Method, assembly station and assembly line for assembling multi-component article

Abstract

A method for assembling a multi-part article (4), comprising the steps of: a) providing a first subassembly (412) and a second subassembly (434); b) picking up the first sub-assembly (412) and the second sub-assembly (434) by means of the first manipulator arm (1) and the second manipulator arm (2) and bringing them into a mutual assembly position; c) assembling a first sub-assembly (412) and a second sub-assembly (434) by the first manipulator arm (1) and the second manipulator arm (2) to form a joint assembly (402); the invention relates to an assembly station (9) comprising a first manipulator arm (1) and a second manipulator arm (2), d) sending a synchronous translation signal to the first manipulator arm (1) and the second manipulator arm (2), e) actuating a synchronous translation of the first manipulator arm (1) and the second manipulator arm (2) and bringing a joint assembly (402) to a respective receptacle (40) obtained in a receiving part (401), an assembly station (9) and an assembly line comprising the station (9).

Description

Technical Field

[0001] The invention relates to a method, an assembly station and an assembly line for assembling a multi-component article. The invention has particular, but not exclusive, application to the assembly of hinges for furniture doors. Background Art

[0002] In the field of facilities for assembling multi-part items, the machines must be able to manufacture a large number of products in a short time. In fact, only with the presence of such a feature can the costs of the facility be amortized in a short time and the investment pay off.

[0003] Therefore, in the field of manufacturing machines for such installations, there is a trend towards creating increasingly fast production lines, sometimes capable of manufacturing tens of thousands of items a day.

[0004] It is therefore necessary to improve the various assembly stations of a production line in order to optimize the assembly process in each station and thereby obtain an improved productivity of the various stations, which has a positive effect on the production capacity of the entire production line.

[0005] Unfortunately, background art assembly lines for multi-component articles do not allow for the increased productivity levels currently required to meet current market demands.

[0006] Furthermore, disadvantageously, the prior art assembly facilities for multi-component articles are capable of performing a separate assembly operation for each stationary state of a component of a received assembly, wherein a stationary state is a state in which, for example, a received component (e.g. a wing of a hinge) placed on a gripper device (e.g. a tray or a laying base) remains available for use at the same assembly station without undergoing manipulation and / or movement. In other words, the stationary state of a component (and therefore preferably also the associated gripper device) indicates that the same component remains in the same assembly station.

[0007] For example, without loss of generality, in a stationary state, the part actually remains stationary in the assembly station, such as when it is placed on a pallet that slides along the assembly line and stops near the station, or it remains in motion, such as when the receiving part is placed on a turntable or placed on a laying station, but it remains in the same assembly state.

[0008] Thus, known assembly lines generally provide several series of individual assembly stations, each of which is associated with a respective stationary state in which the components are received one single component at a time and participate in each assembly operation as they are assembled.

[0009] This adversely affects the length of the assembly line and the use of excessive resources to create each station, with obvious disadvantages in terms of overall volume within the production site, in addition to the production time of each individual multi-component item that must pass through multiple stations before completion. Summary of the invention

[0010] Therefore, there is a strongly felt need to provide an assembly method, an assembly station and an assembly line for multi-component articles which are able to overcome the typical disadvantages of the background art and meet the production needs of the industry.

[0011] In particular, an object of the invention is to speed up assembly operations of multi-component articles, such as hinges.

[0012] Furthermore, the invention aims at simplifying the assembly operations in order to increase the throughput in a time equivalent to that of a multi-component article assembly station according to the prior art.

[0013] Another object of the invention is to increase the flexibility of the production line, ie to adapt the assembly line quickly and automatically to structural variants of a multi-component article, affecting only sub-steps of the assembly without acting on the development of the main line.

[0014] This need is met by a method, an assembly station and an assembly line for assembling a multi-component article according to the appended independent claims.The dependent claims describe preferred or advantageous embodiments of the invention, relating to further advantageous aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] However, the characteristics and advantages of the invention will become apparent from the following description of some preferred embodiments of the invention, given by way of non-limiting indication, with reference to the accompanying drawings, in which:

[0016] Figure 1 shows a perspective view of a multi-component article according to one embodiment of the present invention, wherein the multi-component article is a hinge;

[0017] Figure 2a shows a perspective view of a multi-component article according to one embodiment of the present invention, showing a rivet in an inserted position;

[0018] Figure 2b Shows Figure 2a The same perspective view of the component article in FIG. 1 , wherein the rivet is shown in the inserted position;

[0019] Figure 3 shows a perspective view of a joint assembly for a multi-component article according to one embodiment of the present invention;

[0020] Figure 4a A first subassembly for assembling a joint assembly in one embodiment of the present invention is shown;

[0021] Figure 4b A second subassembly for assembling a joint assembly in one embodiment of the present invention is shown;

[0022] Figure 5 Shows the formation of Figure 3 Exploded views (a, b, c, d) of components of a joint assembly of an embodiment of the present invention, and a view (e) of a rivet in one embodiment of the present invention, which is suitable for connecting the joint assembly to a receiving component in an articulated manner to form a multi-component article;

[0023] Figure 6a shows a side view of a first subassembly and a second subassembly that can be assembled with each other to form a joint assembly in one embodiment of the present invention;

[0024] Figure 6b A side view of a connector assembly in assembled form is shown, the connector assembly comprising Figure 6a The subcomponents in ;

[0025] Figure 7 shows a diagrammatic perspective view of a jaw device according to one embodiment of the invention, on which a receiving part is accommodated;

[0026] Figure 8 shows a diagrammatic perspective view of a jaw arrangement in one embodiment of the present invention, on which a previously assembled multi-component article is received;

[0027] Fig. 9 shows a pictorial perspective view of an assembly station including a first manipulator arm and a second manipulator arm according to one embodiment of the present invention, wherein the first subassembly and the second subassembly are in a mutual assembly position;

[0028] Fig.10 Shows Fig. 9 An enlarged front view of the assembly station in FIG.

[0029] Fig.11 shows a perspective view of an assembly station according to one embodiment of the present invention, wherein a first subassembly and a second subassembly are assembled to form a joint assembly and are in a suspended position;

[0030] Fig.12 yes Fig.11 A front view of the assembly station in FIG.

[0031] Fig.13 is a perspective enlarged view of an assembly station according to one embodiment of the present invention;

[0032] Fig.14a shows a front view of a first subassembly and a second subassembly in a suspended position above a jaw arrangement carrying a receiving part according to one embodiment of the present invention, wherein the first subassembly and the second subassembly are in a mutually assembled position;

[0033] Fig.14b Shows Fig.14a The same embodiment depicted in , wherein said first subassembly and said second subassembly are in an assembled position and form a joint assembly;

[0034] Fig.15 shows a perspective view of an assembly station according to one embodiment of the invention, the assembly station comprising a riveting device;

[0035] Fig.16 Shows Fig.15 An enlarged perspective view of the assembly station in FIG.

