Assembling method and system for vehicle door limiting stopper

Abstract

The invention provides an assembling method and system for a vehicle door limiter. The assembling method comprises the following steps that S1, a feeding device conveys a limiting arm to a designated area; s2, a first material taking mechanical arm grabs one limiting arm from a designated area and vertically places the limiting arm into a middle platform; s3, a second material taking mechanical arm grabs a vertical limiting arm in the middle platform; s4, a second material taking manipulator transfers the grabbed vertical limiting arm to a specified site above the limiting box transfer device; and S5, the second material taking mechanical arm drives the vertical limiting arm to be vertically and downwards inserted into the limiting box below the designated position point till the limiting arm is assembled in place in the limiting box, and the second material taking mechanical arm is reset. The limiting arms are supplied through the feeding device, the limiting arms are inserted into the limiting boxes in the conveying process through the mechanical arm, line-following assembly of the vehicle door limiting stoppers is achieved, and the assembly efficiency and the assembly quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of door stopper assembly, and in particular to an assembly method and system for a door stopper. Background Art

[0002] The function of the door limiter is to limit the degree of door opening. On the one hand, it can limit the maximum opening of the door to prevent the door from opening too far. On the other hand, it can keep the door open when necessary, such as when the car is parked on a slope or when there is a normal wind, the door will not close automatically.

[0003] The door stopper includes a stop box and a stop arm. During processing, the stop box and the stop arm are usually processed separately and then assembled into one. When assembling the door stopper, the stop box and the stop arm are usually manually transferred to the designated position of the assembly station and then manually assembled.

[0004] In the prior art, the limiting arm is usually inserted into the limiting box manually to complete the assembly, and the work efficiency is poor, and there is room for improvement. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide an assembly method and system for a vehicle door limiter.

[0006] According to the present invention, a method for assembling a door stopper comprises the following steps:

[0007] Step S1, the loading device transports the limit arm to the designated area;

[0008] Step S2: the first material-retrieving robot grabs a limit arm from the designated area and places it upright on the middle platform;

[0009] Step S3: the second material-retrieving manipulator grabs the limit arm erected in the middle platform;

[0010] Step S4, the second material-retrieving manipulator transfers the grasped upright limit arm to a designated position above the limit box transfer device;

[0011] Step S5, the second material-retrieving robot drives the erected limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box, and the second material-retrieving robot is reset.

[0012] Preferably, step S1 includes the following sub-steps:

[0013] The loading and unloading assembly lifts the pallet with the limiting arm upward to the designated area. When there is no limiting arm in the pallet within the designated area, the pallet transfer assembly takes away the pallet in the designated area, and the loading and unloading assembly lifts the pallet with the limiting arm located below to the designated area.

[0014] Preferably, for step S1, the limiting arm in the designated area is placed horizontally.

[0015] Preferably, for step S5, the limit box is located in the accommodating site of the chain conveyor belt, and the chain conveyor belt moves one link along the conveying direction of the chain conveyor belt when the second material picking robot inserts the limit arm into the limit box below the designated site.

[0016] Preferably, for step S5, the chain conveyor belt moves at a fixed speed; the second material-retrieving manipulator moves along with the chain conveyor belt during the process of inserting the limit arm into the limit box;

[0017] The time from the second material-retrieving robot taking the limit arm from the middle platform to completely inserting the limit arm into the limit box below the designated position is less than or equal to the time for the chain conveyor belt to move one link.

[0018] Preferably, for step S5, the second material picking robot inserts the limit arm vertically downward into the limit box with a varying force.

[0019] According to the present invention, a door stopper assembly system is provided, the system comprises a loading device, a first material taking manipulator, an intermediate platform, a second material taking manipulator, a stop box transfer device, a visual device and a control device;

[0020] Under the control device:

[0021] The visual device collects images of the specified area and obtains the position information and contour information of the limit arm in the specified area;

[0022] The first material-retrieving manipulator grabs the limit arm in the specified area and places it upright on the middle platform according to the position information and contour information of the limit arm obtained by the visual device;

[0023] The second material-retrieving manipulator grabs the vertical limit arm in the middle platform, and transfers the grabbed vertical limit arm to a designated position above the limit box transfer device;

[0024] The visual device collects image information of the limit box transfer device and obtains the movement information of the limit box. The second material picking robot drives the upright limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box and the second material picking robot is reset.

