Assembly method, assembly facility and assembly line

Abstract

A method for assembling a sub-assembly (412, 434) to a receiving part (401) in an assembly facility (9) comprises the steps of: a) providing at least one assembly station in which the receiving part (401) is temporarily stopped, one or more sub-stations (91, 92) close to the assembly station, and at least one assembly device (1); b) picking up at least two subassemblies (412, 434) from the substation (91, 92); c) holding the receiving part (401) in a stationary state at least during the following steps: d) assembling the two subassemblies (412, 434) with the receiving part (401) by means of the assembling device (1). In the rest state, the receiving member (401) is held in the same assembled state and / or in the same position and / or does not undergo other operations until it receives at least two subassemblies (412, 434). An assembly facility (9) and an assembly line comprising said facility (9).

Description

Technical Field

[0001] The present invention relates to a method, an assembly plant 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] Therefore, it is necessary to improve the individual assembly facilities of a production line in order to optimize the assembly process and thereby obtain an improved productivity of the individual facilities, which has a positive effect on the production capacity of the entire production line.

[0005] Unfortunately, background art assembly facilities 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 jaw device (e.g. a pallet 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 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, for example when it is placed on a pallet that slides along the assembly line and stops at this station, or it remains in motion, for example 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 / facility, 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.

[0010] In this disclosure, for the sake of convenience and general definition, reference will be made generally to a jaw device for multi-part articles to preferably, but not exclusively, indicate a pallet adapted to be moved on an assembly line, or a lay-up on a rotating table, or generally, any lay-up base adapted to remain stationary or move while receiving a part in its stationary state. Summary of the invention

[0011] Therefore, there is a strongly felt need to provide an assembly method, an assembly facility 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.

[0012] In particular, the invention aims to speed up assembly operations of multi-component articles, such as hinges.

[0013] 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.

[0014] 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.

[0015] This need is met by a method, an assembly plant 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

[0016] 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:

[0017] 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;

[0018] 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;

[0019] 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;

[0020] Figure 3 shows a perspective view of a joint assembly for a multi-component article according to one embodiment of the present invention;

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

[0022] Figure 4b A second subassembly for assembling a joint assembly in one embodiment of the present invention is shown;

[0023] 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 rivet is suitable for connecting the joint assembly to a receiving component in an articulated manner to form a multi-component article;

[0024] 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;

[0025] Figure 6b A side view of a connector assembly in assembled form is shown, the connector assembly comprising Figure 6a The subcomponents in ;

[0026] 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;

[0027] 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;

[0028] Fig. 9 shows a diagrammatic perspective view of an assembly facility 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;

[0029] Fig.10 Shows Fig. 9 An enlarged front view of the assembly facility in FIG.

[0030] Fig.11 shows a perspective view of an assembly facility 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;

[0031] Fig.12 yes Fig.11 A front view of the assembly facility in;

[0032] Fig.13 is a perspective enlarged view of an assembly facility according to one embodiment of the present invention;

[0033] 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;

[0034] 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;

[0035] Fig.15 shows a perspective view of an assembly facility according to one embodiment of the present invention, the assembly facility comprising a riveting device;

[0036] Fig.16 Shows Fig.15 An enlarged perspective view of the assembly facility in FIG.

[0037] Fig.17 shows a perspective assembly view of an assembly facility according to one embodiment of the present invention;

[0038] Fig.18 shows a perspective view of a first pre-assembly group of an assembly facility according to one embodiment of the present invention;

[0039] 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;

[0040] Fig.20a shows a perspective view of a third manipulator arm according to one embodiment of the present invention;

[0041] Fig.20b Shows Fig.20a A front view of a third manipulator arm in FIG.

[0042] Fig.21 An enlarged perspective view showing a lubrication station of a first pre-assembled group according to one embodiment of the present invention;

[0043] 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;

[0044] Fig.23 shows a perspective view of a second pre-assembly group of an assembly facility according to one embodiment of the present invention;

[0045] Fig.24A front view of a portion of a first pre-assembled set is shown, showing a second manipulator arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] With reference to the preceding figures, reference numeral 9 indicates as a whole an assembly facility 9 for multi-component articles 4 .

[0047] A multi-component article refers to an article that is assembled from a plurality of components 41, 42, 43, 44, 45, 401 to form a final multi-component article.

[0048] In particular, according to one embodiment, the multi-component article 4 is a hinge 4 .

[0049] 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.

[0050] In a general embodiment, the multi-component article 4 is produced at least by the assembly of a receiving component 401 and a joint assembly 402. In particular, in an embodiment, a receptacle 40 suitable for accommodating the joint assembly 402 is obtained in the receiving component 401.

[0051] 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 one component 43 or at least two components 43, 44.

[0052] 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 .

[0053] In one structural variant, for example, reference Figure 1 , when assembled, the multi-component article 4 also includes one or more auxiliary components 403.

[0054] The invention relates to a method for assembling a subassembly 412 , 434 to a receiving part 401 in an assembly facility 9 .