[0036] Fig.17 shows a perspective assembly view of an assembly station according to one embodiment of the present invention;

[0037] Fig.18 shows a perspective view of a first pre-assembly group of an assembly station according to one embodiment of the present invention;

[0038] Fig.19 Shows Fig.18 an enlarged detailed view of a portion of the first assembly group in FIG. 1 , particularly showing the third manipulator arm, the rotary table and the lubrication station of the first pre-assembly group;

[0039] Fig.20a shows a perspective view of a third manipulator arm according to one embodiment of the present invention;

[0040] Fig.20b Shows Fig.20a A front view of a third manipulator arm in FIG.

[0041] Fig.21 An enlarged perspective view showing a lubrication station of a first pre-assembled group according to one embodiment of the present invention;

[0042] Fig. 22 A perspective view of a rotating table of a first pre-assembled group according to one embodiment of the present invention is shown;

[0043] Fig.23 shows a perspective view of a second pre-assembly group of an assembly station according to one embodiment of the present invention;

[0044] Fig.24 A front view of a portion of a first pre-assembled set is shown, illustrating a second manipulator arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] With reference to the preceding figures, reference numeral 9 indicates as a whole an assembly station 9 for a multi-component article 4 .

[0046] A multi-part article is an article that is composed of multiple parts that are assembled with each other to form the final multi-part article.

[0047] In particular, according to one embodiment, the multi-component article 4 is a hinge 4 .

[0048] refer to Figure 1 According to a first embodiment, the multi-component article 4 is a hinge for a furniture door. Preferably, according to this embodiment, the multi-component article 4 is a "sliding type" hinge.

[0049] The multi-component article 4 is manufactured by assembling at least the receiving component 401 and the joint assembly 402. In particular, referring to Figure 7 , a receiving seat 40 suitable for accommodating a joint assembly 402 is obtained in the receiving component 401.

[0050] refer to Figure 3 , Figure 4a and Figure 4b , the joint assembly 402 refers to an assembly formed by at least a first subassembly 412 and a second subassembly 434. The first subassembly 412 includes at least two components 41, 42, and the second subassembly 434 includes only one component 43 or at least two components 43, 44.

[0051] refer to Figure 3 In one embodiment, the joint assembly 402 in the present disclosure refers to an assembly including a plurality of components 41 , 42 , 43 , 44 .

[0052] In a structural variant, the multi-component article 4 also comprises one or more auxiliary components 403 when assembled.

[0053] The invention relates to a method for assembling a multi-component article 4 comprising a plurality of components 41 , 42 , 43 , 44 , 401 .

[0054] The assembly method comprises the following steps:

[0055] a) providing a first subassembly 412 comprising at least a first component 41 and a second component 42, and a second subassembly 434 comprising at least a third component 43;

[0056] b) picking up the first subassembly 412 and the second subassembly 434 by the first manipulator arm 1 and the second manipulator arm 2 respectively, and bringing them to a mutual assembly position, wherein the first subassembly 412 and the second subassembly 434 are in the assembly position;

[0057] c) assembling the first subassembly 412 and the second subassembly 434 together through the first manipulator arm 1 and the second manipulator arm 2 to form a joint assembly 402;

[0058] d) on the electronic control unit, sending a synchronized translation signal to the first manipulator arm 1 and the second manipulator arm 2;

[0059] e) actuating a synchronous translation of the first manipulator arm 1 and the second manipulator arm 2 according to the synchronous translation signal and bringing the joint assembly 402 to a corresponding receiving seat 40 obtained in the receiving part 401 .

[0060] In one embodiment, the second subassembly 434 comprises at least two components 43, 44, and the assembly method comprises the following steps before step a):

[0061] a0) providing a first pre-assembled group 91;

[0062] a01) providing a second pre-assembled group 92;

[0063] a1) assembling at least the first component 41 and the second component 42 with each other in a first pre-assembly group 91 to form a first subassembly 412;

[0064] a11) Assembling at least the third component 43 and the fourth component 44 with one another in a second pre-assembly group 92 to form a second subassembly 434 .

[0065] In an advantageous structural variant, the preassembly of the first subassembly 412 and the second subassembly 434 is performed simultaneously.

[0066] In an advantageous embodiment, steps a1) and a11) are ended simultaneously. That is, according to this embodiment, the first subassembly 412 and the second subassembly 434 become available for subsequent assembly to form the joint assembly 402 simultaneously.

[0067] In other words, the first preassembly group 91 is suitable for completing the preassembly of the two or more components 41, 42, 43, 44 simultaneously with the second preassembly group 92. That is, the first preassembly group 91 and the second preassembly group 92 together complete the preassembly of the corresponding subassembly 412, 434.

[0068] In an advantageous embodiment, reference Figure 18 to Figure 20b The first preassembly group 91 comprises a third manipulator arm 3 which is suitable for preassembling the first component 41 and the second component 42 with each other to form a first subassembly 412 .

[0069] In a preferred embodiment, one or more of the first manipulator arm 1, the second manipulator arm 2 and the third manipulator arm 3 are pick-and-place robots. For example, the structural and functional features of the first manipulator arm 1, the second manipulator arm 2 and the third manipulator arm 3 are shown in documents WO2014 / 177985 and WO2014 / 177979 of the present applicant.

[0070] In a preferred embodiment, the third manipulator arm 3 comprises a guide wall 32 in which a guide slot 320 is obtained. The third manipulator arm 3 also comprises an arm 31 and a gripper-holder group 30 supported by said arm 31 and integral therewith.

[0071] In a particularly advantageous embodiment, the gripper-holder set of the third manipulator arm supports three grippers, namely a first gripper 301 , a second gripper 302 and a third gripper 303 .

[0072] In this embodiment, step a1) of the assembly method comprises the following sub-steps:

[0073] m) picking up the first component 41 by a first gripper 301 and bringing it to a second component insertion area;

[0074] n) assembling the second component 42 with the first component 41 in the second component insertion area to form a first subassembly 412;

[0075] o) picking up the first subassembly 412 by means of the second gripper 302 and bringing it to the lubrication station 6;

[0076] p) lubricating the first subassembly 412 in the lubrication station 6;

[0077] q) Picking up said lubricated first subassembly 412 from the lubrication station 6 by the third gripper 303 and bringing it to the standby station 50 to be picked up by the first manipulator arm 1 .

[0078] Advantageously, in this embodiment, the third manipulator arm 3 is adapted to simultaneously perform three operations that assist in assembling the first subassembly 412 .

[0079] Indeed, in a preferred embodiment, the three grippers 301 , 302 , 303 move integrally with each other.

[0080] Hence, in this embodiment, the first gripper 301, the second gripper 302 and the third gripper 303 are adapted to simultaneously perform three separate operations in a single movement of the third manipulator arm 3, preferably in a movement of the third manipulator arm 3 in a single direction.

