Automatic assembling method and device for rear transverse pipe torsion spring

Abstract

The present application relates to the technical fields of mechanical automation assembly and process control, and discloses a kind of rear cross pipe torsion spring automatic assembly method and equipment, the method includes lubricating torsion spring and pre-centering plug, the first end of torsion spring is inserted into rear cross pipe to support centering, the second end of torsion spring is placed into limiting clamping groove, according to the second end of torsion spring and target assembly position establish preset space assembly track, control assembly execution mechanism drive torsion spring to occur spatial bending and complete assembly, while obtaining the actual travel trajectory of the second end of torsion spring and the motion parameters of assembly execution mechanism, according to the trajectory deviation and motion parameters adjust assembly process, the present application can reduce the difficulty of manual assembly, reduce torsion spring excessive deformation and assembly not in place, improve assembly stability and consistency.

Description

Technical Field

[0001] This invention belongs to the technical field of mechanical automation assembly, specifically relating to an automatic assembly method and equipment for a rear cross tube torsion spring. Background Technology

[0002] Torsion springs are widely used in mechanical structures that require elastic restoring, such as seat frames and rotating brackets. In the assembly process of some frame products, one end of the torsion spring needs to be inserted into the rear horizontal tube first, and then the torsion spring needs to be bent to a certain extent in space so that the other end can enter the corresponding installation position. Since the torsion spring itself has a large elastic restoring force, and its two ends are not always in the same straight line direction during the installation process, the actual assembly process is quite difficult.

[0003] Existing torsion springs are usually installed manually. Operators need to rely on experience to control the bending degree and direction of movement of the torsion spring. When the applied force is too large, it is easy to cause excessive deformation of the torsion spring, and even damage to the centering plug that mates with the torsion spring. When the applied force is insufficient, it is difficult to make the torsion spring accurately enter the target installation position. At the same time, manual operation is difficult to stably control the actual movement trajectory of the torsion spring during the spatial bending process. Different operators are prone to assembly differences. Therefore, it is necessary to provide an automatic assembly method and assembly equipment that can control the assembly trajectory and assembly force state of the torsion spring. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic assembly method and equipment for rear horizontal tube torsion springs, so as to solve the problems of unstable control of spatial bending trajectory, difficulty in accurate control of assembly force, and difficulty in timely identification of abnormal assembly state during the existing manual installation of torsion springs.

[0005] To achieve the above objectives, the present invention provides an automatic assembly method for a rear transverse tube torsion spring, comprising the following steps: Obtain the torsion spring to be assembled, lubricate the torsion spring, and pre-install the centering plug on the first end of the torsion spring; Insert the first end of the torsion spring into the rear horizontal tube of the component to be assembled, so that the centering plug enters the rear horizontal tube and forms a centering support for the torsion spring. The second end of the torsion spring is placed into the limiting slot of the assembly equipment, and the component to be assembled is positioned at the assembly station. Obtain the relative position between the second end of the torsion spring and the target assembly position, and determine the preset spatial assembly trajectory of the second end of the torsion spring; The control assembly actuator acts on the second end of the torsion spring, causing the torsion spring to bend spatially with the first end as the positioning reference, and move towards the target assembly position along the preset spatial assembly trajectory; The actual travel trajectory of the second end of the torsion spring and the motion parameters of the assembly actuator are obtained. The assembly actuator is adjusted according to the deviation between the actual travel trajectory and the preset spatial assembly trajectory and the motion parameters until the torsion spring assembly is completed.

[0006] Optionally, the lubrication treatment includes forming a lubricating layer on the surface of the assembly section where the torsion spring contacts the rear cross tube, in order to reduce the frictional resistance during the assembly of the torsion spring.

[0007] Optionally, the centering plug has an outer positioning surface adapted to the inner wall of the rear transverse tube and a limiting portion for defining the position of the torsion spring. The limiting portion keeps the torsion spring at a preset assembly angle relative to the rear transverse tube, the preset assembly angle being 40° to 50°.

[0008] Optionally, the preset spatial assembly trajectory includes multiple sequentially arranged trajectory positions, and the assembly actuator drives the second end of the torsion spring to move continuously according to the trajectory positions, so that the torsion spring gradually forms a spatial bending state.