[0055] The assembly method comprises the following steps:

[0056] a) providing at least one assembly station, one or more substations 91, 92 near the assembly station, and at least one assembly device 1 in the assembly facility 9, wherein the receiving component 401 temporarily stops in the assembly station;

[0057] b) picking up at least two subassemblies 412 , 434 from the one or more substations 91 , 92 of the assembly facility 9 by means of the at least one assembly device 1 ;

[0058] c) keeping the receiving part 401 in a stationary state at least during the next step of the method:

[0059] d) assembling the at least two subassemblies 412, 434 with the receiving component 401 by means of the at least one assembling device 1;

[0060] In the static state, the receiving component 401 remains in the same assembly state and / or remains in the same position and / or does not undergo other operations until it receives the at least two subassemblies 412 , 434 .

[0061] In one embodiment, the first subassembly 412 and the second subassembly 434 are adapted to be assembled with each other to form the joint assembly 402 .

[0062] Furthermore, in one embodiment, the receiving component 401 includes a receiving seat 40 , which is suitable for receiving the connector assembly 402 .

[0063] According to this embodiment, step b) of the method comprises the following sub-steps:

[0064] b1) picking up the first subassembly 412 and the second subassembly 434 by the at least one assembly device 1 and bringing them to a mutual assembly position, in which the first subassembly 412 and the second subassembly 434 are in an assembly position;

[0065] b2) Assembling the first subassembly 412 and the second subassembly 434 in a spaced-apart manner relative to the receiving part 401 by means of the at least one assembling device 1 to form the joint assembly 402 .

[0066] Figure 6a and Figure 6b The aforementioned subassemblies 412, 434 are shown in an assembled position with each other and in an assembled position, respectively, in an embodiment of the present invention.

[0067] Furthermore, according to one embodiment, step d) of the method comprises moving the at least one assembling device 1 towards the receiving seat 40 to bring the joint assembly 402 to the receiving seat 40 and assembling the joint assembly 402 with the receiving component 401 .

[0068] In one embodiment, step b) of the method is also performed while the receiving component 401 remains in a stationary state.

[0069] In other words, according to this embodiment, the receiving part 401 is suitable for being kept in a stationary state during the assembly steps of the joint assembly 402 and during the positioning of the joint assembly 402 in the receptacle 40 of the receiving part 401 .

[0070] In one embodiment, the first subassembly includes at least the first component 41 and the second component 42 , and the second subassembly 434 includes at least the third component 43 and the fourth component 44 .

[0071] In one embodiment, reference Fig.17 , Fig.18 and Fig.23 The one or more substations 91, 92 include a first pre-assembly group 91 and a second pre-assembly group 92 respectively.

[0072] According to this embodiment, the assembly method comprises the following steps before step b):

[0073] 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;

[0074] a11) Assembling at least the third component 43 and the fourth component 44 with each other in a second preassembly group 92 to form a second subassembly 434 .

[0075] In one embodiment of the present invention, steps a1) and a11) are also performed when the receiving component 401 is in a stationary state.

[0076] Furthermore, in an alternative embodiment, receiving component 401 never interacts with connector assembly 402 or with components thereof, ie, it never comes into contact with connector assembly 402 or with components thereof, until the end of step d).

[0077] In an advantageous structural variant, the preassembly of the first subassembly 412 and the second subassembly 434 is performed simultaneously.

[0078] 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.

[0079] 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.

[0080] In an advantageous embodiment, steps b1 and b2) are performed while keeping the first subassembly 412 and the second subassembly 434 in a suspended position, ie avoiding contact with any support other than said at least one or more assembly devices 1 .

[0081] Advantageously, this embodiment allows reducing the size of the assembly station, without having to provide a support base or a specific stationary station for assembling the first subassembly 412 and the second subassembly 434 .

[0082] Furthermore, this embodiment allows increasing the productivity of an assembly line in which an assembly facility carrying out the assembly of subassemblies is inserted, making the joint assembly 402 directly available for subsequent assembly operations of the multi-component article 4 .

[0083] According to yet another advantage, providing the components in a suspended position allows easier manipulation only on the necessary parts, without the need for a receiving part 401 always present as a supporting base for each component, such as the wing 401 of the hinge 4. This also allows simplifying the group suitable for performing the assembly and managing automatically and more flexibly the control system of the manipulators involved in the work steps.

[0084] In an advantageous embodiment, reference Figures 9 to 15 In the embodiment in the embodiment, the at least one assembly device 1 comprises a first manipulator arm 1 and a second manipulator arm 2.

[0085] Preferably, during step b) of the assembly method, the first manipulator arm 1 picks up the first subassembly 412, the second manipulator arm 2 picks up the second subassembly 434, and the manipulator arms 1, 2 cooperate to assemble the first subassembly 412 and the second subassembly 434 therebetween to form the joint assembly 402.

[0086] Furthermore, preferably during step d), at least one of the first manipulator arm 1 and the second manipulator arm 2 is moved to assemble the joint assembly 402 with the receiving part 401 .