[0081] The movement of the third manipulator arm 3 in the direction opposite to said single direction is a return operation which brings the grippers 301 , 302 , 303 back to the position initially occupied by them.

[0082] In an advantageous embodiment, preferably by the assembly method of the present invention, the second manipulator arm 2 is suitable for both preassembling the third component 43 and the fourth component 44 to form the second subassembly 434 and picking up the preassembled second subassembly 434 and assembling it to the first subassembly 412.

[0083] In one structural variant, for example, reference Fig.24 The second manipulator arm 2 comprises a first gripper 201 which is adapted to be actuated to open and close to grip the fourth component 44 in the pick-up area and to transport and position it in the third component 43 .

[0084] Furthermore, in a preferred embodiment, the second manipulator arm 2 comprises two grippers, namely the above-mentioned first gripper 201 and the second gripper 202 , which are supported by the gripper-holder set 20 .

[0085] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0086] Preferably, the second gripper 202 is adapted to pick up the second subassembly 434 and assemble the second subassembly with the first subassembly 412 by the assembly method of the present invention.

[0087] Preferably, the first gripper 201 and the second gripper 202 of the second manipulator arm 2 are adapted to operate simultaneously on two consecutive second subassemblies 434. That is, the second gripper 202 is adapted to operate on the second subassembly 434 after being preassembled by the first gripper 201.

[0088] In an advantageous embodiment, for example, Figures 9 to 14b In the illustrated embodiment, steps b) and c) are performed while keeping the first subassembly 412 and the second subassembly 434 in a suspended position, ie avoiding contact with any support member other than the first manipulator arm 1 and the second manipulator arm 2 .

[0089] Advantageously, this embodiment allows reducing the size of the assembly station, without having to provide a support base or a specific station where the first subassembly 412 is assembled with the second subassembly 434 .

[0090] Furthermore, this embodiment allows for increased production line productivity, allowing the connector assembly 402 to be directly used in subsequent assembly operations of a multi-component article.

[0091] According to yet another advantage, providing the components in a suspended position allows easier operation only on the necessary parts, without the need for the receiving part 401 (such as the wing 401 of the hinge 4) to always be present as a support base for each component. This also allows simplifying the group suitable for performing the assembly and automatically and more flexibly managing the control system of the manipulators involved in the work steps.

[0092] In a particularly advantageous embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to be temporarily constrained to each other. In particular, according to this embodiment, such manipulator arms 1 , 2 are adapted to be integrally translated towards the receptacle 40 .

[0093] In particular, according to this embodiment, step e) of the assembly method comprises the following sub-steps:

[0094] e0) constraining the first manipulator arm 1 and the second manipulator arm 2 to each other so as to translate as one;

[0095] e1) actuating at least one of the first manipulator arm 1 and the second manipulator arm 2 in a translational manner to drag the other of the first manipulator arm 1 and the second manipulator arm 2 and the joint assembly 402 in translation toward the receiving part 401 .

[0096] This embodiment allows a significant saving of the resources needed to bring the subassemblies 412 and 434 , respectively, to a common final assembly area (for example, to bring them, respectively, to the receptacle 40 ).

[0097] Advantageously, it is therefore sufficient to power only one of the manipulator arms to allow the already assembled joint assembly 402 to be lowered into the receiving seat 40 .

[0098] In one embodiment further covered by the present disclosure, step e) comprises actuating both said first manipulator arm 1 and said second manipulator arm 2 in translation with power, ie translating both manipulator arms 1 and 2 .

[0099] In one embodiment, the manipulator arms 1 and 2 are adapted to be actuated individually in translation, thereby maintaining a mechanical and kinematic separation between them.

[0100] Preferably, even in this embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to be actuated translationally in a synchronized manner.

[0101] In a construction variant, at least when steps a) to e) are carried out, the receiving part 401 is positioned on the claw device 70 , preferably on a tray 70 or a rotating table.

[0102] In other words, the receiving part 401 is positioned on said jaw device 70 and comprises a receiving seat 40 adapted to receive said previously assembled joint assembly 402 during assembly.

[0103] For simplicity and understandability, in the subsequent part of this specification, the claw device 70 will be referred to by the term tray 70, but it is obvious that the present disclosure is also applicable to a structural variation in which the claw device 70 is a rotating table.

[0104] In one embodiment, reference Figure 7 or Figure 8 In the embodiment of FIG. 7 , the tray 70 is preferably resting on a work surface 700 , preferably parallel to a ground surface.

[0105] In this disclosure, a "ground surface" refers to an imaginary plane that identifies a base, ground or floor on which an assembly station is placed. A "ground surface" is, for example, the floor of a production site.

[0106] Furthermore, the jaw device 70 preferably comprises a support seat 71 which is suitable for stably accommodating the receiving member 401 so that the receiving seat 40 faces upwards, ie faces the other side relative to the working surface 700 .

[0107] In one embodiment, the method for assembling a multi-component article is performed by an assembly station 9 .

[0108] Preferably, the assembly station 9 is inserted into an assembly line comprising a conveying system for feeding the objects being assembled to the trays 70 along a substantially straight feed direction X, which is substantially parallel to the working surface 700 .

[0109] Therefore, according to this embodiment, the tray 70 travels horizontally on an imaginary transport plane parallel to the ground surface, as a reference. The feed direction X is therefore contained in the imaginary transport plane.

[0110] In other words, the pallet 70 travels along the feed direction X and stops on the working surface 700 of the assembly station 9, thereby bringing the receiving part 401 to a stationary state in which it can be used in the assembly station 9 and remain stationary and / or in the same assembly state during the steps of the method according to the invention.

[0111] In one embodiment, when the receiving part 401 is in a stationary state, the tray 70 does not move along the feeding direction X, ie it remains temporarily stationary close to the assembly station 9 .

[0112] In an advantageous embodiment, all steps listed in each embodiment are performed when the receiving part 401 is in a stationary state, ie, in the same assembled state and / or in the same position.

[0113] This advantageously allows shortening of the assembly line, concentrating multiple operations at a single location receiving the component 401. Numerous advantages arise from these aspects in terms of reducing the overall facility volume, increasing the production line productivity and the production supply speed.

[0114] In an advantageous embodiment, reference Figure 7 In the embodiment of the present invention, the receiving member 401 is positioned on the tray 70 so that the receiving seat 40 faces upward, that is, faces the other side relative to the working surface 700. In other words, in this embodiment, the receiving member 401 is located on the tray 70 and the receiving seat 40 faces upward. Therefore, in this embodiment, the receiving seat 40 is suitable for receiving the joint assembly 402 arriving from the top.

[0115] This positioning allows the manipulator arms 1 , 2 to easily reach the receptacle 40 .