[0009] Optionally, the motion parameters include the drive displacement and drive load of the assembly actuator. When the drive load exceeds a set upper limit, the assembly actuator is controlled to decelerate or stop moving.

[0010] Optionally, when the assembly actuator generates a driving displacement and the driving load is lower than a set lower limit, it is determined that the torsion spring has an abnormal state of disengaging from the limit slot or deviating from the predetermined assembly path, and the movement of the assembly actuator is stopped.

[0011] Optionally, after the second end of the torsion spring reaches the target assembly position, the position of the centering plug is detected, and the integrity of the centering plug is used to determine whether damage has occurred during the assembly process.

[0012] The present invention also provides an automatic assembly equipment for rear horizontal tube torsion springs for implementing the above-mentioned automatic assembly method for rear horizontal tube torsion springs, comprising an equipment body, a workpiece positioning mechanism, a torsion spring limiting mechanism, an assembly execution mechanism, a status detection mechanism, and a controller. The workpiece positioning mechanism is mounted on the main body of the equipment and is used to position the component to be assembled, which has a rear horizontal tube. The torsion spring limiting mechanism has a limiting slot for accommodating the second end of the torsion spring; The assembly actuator has an assembly action part that acts on the second end of the torsion spring, which drives the second end of the torsion spring to bend spatially relative to the first end located in the rear horizontal tube and move to the target assembly position. The state detection mechanism is used to obtain the spatial position of the second end of the torsion spring and the motion parameters of the assembly actuator. The controller is connected to the assembly actuator and the status detection mechanism respectively, and is used to control the assembly actuator according to the actual travel trajectory of the second end of the torsion spring, the preset spatial assembly trajectory and the motion parameters.

[0013] Optionally, the assembly actuator includes a motion drive component, an assembly action part, and a position adjustment component. The position adjustment component is used to align the assembly action part with the second end of the torsion spring, and the motion drive component is used to drive the assembly action part to move the second end of the torsion spring.

[0014] Optionally, the state detection mechanism includes a position detection component and a load detection component. The controller determines the trajectory deviation of the torsion spring based on the position of the second end obtained by the position detection component, and controls the assembly actuator to decelerate, stop, or retract based on the driving load obtained by the load detection component.

[0015] The significant technical effect of this invention lies in the fact that by forming a continuous and interconnected automatic assembly process for the pre-positioning, centering support, spatial bending assembly, and assembly status monitoring of the torsion spring, the torsion spring installation operation, which originally relied mainly on manual experience, is transformed into a mechanized assembly process with a defined positioning reference, a controllable motion path, and a monitorable force state. This improves the stability and consistency of the torsion spring installation process. Specifically, lubricating the assembly area before the torsion spring is formally assembled can reduce the frictional resistance between the torsion spring and the rear horizontal tube, reduce the additional resistance encountered by the torsion spring during insertion and subsequent bending movements, help maintain the continuity of the assembly action, and reduce the problem of the torsion spring not moving smoothly due to excessive local friction. By pre-installing the centering plug on the first end of the torsion spring and allowing the centering plug to enter the rear horizontal tube to form a centering support, the position of the first end of the torsion spring can be stably restricted, so that the torsion spring has a relatively defined assembly reference during subsequent bending under force, reducing the possibility of the first end of the torsion spring shifting or deviating inside the rear horizontal tube, and reducing the change in assembly gap caused by inaccurate initial position.

[0016] The torsion spring limiting mechanism initially restricts the position of the second end of the torsion spring, and the assembly execution mechanism drives the second end of the torsion spring to move according to the preset spatial assembly trajectory. This allows the torsion spring to gradually bend around the already positioned first end, avoiding the uncertainty caused by the operator's hand force to change the posture of the torsion spring in the traditional manual installation process. The preset spatial assembly trajectory can be established based on the initial position and target assembly position of the torsion spring, so that the bending degree and movement direction of the torsion spring have clear process constraints. This allows different batches of torsion springs to be assembled in a relatively uniform motion mode, which helps to reduce the fluctuation of assembly quality caused by differences in operator experience.