[0087] Preferably, the receiving component 401 remains in a stationary state during step b), ie it does not undergo further assembly operations during the mutual assembly between the first subassembly 412 and the second subassembly 434 to form the joint assembly 402 .

[0088] In an advantageous embodiment, for example, 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 .

[0089] 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.

[0090] 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.

[0091] In a particularly advantageous embodiment, for example, Fig.20a and Fig.20b As shown, the gripper-holder set 30 of the third manipulator arm 3 supports three grippers, namely a first gripper 301 , a second gripper 302 and a third gripper 303 .

[0092] In this embodiment, step a1) of the assembly method comprises the following sub-steps:

[0093] m) picking up the first component 41 by the first gripper 301 and bringing it to the second component insertion area;

[0094] n) assembling the second component 42 with the first component 41 in the second component insertion area to form a first subassembly 412;

[0095] o) picking up the first subassembly 412 by means of the second gripper 302 and bringing it to the lubrication station 6;

[0096] p) lubricating the first subassembly 412 in the lubrication station 6;

[0097] q) Picking up said lubricated first subassembly 412 from the lubrication station 6 by means of the third gripper 303 and bringing it to the standby station 50 to be picked up by the first manipulator arm 1 .

[0098] Advantageously, in this embodiment, the third manipulator arm 3 is adapted to simultaneously perform three operations that facilitate assembling the first subassembly 412 .

[0099] Indeed, in a preferred embodiment, the three grippers 301 , 302 , 303 move integrally with each other.

[0100] 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.

[0101] 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.

[0102] In an advantageous embodiment, the second manipulator arm 2 is adapted both to preassemble the third component 43 and the fourth component 44 to form the second subassembly 434 and to pick up the preassembled second subassembly 434 and assemble it to the first subassembly 412, preferably by the assembly method of the invention.

[0103] In one construction variant, the second manipulator arm 2 comprises a first gripper 201 suitable for being actuated to open and close to grip the fourth component 44 in the pick-up area and to transport it and position it in the third component 43 .

[0104] In the attached Fig.23 and Fig.24 In the preferred embodiment shown, the second manipulator arm 2 comprises two grippers, namely the first gripper 201 and the second gripper 202 mentioned above.

[0105] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0106] 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 through the assembling method of the present invention.

[0107] 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, after being preassembled by the first gripper 201, the second gripper 202 is adapted to operate on the second subassembly 434.

[0108] In one embodiment of the present invention, step d) comprises the following sub-steps:

[0109] d1) on the electronic control unit, sending a synchronous translation signal to the first manipulator arm 1 and the second manipulator arm 2;

[0110] d2) 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 the receiving seat 40 .

[0111] 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 to perform step d). In particular, according to this embodiment, such manipulator arms 1 , 2 are adapted to be mutually translated integrally towards the receptacle 40 .

[0112] In particular, according to this embodiment, step d2) of the assembly method comprises the following sub-steps:

[0113] d21) constraining the first manipulator arm 1 and the second manipulator arm 2 to each other so as to translate as one;

[0114] d22) 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 translationally toward the receiving part 401 .

[0115] This embodiment allows a considerable saving of electrical or mechanical power resources that would otherwise be needed to bring the subassemblies 412 and 434 , respectively, to a common final assembly area, for example, to the receptacle 40 , respectively.

[0116] Advantageously, supplying power to only one of the manipulator arms is therefore sufficient to allow the already assembled joint assembly 402 to translate towards the receptacle 40 .

[0117] In a preferred embodiment, the assembly method comprises a step a2) of providing a jaw device 70, such as a pallet 70 or a rotating table, for example, placed on a working surface 700 substantially parallel to the floor surface on which the receiving part 401 is located.

[0118] In the present disclosure, "ground surface" refers to an imaginary plane that identifies a base, ground or floor on which an assembly facility 9 suitable for performing the aforementioned method is placed. A "ground surface" is, for example, the floor of a production site.

[0119] Preferably, the receiving part 401 is positioned on the jaw device 70 so that step d) comprises positioning the at least two subassemblies 412 , 434 in the receiving part 401 from the top in a stationary state and assembling the subassemblies 412 , 434 with the receiving part 401 .

[0120] In particular, in a particularly advantageous embodiment, the receiving part 401 is positioned on the jaw device 70 , wherein the receptacle 40 faces upwards, ie faces the other side relative to the working surface 700 .

[0121] Thus, in this embodiment, the receiving member 401 is adapted to receive the connector assembly 402 from the top.

[0122] Preferably, according to this embodiment, during step d), the assembly device 1 is translated at least along a vertical direction Z perpendicular to said working surface 700 towards the receptacle 40 in order to place the joint assembly 402 in the receptacle 40 from the top.

[0123] This positioning of the receiving part 401 on the jaw device 70 allows the manipulator arms 1 , 2 to easily reach the receptacle 40 .