[0116] In one embodiment, the manipulator arms 1, 2 support the previously assembled joint assembly 402 in a suspended position above the receiving seat 40, i.e. vertically spaced therefrom. Therefore, in this embodiment, in order to reach the receiving seat 40, the manipulator arms 1, 2 need to translate toward the bottom along the vertical direction Z, i.e., operate the descent.

[0117] According to this embodiment, step g) consists in bringing the joint assembly 402 from the suspended position to said receiving seat 40. Preferably, this step g) is performed by the same first 1 and second 2 manipulator arms.

[0118] In an advantageous embodiment, the translation of the manipulator arms 1, 2 towards the receptacle 40 is performed at least along a vertical direction Z perpendicular to the working surface 700. According to this embodiment, step e) also comprises the synchronous lowering of each manipulator arm 1, 2 towards the tray 70 along said vertical direction Z and the placement of the joint assembly 402 in the receptacle 40 from the top.

[0119] In one embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to engage with each other, for example by geometric interlocking.

[0120] In a preferred embodiment, the first manipulator arm 1 comprises at least a first arm constraining portion, and the second manipulator arm 2 comprises at least a second arm constraining portion. Such first arm constraining portion and second arm constraining portion are adapted to engage with each other to constrain the first manipulator arm 1 and the second manipulator arm 2 to each other, i.e., for translating the first manipulator arm 1 and the second manipulator arm 2 integrally.

[0121] Preferably, step e0) of the assembly method comprises geometrically constraining the first manipulator arm 1 and the second manipulator arm 2 by mutual engagement between said first arm constraining portion and said second arm constraining portion.

[0122] According to another embodiment, a "master-slave" type control system is applied to the first manipulator arm 1 and the second manipulator arm 2, so that, for example, when the second manipulator arm 2 is actuated in translation, the first manipulator arm 1 is also dragged in translation, or vice versa. That is, only one of the two manipulator arms 1, 2 is powered to be actuated in translation by the respective actuation group 13, 23, while the other undergoes translation in an integrated manner due to the drag caused by the mutual engagement between the respective constrained parts of the first arm 1 and the second arm 2.

[0123] In one embodiment, when assembled, the joint assembly 402 and the receiving part 401 form one or more rivet insertion seats, which are suitable for accommodating one or more rivets 45 for connecting the joint assembly 402 to the receiving part 401 in an articulated manner. According to this embodiment, after step e), the assembly method includes the following steps:

[0124] h) providing a riveting device 8 comprising a riveting machine 81 and supplying the riveting device 8 with one or more rivets 45;

[0125] i) hinge the joint assembly 402 in the receiving part 401 by inserting the one or more rivets 45 into the one or more rivet insertion seats by the riveting machine 81 .

[0126] Preferably, reference Fig.15 and Fig.16 , the riveting device 8 is placed at the tray 70 carrying the receiving component 401 in a stationary state.

[0127] Furthermore, the method preferably comprises the following component supplying steps before steps a0) and a01):

[0128] x) Supplying corresponding components 41 , 42 , 43 , 44 to the first preassembly group 91 and the second preassembly group 92 by corresponding supply devices 901 , 902 , 903 , 904 .

[0129] For clarity of disclosure and to facilitate understanding of the invention, the invention will now be described in detail with reference to hinge 4 and its components. However, it is apparent that the invention relates to an assembly method and station for a versatile multi-component article composed of a plurality of components 41,42,43,44,401.

[0130] According to an embodiment of the hinge 4 , the receiving part 401 is a wing 401 intended to be applied to a wall of a piece of furniture.

[0131] According to an embodiment of the hinge 4 , the joint assembly 402 includes the following components: a damper 41 , a pin 42 (preferably a square pin), a connecting rod 43 and a spring 44 .

[0132] When received in the receptacle 40, the joint assembly 402 is articulated, ie articulatedly connectable, to the receiving part 401 by inserting one or more rivets 45. The position of such one or more rivets 45 is shown in more detail in a subsequent part of the disclosure.

[0133] According to a structural variation, the components of the joint assembly 402 and the rivet 45 are Figure 5 , each of which is shown separately in this construction variant, the multi-component item is a hinge 4 of the “sliding” type.

[0134] In particular, according to this variant, the damper 41 , the connecting rod 43 and the spring 44 each comprise a hole, each having a hole axis W1 , W2 , W3 , respectively.

[0135] In the assembled position, the damper 41 , the connecting rod 43 and the spring 44 are positioned such that the respective hole axes W1 , W2 , W3 are aligned along a common alignment direction.

[0136] Similarly, the wing 401 comprises a rivet hole having a rivet insertion axis Y.

[0137] In the final assembly, the components 41, 42, 43, 44 assembled to form the joint assembly 402 are inserted into the receiving seat 40 of the wing 401, and the hole axes W1, W2, W3 previously aligned with each other in the assembled position are also aligned with the rivet insertion axis Y. In other words, in the final assembly, the above-mentioned alignment direction is aligned with the rivet insertion axis Y.

[0138] The joint assembly 402 can thus be connected in an articulated manner to the wing 401 by inserting said at least one rivet 45 into said hole, which was previously aligned along said rivet insertion axis Y along an alignment direction.

[0139] Furthermore, in particular, the damper 41 comprises a pin seat 430 suitable for receiving the pin 42 .

[0140] Furthermore, in one embodiment, the connecting rod 43 comprises a second hole having a hole axis C1 , and the hinge 4 comprises a box-like member 403 adapted to engage the connecting rod 43 by a locking device (eg a U-bolt) inserted along the hole axis C1 .

[0141] In a particularly advantageous embodiment, referring to the embodiment of the hinge 4 and Figure 7, the wing 401 rests on the pallet 70 so that the rivet insertion axis Y is parallel to the imaginary transport plane and orthogonal to the supply direction X, and so that the receptacle 40 faces the other side relative to the ground surface.

[0142] In other words, in such an embodiment, the wings 401 are located horizontally on the tray 70, and the receptacle 40 faces upward. Thus, in such an embodiment, the receptacle 40 is adapted to receive the connector assembly 402 arriving from the top.

[0143] The invention relates to an assembly station 9 for assembling a multi-component article 4 starting from a first subassembly 412 , a second subassembly 434 and a receiving component 401 .

[0144] refer to Figures 9 to 14b , the assembly station 9 according to the invention comprises:

[0145] - a first manipulator arm 1 adapted to pick up a first subassembly 412 from a corresponding pick-up area;

[0146] - a second manipulator arm 2 suitable for picking up said second subassembly 434 from a corresponding pick-up area;

[0147] - a jaw device 70 on which the receiving part 401 can be accommodated, the jaw device being suitable for adopting a rest state and having a receiving seat 40 suitable for receiving the joint assembly 402 comprising the first subassembly 412 and the second subassembly 434;

[0148] - an electronic control unit operatively connected to said first manipulator arm 1 and said second manipulator arm 2 and adapted to send synchronized translation signals to said first manipulator arm 1 and said second manipulator arm 2 .

