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

Abstract

A method for assembling two subassemblies (412, 434) comprises the steps of: providing a first subassembly (412) and a second subassembly (434); picking up the first sub-assembly (412) and the second sub-assembly (434) by the first manipulator arm (1) and the second manipulator arm (2) and keeping them suspended; the first and second sub-assemblies (412, 434) are brought to a mutual assembly position and assembled in a suspended position to form a joint assembly (402), thereby avoiding all contact with any support other than the first and second manipulator arms (1, 2). A method for assembling a multi-component article (4), including a method for assembling a subassembly. An assembly station (9), and an assembly line comprising said station (9).

Description

Technical Field

[0001] The invention relates to a method for assembling a subassembly, a method for assembling a multi-component article, an assembly station and an assembly line. 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 stations for multi-component articles are capable of performing a single assembly operation for each stationary state, wherein a stationary state is a state in which a receiving component (e.g. a wing of a hinge) preferably placed on a jaw device (e.g. a tray or a laying base) remains available to 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 jaw 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 close to 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 for assembling a subassembly, a method for assembling a multi-component article, an assembly station and an assembly line 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 4aA 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 an 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 such an embodiment, the multi-component article 4 is a "sliding type" hinge.

[0049] The multi-component article 4 is produced at least by the assembly of a receiving component 401 and a joint assembly 402. In particular, a receptacle 40 suitable for accommodating the joint assembly 402 is obtained in the receiving component 401.

[0050] 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 two subassemblies 412 , 434 to obtain a joint assembly 402 suitable for then being assembled to form a multi-component article 4 .

[0054] The assembly method includes the following operating steps: a) providing a first subassembly 412 including at least a first part 41 and a second part 42, and a second subassembly 434 including at least a third part 43; b) picking up the first subassembly 412 by a first manipulator arm 1 and keeping the subassembly 412 suspended, avoiding all contact with any support member other than the first manipulator arm 1; c) separately, picking up the second subassembly 434 by a second manipulator arm 2 and keeping the second subassembly 434 suspended, avoiding all contact with any support member other than the second manipulator arm 2; d) moving at least one of the first subassembly 412 and the second subassembly 434 to bring the first subassembly 412 and the second subassembly 434 to a mutual assembly position, in which the first subassembly 412 is in an assembly position with the second subassembly 434; e) assembling the first subassembly 412 and the second subassembly 434 in a suspended position to form a joint assembly 402, avoiding all contact with any support member other than the first manipulator arm 1 and the second manipulator arm 2.

[0055] Figure 4a and Figure 4b The first subassembly 412 and the second subassembly 434 according to one embodiment of the present invention are respectively shown. Figure 6a and Figure 6b In the embodiment, the subassemblies are shown in an assembled and assembled position relative to each other.

[0056] In one embodiment, the two subassembly assembly method comprises the following steps before step a): a0) providing a first preassembly group 91 ; a1) assembling at least the first component 41 and the second component 42 with each other in the first preassembly group 91 to form a first subassembly 412 .

[0057] In one embodiment, the second subassembly 434 also includes at least two components 43, 44, and the method includes the following steps before step a): a01) providing a second preassembly group 92; a11) assembling at least the third component 43 and the fourth component 44 with each other in the second preassembly group 92 to form the second subassembly 434.

[0058] In an advantageous structural variant, the preassembly of the first subassembly 412 and the second subassembly 434 is performed simultaneously.

[0059] In an advantageous embodiment, steps a1) and a11) are ended simultaneously. That is, according to such an embodiment, first subassembly 412 and second subassembly 434 become available for assembly to form joint assembly 402 at the same time.

[0060] 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.

[0061] In one advantageous embodiment and with reference to 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 .

[0062] 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.

[0063] In a preferred embodiment and with reference to Fig.20a and Fig.20b , the third manipulator arm 3 comprises a guide wall 32 in which a guide groove 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.

[0064] 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 .

[0065] In such an embodiment, step a1) of the method for assembling two subassemblies includes the following sub-steps: m) picking up the first component 41 by the first gripper 301 and bringing it to the second component insertion area; n) assembling the second component 42 with the first component 41 in the second component insertion area to form a first subassembly 412; o) picking up the first subassembly 412 by the second gripper 302 and bringing it to the lubrication station 6; p) lubricating the first subassembly 412 in the lubrication station 6; q) picking up the 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.