[0124] Furthermore, the jaw device 70 preferably comprises a support seat 71 which is adapted to stably accommodate the receiving member 401 so that the receiving seat 40 faces upwards, ie faces the other side relative to the working surface 700 .

[0125] In a preferred embodiment, the receiving part 401 is kept stationary by keeping the jaw arrangement 70 in the same position at the assembly station, preferably temporarily immobilized, while the steps of the method according to one or more embodiments of the invention are performed.

[0126] This preferably occurs when the jaw device is a tray 70 .

[0127] In one embodiment, reference Fig.14b , the manipulator arms 1, 2 support the previously assembled joint assembly 402 in a suspended position above the receiving seat 40, i.e., in a suspended position vertically spaced apart from the receiving seat 40. Therefore, in this embodiment, in order to reach the receiving seat 40, the manipulator arms 1, 2 need to perform a translation along the vertical direction Z toward the bottom, i.e., descend.

[0128] According to this embodiment, step d) consists in bringing the joint assembly 402 from the suspended position to said receiving seat 40. Preferably, this step d) is performed by the same first 1 and second 2 manipulator arms.

[0129] In an advantageous embodiment, the translation of the manipulator arms 1 , 2 towards the receptacle 40 takes place at least along a vertical direction Z perpendicular to the working surface 700 .

[0130] According to this embodiment, step d) also comprises the synchronous lowering of each manipulator arm 1 , 2 along said vertical direction Z towards said jaw device 70 and the placement of the joint assembly 402 in the receiving seat 40 from the top.

[0131] 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.

[0132] 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 so as 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.

[0133] Preferably, step d0) 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.

[0134] 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.

[0135] In one embodiment, when assembled, the at least two subassemblies 412, 434 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 at least two subassemblies 412, 434 to the receiving part 401 in an articulated manner, and wherein the assembly method comprises the following steps after step d):

[0136] h) providing a riveting device 8 comprising a riveting machine 81 and supplying one or more rivets 45 to the riveting device 8;

[0137] i) connecting at least two subassemblies 412 , 434 to the receiving part 401 in an articulated manner by means of the riveting machine 81 , by inserting the one or more rivets 45 into the one or more rivet insertion seats.

[0138] In one embodiment, the method for assembling a multi-component article is performed by an assembly facility 9 .

[0139] In one embodiment, the assembly facility 9 is inserted into an assembly line comprising a conveying system for advancing the items being assembled to the jaw device 70 along a substantially straight feed direction X substantially parallel to the work surface 700. Preferably, in this embodiment, the jaw device is a tray 70.

[0140] Therefore, according to this embodiment, the pallet 70 is adapted to travel horizontally on an imaginary transport plane parallel to the ground surface, which serves as a reference. The feed direction X is therefore contained in the imaginary transport plane.

[0141] In other words, the pallet 70 travels along said feeding direction X and stops on the working surface 700 of the assembly facility 9 , bringing the receiving component 401 to a stationary state.

[0142] Therefore, in this embodiment, saying that the receiving part 401 is in a stationary state means that the claw device (tray 70) does not move in the feeding direction X.

[0143] In an advantageous embodiment, all steps of the method are performed when the receiving part 401 is in a stationary state, ie in the same assembled state and / or in the same position.

[0144] 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.

[0145] Preferably, the riveting device 8 is placed at an assembly station of an assembly facility 9 .

[0146] In a preferred embodiment, when the receiving component 401 is in a stationary state, the jaw arrangement 70 remains stationary in a single position at the assembly station below the suspended position.

[0147] Furthermore, in a preferred embodiment, the claw device 70 is located at the riveting device 8 when the receiving part 401 is in a stationary state.

[0148] Furthermore, the method preferably comprises the following component supplying step before steps a1) and a11):

[0149] x) Supplying corresponding components 41 , 42 , 43 , 44 to the first preassembly group 91 and the second preassembly group 92 through corresponding supply devices 901 , 902 , 903 , 904 .

[0150] 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 apparent that the invention relates to an assembly method and assembly facility 9 for a general multi-component article 4 composed of a plurality of components 41,42,43,44,401.

[0151] 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.

[0152] 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 .

[0153] When received in the receptacle 40, the joint assembly 402 is articulatable, ie, can be connected in an articulated manner to the receiving part 401 by inserting one or more rivets 45. The location of such one or more rivets 45 is shown in more detail in a subsequent part of the present disclosure.

[0154] 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 in .

[0155] 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.

[0156] 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.

[0157] Similarly, the wing 401 comprises a rivet hole having a rivet insertion axis Y.

[0158] 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.

[0159] 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 have been aligned along said rivet insertion axis Y along an alignment direction.

[0160] Furthermore, in particular, the damper 41 comprises a pin seat 430 suitable for receiving the pin 42 .

[0161] 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 .

[0162] In a particularly advantageous embodiment, referring to the embodiment of hinge 4 , wing 401 rests on claw device 70 with rivet insertion axis Y parallel to the imaginary transport plane and orthogonal to feed direction X and with receptacle 40 facing the other side relative to the ground surface.