[0149] According to the present invention, such a first manipulator arm 1 and a second manipulator arm 2 are suitable for assembling the sub-assemblies 412, 434 to form a joint assembly 402, and are suitable for being actuated in a translational manner according to the synchronous translation signal, so as to translate integrally with each other toward the tray 70, thereby bringing the joint assembly 402 to the receiving seat 40 of the receiving part 401.

[0150] In one embodiment, reference Fig.17 and Fig.18 The assembly station 9 comprises a first preassembly group 91 adapted to preassemble the first component 41 and the second component 42 to form a first subassembly 412 .

[0151] In addition, in one embodiment, reference Fig.23 and Fig.24The assembly station 9 comprises a second preassembly group 92 adapted to preassemble the third component 43 and the fourth component 44 to form a second subassembly 434 .

[0152] Furthermore, in one embodiment, the assembly station 9 comprises a plurality of supply devices 901 , 902 , 903 , 904 for supplying components 41 , 42 , 43 , 44 to the respective pre-assembly groups 91 , 92 .

[0153] Preferably, such supply devices 901, 902, 903, 904 are circular or linear electromagnetic vibrating self-dispensers.

[0154] Furthermore, the assembly station 9 preferably comprises a support structure 90 which supports each preassembly group 91 , 92 and each supply device 901 , 902 , 903 , 904 .

[0155] Preferably, with reference to the embodiment of the hinge 4 , the dampers 41 and the pins 42 are supplied to the first pre-assembly group 91 by means of a damper supply device 901 and a pin supply device 902 , respectively.

[0156] To this end, the first preassembly group 91 is suitable for handling the damper 41 and the pin 42 that are supplied separately, in order to assemble the pin 42 in the damper 41 .

[0157] In an advantageous embodiment, the feed devices 901 and 902 are each followed by a transport guide 911, 912. Each transport guide 911, 912 is suitable for bringing a respective component 41, 42 to a respective pick-up area.

[0158] In one advantageous embodiment, referring to the example of hinge 4 , the first pre-assembly set 91 comprises a third manipulator arm 3 suitable for applying a pin 42 to a damper 41 .

[0159] In a preferred embodiment, one or more of the first manipulator arm 1, the second manipulator arm 2 and the third manipulator arm 3 is a pick and place robot. For example, the structural and functional features of such one or more manipulator arms 1, 2, 3 are shown in documents WO2014 / 177985 and WO2014 / 177979 of the present applicant.

[0160] In a preferred embodiment, the third manipulator arm 3 is adapted to pick up a first component 41 , such as a damper 41 , from a pick-up area and bring it to a second component insertion area or a pin insertion area.

[0161] In a preferred embodiment, the first pre-assembly group 91 comprises a position sensor adapted to detect the presence of the first component 41 in the pick-up area and to send a presence signal to the electronic control unit to actuate the third manipulator arm 3 .

[0162] In one embodiment, the third manipulator arm 3 comprises a first gripper 301 supported by the gripper-holder set 30. In one embodiment, such first gripper 301 is adapted to be actuated to open and close to grab the damper 41 in the loading area and transport the damper to such pin insertion area.

[0163] Furthermore, the first preassembly set 91 includes a pin insertion device which inserts the pin 42 into the pin seat 430 .

[0164] Preferably, the pin insertion device is a packaging device.

[0165] In one embodiment, the pin insertion device comprises a centering device and an inserter. The centering device comprises a corresponding movable punch, which is suitable for positioning the damper 41 so that the pin seat 430 is suitable for receiving the pin 42. This movable punch is moved by a pneumatic cylinder. The inserter comprises a corresponding movable punch, which is suitable for pushing the pin 42 into the pin seat 430.

[0166] In particular, as the movable inserter punch advances toward the pin seat 430, the movable centering device punch gradually retracts.

[0167] In a construction variant, the pin insertion device advantageously comprises a linear sensor, for example a sensor of the Sick brand, suitable for measuring the precise position of a pneumatic cylinder moving the punch of the movable centering device.

[0168] Advantageously, such a linear sensor allows monitoring whether the stroke of the pneumatic cylinder moving the centering device has actually been completed and ensures that the pin 42 is actually inserted into the pin seat 430 .

[0169] According to one embodiment, as mentioned in the above paragraph, the third manipulator arm 3 comprises a first gripper 301, a second gripper 302 and a third gripper 303. The operation of the three grippers is described in detail below with reference to an embodiment in which the first component is a damper 41 and the second component is a pin 42.

[0170] In particular, the first gripper 301 is adapted to transport the damper 41 from the pick-up area to the pin insertion area where the pin insertion device is adapted to insert the pin 42 into the pin seat 430. Preferably, the pin 42 is fed by the dedicated feeding device 902 as described above.

[0171] The second gripper 302 is adapted to pick up the first subassembly 412 from the pin insertion area and bring it to the first lubrication station 6, the first subassembly comprising the damper 41 and the pin 42 joined by the operation described in the previous paragraphs.

[0172] According to one embodiment, reference Fig.19 and Fig.21 , the assembly station 9 therefore comprises a lubrication station 6 which preferably comprises a lubrication device 61 suitable for distributing grease in the second pin 430 .

[0173] Preferably, the lubrication station 6 comprises a reciprocating pump suitable for metering grease. Furthermore, in a construction variant, such a reciprocating pump comprises a sensor suitable for detecting the presence of available grease, and an electronic control unit connected to such a sensor is suitable for actuating the pump only when such a sensor detects that grease is available.

[0174] Finally, the third gripper 303 is suitable for picking up the first subassembly 412 from the lubrication station 6 and bringing it to the standby station 50 .

[0175] In one embodiment of the present invention, reference Fig.19 and Fig. 22 , the assembly station 9 comprises a rotary table 5, which comprises a support plate with two or more subsequent resting positions. Preferably, the standby station 50 is one of the subsequent resting positions.

[0176] In other words, according to this embodiment, the third gripper 303 is suitable for positioning the first subassembly 412 in one of said subsequent positions of said rotary table 5 , preferably in a position corresponding to the standby station 50 .

[0177] In one embodiment, the rotary table 5 has four subsequent positions.

[0178] In one structural variation, each subsequent location is adapted to receive and support the first subassembly 412 .

[0179] According to an advantageous embodiment, the rotary table 5 is operable to rotate about a second vertical direction Z′, which is parallel to the vertical direction Z and perpendicular to the ground surface.

[0180] In an advantageous embodiment, the rotary table 5 is suitable for being stopped during the rotation, so that each subsequent position becomes a standby station 50 for receiving the first subassembly 412 during the rotation.

[0181] According to one embodiment of the invention, the first subassembly 412 is placed in the standby station 50 and the rotary table 5 performs two subsequent 90° rotations or one 180° rotation about the axis of rotation Z, thereby bringing the first subassembly 412 to the loading position.

