Module attachment method

A module attachment method for attaching a module held by an industrial robot to a vehicle body stopped at a prescribed position,

• the vehicle body and the module having vehicle body side joints and module side joints, respectively, facing each other in an X direction on left and right sides of the vehicle body and the module, with a front-rear direction of the vehicle body as the X direction, a left-right direction as a Y direction and an up-down direction as a Z direction, the module attachment method comprising:
• a first step of measuring positions of left and right vehicle body side joints in the X, Y and Z directions and angles with respect to the X, Y and Z axes relative to the vehicle body and detecting a vehicle body side error that is a difference between a measured value and a reference position of the vehicle body;
• a second step of measuring positions of the left and right module side joints in the X, Y and Z directions and angles with respect to the X, Y and Z axes relative to the module held by the industrial robot and detecting a module side error that is a difference between a measured value and a reference position of the module;
• a third step of moving the module into the vehicle body, so that the vehicle body side joints and the module side joints are facing each other while the position of the module in the X, Y and Z directions and the angles with respect to the X, Y and Z axes are corrected based on the vehicle body side error and the module side error;
• a fourth step of detecting a vehicle body center in the Y direction of the vehicle body by measuring positions of left and right sides of the vehicle body in the Y direction using the vehicle body side error after the third step;
• a fifth step of detecting the module center in the Y direction of the module by measuring the positions of the left and right sides of the module in the Y direction using the vehicle body side error after the third step;
• and
• a sixth step of correcting a position of the module so that the module center detected in the fifth step coincides with the vehicle body center detected in the fourth step.