[0163] In other words, in such an embodiment, the wings 401 are located horizontally on the jaw device 70, and the receptacle 40 faces upwards. Thus, in such an embodiment, the receptacle 40 is adapted to receive the joint assembly 402 arriving from the top.

[0164] The invention relates to an assembly facility 9 for assembling a multi-component article 4 starting from a first subassembly 412 , a second subassembly 434 and a receiving component 401 .

[0165] The assembly facility 9 according to the invention comprises:

[0166] - at least one assembly station;

[0167] - one or more substations 91, 92, close to the assembly station;

[0168] - at least one assembling device adapted to pick up at least two subassemblies 412, 434 from said one or more substations 91, 92 of said facility and to assemble the subassemblies with a receiving part 401 in said assembly station.

[0169] According to the invention, the assembly facility 9 is configured to implement the assembly method according to the invention.

[0170] In other words, the receiving part 401 is adapted to remain stationary at the assembly station, ie to remain in the same assembled state and / or remain in the same position and / or not undergo an operation, until it receives the at least two subassemblies 412, 434 and is assembled thereto.

[0171] In one embodiment of the present invention, the first subassembly 412 and the second subassembly 434 are adapted to be assembled with each other to form the joint assembly 402 .

[0172] In one embodiment, the assembly facility 9 comprises a jaw device 70 on which a receiving part 401 can be accommodated, the receiving part having a receiving seat 40 suitable for receiving said joint assembly 402 formed by said first subassembly 412 and said second subassembly 434 .

[0173] In an advantageous variant, the at least one assembly device 1 comprises a first manipulator arm 1 and a second manipulator arm 2, which are suitable for assembling the subassemblies 412, 434 to form a joint assembly 402 relative to the receiving part 401 in a spaced manner, and are suitable for bringing the joint assembly 402 to the receiving seat 40 of the receiving part 401.

[0174] Preferably, the receiving part 401 is adapted to remain in a stationary state during assembly of the joint assembly 402 , and at least until the joint assembly 402 is placed in the receptacle 40 .

[0175] In one embodiment, the one or more substations 91, 92 include: a first preassembly group 91, which is suitable for preassembling a first component 41 and a second component 42 to form a first subassembly 412; and a second preassembly group 92, which is suitable for preassembling a third component 43 and a fourth component 44 to form a second subassembly 434.

[0176] Preferably, the receiving part 401 is adapted to remain in a stationary state also during pre-assembly of such first subassembly 412 and second subassembly 434 .

[0177] In one embodiment, the jaw device 70 is placed on a working surface 700 , parallel to the ground surface, and 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 such working surface 700 .

[0178] Furthermore, in one embodiment, the assembly facility 9 comprises a plurality of supply devices 901 , 902 , 903 , 904 for supplying the components 41 , 42 , 43 , 44 to the respective pre-assembly groups 91 , 92 .

[0179] Preferably, such supply devices 901, 902, 903, 904 are circular or linear electromagnetic vibrating self-dispensers.

[0180] Furthermore, the assembly facility 9 preferably comprises a support structure 90 which supports each assembly station, each substation 91 , 92 and each supply device 901 , 902 , 903 , 904 .

[0181] 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.

[0182] 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 .

[0183] 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.

[0184] 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 the pin 42 to the damper 41 .

[0185] 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.

[0186] 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.

[0187] 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 .

[0188] 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 carry the damper to such pin insertion area.

[0189] Furthermore, the first preassembly set 91 includes a pin insertion device which inserts the pin 42 into the pin seat 430 .

[0190] Preferably, the pin insertion device is a packaging device.

[0191] 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.

[0192] In particular, as the movable inserter punch advances toward the pin seat 430, the movable centering device punch gradually retracts.

[0193] In a construction variant, the pin insertion device advantageously comprises a linear sensor (for example a sensor from the company Sick) which is suitable for measuring the exact position of the pneumatic cylinder moving the punch of the movable centering device.

[0194] 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 .

[0195] 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.

[0196] 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.

[0197] 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.

[0198] According to one embodiment, the lubrication station 6 comprises a lubrication device 61 suitable for distributing grease in the pin seats 430 .

[0199] 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.

[0200] 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 .

[0201] In one embodiment of the invention, the assembly facility 9 comprises a rotating table 5 comprising a support plate with two or more subsequent resting positions. Preferably, the standby station 50 is one of said subsequent resting positions.

[0202] In other words, according to this embodiment, the third gripper 303 is adapted to position the first subassembly 412 in one of the plurality of subsequent positions of the rotary table 5 , preferably in a position corresponding to the standby station 50 .

[0203] In one embodiment, the rotary table 5 has four subsequent positions.

[0204] In one structural variation, each subsequent location is adapted to receive and support the first subassembly 412 .

[0205] 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.

[0206] 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.

[0207] 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 axis of rotation Z, thereby bringing the first subassembly 412 to the loading position.

[0208] In a variant, each subsequent position of the rotary table 5 comprises compression means suitable for compressing the damper 41 .