[0182] In a variant, each subsequent position of the rotary table 5 comprises compression means suitable for compressing the damper 41 .

[0183] Preferably, the compression device is a pneumatic cylinder.

[0184] Advantageously, the positioning of the first subassembly 412 on the rotating table 5 allows obtaining an area used as a reserve area for providing said first subassembly 412 to be picked up by the first manipulator arm 1 for assembling it with the second subassembly 434 .

[0185] Furthermore, leaving the first subassembly 412 on the rotating table 5 advantageously allows the damper 41 to be gradually compressed to be picked up by the first manipulator arm 1 .

[0186] Advantageously, the use of such a rotating table 5 allows the damper to be compressed gradually, avoiding possible fracture that would occur if the damper were compressed in an instantaneous manner.

[0187] At the same time, the stabilization of the grease deposited in the lubrication station inside the pin seat 430 is advantageously promoted.

[0188] Obviously, the three clamps 301, 302, 303 are suitable for operating continuously on the same first subassembly 412 and on its parts, that is, on the first part 41 and the second part 42 (according to the embodiment of the hinge 4, on the damper 41 and on the pin 42), that is, each clamp operates sequentially on the same subassembly.

[0189] It is also obvious that while the first clamp 301 is operating on a first subassembly, the second clamp 302 is operating on a previous first subassembly, i.e. the first subassembly preceding it in the assembly line, and it has already undergone the insertion of the pin 42 in the pin seat 430, and the third clamp 303 is operating on another previous first subassembly, which has already undergone the insertion of the pin 42 in the pin seat 430 and the lubrication of such seat in the lubrication station 6.

[0190] Thus, the three grippers 301 , 302 , 303 are advantageously adapted to operate simultaneously on three separate subassemblies, thereby increasing the productivity of the assembly station.

[0191] In one embodiment of the present invention, referring to the example of hinge 4 , the second subassembly comprises a connecting rod 43 and a spring 44 , and the second preassembly group 92 is adapted to preassemble the connecting rod 43 and the spring 44 to form a second subassembly 434 .

[0192] Preferably, each connecting rod 43 and each spring 44 are supplied to the second pre-assembly group 92 by a connecting rod supply device 903 and a spring supply device 904, respectively.

[0193] To this end, the second preassembly group 92 is suitable for processing the connecting rod 43 and the spring 44 in order to assemble the spring 44 in the connecting rod 43 so as to form a second subassembly 434 .

[0194] In one embodiment, the feed devices 903 and 904 are followed by respective transport guides 913, 914, each transport guide 913, 914 being adapted to bring a respective component 43, 44 to a respective pick-up area.

[0195] In a variant, the second pre-assembly group 92 also comprises a corresponding lubrication station for distributing grease in the spring 44 , preferably placed in the pickup area of ​​the spring itself.

[0196] In an advantageous embodiment, the second manipulator arm 2 is adapted to apply the spring 44 to the connecting rod 43 and to pick up the preassembled second subassembly 434 and assemble it with the first subassembly 412 .

[0197] In a preferred embodiment, in particular, the second manipulator arm 2 is adapted to pick up the spring 44 from the pick-up area and place it in the connecting rod 43 .

[0198] In one construction variant, the second manipulator arm 2 comprises a first gripper 201 suitable for being actuated to open and close to grasp the spring 44 in the pick-up area and to transport and position the spring in the connecting rod 43 .

[0199] Furthermore, in a preferred embodiment, the second manipulator arm 2 comprises two grippers, namely the above-mentioned first gripper 201 and the second gripper 202 , which are supported by a gripper-holder set 20 .

[0200] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0201] As indicated above, the first clamp 201 is adapted to pick up the spring 44 and position it in the connecting rod 43 .

[0202] As already mentioned with respect to the general embodiment of the third component 43 and the fourth component 44 , the second gripper 202 is adapted to pick up the second subassembly 434 and assemble it with the first subassembly 412 .

[0203] Preferably, the two grippers 201 and 202 are adapted to act simultaneously on two consecutive subassemblies 434. Obviously, each gripper 201, 202 operates successively on the same second subassembly 434 and / or on its parts 43, 44, i.e., in this embodiment, on the connecting rod 43 and on the spring 44.

[0204] Furthermore, in an advantageous embodiment, the first manipulator arm 1 is adapted to pick up the first subassembly 412 from the rotary table 5 .

[0205] In a construction variant, the first manipulator arm 1 comprises a gripper 101 suitable for opening and closing to grasp the first subassembly 412 , to bring it into the mutual assembly position and to assemble it with the second subassembly 434 .

[0206] In a preferred embodiment, each manipulator arm 1, 2, 3 comprises a guide wall 12, 22, 32 in which a guide slot 120, 220, 320 is obtained. Each guide slot is adapted to guide the movement of a respective gripper according to the functionality described in the aforementioned document.

[0207] Furthermore, each manipulator arm 1 , 2 , 3 preferably comprises at least one gripper 101 , 201 , 301 .

[0208] In one embodiment, the assembly station 9 comprises for each manipulator arm 1 , 2 , 3 a respective actuation group 13 , 23 , 33 suitable for actuating the movement of each manipulator arm 1 , 2 , 3 .

[0209] In an advantageous embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to pick up the first subassembly 412 and the second subassembly 434 , respectively, and keep them suspended avoiding all contact with any support other than said first manipulator arm 1 and said second manipulator arm 2 .

[0210] In an advantageous variant, the first manipulator arm 1 and the second manipulator arm 2 are suitable for assembling the first subassembly 412 and the second subassembly 434 with each other to obtain the joint assembly 402 .

[0211] In an advantageous embodiment, said first manipulator arm 1 and said second manipulator arm 2 are suitable for assembling such subassembly 412, 434 in a suspended position, i.e. "in flight", that is to say avoiding all contact with any support other than said first manipulator arm 1 and said second manipulator arm 2, so as to form a joint assembly 402.

[0212] In one embodiment, the assembly of the above-mentioned subassembly is carried out at a given distance from said receiving part 401 along the vertical direction Z, taking into account the receiving part 401 (wing 401 according to the embodiment of the hinge) placed on the tray 70 .

[0213] That is, the receiving seat 40 is adapted to receive a subassembly only after it has been assembled in the air at a given distance from said seat 40. Or, in other words, the assembly station 9 is adapted to bring the joint assembly 402 to the receiving seat 40 only after it has been assembled.

[0214] Furthermore, according to an advantageous embodiment, after assembly of the joint assembly 402 , the first manipulator arm 1 and the second manipulator arm 2 are adapted to translate towards the receiving part 401 , thereby dragging therewith the joint assembly 402 previously assembled in the air, in order to position it in the receiving seat 40 .

[0215] Preferably, the first manipulator arm 1 and the second manipulator arm 2 are suitable for translation along a vertical direction Z towards a receptacle 40 .