[0017] Therefore, this invention does not simply replace manual force application with mechanical equipment. Instead, it establishes assembly constraint relationships at both ends of the torsion spring and combines the actual travel trajectory, preset spatial assembly trajectory, and motion parameters of the assembly actuator for process control. This ensures that the entire process of the torsion spring from pre-assembly and spatial bending to finally entering the target position is controllable. When the drive load increases abnormally, it can decelerate, stop, or retract. When the drive displacement has occurred but the drive load is abnormally low, it can identify abnormal states such as the torsion spring disengaging from the limit slot or deviating from the predetermined assembly path. This balances assembly efficiency and the safety of the torsion spring under force, reduces component damage caused by excessive force and incomplete assembly caused by insufficient force, thereby improving the reliability, repeatability, and product assembly quality of the automatic assembly of the rear horizontal tube torsion spring. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the automatic assembly equipment for the rear horizontal tube torsion spring. Figure 2 This is a schematic diagram of the pre-assembled state of the torsion spring, centering plug, and rear horizontal tube. Figure 3 A schematic diagram showing the structure of the second end of the torsion spring entering the equipment's limiting slot; Figure 4 This is a schematic diagram of the assembly trajectory; Figure 5 This is a schematic diagram showing the completed assembly of the torsion spring.

[0020] In the diagram: 1. Main body of the equipment; 2. Workpiece positioning mechanism; 2-1. Positioning support; 2-2. Workpiece clamping component; 3. Torsion spring limiting mechanism; 3-1. Limiting slot; 4. Assembly execution mechanism; 4-1. Moving drive component; 4-2. Assembly action part; 4-3. Position adjustment component; 5. Status detection mechanism; 5-1. Position detection component; 5-2. Load detection component; 6. Controller; 7. Component to be assembled; 7-1. Rear horizontal tube; 8. Torsion spring; 9. Centering plug. Detailed Implementation

[0021] The technical solution of the present invention will be further described below in conjunction with the structural composition and assembly process of the present invention. It should be noted that this embodiment is used to illustrate the technical principles and implementation of the present invention, and is not intended to limit the specific protection scope of the present invention. Equivalent substitutions made to the relevant structural forms, driving methods and detection methods without departing from the core concept of the present invention can be applied to the present invention.

[0022] This embodiment provides an automatic assembly method and equipment for a rear horizontal tube torsion spring. The assembly equipment includes a main body 1, on which a workpiece positioning mechanism 2, a torsion spring limiting mechanism 3, an assembly execution mechanism 4, a status detection mechanism 5, and a controller 6 are provided. The main body 1 provides an installation foundation for each execution mechanism. The workpiece positioning mechanism 2 is used to fix the component 7 to be assembled. The torsion spring limiting mechanism 3 is used to constrain the initial position of the second end of the torsion spring 8. The assembly execution mechanism 4 is used to apply an assembly force to the second end of the torsion spring 8. The status detection mechanism 5 is used to obtain the spatial position of the second end of the torsion spring 8 and the motion parameters of the assembly execution mechanism 4. The controller 6 is used to control the assembly execution mechanism 4 to perform the corresponding assembly action according to the actual travel trajectory of the second end of the torsion spring 8, the preset spatial assembly trajectory, and the motion parameters.

[0023] The component 7 to be assembled is set on the workpiece positioning mechanism 2. The component 7 to be assembled has a rear horizontal tube 7-1, which forms an installation space for the first end of the torsion spring 8 to pass through. The workpiece positioning mechanism 2 includes a positioning support 2-1 and a workpiece clamping member 2-2. The positioning support 2-1 is used to support the component 7 to be assembled, and the workpiece clamping member 2-2 is used to restrict the movement of the component 7 to be assembled during the assembly process, so that the rear horizontal tube 7-1 is kept in the set assembly position. In actual use, two or more positioning positions can be set according to the structure of the component 7 to be assembled. The initial positioning is formed by the cooperation between the positioning support 2-1 and the workpiece's own hole, edge or reference surface, and then the workpiece clamping member 2-2 is used to fix it, thereby reducing the influence of the position error of the component 7 to be assembled on the subsequent installation trajectory of the torsion spring 8.

[0024] The torsion spring 8, as the elastic component to be installed, has a first end and a second end that are arranged opposite to each other. The first end is used to insert into the interior of the rear horizontal tube 7-1, and the second end serves as the main working end for applying force and controlling motion during the assembly process. The specific wire diameter, bending shape and elastic parameters of the torsion spring 8 can be determined according to the actual design of the component 7 to be assembled. This invention does not limit the torsion spring 8 to adopt a certain fixed specification.