[0209] Preferably, the compression device is a pneumatic cylinder.

[0210] Advantageously, the position of the first subassembly 412 on the rotating table 5 allows obtaining an area used as a spare area for providing said first subassembly 412 to be picked up by the first manipulator arm 1 and for assembling it with the second subassembly 434 .

[0211] 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 .

[0212] 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.

[0213] At the same time, the stabilization of the grease deposited in the lubrication station inside the pin seat 430 is advantageously promoted.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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 .

[0218] 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.

[0219] 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 .

[0220] In one embodiment, the feeding devices 903 and 904 are accompanied by respective transport guides 913, 914, each transport guide 913, 914 being suitable for bringing a respective component 43, 44 to a respective pick-up area.

[0221] 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.

[0222] 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 .

[0223] 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 .

[0224] In a construction variant, the second manipulator arm 2 comprises a first gripper 201 supported by the gripper-holder set 20. This first gripper 201 is suitable for being actuated to open and close to grab the spring 44 in the pick-up area and to transport and position the spring in the connecting rod 43.

[0225] 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 .

[0226] In one embodiment, the first clamp 201 and the second clamp 202 are not integral with each other during movement.

[0227] As indicated above, the first clamp 201 is adapted to pick up the spring 44 and position it in the connecting rod 43 .

[0228] 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 .

[0229] 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.

[0230] Furthermore, in an advantageous embodiment, the first manipulator arm 1 is adapted to pick up the first subassembly 412 from the rotary table 5 .

[0231] 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 .

[0232] 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.

[0233] Furthermore, each manipulator arm 1 , 2 , 3 preferably comprises at least one gripper 101 , 201 , 301 .

[0234] In a preferred embodiment, the assembly facility 9 comprises for each manipulator arm 1 , 2 , 3 a respective actuation group 13 , 23 , 33 , which is suitable for actuating the movement of each manipulator arm 1 , 2 , 3 .

[0235] 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 .

[0236] 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 .

[0237] In an advantageous embodiment, said first manipulator arm 1 and said second manipulator arm 2 are suitable for assembling such a 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 in order to form the joint assembly 402.

[0238] In one embodiment, the assembly of the above-mentioned subassembly takes place at a given distance from said receiving part 401 along the vertical direction Z, taking into account a receiving part 401 (wing 401 according to the embodiment of the hinge) placed on the jaw device 70 .

[0239] That is, the receiving seat 40 is adapted to receive the subassembly at a given distance from said seat 40 only after the subassembly has been assembled in the air. Or, in other words, the assembly facility 9 is adapted to bring the joint assembly 402 to the receiving seat 40 only after the joint assembly 402 has been assembled.

[0240] 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 the joint assembly 402 previously assembled in the air with them to position it in the receiving seat 40 .

[0241] 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 .

[0242] 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.

[0243] In an advantageous embodiment, the assembly facility 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 produce an integral translation of both said first manipulator arm 1 and said second manipulator arm 2 towards the receptacle 40.

[0244] That is, in this advantageous embodiment, only one of the manipulator arms 1, 2 is actuated with 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.

[0245] 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 .

[0246] 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.

[0247] 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 .

[0248] 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.

[0249] Furthermore, in one embodiment of the invention, the assembly facility 9 comprises a riveting device 8 which comprises a riveting machine 81 .

[0250] In a preferred variant, the riveting device 8 is at an assembly station in which the wing 401 is placed at rest 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.

[0251] 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.

[0252] 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.

[0253] In one embodiment of the invention, the assembly plant 9 comprises detection means adapted to detect the station status and transmit a working signal or a stopping signal to the electronic control unit to stop or activate the assembly plant 9 respectively.

[0254] 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 .

[0255] 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.

[0256] Furthermore, in one embodiment, the detection device comprises a third sensor, which is preferably arranged at the end of one or more of the transport guides 911, 912, 913, 914, and is suitable for detecting the presence of a component to be picked up by the corresponding manipulator arm in the corresponding picking area C.

[0257] 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:

[0258] I) providing an assembly facility 9 according to the invention;

[0259] 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;

[0260] 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 ;

[0261] 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;

[0262] 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;

[0263] VI) in the suspended position, assembling the first subassembly 412 with the second subassembly 434 to form the joint assembly 402;

[0264] VII) providing a claw device 70 on which the wing 401 is preferably positioned in a resting state, the wing comprising a receiving seat 40 suitable for receiving the joint assembly 402;

[0265] 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;

[0266] IX) providing a riveting device 8 at the jaw device 70 in a stationary state, the riveting device comprising a riveting machine 81 and supplying one or more rivets 45 to the riveting device 8;

[0267] 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 through the riveting machine 81.

[0268] Preferably, steps I) to X) of the method all take place in the same assembly facility 9, while the wing 401 is at rest.

[0269] In other words, in one embodiment, when the assembly facility 9 is inserted into the assembly line, the jaw device 70 is actuated to translate 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 .