[0216] In a preferred embodiment, the first manipulator arm 1 comprises a first arm restraining portion, and wherein the second manipulator arm 2 comprises a second arm restraining portion, wherein the first arm restraining portion and the second arm restraining portion are engageable with each other for restraining the first manipulator arm 1 and the second manipulator arm 2 to each other.

[0217] In an advantageous embodiment, the assembly station 9 comprises a respective actuation group 13, 23 for each manipulator arm 1, 2. The electronic control unit is adapted to actuate only one of said actuation units 13, 23 to translate both said first manipulator arm 1 and said second manipulator arm 2 integrally towards the receptacle 40.

[0218] That is, in this advantageous embodiment, only one of the manipulator arms 1, 2 is actuated by power to translate towards the receptacle 40. The inactive manipulator arm undergoes translation due to the dragging of the active manipulator arm by means of a temporary restraint obtained by a respective restraining portion of each manipulator arm.

[0219] In one embodiment, such constrained portion is obtained in the respective grippers 101 , 202 of said first manipulator arm 1 and said second manipulator arm 2 .

[0220] In one embodiment, the respective constraining portions of the first manipulator arm 1 and the second manipulator arm 2 are adapted to switch from an engaged configuration to a disengaged configuration and vice versa according to the operational needs of the assembly station.

[0221] In a preferred embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to be integrally translated and moved along a vertical direction Z perpendicular to the working surface 700 , so as to vertically translate the joint assembly 402 toward the receiving seat 40 of the receiving component 401 .

[0222] Obviously, as described at the beginning of the present disclosure, in an embodiment of the hinge 4, the first manipulator arm 1 and the manipulator arm 2 are suitable for positioning the joint assembly 402 in the receiving seat 40 so that the corresponding hole axes W1, W2, W3 of the damper 41, the connecting rod 43 and the spring 44 are aligned with the rivet insertion axis Y of the hole of the wing 401.

[0223] Furthermore, in one embodiment of the invention, the assembly station 9 comprises a riveting device 8 which comprises a riveting machine 81 .

[0224] In a preferred variant, the riveting device 8 is placed near the pallet 70 and in particular the riveting machine 81 is at rest relative to the wing 401 , arranged in an aligned manner relative to the rivet insertion axis Y.

[0225] Preferably, the riveting device 8 has the same structural and functional features as those shown in the applicant's documents WO 2018 / 029563 and WO 2020 / 121102 A1.

[0226] The riveting machine 81 is adapted to insert the rivets 45 into the wing 401 and the joint assembly 402 along the rivet insertion axis Y to connect the joint assembly 402 and the wing 401 in an articulated manner.

[0227] In one embodiment of the invention, the assembly station 9 comprises detection means adapted to detect the station status and transmit an active signal or a static signal to the electronic control unit to stop or activate the assembly station 9, respectively.

[0228] In particular, such detection means comprise a first sensor adapted to detect the presence of a component provided along each transport guide 911 , 912 , 913 , 914 .

[0229] Furthermore, preferably, such detection means comprises a second sensor adapted to detect whether the components provided along each transport guide 911, 912, 913, 914 are sufficient to push the respective component into the correct position in the loading area to be picked up by the respective manipulator arm.

[0230] Furthermore, in one embodiment, the detection device comprises a third sensor, which is preferably placed at the end of one or more of the transport guides 911, 912, 913, 914, and which is suitable for detecting the presence of a component to be picked up by the corresponding manipulator arm in the corresponding picking area C.

[0231] In its most complete embodiment, the method for assembling a multi-part article according to the embodiment in which the multi-part article 4 is a hinge comprises the following steps:

[0232] I) providing an assembly station 9 according to the invention;

[0233] II) supplying the damper 41 and the pin 42 to the first pre-assembly group 91 and supplying the connecting rod 43 and the spring 44 to the second pre-assembly group 92;

[0234] III) in the first pre-assembly group 91 , assembling the damper 41 and the pin 42 to each other to form a first subassembly 412 ;

[0235] IV) in the second pre-assembly group 92 , the connecting rod 43 and the spring 44 are assembled with each other to form a second subassembly 434 ;

[0236] V) bringing the first subassembly 412 and the second subassembly 434 to the suspended position respectively by the first manipulator arm 1 and the second manipulator arm 2;

[0237] VI) in the suspended position, assembling the first subassembly 412 and the second subassembly 434 together to form the joint assembly 402;

[0238] VII) providing a tray 70 on which the wing 401 is positioned in a resting state and which comprises a receiving seat 40 suitable for receiving a joint assembly 402;

[0239] VIII) actuating the first manipulator arm 1 and the second manipulator arm 2 to translate integrally toward the receiving seat 40 and positioning the joint assembly 402 in the receiving seat 40 to form one or more rivet insertion seats suitable for engaging one or more rivets 45;

[0240] IX) providing a riveting device 8 near the pallet 70, said riveting device comprising a riveting machine 81 and supplying said riveting device 8 with one or more rivets 45;

[0241] X) connecting the joint assembly 402 and the wing 401 together in an articulated manner by inserting the one or more rivets 45 into the joint assembly 402 and the one or more rivet insertion seats in the wing 401 by means of the riveting machine 81 .

[0242] Preferably, steps I) to X) of the method are all performed in the same assembly station 9 while the wing 401 is in a single stationary state.

[0243] In one embodiment, when the assembly station 9 is inserted into the assembly line, the tray 70 is actuated to translate along the feed direction X only after the wing 401 has been connected in an articulated manner to the joint assembly 402 by inserting one or more rivets 45 .

[0244] The invention also relates to an assembly line comprising an assembly station 9 according to the invention.

[0245] Innovatively, the present invention solves the conventional shortcomings of the background art.

[0246] Advantageously, the assembly station according to the invention allows to speed up the assembly operations of multi-component articles.

[0247] Furthermore, advantageously, the assembly station, the assembly method and the assembly line according to the invention simplify the assembly operations of multi-component articles and ensure an increase in the throughput of the assembly line in which the assembly station is inserted, with equal time compared to known assembly lines.

[0248] According to another advantage, the assembly station according to the invention increases the flexibility of the assembly line in which it is inserted. In fact, advantageously, providing an assembly station suitable for allowing the assembly of several accessory parts in a single station allows adapting the assembly line to structural variants of the final multi-part article, intervening only in a sub-step of assembly without contributing to the development of the main line.

[0249] Obviously, in order to meet specific needs, those skilled in the art can change the implementation of the above-mentioned assembly station, or replace the components with other functionally equivalent components.

[0250] Such variations are also included in the scope of protection defined by the following claims. Furthermore, each variation described as belonging to possible embodiments can be implemented regardless of the other variations described.