[0066] Advantageously, in such an embodiment, the third manipulator arm 3 is adapted to simultaneously perform three operations that facilitate assembling the first subassembly 412 .

[0067] Indeed, in a preferred embodiment, the three grippers 301 , 302 , 303 move integrally with each other.

[0068] Hence, in such an 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.

[0069] 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.

[0070] In a preferred embodiment, preferably through the method of the present invention for assembling two subassemblies, the second manipulator arm 2 is suitable for both preassembling the third component 43 and the fourth component 44 to form a second subassembly 434, and for picking up the preassembled second subassembly 434 and assembling it to the first subassembly 412.

[0071] In a structural variant and with reference to 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 .

[0072] Furthermore, in a preferred embodiment, the second manipulator arm 2 includes two grippers, namely, the first gripper 201 and the second gripper 202 described above.

[0073] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0074] The second gripper 202 is adapted to pick up the second subassembly 434 and assemble the second subassembly 434 with the first subassembly 412 , preferably by the method for assembling two subassemblies of the present invention.

[0075] 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.

[0076] The invention also relates to a method for assembling a multi-component article 4 comprising a plurality of components 41 , 42 , 43 , 44 .

[0077] This method for assembling a multi-component article comprises the steps of the method for assembling two sub-assemblies according to the present invention shown in the preceding paragraphs, and the following steps: f) providing a claw device 70 suitable for receiving the previously assembled joint assembly 402; g) bringing the joint assembly 402 from a suspended position to the claw device 70.

[0078] The jaw device 70 is preferably a pallet 70 adapted to be moved in the feeding direction X along the assembly line, or a rotating table adapted to be used as a laying base.

[0079] 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.

[0080] In one embodiment, reference Figure 7 or Figure 8 In the embodiment of FIG. 1 , the tray 70 preferably rests on a work surface 700 and is preferably parallel to the ground surface.

[0081] 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.

[0082] 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 .

[0083] In one embodiment, the method for assembling two subassemblies and the method for assembling a multi-component article are performed in the assembly station 9 .

[0084] Preferably, the assembly station 9 is inserted into an assembly line comprising a conveying system for feeding the objects being assembled to the tray 70 along a substantially straight feeding direction X substantially parallel to the working surface 700 .

[0085] Therefore, according to such an embodiment, the tray 70 travels horizontally on an imaginary transport plane parallel to the ground surface, as a reference. Therefore, the feeding direction X is contained in the imaginary transport plane.

[0086] In one embodiment, 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 the receiving part 401 can be used in the assembly station 9 and remains stationary and / or in the same assembly state during the steps of the method according to the invention.

[0087] In one embodiment, a receiving part 401 is positioned on said tray 70, said receiving part comprising a receiving seat 40 adapted to receive said joint assembly 402 as an assembly previously assembled by the method for assembling two subassemblies of the present invention.

[0088] According to such an embodiment, step g) consists in bringing the joint assembly 402 from a suspended position to said receiving seat 40. Preferably, such step g) is performed by the same first 1 and second 2 manipulator arms.

[0089] In an advantageous embodiment, the first manipulator arm 1 and the second manipulator arm 2 are suitable for temporarily constraining each other and for integrally performing a translation from a suspended position toward a receiving seat 40, and wherein step g) is performed by a synchronous translation of each manipulator arm 1, 2 toward said receiving seat 40 to bring the joint assembly 402 toward the receiving part 401 and place it in said receiving seat.

[0090] In a particularly advantageous embodiment, reference Figure 7 In the embodiment of FIG. 4 , the receiving member 401 is positioned on the tray 70 such that the receiving seat 40 faces the other side relative to the ground surface.

[0091] In other words, in such an embodiment, the receiving member 401 is located on the tray 70, and the receiving seat 40 faces upward. Therefore, in such an embodiment, the receiving seat 40 is suitable for receiving the joint assembly 402 arriving from the top.

[0092] In an advantageous embodiment, the translation from the suspended position towards the receptacle 40 is carried out along a vertical direction Z, ie along a direction perpendicular to the working surface 700 .

[0093] Thus, according to this advantageous embodiment, step g) is performed by a synchronized lowering of each manipulator arm 1 , 2 towards the receiving seat 40 , so as to place the joint assembly 401 in said seat 40 from the top.

[0094] 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.

[0095] According to another embodiment, a “master-slave” type control system is applied to said first manipulator arm 1 and said second manipulator arm 2 so that, for example, when the second manipulator arm 2 is actuated translationally, the first manipulator arm 1 is also dragged translationally, or vice versa.