[0025] Before formal assembly, the operator or the supporting feeding mechanism first obtains the torsion spring 8 to be assembled, and performs lubrication treatment in the assembly area where the torsion spring 8 contacts the rear horizontal tube 7-1. The lubricating medium can be formed on the surface of the torsion spring 8 by brushing, dripping, or other methods suitable for the production site, so that the torsion spring 8 maintains a low contact friction resistance during the insertion of the rear horizontal tube 7-1 and subsequent spatial bending. Pre-lubrication can reduce unnecessary friction load on the torsion spring 8, so that the load change detected by the condition detection mechanism 5 can more realistically reflect the bending resistance and assembly state of the torsion spring 8 itself.

[0026] After lubrication is completed, the centering plug 9 is pre-installed on the first end of the torsion spring 8. The centering plug 9 has an outer positioning surface that is adapted to the inner wall of the rear horizontal tube 7-1 and a limiting part for limiting the position of the torsion spring 8. The limiting part is used to limit the position of the torsion spring 8 relative to the centering plug 9. After the first end of the torsion spring 8 cooperates with the limiting part, the centering plug 9 and the torsion spring 8 are in a pre-installed state, and then the two enter the rear horizontal tube 7-1 together.

[0027] After the centering plug 9 enters the rear horizontal tube 7-1, the outer positioning surface is adapted to the inner wall of the rear horizontal tube 7-1, so that the first end of the torsion spring 8 is kept in a relatively stable position relative to the rear horizontal tube 7-1. This method can avoid the torsion spring 8 being directly suspended in the rear horizontal tube 7-1 and causing large radial swing. At the same time, it provides a relatively definite first positioning reference for the subsequent spatial bending of the second end of the torsion spring 8. In other words, the subsequent bending motion of the torsion spring 8 is not completely free motion, but is a controlled deformation based on the position of the first end that has entered the rear horizontal tube 7-1 and the location of the centering plug 9.

[0028] In one specific embodiment, the limiting part keeps the torsion spring 8 at a preset assembly angle relative to the rear horizontal tube 7-1. The preset assembly angle can be set in the range of 40° to 50°, for example, it can be pre-installed at about 45°. The main purpose of setting this angle is to make the torsion spring 8 form an initial posture suitable for subsequent bending after entering the rear horizontal tube 7-1, and to avoid excessive initial interference between the torsion spring 8 and the surrounding structure. The above angle can be adaptively adjusted according to the size of the torsion spring 8, the position of the rear horizontal tube 7-1 and the target assembly position, and is not limited to using a single fixed angle.

[0029] After the first end of the torsion spring 8 and the centering plug 9 are pre-installed and both enter the rear horizontal tube 7-1, the component 7 to be assembled is positioned at the assembly station corresponding to the workpiece positioning mechanism 2, and the second end of the torsion spring 8 is placed into the limiting slot 3-1 of the torsion spring limiting mechanism 3. The opening direction of the limiting slot 3-1 is adapted to the initial placement direction of the second end of the torsion spring 8, so that the second end can enter more easily, and at the same time, the second end is restricted from large lateral displacement before the assembly execution mechanism 4 is activated.

[0030] At this time, the first end of the torsion spring 8 is constrained by the centering plug 9 and the rear horizontal tube 7-1, and the second end of the torsion spring 8 is constrained by the limiting groove 3-1. Therefore, the initial spatial state of the torsion spring 8 before the assembly begins can be determined. The controller 6 can call the assembly program that matches the component 7 to be assembled according to the preset workpiece model. Alternatively, after the state detection mechanism 5 obtains the position of the second end of the torsion spring 8, it can establish a corresponding preset spatial assembly trajectory according to its relative relationship with the target assembly position.

[0031] The assembly actuator 4 includes a moving drive assembly 4-1, an assembly action part 4-2, and a position adjustment assembly 4-3. The position adjustment assembly 4-3 is used to adjust the relative position between the assembly action part 4-2 and the second end of the torsion spring 8, so that the assembly action part 4-2 can stably act on the second end of the torsion spring 8. The moving drive assembly 4-1 can be a lead screw drive, an electric actuator, or other drive structure capable of position control, as long as it can drive the assembly action part 4-2 to complete the required movement according to the control command of the controller 6.