[0270] The invention also relates to an assembly line comprising an assembly plant 9 according to the invention.

[0271] Preferably, the assembly facility 9 of the assembly line is adapted to implement the assembly method according to the invention.

[0272] In an advantageous embodiment, the assembly line comprises a conveying system suitable for allowing a series of jaw devices 70 , preferably trays 70 , to advance along a feed direction X parallel to the working surface 700 .

[0273] Obviously, in one embodiment, the assembly line is suitable for producing a plurality of multi-part articles 4. According to this embodiment, the conveying system is suitable for allowing a series of jaw devices 70 to be advanced along said advancement axis X, each jaw device 70 being suitable for conveying at least one receiving part 401 .

[0274] Therefore, in a preferred embodiment, each jaw device 70 is suitable for stopping to bring the corresponding receiving component 401 to the assembly station and to be in a stationary state and to remain in this stationary state when performing each assembly operation implemented in the assembly facility 9.

[0275] Furthermore, in one embodiment, the assembly line comprises an electronic control unit adapted to send a stop signal to such a transport system, so that the transport system allows the jaw device 70 to stop at the assembly station to keep the corresponding receiving component 401 in a stationary state according to said stop signal.

[0276] According to one embodiment, the electronic control unit is adapted to send a restart signal to said conveying system.

[0277] Preferably, a restart signal is sent only at the end of the assembly operation in the assembly station, that is, for example, only at the end of the assembly of the multi-component item 4 in the assembly facility 9, so that after the assembly of at least two sub-components 412, 434 to the receiving part 401 is completed in the assembly station, the conveying system activates the advancement of the claw device 70 to bring the receiving part 401 out of the stationary state and move it along the forward axis X.

[0278] Innovatively, the present invention solves the conventional shortcomings of the background art.

[0279] Advantageously, the assembly station according to the invention allows to speed up the assembly operations of multi-component articles.

[0280] 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.

[0281] 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.

[0282] 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.

[0283] 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 subassembly (412, 434) into a receiving component (401) in an assembly facility (9), wherein: The method comprises the following steps: a) providing at least one assembly station, one or more substations (91, 92) adjacent to the assembly station, and at least one assembly device (1) in the assembly facility (9), wherein the receiving component (401) temporarily stops at the assembly station; b) picking up at least two subassemblies (412, 434) from the one or more substations (91, 92) of the assembly facility (9) by means of the at least one assembly device (1); c) keeping the receiving part (401) in a stationary state at least during the following steps of the method; d) assembling the at least two subassemblies (412, 434) and the receiving component (401) together by means of the at least one assembling device (1); Wherein, in the static state, the receiving component (401) remains in the same assembly state and / or remains in the same position and / or does not undergo other operations until the receiving component receives the at least two subassemblies (412, 434).

2. The assembly method according to claim 1, wherein: The first subassembly and the second subassembly (412, 434) are adapted to be assembled with each other to form a joint assembly (402), and wherein the receiving component (401) comprises a receiving seat (40) adapted to accommodate the joint assembly (402); And wherein step b) of the method comprises the following sub-steps: b1) picking up the first subassembly (412) and the second subassembly (434) by the at least one assembling device (1), 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; b2) assembling the first subassembly (412) and the second subassembly (434) by the at least one assembling device (1) in a spaced manner relative to the receiving component (401) to form a joint assembly (402); And wherein step d) of the method comprises moving the at least one assembling device (1) toward the receiving seat (40) to bring the joint assembly (402) to the receiving seat (40) and assemble the joint assembly (402) with the receiving component (401).

3. The assembly method according to claim 1 or 2, wherein: Step b) is also performed while the receiving part (401) remains in a stationary state.

4. The assembly method according to any one of the preceding claims, wherein: The first subassembly (412) includes at least a first component (41) and a second component (42), and the second subassembly (434) includes at least a third component (43) and a fourth component (44), The substations (91, 92) respectively include a first preassembly group (91) and a second preassembly group (92), And wherein, the method comprises the following steps before step b): 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 each other in the second pre-assembly group (92) to form the second subassembly (434).

5. Assembly method according to the preceding claim, wherein: Steps a1) and a11) are also performed while the receiving part (401) remains in a stationary state.

6. The assembly method according to claim 2, wherein: Steps b1) and b2) are performed while maintaining said first subassembly (412) and said second subassembly (434) in a suspended position, which avoids contact with any support other than said at least one assembly device (1).

7. Assembly method according to any one of the preceding claims, wherein: The at least one assembly device (1) comprises a first manipulator arm (1) and a second manipulator arm (2), and wherein, during step b), the first manipulator arm (1) picks up the first subassembly (412) and the second manipulator arm (2) picks up the second subassembly (434), and the manipulator arms (1, 2) cooperate to assemble the first subassembly and the second subassembly (412, 434) with each other to form a joint assembly (402), and during step d), at least one of the first manipulator arm and the second manipulator arm (1, 2) is moved to assemble the joint assembly (402) with the receiving part (401), And wherein the receiving part (401) remains in a stationary state during step b), that is, during the mutual assembly between the first subassembly (412) and the second subassembly (434), the receiving part does not undergo an assembly operation.