[0025] Preferably, the intermediate platform is provided with at least one insertion slot allowing the limiting arm to be placed upright.

[0026] Preferably, the first material picking robot includes a third pneumatic clamp, a rotation drive assembly, a third horizontal conveying assembly and a third vertical conveying assembly; the third pneumatic clamp is installed on the output end of the rotation drive assembly, the rotation drive assembly is installed on the slider of the third vertical conveying assembly, and the third vertical conveying assembly is installed on the slider of the third horizontal conveying assembly.

[0027] Preferably, a material receiving assembly is provided at the conveying end of the limit box transfer device to transfer the assembled limiter to a predetermined position.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention supplies the limit arm through a feeding device, and inserts the limit arm into the limit box being conveyed by means of a manipulator, thereby realizing the on-line assembly of the door limiter and improving the assembly efficiency and assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1 The present invention mainly embodies the flow chart of the assembly method;

[0032] Figure 2 This is a schematic diagram of the overall structure of the assembly system mainly embodied in the present invention;

[0033] Figure 3 This is a schematic diagram of the overall structure of the feeding device mainly embodied in the present invention;

[0034] Figure 4 This is a schematic diagram of the overall structure of the loading and unloading components of the present invention;

[0035] Figure 5 This is a schematic diagram of the overall structure of the pallet transfer assembly mainly embodied in the present invention;

[0036] Figure 6 This is a schematic diagram of the overall structure of the chain conveyor belt mainly embodied in the present invention.

[0037] As shown in the figure:

[0038] Frame 1 Linear drive motor 14

[0039] Loading and unloading assembly 2 Horizontal linear drive device 15

[0040] Pallet transfer assembly 3 Feed bin 16

[0041] Pallet 4 Conveyor belt 17

[0042] Driving motor 5 Feeding and grabbing manipulator 18

[0043] Screw 6 Chain conveyor belt 19

[0044] Slider assembly 7 Chain piece 20

[0045] Stabilizing block 8 Card slot 21

[0046] Stable slide rail 9 Material receiving and grabbing manipulator 22

[0047] Triangular support plate 10 First material taking manipulator 23

[0048] Horizontal motion track 11 Intermediate platform 24

[0049] Transfer rack 12 Second material taking manipulator 25

[0050] Suction cup 13 DETAILED DESCRIPTION

[0051] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, a method for assembling a door stopper according to the present invention comprises the following steps:

[0053] Step S1, the loading device transports the limit arm to a designated area.

[0054] Step S2 , the first material-retrieving robot 23 grabs a limit arm from the designated area and places it upright on the middle platform 24 .

[0055] Step S3: the second material taking robot 25 grabs the limit arm erected in the middle platform 24 .

[0056] Step S4: the second material-retrieving robot 25 transfers the grasped upright limiting arm to a designated position above the limiting box transfer device.

[0057] Step S5, the second material-retrieving robot 25 drives the erected limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box, and the second material-retrieving robot 25 is reset.

[0058] The technical solution of the present application realizes the automated operation of the limiter assembly, helps to improve the assembly efficiency, and the assembly quality is stable, which helps to improve the yield rate. It should be noted that the first material-picking manipulator 23 and the second material-picking manipulator 25 of the present application need to cooperate with a visual device, such as an AI camera, when working. The AI ​​camera collects the image of the specified area and identifies the limit arm in the image, and synchronizes the position information and posture information of the limit arm to the first material-picking manipulator 23, and the first material-picking manipulator 23 grabs the limit arm in the specified area. The AI ​​camera collects the image of the intermediate platform 24, obtains the position information and posture information of the limit arm on the intermediate platform 24, and synchronizes it to the second material-picking manipulator 25, and the second material-picking manipulator 25 grabs the limit arm on the intermediate platform 24. And due to the setting of the intermediate platform 24, the limit arm can be repositioned, which improves the accuracy and stability of the second material-picking manipulator 25 grabbing the limit arm.