[0032] After automatic assembly begins, the position adjustment component 4-3 first moves the assembly action part 4-2 to the corresponding position of the second end of the torsion spring 8, so that the assembly action part 4-2 and the torsion spring 8 form a stable contact. The controller 6 then controls the movement of the motion drive component 4-1 according to the preset spatial assembly trajectory, and the assembly action part 4-2 pushes or drives the second end of the torsion spring 8 to gradually change the spatial position.

[0033] The preset spatial assembly trajectory is not a simple single straight line movement path, but a continuous movement path determined by the initial posture of the torsion spring 8, the position of the rear horizontal tube 7-1, the surrounding component space, and the final installation position of the torsion spring 8. The preset spatial assembly trajectory can be composed of multiple trajectory positions set in sequence. Each trajectory position corresponds to the stage position that the second end of the torsion spring 8 should reach during the assembly process. Adjacent trajectory positions form a complete assembly trajectory through continuous movement.

[0034] In the initial stage of assembly, the assembly actuator 4 mainly guides the position of the second end of the torsion spring 8, so that the torsion spring 8 gradually enters the stressed state from the initial natural state. As the assembly action part 4-2 moves further, the first end of the torsion spring 8 is restricted by the rear horizontal tube 7-1 and the centering plug 9, and the second end gradually deflects under the action of the assembly actuator 4. Therefore, the torsion spring 8 begins to bend in space. The controller 6 restricts the movement direction and amount of the second end according to the predetermined trajectory, so that the bending change of the torsion spring 8 is gradually completed, rather than forcibly torturing it by applying a large force at once.

[0035] The status detection mechanism 5 includes a position detection component 5-1 and a load detection component 5-2. The position detection component 5-1 is used to obtain the spatial position change of the second end of the torsion spring 8 during the assembly process. The position detection component 5-1 can use visual inspection, laser displacement detection or other detection methods that can obtain the spatial position of the second end of the torsion spring 8. When the assembly action part 4-2 and the second end of the torsion spring 8 maintain a certain positional relationship, the position of the second end of the torsion spring 8 can also be calculated based on the known spatial position of the assembly action part 4-2. By continuously obtaining the position of the second end of the torsion spring 8 at multiple moments, the actual travel trajectory of the second end of the torsion spring 8 can be formed.

[0036] The controller 6 compares the actual travel trajectory with the preset spatial assembly trajectory. When the actual position is within the allowable deviation range corresponding to the preset trajectory, it continues to control the assembly actuator 4 to perform subsequent movements. When the second end of the torsion spring 8 deviates from the allowable range, it adjusts the movement direction of the assembly action part 4-2 or reduces its movement speed so that the torsion spring 8 gradually returns to the reasonable movement area. In this way, the torsion spring 8 can be prevented from hitting other structures of the component 7 to be assembled due to excessive local deflection during the bending process.

[0037] The load detection component 5-2 is used to obtain the driving load generated by the assembly actuator 4 when driving the torsion spring 8. Specifically, it can be obtained through the torque and current changes of the drive motor or the force detection structure set at the corresponding position of the assembly action part 4-2. Since the torsion spring 8 will generate a gradually increasing elastic restoring force during bending, under normal assembly conditions, the driving load will usually change accordingly with the degree of bending.

[0038] The controller 6 is pre-set with a drive load allowable range that matches the specifications of the corresponding torsion spring 8. When the drive load is detected to be within the normal range, the assembly actuator 4 continues to move according to the preset program. When the drive load approaches the set upper limit, the assembly movement speed can be reduced so that the torsion spring 8 can obtain a smoother bending process. When the drive load exceeds the set upper limit, the current assembly action is stopped immediately. If necessary, the assembly actuator 4 is controlled to generate a certain distance of reverse retraction to release the excessive force on the torsion spring 8, thereby reducing the possibility of permanent deformation of the torsion spring 8 or damage to the centering plug 9 due to abnormal compression.