8. The assembly method according to any one of the preceding claims comprises a step a2) of providing a claw device (70) located on a working surface (700) substantially parallel to a ground surface, the claw device being, for example, a tray (70) or a rotating table, the receiving part (401) being positioned on the working surface, so that step d) comprises positioning the at least two subassemblies (412, 434) in the receiving part (401) in a stationary state from the top, and assembling the subassemblies (412, 434) together with the receiving part (401).

9. The assembly method according to claims 2 and 8, wherein: The receiving part (401) is positioned on the claw device (70) in such a way that the receiving seat (40) faces upward, that is, faces the other side relative to the working surface (700), And wherein, during step d), the assembling device (1) is translated toward the receiving seat (40) at least along a vertical direction (Z) perpendicular to the working surface (700) so as to place the joint assembly (402) in the receiving seat (40) from the top.

10. The assembly method according to claims 7 and 9, wherein: Step d) comprises synchronously lowering each manipulator arm (1, 2) along the vertical direction (Z) towards the jaw device (70) and placing the joint assembly (402) in the receptacle (40) from the top.

11. Assembly method according to any one of the preceding claims, wherein: When assembled, the at least two subassemblies (412, 434) 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 at least two subassemblies (412, 434) to the receiving part (401) in an articulated manner, and wherein the assembly method comprises the following steps after step d): 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 at least two subassemblies (412, 434) to the receiving part (401) in an articulated manner by inserting the one or more rivets (45) into the one or more rivet insertion seats by means of the riveting machine (81).

12. The assembly method according to any one of claims 8 to 11, wherein: While carrying out the steps of the method according to one or more of the preceding claims, said receiving part (401) is kept in said stationary state by keeping said jaw means (70) in the same position at said assembly station, preferably temporarily immobile.

13. An assembly facility (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 facility (9) comprising: - at least one assembly station; - one or more substations (91, 92), close to said assembly station; at least one assembling device adapted to pick up at least two subassemblies (412, 434) from said one or more substations (91, 92) of said facility and to assemble said at least two subassemblies with a receiving part (401) in said assembling station, The assembly facility (9) is configured to carry out an assembly method according to any one of the preceding claims.

14. Assembly facility (9) according to claim 13, wherein: The first subassembly (412) and the second subassembly (434) are adapted to be assembled with each other to form a joint assembly (402), The assembly facility (9) comprises a jaw device (70) on which a receiving component (401) can be accommodated, the receiving component having a receiving seat (40) suitable for receiving the joint assembly (402) formed by the first subassembly (412) and the second subassembly (434), and wherein the at least one assembly device (1) comprises a first manipulator arm (1) and a second manipulator arm (2), the first manipulator arm and the second manipulator arm being suitable for assembling the subassembly (412, 434) to form the joint assembly (402) in a spaced manner relative to the receiving part (401) and being suitable for bringing the joint assembly (402) to the receiving seat (40) of the receiving part (401), And wherein the receiving part (401) is adapted to remain in a stationary state during assembly of the joint assembly (402), and at least until the joint assembly (402) is placed in the receiving seat (40).

15. Assembly facility (9) according to claim 13 or 14, wherein: The one or more substations (91, 92) include: a first preassembly station (91), which is suitable for preassembling a first component (41) and a second component (42) for manufacturing the first subassembly (412); and a second preassembly station (92), which is suitable for preassembling a third component (43) and a fourth component (44) for manufacturing the second subassembly (434), and wherein the receiving component (401) is suitable for remaining in the stationary state during the preassembly of the first subassembly and the second subassembly (412, 434).

16. Assembly facility (9) according to claim 14, wherein: The jaw device (70) is positioned on a working surface (700) parallel to a ground surface, and 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 the working surface (700).

17. The assembly facility (9) according to claim 14, wherein: The jaw device (70) comprises a support seat (71) adapted to securely accommodate a receiving part (401) in such a manner that the support seat (40) faces upwards, ie, faces the other side relative to the working surface (700).

18. An assembly line comprising an assembly facility (9) according to any one of claims 13 to 17.

19. Assembly line according to the preceding claim, comprising: - a transport system adapted to allow the advancement of a series of pallets (70) along an axis of advancement (X) parallel to said ground surface, each pallet adapted to transport at least one receiving component (401); - an electronic control unit adapted to send a stop signal to the transport system so that the transport system allows the jaw device (70) to stop at the assembly station in order to keep the corresponding receiving part in a stationary state, Furthermore, the electronic control unit is suitable for sending a restart signal to the conveying system only when the assembly operation in the assembly station is completed, so that the conveying system activates the advancement of the claw device (70) only after the assembly of the at least two sub-assemblies (412, 434) and the receiving part (401) is completed in the assembly station, so as to enable the receiving part (401) to break away from the stationary state and advance along the forward axis (X).

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