[0096] In one embodiment, step g) includes the following sub-steps: g1) constraining the first manipulator arm 1 and the second manipulator arm 2 to each other through an electronic control unit so that they can translate integrally at least along the vertical direction Z; g2) translating at least one of the first manipulator arm 1 and the second manipulator arm 2 along the vertical direction Z toward the receiving seat 40 through an electronic control unit.

[0097] 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 such an embodiment, the assembly method includes the following operation steps after step g): h) providing a riveting device 8 near the pallet 70, the riveting device including a riveting machine 81, and supplying one or more rivets 45 to the riveting device 8; 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 through the riveting machine 81.

[0098] In a particularly advantageous preferred embodiment, all listed steps are performed when the receiving part 401 is in the same resting state, ie all steps are performed when the receiving part 401 is in the same assembled state and / or in the same position.

[0099] This advantageously allows shortening the assembly line, concentrating multiple operations in a single location receiving the component 401. Numerous advantages derive from this in terms of reducing the overall equipment volume, increasing the production line productivity and the production supply speed.

[0100] Furthermore, the method preferably comprises the following component supply step before steps a0) and a01): 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 .

[0101] For clarity of disclosure and to facilitate understanding of the invention, the invention will now be described in detail with reference to the hinge 4 and its components. However, it is evident that the invention relates to an assembly station for versatile multi-component articles consisting of components riveted to one another.

[0102] According to an embodiment of the hinge 4, for example, referring to the attached Figure 1 , Figure 2a and Figure 2b , the receiving part 401 is a wing 401 intended to be applied to a wall of a piece of furniture.

[0103] According to the embodiment of the hinge 4 and with reference to the attached Figure 3The 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 .

[0104] When received in the receiving seat 40, the joint assembly 402 is hingeable, ie, can be connected to the receiving part 401 in an hinged manner by inserting one or more rivets 45, e.g. Figure 2a and Figure 2b The location of such one or more rivets 45 is shown in more detail in subsequent portions of this disclosure.

[0105] According to a structural variant in which the multi-part article is a "sliding" type hinge 4, the parts of the joint assembly 402 and the rivet 45 are Figure 5 Each is shown separately.

[0106] 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.

[0107] In the assembly position, e.g. Figure 3 As shown, the damper 41 , the connecting rod 43 and the spring 44 are positioned so that the respective hole axes W1 , W2 , W3 are aligned along a common alignment direction.

[0108] Similarly, the wing 401 comprises a rivet hole having a rivet insertion axis Y.

[0109] In final assembly, e.g. Figure 2a As shown, 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.

[0110] 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 holes, which were previously aligned along said rivet insertion axis Y along an alignment direction.

[0111] Furthermore, in particular, the damper 41 comprises a pin seat 430 suitable for receiving the pin 42 .

[0112] 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 .

[0113] 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.

[0114] 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.

[0115] The present invention relates to an assembly station 9, which is used to assemble a multi-component item 4 starting from a first subassembly 412, a second subassembly 434 and a receiving part 401, and the assembly station 9 comprises: - a first manipulator arm 1, suitable for picking up the first subassembly 412 from a corresponding picking area and keeping it suspended, avoiding all contact with any support member other than the first manipulator arm 1; - a second manipulator arm 2, suitable for picking up the second subassembly 434 from a corresponding picking area and keeping it suspended, avoiding all contact with any support member other than the first manipulator arm 1; - a claw device 70, suitable for accommodating a receiving part 401, the receiving part having a receiving seat 40 suitable for accommodating a joint assembly 402.

[0116] According to the present invention, the first manipulator arm 1 and the second manipulator arm 2 are suitable for assembling the subassemblies 412, 434 in a suspended position to form a joint assembly 402, avoiding all contact with any support members other than the first manipulator arm 1 and the second manipulator arm 2, and are suitable for bringing the joint assembly 402 from the suspended position to the receiving seat 40 of the receiving part 401.

[0117] According to one aspect of the present invention, referring to Fig.17 , Fig.18 and Fig.23 According to one embodiment, the assembly station 9 for the multi-component article 4 includes a first preassembly group 91 and a second preassembly group 92. The first preassembly group 91 is suitable for preassembling the first subassembly 412, and the second preassembly group 92 is suitable for preassembling the second subassembly 434.