[0039] Meanwhile, when the assembly actuator 4 has generated a significant driving displacement, but the load detected by the load detection component 5-2 is significantly lower than the normal load that should be present at the corresponding stage, it can be determined that the assembly action part 4-2 and the second end of the torsion spring 8 may have lost effective contact, or the second end of the torsion spring 8 may have disengaged from the limit slot 3-1, or the torsion spring 8 may not be subjected to force along the predetermined path. At this time, the controller 6 stops the assembly and re-determines the actual position of the second end of the torsion spring 8 through the position detection component 5-1. After the position correction is completed, the subsequent assembly action is executed.

[0040] By simultaneously judging the actual trajectory and the driving load, errors in judging the assembly status based solely on the displacement of the assembly actuator 4 can be avoided. For example, if the assembly actuator 4 has reached a certain preset position, but the torsion spring 8 does not move synchronously due to slippage, the assembly process may be incorrectly judged if only the position of the actuator is detected. However, this embodiment can identify the abnormal state by jointly using the actual position of the torsion spring 8 and the change in the driving load.

[0041] As the second end of the torsion spring 8 continues to move along the preset spatial assembly trajectory, its spatial curvature gradually reaches the predetermined state. When the second end of the torsion spring 8 enters the target assembly area, the controller 6 determines whether it has reached the set termination position based on the position detection result. If the position meets the requirements and the drive load is within the allowable range corresponding to the completion of assembly, then it is determined that the torsion spring 8 has completed the assembly.

[0042] After assembly is completed, the assembly actuator 4 stops applying force, and the assembly action part 4-2 withdraws from the second end of the torsion spring 8, allowing the torsion spring 8 to remain in the designed installation position by its own elasticity. Subsequently, the installation status of the torsion spring 8 can be confirmed by manual observation or by a testing mechanism, and the integrity of the centering plug 9 can be checked to determine whether the centering plug 9 has obvious cracks, crushing, or abnormal deformation. When the position of the torsion spring 8 meets the requirements and the centering plug 9 remains intact, one torsion spring assembly operation of the component 7 to be assembled is completed.

[0043] During continuous production, different components 7 to be assembled can enter the workpiece positioning mechanism 2 in sequence. The controller 6 repeatedly calls the corresponding assembly trajectory and load control parameters, so that multiple torsion springs 8 can be installed in a relatively uniform assembly method. For torsion springs 8 of different specifications or components 7 of different models to be assembled, corresponding trajectory parameters and allowable load ranges can be established respectively. By switching the assembly program, the equipment can adapt to different products.

[0044] In this embodiment, the assembly reference of the first end of the torsion spring 8 is established by the centering plug 9, the initial position of the second end is limited by the torsion spring limiting mechanism 3, and the assembly execution mechanism 4 drives the torsion spring 8 to gradually bend in space according to the preset spatial assembly trajectory. At the same time, the assembly process is judged in real time by combining position detection and drive load detection. This transforms the torsion spring bending installation process, which is mainly completed by manual experience, into an automatic assembly process in which both position and force can be controlled. This reduces the probability of damage to the torsion spring 8 or the centering plug 9 due to excessive manual force, and also reduces the situation where the torsion spring 8 is not installed properly due to insufficient force. This improves the consistency and stability of the rear horizontal tube torsion spring assembly.

[0045] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automatic assembly method for a rear transverse tube torsion spring, characterized in that, Includes the following steps: Obtain the torsion spring (8) to be assembled, lubricate the torsion spring (8), and pre-install the centering plug (9) on the first end of the torsion spring (8); Insert the first end of the torsion spring (8) into the rear horizontal tube (7-1) of the component (7) to be assembled, so that the centering plug (9) enters the rear horizontal tube (7-1) and forms a centering support for the torsion spring (8); Place the second end of the torsion spring (8) into the limiting slot (3-1) of the assembly equipment, and position the component (7) to be assembled at the assembly station; Obtain the relative position between the second end of the torsion spring (8) and the target assembly position, and determine the preset spatial assembly trajectory of the second end of the torsion spring (8); The control assembly actuator (4) acts on the second end of the torsion spring (8), causing the torsion spring (8) to bend in space with the first end as the positioning reference, and move towards the target assembly position along the preset spatial assembly trajectory; Obtain the actual travel trajectory of the second end of the torsion spring (8) and the motion parameters of the assembly actuator (4). Adjust the assembly actuator (4) according to the deviation between the actual travel trajectory and the preset spatial assembly trajectory and the motion parameters until the assembly of the torsion spring (8) is completed.