[0059] Specifically, step S1 includes the following sub-steps: the loading and unloading component 2 lifts the pallet with the limiting arm upward to the designated area; when there is no limiting arm in the pallet within the designated area, the pallet transfer component takes away the pallet in the designated area, and the loading and unloading component lifts the pallet with the limiting arm located below to the designated area.

[0060] The loading device can realize the transfer of the pallet, can realize the empty pallet to be taken out from the designated area, and push the new pallet equipped with the limit arm to the designated area. The limit arm in the designated area is placed horizontally, which is convenient for placing in the pallet and convenient for the first material taking manipulator 23 to grab.

[0061] In a feasible implementation, for step S5, the limit box is located in the accommodation position of the chain conveyor 19, and when the second material-retrieving manipulator 25 inserts the limit arm into the limit box below the designated position, the chain conveyor 19 moves one link along the conveying direction of the chain conveyor 19. By controlling the running speed of the chain conveyor 19, it is ensured that the limit box in each link of the chain conveyor 19 is inserted with the limit arm, and the situation of missing packaging is prevented.

[0062] In a feasible implementation: for step S5, the chain conveyor belt 19 moves at a fixed speed, and the second material-retrieving manipulator 25 moves with the chain conveyor belt 19 during the process of inserting the limit arm into the limit box. The time from the second material-retrieving manipulator 25 taking the limit arm from the intermediate platform 24 to completely inserting the limit arm into the limit box below the designated position is less than or equal to the time for the chain conveyor belt 19 to move one link. On the one hand, it prevents the limit box from being missed, and on the other hand, it helps to improve the convenience of inserting the limit arm into the limit box.

[0063] It should be emphasized that, for step S5, the second material-retrieving manipulator 25 inserts the limit arm vertically downward into the limit box with a variable force. Since the limit arm is not a regular long strip workpiece, there is a bend in the contour shape of the limit arm. The present application uses a variable force to insert the limit arm into the limit box, which facilitates the bend of the limit arm to pass through the limit box, which helps to improve assembly efficiency and assembly quality. The variable force of the present application can be changed within the pre-examination range according to actual conditions to prevent damage to the product.

[0064] It should be supplemented that: the control logic of the first material picking robot 23 in the present application grabbing the limit arm in the specified area can be: row first and column later.

[0065] According to the present invention, a door stopper assembly system is provided, the system comprises a loading device, a first material picking robot 23, an intermediate platform 24, a second material picking robot 25, a stop box transfer device, a visual device and a control device.

[0066] Under the control device, the visual device collects images of the designated area and obtains the position information and contour information of the limit arm in the designated area. The first material-retrieving manipulator 23 grabs the limit arm in the designated area and puts it upright on the intermediate platform 24 according to the position information and contour information of the limit arm obtained by the visual device.

[0067] The second material-retrieving manipulator 25 grabs the vertical limit arm in the middle platform 24, and transfers the grabbed vertical limit arm to the designated position above the limit box transfer device. The visual device collects the image information of the limit box transfer device and obtains the movement information of the limit box. The second material-retrieving manipulator 25 drives the vertical limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box, and the second material-retrieving manipulator 25 is reset.

[0068] At least one insertion slot for allowing the limit arm to be placed upright is provided on the middle platform 24. Preferably, the middle platform 24 has an insertion slot for allowing the small end of the limit arm to be inserted.

[0069] The first material-retrieving manipulator 23 includes a third pneumatic clamp, a rotation drive assembly, a third horizontal conveying assembly, and a third vertical conveying assembly; the third pneumatic clamp is installed at the output end of the rotation drive assembly, the rotation drive assembly is installed on the slider of the third vertical conveying assembly, and the third vertical conveying assembly is installed on the slider of the third horizontal conveying assembly. It should be noted that the first material-retrieving manipulator 23 can also be a multi-degree-of-freedom robot arm. The rotation drive assembly can be a drive motor.

[0070] A material receiving assembly is provided at the conveying end of the limit box transfer device to transfer the assembled limiter to a predetermined position.