[0118] Furthermore, in one embodiment, the assembly station 9 comprises a plurality of supply devices 901 , 902 , 903 , 904 for supplying the components 41 , 42 , 43 , 44 to the respective preassembly groups 91 , 92 .

[0119] Preferably, such supply devices 901, 902, 903, 904 are circular or linear electromagnetic vibrating self-dispensers.

[0120] 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 .

[0121] 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.

[0122] To this end, the first preassembly group 91 is suitable for manipulating the damper 41 and the pin 42 , which are supplied separately, in order to assemble the pin 42 in the damper 41 .

[0123] In an advantageous embodiment, the feeding 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.

[0124] In an advantageous embodiment, referring to the embodiment of the hinge 4 and as Figure 18 to Figure 20b As shown in the embodiment in , the first pre-assembly set 91 comprises a third manipulator arm 3 which is suitable for applying a pin 42 to a damper 41 .

[0125] In a preferred embodiment, the third manipulator arm 3 is a pick and place robot. The structural and functional features of the third manipulator arm 3 are shown, for example, in documents WO 2014 / 177985 and WO 2014 / 177979 of the present applicant.

[0126] 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.

[0127] In a preferred supply 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 .

[0128] Preferably, 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 41 to such pin insertion area.

[0129] Furthermore, the first preassembly set 91 includes a pin insertion device which inserts the pin 42 into the pin seat 430 .

[0130] Preferably, the pin insertion device is a packaging device.

[0131] 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.

[0132] In particular, as the movable inserter punch advances toward the pin seat 430, the movable centering device punch gradually retracts.

[0133] 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 movable centering device punch.

[0134] 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 .

[0135] According to one embodiment, as mentioned in the above paragraphs and with reference to Fig.20a and Fig.20b , 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.

[0136] 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.

[0137] 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.

[0138] Therefore, according to one embodiment, Fig.18 and Fig.19 As shown, the first pre-assembled group 91 comprises a lubrication station 6. According to e.g. Fig.21 In the illustrated construction variant, the lubrication station 6 comprises a lubrication device 61 suitable for distributing grease in the pin seats 430 .

[0139] 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.

[0140] 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 .

[0141] In one embodiment of the present invention, Fig.18 and Fig.19 As shown, the assembly station 9 includes Fig. 22 The rotary table 5 shown in detail in FIG. 5 comprises a support plate with two or more subsequent resting positions. Preferably, the standby station 50 is one of the subsequent resting positions.

[0142] In other words, according to this embodiment, the third gripper 303 is adapted to position the first subassembly 412 in one of the subsequent positions of the rotary table 5 , preferably in a position corresponding to the standby station 50 .

[0143] In one embodiment, the rotary table 5 has four subsequent positions.

[0144] In one structural variation, each subsequent location is adapted to receive and support the first subassembly 412 .

[0145] According to an advantageous embodiment, the rotating 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.

[0146] 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.

[0147] 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 consecutive 90° rotations or one 180° rotation about the rotation axis Z, thereby bringing the first subassembly 412 to the loading position.

[0148] In a variant of the invention, each subsequent position of the rotary table 5 comprises compression means suitable for compressing the damper 41 .

[0149] Preferably, the compression device is a pneumatic cylinder.

[0150] Advantageously, the positioning of the first subassembly 412 on the rotating table 5 allows an area to be obtained which serves as a spare area for providing said first subassembly 412 to be picked up by the first manipulator arm 1 for assembly with the second subassembly 434 by the method of the invention for assembling two subassemblies and which has been described above.

[0151] 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 .

[0152] 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.

[0153] At the same time, the stabilization of the grease deposited in the lubrication station inside the pin seat 430 is advantageously promoted.

[0154] Obviously, the three clamps 301, 302, 303 operate 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.

[0155] 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.

[0156] Thus, the three grippers 301 , 302 , 303 advantageously operate simultaneously on separate subassemblies, thereby increasing the productivity of the assembly station.

[0157] In one embodiment of the present invention, referring to the embodiment of hinge 4 and referring to Figure 4b , the second subassembly 434 includes a connecting rod 43 and a spring 44. The second preassembly group 92 is suitable for preassembling the connecting rod 43 and the spring 44 to form the second subassembly 434. Fig.23 and Fig.24 The embodiment in FIG. 1 shows a second pre-assembled group 92 .

[0158] 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.

[0159] 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 .

