configured to tighten the bolts of the transfer support into the body part; - a control system (50) configured to perform: - a fastening operation, controlling the fastening robot to tighten the bolts of the transfer support into the body part; - a first check, ascertaining whether the tightening of the bolts of the transfer support into the body part is correct; - an ending operation, in the event that the tightening is correct, controlling the fastening robot to leave the transfer support, ending the fastening operation; - a cyclic tightening operation, in the event that the tightening is not correct, repeating the tightening operation within a predetermined first number m of cycles, ranging from 1 to 5, and performing the first check immediately thereafter, until the tightening is correct; - a loosening operation, in the event that the tightening is still not correct after the predetermined first number m of cycles, controlling the fastening robot to loosen the bolts; and then, - a second check, ascertaining whether the bolts are loosened; - an intervention introduction operation, in the event that the loosening of the bolts is not correct, issuing an external intervention signal in order to loosen the bolts by means of an external intervention; - a position conversion operation, in the event that the loosening of the bolts is correct, controlling the fastening robot to convert to a checking position; - a third check, in the checking position of the fastening robot, ascertaining the state of the bolts; - a return operation, in the event that the state of the bolts is correct, controlling the fastening robot to reset and return to the fastening operation; - a replacement operation, in the event that the state of the bolts is not correct, issuing a control command in order for the first handling robot to replace the transfer support with the incorrect bolts with another transfer support, and then controlling the fastening robot to reset and return to the fastening operation.

2. The fastening system of claim 1, wherein, The first handling robot is configured to handle the transfer support to a detection station for detecting the transfer support, before handling the transfer support to a predetermined position on the car production line.

3. The fastening system of claim 1 or 2, wherein, The fastening system comprises a front first handling robot for handling a first transfer support (70) to a front position on the car production line, and a rear first handling robot for handling a second transfer support (80) to a rear position on the car production line.

4. The fastening system of claim 3, wherein, The first transfer support has four bolts (12) forming a quadrilateral.

5. The fastening system of claim 4, wherein, The fastening system comprises front first fastening robots (30) on both sides of the body-in-white, each first fastening robot being configured to operate two bolts on the same side as the first fastening robot.

6. The fastening system of claim 5, wherein, The two first tightening robots are configured to first partially tighten two first bolts on one diagonal, then fully tighten two second bolts on the other diagonal, and finally fully tighten the two first bolts.

7. The fastening system of claim 6, wherein The control system is configured to, in the event that a certain one of the bolts of the first transfer support is still not qualified after a repeated tightening operation, loosen the two bolts on the respective diagonal, and perform a loosened state check and a bolt state check of the certain one of the bolts, and in the event that the bolt state of the certain one of the bolts is determined to be abnormal, control the two first tightening robots to loosen all four bolts of the first transfer support, then control the two first tightening robots to withdraw from the first transfer support, then control the preceding first handling robot to replace the current first transfer support with another first transfer support, and then control the two first tightening robots to reset, and then return to the tightening operation for the first transfer support.

8. The fastening system of claim 3, wherein, The second transfer support has two bolts (14) on both sides of the body-in-white, the tightening system comprises a second tightening robot (40) behind on both sides of the body-in-white, each second tightening robot being configured to operate one bolt on the same side as the second tightening robot.

9. The fastening system of claim 1 or 2, wherein, The tightening system comprises a counter configured to successively count events in which the same bolt is not qualified in a tightening and the result of a bolt state check is normal, the control system being configured to determine that the bolt state of the bolt is abnormal when the number n of counts reaches a threshold value, n being 2 to 5.

10. The fastening system of claim 1 or 2, wherein, The body component is a lower body.

11. The fastening system of claim 3, wherein, The tightening system comprises a gripper system (90) configured to receive a first transfer support in a first area (16) of the gripper system and a second transfer support in a second area (17) of the gripper system and a body component of the body-in-white above the gripper system.

12. An automated tightening method for an automotive production line, the method comprising the steps of: - transporting a transfer support to the automotive production line by means of a first handling robot, the transfer support having a bolt to be tightened held loosely in the transfer support; - transporting a body component of the body-in-white to the automotive production line by means of a second handling robot, wherein the body component has a predetermined position relative to the transfer support at which the bolt of the transfer support can be tightened into the body component; wherein the tightening method further comprises: - a tightening operation in which the bolt of the transfer support is tightened into the body component by means of a tightening robot; - a first check in which it is ascertained whether the tightening of the bolt of the transfer support into the body component is qualified; - an end operation in which the tightening robot is controlled to leave the transfer support in the event that the tightening is qualified, ending the tightening operation; - a repeated tightening operation in which the tightening operation is repeated within a predetermined first number m of repetitions and the first check is performed immediately thereafter until the tightening is qualified, the first number m ranging from 1 to 5; - loosening operation: in the event that the tightening is still not qualified after a predetermined first number m of cycles, the tightening robot is controlled to loosen the bolts; and then, - second check: the bolts are checked for loosening; - intervention introduction operation: in the event that the loosening of the bolts is not normal, an external intervention signal is emitted in order to loosen the bolts by means of external intervention; - position conversion operation: in the event that the loosening of the bolts is normal, the tightening robot is controlled to be converted to a checking position; - third check: in the checking position of the tightening robot, the state of the bolts is checked; - return operation: in the event that the state of the bolts is normal, the tightening robot is controlled to be reset and returned to the tightening operation; - replacement operation: in the event that the state of the bolts is not normal, a control command is emitted in order for the first handling robot to replace the transfer support with the non-normal bolts with another transfer support, and then the tightening robot is controlled to be reset and returned to the tightening operation.

13. The method for the automation of fastening of claim 12, characterized in that, The tightening method is implemented by means of a tightening system according to claim 1 or 2.

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