[0071] More specifically,

[0072] The transfer device of the limit box includes a frame 1, on which a feeding assembly, a chain conveyor belt 19 and a receiving assembly are arranged. The chain conveyor belt 19 includes at least two receiving sites arranged at intervals along the length direction of the chain conveyor belt 19, and the middle of the receiving site is hollowed out. The feeding assembly is arranged at the conveying starting end of the chain conveyor belt 19, and the feeding assembly puts the limit box into the designated receiving site of the chain conveyor belt 19. The receiving assembly is arranged at the conveying end of the chain conveyor belt 19, and the receiving assembly takes out the limit box in the designated receiving site on the chain conveyor belt 19 and transfers it to the designated discharge site.

[0073] The present application uses a chain conveyor belt 19 to transport the limit box to the designated discharge site, which helps to improve the mechanization degree of the limit box transportation and helps to improve the processing efficiency. On the one hand, the hollow accommodation site can accommodate the limit box and improve the stability of the limit box transportation. On the other hand, the assembly of the limit arm and the limit box is to insert the limit arm into the limit box. The hollow setting of the accommodation site can also achieve the avoidance of the limit arm, and then achieve the on-line installation during the transportation of the limit box, and insert the limit arm into the limit box on the line to complete the assembly of the door limiter.

[0074] Specifically, the feeding assembly includes a feeding bin 16, a conveyor belt 17, and a feeding grabbing manipulator 18. One end of the conveyor belt 17 extends into the feeding bin 16, and the other end of the conveyor belt 17 extends to the loading position. The feeding bin 16 has a plurality of limit boxes inside. The feeding bin 16 of the present application can use a feeding device that can realize material supply in the prior art. The feeding bin 16 places the limit box on the conveyor belt 17, and the conveyor belt 17 transports the limit box to the loading position.

[0075] The feeding grabbing manipulator 18 can move from above the loading position to above the conveying start end of the chain conveyor belt 19, and the feeding grabbing manipulator 18 can move in the vertical direction. The feeding grabbing manipulator 18 includes a first pneumatic clamp, a first horizontal conveying assembly, and a first vertical conveying assembly. The first horizontal conveying assembly and the first vertical conveying assembly are both linear reciprocating drive modules in the prior art. For example: a threaded screw pair. The first pneumatic clamp is arranged at the output end of the first vertical conveying assembly, and the first vertical conveying assembly is arranged on the slider of the first horizontal conveying assembly.

[0076] The first horizontal conveying assembly conveys the first pneumatic clamp and the first vertical conveying assembly to the top of the loading site along the moving direction of the chain conveyor belt 19, and the first vertical conveying assembly lowers the first pneumatic clamp in the vertical direction and clamps the limit box at the loading site. After that, the first vertical conveying assembly retracts the pneumatic clamp, and the first horizontal conveying assembly conveys the first pneumatic clamp and the first vertical conveying assembly to the conveying starting end of the chain conveyor belt 19 along the moving direction of the chain conveyor belt 19, and the first vertical conveying assembly lowers the first pneumatic clamp in the vertical direction and puts the limit box into the accommodation site of the chain conveyor belt 19. It should be noted that the first pneumatic clamp acts on both ends of the length of the limit box.

[0077] In a preferred embodiment, the conveying direction of the conveyor belt 17 and the conveying direction of the chain conveyor belt 19 are perpendicular to each other in the same plane, thereby optimizing the overall layout and saving space.

[0078] More specifically, the chain conveyor 19 is driven by a motor, and any accommodating site of the chain conveyor 19 is set on the chain link of the chain conveyor 19. Any chain link includes two chain pieces 20 arranged opposite to each other, and an accommodating site for accommodating the door limit box is formed between the two opposite chain pieces 20. The sides of the two opposite chain pieces 20 close to each other are provided with a slot 21, and the slots 21 on the two opposite chain pieces 20 cooperate with the positioning limit box.

[0079] In a feasible implementation manner: the chain conveyor belt 19 of the present application can be two groups of conveyor belts 17 arranged in parallel at intervals, the chain plates 20 are fixed to the conveyor belts 17 by fasteners, and the two groups of conveyor belts 17 can be driven by one motor or synchronously by two motors.

[0080] The receiving assembly includes a receiving grabbing manipulator 22, which is arranged above the conveying end of the chain conveyor belt 19. The receiving grabbing manipulator 22 includes a second pneumatic clamp, a second horizontal conveying assembly, and a second vertical conveying assembly. The second pneumatic clamp is arranged at the output end of the second vertical conveying assembly, and the second vertical conveying assembly is arranged on the slider of the second horizontal conveying assembly. The second pneumatic clamp acts on both ends of the length of the limit box. The working principle of the receiving assembly is the same as that of the feeding assembly, and will not be described in detail here.