[0160] In one embodiment, the feeding devices 903 and 904 are accompanied by respective transport guides 913, 914, each of which is suitable for bringing a respective component 43, 44 to a respective pick-up area.

[0161] 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.

[0162] 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, preferably by the method of the invention for assembling two subassemblies.

[0163] 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 .

[0164] In one construction variant, the second manipulator arm 2 comprises a first gripper 201 suitable for being actuated to open and close in order to grasp the spring 44 in the pick-up area and to transport and position the spring in the connecting rod 43 .

[0165] Furthermore, in a preferred embodiment, the second manipulator arm 2 includes two grippers, namely, the first gripper 201 and the second gripper 202 described above.

[0166] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0167] As described above, the first clamp 201 is adapted to pick up the spring 44 and position it in the connecting rod 43 .

[0168] 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, preferably by means of the method of the invention for assembling two subassemblies.

[0169] Preferably, the two grippers 201 and 202 are adapted to act simultaneously on two consecutive subassemblies 434. Obviously, each gripper 201, 202 operates 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 successively.

[0170] Furthermore, in an advantageous embodiment, the first manipulator arm 1 is adapted to pick up the first subassembly 412 from the rotating table 5 .

[0171] In a structural variant, the first manipulator arm 1 comprises a gripper 101 suitable for opening and closing to grasp the first subassembly 412, thereby bringing it to the suspended position and assembling it together with the second subassembly 434, preferably by the method for assembling two subassemblies according to the invention.

[0172] 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.

[0173] Furthermore, each manipulator arm 1 , 2 , 3 preferably comprises at least one gripper 101 , 201 , 301 .

[0174] In an advantageous embodiment, the first manipulator arm 1 and the second manipulator arm 2 are suitable for picking up the first subassembly 412 and the second subassembly 434, respectively, and keeping them suspended, avoiding all contact with any support member other than the first manipulator arm 1 and the second manipulator arm 2 in the same final assembly area.

[0175] 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 .

[0176] According to the present invention, the first manipulator arm 1 and the second manipulator arm 2 are suitable for assembling such subassemblies 412, 434 in a suspended position (i.e. "in flight"), that is, avoiding all contact with any support member other than the first manipulator arm 1 and the second manipulator arm 2 to form a joint assembly 402.

[0177] In one embodiment, for example, Fig.14a and Fig.14b As shown, considering a receiving part 401 (wing 401 according to the embodiment of the hinge) placed on the tray 70, the assembly of the above-mentioned subassembly takes place at a given distance from said receiving part 401 along the vertical direction Z.

[0178] Preferably, the receiving seat 40 receives a subassembly only after it has been assembled in the air at a given distance from said seat 40 .

[0179] Furthermore, according to an advantageous embodiment, after assembling the joint assembly 402 in the suspended position, 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 .

[0180] 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 .

[0181] In a preferred embodiment, the first manipulator arm 1 and the second manipulator arm 2 are adapted to move integrally along the vertical direction Z so that the joint assembly 402 is vertically translated toward the receiving seat 40 of the receiving component 401 .

[0182] Obviously, as described at the beginning of the present disclosure, in an embodiment of the hinge 4, the joint assembly 402 is arranged 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.

[0183] In one embodiment of the present invention, reference Fig.15 and Fig.16 In the embodiment depicted in , the assembly station 9 also comprises a riveting device 8 comprising a riveting machine 81 .

[0184] In a preferred variant, the riveting device 8 is placed close to the jaw system, for example close to the pallet 70 , and in particular the riveting machine 81 is arranged relative to the wing 401 in an aligned manner relative to the rivet insertion axis Y.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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 .

[0189] 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.

[0190] 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.

[0191] In the most complete embodiment, the method for assembling a multi-component article according to an embodiment in which the multi-component article 4 is a hinge comprises the following steps: I) providing an assembly station 9 according to the invention; II) supplying a damper 41 and a pin 42 to a first preassembly group 91, and supplying a connecting rod 43 and a spring 44 to a second preassembly group 92; III) in the first preassembly group 91, assembling the damper 41 and the pin 42 to each other to form a first subassembly 412; IV) in the second preassembly group 92, assembling the connecting rod 43 and the spring 44 to each other to form a second subassembly 434; V) bringing the first subassembly 412 and the second subassembly 434 to a suspended position respectively by means of a first manipulator arm 1 and a second manipulator arm 2; VI) in the suspended position, assembling the first subassembly 412 with the second subassembly 434 to form a Forming a joint assembly 402; VII) providing a tray 70 on which a wing 401 is positioned, the wing including a receiving seat 40 suitable for accommodating the joint assembly 402; VIII) bringing the joint assembly 402 to the receiving seat 40 to form one or more rivet insertion seats suitable for engaging one or more rivets 45; IX) providing a riveting device 8, which is close to the tray 70 with the wing 401 in a stationary state, the riveting device 8 including a riveting machine 81, and supplying one or more rivets 45 to the riveting device 8; X) connecting the joint assembly 402 to the wing 401 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 through the riveting machine 81.