Claims

1. A method for assembling a multi-component article (4) comprising a plurality of components (41, 42, 43, 44, 401), comprising the following steps: a) providing a first subassembly (412) comprising at least a first component (41) and a second component (42) and a second subassembly (434) comprising at least a third component (43); b) picking up the first subassembly (412) and the second subassembly (434) by means of a first manipulator arm (1) and a second manipulator arm (2), respectively, and bringing the first subassembly and the second subassembly to a mutual assembly position, wherein the first subassembly (412) and the second subassembly (434) are in the assembly position; c) assembling the first subassembly (412) and the second subassembly (434) together by the first manipulator arm (1) and the second manipulator arm (2) to form a joint assembly (402); d) sending a synchronized translation signal to the first manipulator arm (1) and the second manipulator arm (2) on an electronic control unit; e) actuating the synchronous translation of the first manipulator arm (1) and the second manipulator arm (2) according to the synchronous translation signal, and bringing the joint assembly (402) to a corresponding receiving seat (40) obtained in the receiving part (401), the receiving seat (40) being suitable for receiving the joint assembly (402).

2. The assembly method according to claim 1, wherein: The second subassembly (434) comprises at least two components (43, 44), and wherein the method comprises the following steps before step a): a0) providing a first pre-assembled group (91); a01) providing a second pre-assembled group (92); a1) assembling at least a first component (41) and a second component (42) with each other in the first pre-assembly group (91) to form the first subassembly (412); a11) Assembling at least the third component (43) and the fourth component (44) with one another in the second pre-assembly group (92) to form the second subassembly (434).

3. The assembly method according to claim 2, wherein: Steps a1) and a11) are completed at the same time.

4. The assembly method according to any one of the preceding claims, wherein: Steps b) and c) are performed while maintaining the first subassembly (412) and the second subassembly (434) in a suspended position, i.e. avoiding contact with any support member other than the first manipulator arm and the second manipulator arm (1, 2).

5. Assembly method according to any one of the preceding claims, wherein: The first manipulator arm and the second manipulator arm (1, 2) are adapted to temporarily constrain each other and to integrally perform a translation towards the receptacle (40), and wherein step e) is performed by the following sub-steps: e0) constraining the first manipulator arm (1) and the second manipulator arm (2) to each other so that the first manipulator arm and the second manipulator arm translate integrally; e1) actuating at least one of the first manipulator arm and the second manipulator arm (1, 2) in a translational manner to drag the other of the first manipulator arm and the second manipulator arm (1, 2) and the joint assembly (402) toward the receiving part (401) in translation.

6. Assembly method according to any one of the preceding claims, wherein: At least during steps a) to e), the receiving part (401) is positioned on a claw device (70) located on a working surface (700) so that the receiving seat (40) faces upwards, that is, faces the other side relative to the working surface (700).

7. The assembly method according to claim 6, wherein: All steps listed in at least one of the preceding claims are performed when the receiving part (401) is in the same static state, ie in the same assembled state and / or in the same position.

8. The assembly method according to claim 6 or 7, wherein: The translation of the manipulator arm (1, 2) towards the receiving seat (40) is carried out at least along a vertical direction (Z) perpendicular to the working surface (700), And wherein step e) comprises each manipulator arm (1, 2) synchronously descending along the vertical direction (Z) towards the jaw device (70) and placing the joint assembly (402) in the receiving seat (40) from the top.

9. The assembly method according to any one of claims 5 to 8, wherein: The first manipulator arm (1) comprises at least a first arm constraining portion, and the second manipulator arm (2) comprises at least a second arm constraining portion, the first arm constraining portion and the second arm constraining portion being adapted to engage with each other so that the first manipulator arm and the second manipulator arm (1, 2) are constrained to each other, and wherein step e0) provides geometrical constraint to the first manipulator arm (1) and the second manipulator arm (2) by mutual engagement between the first arm constraining portion and the second arm constraining portion.

10. Assembly method according to any one of the preceding claims, wherein: When assembled, the joint assembly (402) and the receiving part (401) form one or more rivet insertion seats, which are suitable for receiving one or more rivets (45) for connecting the joint assembly (402) to the receiving part (401) in an articulated manner, and wherein the assembly method comprises the following steps after step e): h) providing a riveting device (8) comprising a riveting machine (81), and supplying one or more rivets (45) to the riveting device (8); i) connecting the joint assembly (402) in the receiving part (401) in an articulated manner by inserting the one or more rivets (45) into the one or more rivet insertion seats using the riveting machine (81).

11. An assembly station (9) for assembling a multi-component article (4) starting from a first subassembly (412), a second subassembly (434) and a receiving component (401), the assembly station (9) comprising: - a first manipulator arm (1) adapted to pick up said first subassembly (412) from a corresponding pick-up area; - a second manipulator arm (2) adapted to pick up said second subassembly (434) from a corresponding pick-up area; - a claw device (70) adapted to receive a receiving component (401) having a receiving seat (40), the receiving seat being adapted to receive a joint assembly (402), the joint assembly comprising the first subassembly (412) and the second subassembly (434); - an electronic control unit operatively connected to the first manipulator arm (1) and the second manipulator arm (2), the electronic control unit being adapted to send synchronized translation signals to the first manipulator arm and the second manipulator arm (1, 2); The first manipulator arm and the second manipulator arm (1, 2) are suitable for assembling the subassemblies (412, 434) to form a joint assembly (402), and are suitable for being actuated in a translational manner according to the synchronous translation signal, and are suitable for being translated integrally toward the claw device (70) for bringing the joint assembly (402) to the receiving seat (40) of the receiving component (401).

12. An assembly station according to the preceding claim, comprising a first preassembly group (91) suitable for preassembling a first component (41) and a second component (42) for manufacturing the first subassembly (412), and comprising a second preassembly unit (92) suitable for preassembling a third component (43) and a fourth component (44) for manufacturing the second subassembly (434).

13. Assembly station (9) according to claim 11 or 12, wherein: The first manipulator arm (1) comprises a first arm restraining portion, and wherein the second manipulator arm (2) comprises a second arm restraining portion, the first arm restraining portion and the second arm restraining portion being engageable with each other for restraining the first manipulator arm (1) and the second manipulator arm (2) to each other.

14. Assembly station (9) according to any one of claims 11 to 13, wherein The first manipulator arm (1) and the second manipulator arm (2) are adapted to translate integrally with each other along a vertical direction (Z) perpendicular to a working surface (700) on which the clamping jaw device (70) is provided.

15. Assembly station (9) according to any one of claims 11 to 14, wherein The first manipulator arm (1) and the second manipulator arm (2) each comprise a respective actuation group (13, 23) adapted to actuate the respective manipulator arm (1, 2) in a translational manner, and wherein the electronic control unit is adapted to activate only one of the actuation groups (13, 23) for causing both the first manipulator arm (1) and the second manipulator arm (2) to translate integrally towards the receiving seat (40).

16. An assembly line comprising an assembly station according to any one of claims 11 to 15.

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