[0081] The frame 1 is provided with a gantry structure, which is located at the transmission end of the chain conveyor belt 19, and the receiving material grabbing manipulator 22 is arranged on the gantry structure to realize the installation of the receiving material assembly.

[0082] The loading device includes a frame 1, on which two adjacent loading and unloading components 2 and a group of pallet transfer components 3 are arranged. Multiple pallets can be stacked on any loading and unloading component 2, and can drive the pallets stacked on it to rise or fall in the vertical direction. The pallet transfer component 3 is arranged above the two groups of loading and unloading components 2, and the pallet transfer component 3 transfers the uppermost pallet of one loading and unloading component 2 to the uppermost pallet of another loading and unloading component 2.

[0083] The loading device of the present application is fixedly set at a designated position of the assembly station when in use, and the pallet is used to place the limit box or the limit arm. The technical solution of the present application is explained by using the pallet for placing the limit arm. The staff first stacks multiple pallets with limit arms in one loading and unloading assembly 2. When the limit arms in the uppermost pallet are all used, the pallet transfer assembly 3 moves to the top of the loading and unloading assembly 2 and grabs the pallet at the top. The loading and unloading assembly 2 starts to drive the stacked pallets to move upward to the designated position. The pallet transfer assembly 3 drives the grabbed pallet to move to the top of another loading and unloading assembly 2 and puts the pallet down, which improves the automation of the transfer equipment, improves the transfer efficiency, and further improves the assembly efficiency.

[0084] Specifically, the frame 1 is erected on the ground and has a certain structural strength, serving as the installation base of the loading and unloading assembly 2 and the pallet transfer assembly 3. The structures, connection relationships and working principles of the two groups of loading and unloading assemblies 2 of the present application are the same, and now a group of loading and unloading assemblies 2 is taken as an example for explanation:

[0085] The loading and unloading assembly 2 includes a support plate 4 and a linear drive assembly. The support plate 4 is fixedly connected to the output end of the linear drive assembly, and the linear drive assembly drives the support plate 4 to move in the vertical direction. Furthermore, the linear drive assembly includes a drive motor 5, a screw rod 6, and a slider assembly 7. The screw rod 6 is arranged to rotate vertically. The drive motor 5 drives the screw rod 6 to rotate. The slider assembly 7 cooperates with the screw rod 6 to form a threaded screw rod 6 pair; the support plate 4 is fixedly connected to the slider assembly 7. It should be noted that the linear drive assembly of the present application can also adopt a linear drive device in the prior art such as a linear motor and a telescopic cylinder.

[0086] In a preferred embodiment, in order to improve the stability of the transfer tray of the loading and unloading assembly 2, the loading and unloading assembly 2 further includes a stabilizing block 8 and a stabilizing slide rail 9, and the stabilizing block 8 is fixedly connected to the slider assembly 7. The stabilizing slide rail 9 is vertically fixedly arranged on the frame 1, and the stabilizing block 8 and the stabilizing slide rail 9 are slidably matched; at least one set of the stabilizing block 8 and the stabilizing slide rail 9 are respectively arranged on both sides of the screw rod 6. The two sets of stabilizing blocks 8 cooperate with the stabilizing slide rail 9 to improve the stability of the movement of the loading and unloading assembly 2.

[0087] In a preferred embodiment, a triangular support plate 10 is provided below the support plate 4 , and the triangular support plate 10 is fixedly connected to the slider assembly 7 , thereby improving the structural strength of the support plate 4 .

[0088] In a feasible implementation manner, the linear drive assembly is arranged on the side of the support plate 4. It should be noted that the linear drive assembly can also be arranged directly below the support plate 4.