2. The automatic assembly method for the rear transverse tube torsion spring according to claim 1, characterized in that, The lubrication treatment includes forming a lubricating layer on the surface of the assembly section where the torsion spring (8) contacts the rear horizontal tube (7-1) to reduce the frictional resistance during the assembly process of the torsion spring (8).

3. The automatic assembly method for the rear transverse tube torsion spring according to claim 1, characterized in that, The centering plug (9) has an outer positioning surface adapted to the inner wall of the rear horizontal tube (7-1) and a limiting part for limiting the position of the torsion spring (8). The limiting part keeps the torsion spring (8) at a preset assembly angle relative to the rear horizontal tube (7-1). The preset assembly angle is 40° to 50°.

4. The automatic assembly method for the rear transverse tube torsion spring according to claim 1, characterized in that, The preset spatial assembly trajectory includes multiple trajectory positions set sequentially. The assembly execution mechanism (4) drives the second end of the torsion spring (8) to move continuously according to the trajectory position, so that the torsion spring (8) gradually forms a spatial bending state.

5. The automatic assembly method for the rear transverse tube torsion spring according to claim 1, characterized in that, The motion parameters include the drive displacement and drive load of the assembly actuator (4). When the drive load exceeds the set upper limit, the assembly actuator (4) is controlled to decelerate or stop moving.

6. The automatic assembly method for the rear transverse tube torsion spring according to claim 5, characterized in that, When the assembly actuator (4) generates a driving displacement and the driving load is lower than the set lower limit, it is determined that the torsion spring (8) is in an abnormal state of disengaging from the limit slot (3-1) or deviating from the predetermined assembly path, and the movement of the assembly actuator (4) is stopped.

7. The automatic assembly method for the rear transverse tube torsion spring according to claim 1, characterized in that, After the second end of the torsion spring (8) reaches the target assembly position, the position of the centering plug (9) is detected, and the integrity of the centering plug (9) is used to determine whether damage has occurred during the assembly process.

8. An automatic assembly device for rear transverse tube torsion springs for implementing the method according to any one of claims 1-7, characterized in that, It includes the main body of the equipment (1), the workpiece positioning mechanism (2), the torsion spring limiting mechanism (3), the assembly execution mechanism (4), the status detection mechanism (5), and the controller (6); The workpiece positioning mechanism (2) is installed on the main body (1) of the equipment and is used to position the component (7) to be assembled with the rear horizontal tube (7-1); The torsion spring limiting mechanism (3) has a limiting slot (3-1) for accommodating the second end of the torsion spring (8); The assembly actuator (4) has an assembly action part (4-2) that acts on the second end of the torsion spring (8) to drive the second end of the torsion spring (8) to bend spatially relative to the first end located in the rear horizontal tube (7-1) and move to the target assembly position. The state detection mechanism (5) is used to obtain the spatial position of the second end of the torsion spring (8) and the motion parameters of the assembly execution mechanism (4); The controller (6) is connected to the assembly actuator (4) and the state detection mechanism (5) respectively, and is used to control the assembly actuator (4) according to the actual travel trajectory of the second end of the torsion spring (8), the preset spatial assembly trajectory and the motion parameters.

9. The automatic assembly equipment for the rear transverse tube torsion spring according to claim 8, characterized in that, The assembly actuator (4) includes a moving drive assembly (4-1), an assembly action part (4-2), and a position adjustment assembly (4-3). The position adjustment assembly (4-3) is used to align the assembly action part (4-2) with the second end of the torsion spring (8). The moving drive assembly (4-1) is used to drive the assembly action part (4-2) to move the second end of the torsion spring (8).

10. The automatic assembly equipment for the rear transverse tube torsion spring according to claim 8, characterized in that, The state detection mechanism (5) includes a position detection component (5-1) and a load detection component (5-2). The controller (6) determines the trajectory deviation of the torsion spring (8) based on the position of the second end obtained by the position detection component (5-1), and controls the assembly actuator (4) to decelerate, stop or retract based on the driving load obtained by the load detection component (5-2).

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