[0192] Preferably, steps I) to X) of the method are all performed in the same assembly station 9 , while the receiving component 401 on the tray 70 is in a single stationary state.

[0193] In one embodiment, when the assembly station 9 is inserted into the assembly line, the tray 70 is actuated in translation along the feed direction X only when the wing 401 has been connected in an articulated manner to the joint assembly 402 by inserting one or more rivets 45 .

[0194] The invention also relates to an assembly line comprising an assembly station 9 according to the invention.

[0195] Innovatively, the present invention solves the conventional shortcomings of the background art.

[0196] Advantageously, the assembly station according to the invention allows to speed up the assembly operations of multi-component articles.

[0197] 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, with equal time, an increased throughput of the assembly line in which the assembly station is inserted, relative to known assembly lines.

[0198] 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 a plurality of accessory parts in a single station allows the assembly line to be adapted to structural variants of the final multi-part article, intervening only in sub-steps of assembly without affecting the development of the main line.

[0199] 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.

[0200] 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. An assembly method for assembling two subassemblies (412, 434) to obtain a joint assembly (402) suitable for assembly into a multi-component article (4), 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) by a first manipulator arm (1) and keeping the subassembly (412) suspended, thereby avoiding all contact with any support other than the first manipulator arm (1); c) separately, picking up the second subassembly (434) by a second manipulator arm (2) and keeping the second subassembly (434) suspended, thereby avoiding all contact with any support member other than the second manipulator arm (2); d) moving at least one of the first subassembly (412) and the second subassembly (434) to bring the first subassembly and the second subassembly (412, 434) to a mutual assembly position, wherein the first subassembly (412) and the second subassembly (434) are in the assembly position; e) assembling the first subassembly (412) and the second subassembly (434) in a suspended position to form a joint assembly (402) thereby avoiding all contact with any support member other than the first manipulator arm and the second manipulator arm (1, 2).

2. The assembly method according to claim 1, comprising the following steps before step a): a0) providing a first pre-assembled group (91); a1) Assembling at least a first component (41) and a second component (42) with one another in the first pre-assembly group (91) to form the first subassembly (412).

3. The assembly method according to claim 1 or 2, wherein: The second subassembly (434) comprises at least two subcomponents (43, 44), and wherein the method comprises the following steps before step a): a01) providing a second pre-assembled group (92); 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).

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

5. The assembly method according to any one of claims 2 to 4, wherein: The first pre-assembly group (91) comprises a third manipulator arm (3), the third manipulator arm comprising a first gripper (301), a second gripper (302) and a third gripper (303), and wherein step a1) comprises the following sub-steps: m) picking up the first component (41) by the first gripper (301) and bringing the first component to a second component insertion area; n) assembling the second component (42) with the first component (41) in the second component insertion area to form the first subassembly (412); o) picking up the first subassembly (412) by the second gripper (302) and bringing the first subassembly to a lubrication station (6); p) lubricating the first subassembly (412) in the lubrication station (6); q) picking up the lubricated first subassembly (412) from the lubrication station (6) by the third gripper (303) and bringing the lubricated first subassembly to a standby station (50) to be picked up by the first manipulator arm (1).

6. The assembly method according to claim 5, wherein: The first clamp (301), the second clamp (302) and the third clamp (303) move integrally with each other.

7. An assembly method for assembling a multi-component article (4) comprising a plurality of components (41, 42, 43, 44), comprising an assembly method according to any one of the preceding claims for assembling two subassemblies and the following steps: f) providing a jaw arrangement (70) adapted to receive a previously assembled connector assembly (402); g) bringing the joint assembly (402) from the suspended position to the jaw device (70).