[0089] More specifically, the pallet transfer assembly 3 includes a horizontal motion track 11, a transfer frame 12, a suction cup 13, and a linear drive motor 145. The horizontal motion track 11 is arranged above the frame 1, the transfer frame 12 is arranged on the horizontal motion track 11 and can translate along the direction of the horizontal motion track 11, the linear drive motor 145 and the suction cup 13 are both arranged on the transfer frame 12, and the linear drive motor 145 drives the suction cup 13 to descend or rise in the vertical direction. The suction cup 13 acts on the peripheral edge of the pallet. The suction cup 13 of the present application can adopt a pneumatic suction cup 13.

[0090] A horizontal linear drive device 15 is also provided above the frame 1, and the horizontal linear drive device 15 drives the transfer frame 12 to translate along the horizontal motion track 11. The horizontal linear drive device 15 is provided outside the horizontal motion track 11.

[0091] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0092] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0093] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for assembling a door stopper, characterized in that: The steps include: Step S1, the loading device transports the limit arm to the designated area; Step S2, the first material-retrieving manipulator grabs a limit arm from the designated area and places it upright on the middle platform; Step S3: the second material-retrieving manipulator grabs the limit arm erected in the middle platform; Step S4, the second material-retrieving manipulator transfers the grasped upright limit arm to a designated position above the limit box transfer device; Step S5, the second material-retrieving robot drives the erected limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box, and the second material-retrieving robot is reset.

2. The method for assembling a door stopper according to claim 1, characterized in that: Step S1 includes the following sub-steps: The loading and unloading assembly lifts the pallet with the limiting arm upward to the designated area. When there is no limiting arm in the pallet within the designated area, the pallet transfer assembly takes away the pallet in the designated area, and the loading and unloading assembly lifts the pallet with the limiting arm located below to the designated area.

3. The method for assembling a door stopper according to claim 1, characterized in that: For step S1, the limit arm in the designated area is placed horizontally.

4. The method for assembling a door stopper according to claim 1, characterized in that: For step S5, the limit box is located in the accommodating position of the chain conveyor belt, and the chain conveyor belt moves one chain link along the conveying direction of the chain conveyor belt when the second material picking robot inserts the limit arm into the limit box below the designated position.

5. The method for assembling a door stopper according to claim 1, characterized in that: For step S5, the chain conveyor belt moves at a fixed speed; the second material-retrieving robot moves along with the chain conveyor belt in the process of inserting the limit arm into the limit box; The time from the second material-retrieving robot taking the limit arm from the middle platform to completely inserting the limit arm into the limit box below the designated position is less than or equal to the time for the chain conveyor belt to move one link.

6. The method for assembling a door stopper according to claim 1, characterized in that: With respect to step S5, the second material-retrieving robot inserts the limit arm vertically downward into the limit box with a varying force.

7. An assembly system for a vehicle door stopper, characterized in that: The system for performing the assembly method of the door stopper according to any one of claims 1 to 6 comprises a loading device, a first material picking manipulator, an intermediate platform, a second material picking manipulator, a limit box transfer device, a visual device and a control device; Under the control device: The visual device collects images of the specified area and obtains the position information and contour information of the limit arm in the specified area; The first material-retrieving manipulator grabs the limit arm in the specified area and places it upright on the middle platform according to the position information and contour information of the limit arm obtained by the visual device; The second material-retrieving manipulator grabs the vertical limit arm in the middle platform, and transfers the grabbed vertical limit arm to a designated position above the limit box transfer device; The visual device collects image information of the limit box transfer device and obtains the movement information of the limit box. The second material picking robot drives the upright limit arm to be inserted vertically downward into the limit box below the designated position until the limit arm is assembled in place in the limit box and the second material picking robot is reset.

8. The door stopper assembly system according to claim 7, characterized in that: The intermediate platform is provided with at least one insertion slot for allowing the limiting arm to be placed upright.

9. The door stopper assembly system according to claim 7, characterized in that: The first retrieving manipulator includes a third pneumatic clamp, a rotation drive assembly, a third horizontal conveying assembly and a third vertical conveying assembly; The third pneumatic clamp is installed on the output end of the rotation drive assembly, the rotation drive assembly is installed on the slider of the third vertical conveying assembly, and the third vertical conveying assembly is installed on the slider of the third horizontal conveying assembly.

10. The door check assembly system according to claim 7, characterized in that: A material receiving assembly is provided at the conveying end of the limit box transfer device to transfer the assembled limiter to a predetermined position.

Images