8. Assembly method according to the preceding claim, wherein: A receiving component (401) is provided on the claw device (70), the receiving component comprising a receiving seat (40), the receiving seat being suitable for receiving a previously assembled joint assembly (402) during assembly. And wherein step g) includes bringing the joint assembly (402) from the suspended position to the receiving seat (40).

9. The assembly method according to claim 8, wherein: The first manipulator arm and the second manipulator arm (1, 2) are suitable for temporarily constraining each other and performing a translation towards the claw device (70) in an integrated manner, and wherein step g) is performed by a synchronous translation of each manipulator arm (1, 2) towards the claw device (70) to bring the joint assembly (402) towards the receiving part (401) and place the joint assembly in the receiving seat (40).

10. Assembly method according to the preceding claim, wherein: The jaw device (70) is placed on a working surface (700) parallel to the ground surface, and wherein the translation of the manipulator arms (1, 2) towards the jaw device (70) is carried out at least along a vertical direction (Z) perpendicular to the working surface (700), and wherein step g) is performed by a synchronous lowering of each manipulator arm (1, 2) towards the jaw device (70), and the joint assembly (402) is placed in the receiving seat (40) from the top.

11. Assembly method according to the preceding claim, wherein: Step g) comprises the following sub-steps: g1) constraining the first manipulator arm (1) and the second manipulator arm (2) to each other through an electronic control unit so that the first manipulator arm and the second manipulator arm translate integrally at least along the vertical direction (Z); g2) causing at least one of the first manipulator arm (1) and the second manipulator arm (2) to translate along the vertical direction (Z) toward the receiving seat (40) by means of the electronic control unit.

12. The assembly method according to any one of claims 8 to 11, 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 g): h) providing a riveting device (8) near the jaw device (70), the riveting device 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).

13. The assembly method according to any one of claims 8 to 12, wherein: All steps listed in at least one of the preceding claims are performed when the receiving component (401) is in the same static state, ie the receiving component is in the same assembled state and / or in the same position.

14. An assembly station (9) for assembling a multi-component article (4) starting from a first subassembly (412) and 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 respective pick-up area and to keep said first subassembly suspended, avoiding all contact with any support other than said first manipulator arm (1); - a second manipulator arm (2) adapted to pick up the second subassembly (434) from a corresponding pick-up area and to keep the second subassembly suspended avoiding all contact with any support other than the first manipulator arm (1); - a claw device (70) adapted to accommodate a receiving part (401) having a receiving seat (40) adapted to receive a connector assembly (402); The first manipulator arm and the second manipulator arm (1, 2) are suitable for assembling the subassembly (412, 434) in a suspended position to form a joint assembly (402), thereby avoiding all contact with any support member other than the first manipulator arm and the second manipulator arm (1, 2), and are suitable for bringing the joint assembly (402) from the suspended position to the receiving seat (40).

15. 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) to manufacture the first subassembly (412), and the assembly station further comprising a second preassembly group (92) suitable for preassembling a third component (43) and a fourth component (44) to manufacture the second subassembly (434).

16. Assembly station (9) according to claim 14 or 15, wherein: When assembled, the joint assembly (402) and the receiving part (401) form one or more rivet insertion seats suitable for receiving one or more rivets (45), and wherein the assembly station (9) includes a riveting device (8), the riveting device including a riveting machine (81), the riveting machine being suitable for being supplied with one or more rivets (45) and being suitable for connecting the joint assembly (402) and the receiving part (401) in an articulated manner by inserting the one or more rivets (45) into the one or more rivet insertion seats.

17. Assembly station (9) according to claim 15, wherein: The first preassembly group (91) includes a third manipulator arm (3), the third manipulator arm including a first gripper (301), a second gripper (302) and a third gripper (303), the grippers (301, 302, 303) being adapted to simultaneously perform at least three operations to assist in the assembly of the first subassembly (412) and being adapted to move integrally with each other.

18. Assembly station (9) according to any one of claims 15 to 17, wherein The second manipulator arm (2) is also part of the second preassembly group (92) and comprises a first gripper (201) and a second gripper (202), wherein the first gripper (201) is suitable for preassembling the third component (43) and the second component (42) to form the second subassembly (434), and wherein the second gripper (202) is suitable for picking up the second subassembly (434) and assembling the second subassembly with the first subassembly (412).

19. Assembly station (9) according to claim 18, wherein The first clamp (201) and the second clamp (202) are adapted to move integrally with each other.

20. An assembly line comprising an assembly station according to any one of claims 14 to 19.

Images