Automatic mounting manipulator for hardware fittings of plastic-steel doors and windows

Abstract

The invention discloses an automatic mounting manipulator for hardware fittings of plastic-steel doors and windows, and relates to the technical field of hardware fitting mounting, the automatic mounting manipulator comprises an assembly mechanical arm, and an assembly fixture mechanism is arranged at one end of the assembly mechanical arm. When the hardware fitting assembling device is used, the industrial camera collects the types of hardware fittings, the assembling mechanical arm drives the assembling clamp mechanism to move to the hardware fitting feeding position, the assembling clamp mechanism is started, the two rigid grabbing clamps are driven to do opening and closing movement, and the regular hardware fittings can be clamped and moved to the mounting position of a plastic-steel door and window to be assembled. And when it is shot that the light and thin hardware fitting is assembled, the two hydraulic rods are started to push the fixing plate to move, and the electromagnet is pushed out. The two electromagnets are started to magnetically attract the light and thin hardware fittings, and the light and thin hardware fittings are mounted at the mounting positions of the plastic-steel doors and windows under the driving of the assembling mechanical arm, so that more pertinence and applicability are achieved, time waste is reduced, and the mounting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hardware fitting installation, and particularly to an automatic installation manipulator for plastic-steel door and window hardware fittings. Background Art

[0002] Hardware fittings refer to various components made of metal materials such as gold, silver, copper, iron, tin, etc. through processes such as forging, casting, stamping, cutting, bending, welding, etc., and are used for connection, fixation, decoration, transmission and other purposes. During the installation process of plastic-steel doors and windows, hardware fittings are required for assembly. Hardware fittings are an indispensable part of plastic-steel doors and windows, and they can realize functions such as opening, closing, locking, sliding of the doors and windows, ensuring the normal use and safety of the doors and windows.

[0003] In the prior art, an automatic installation manipulator for plastic-steel door and window hardware fittings is an automated device. Through precise programming and control, the manipulator can perform installations according to preset parameters and processes, ensuring accurate and firm installation positions of the hardware fittings, stable and reliable installation quality, and reducing errors and quality problems that may occur in manual installation.

[0004] During the automatic installation process of plastic-steel door and window hardware fittings, an opening and closing type manipulator is usually used to grasp the hardware fittings. For example, for regularly shaped handles, pulley fittings, etc., a clamping type fixture is used to grasp through the opening and closing of the mechanical fixture. However, there are also some thin and light hardware fittings in the hardware fittings of doors and windows, with a small thickness. It is difficult for the existing opening and closing type manipulator to accurately grasp them, and it is easy to have a situation of insufficient clamping, resulting in the dropping of the fittings during the handling process, affecting the installation efficiency and quality. If the method of replacing the manipulator is adopted to grasp the thin and light hardware fittings, it will consume a lot of time, cause the assembly to be interrupted, and reduce the overall installation efficiency.

[0005] Therefore, we propose an automatic installation manipulator for plastic-steel door and window hardware fittings to solve the problems raised in the above background art. Summary of the Invention

[0006] The purpose of the present invention is to provide an automatic installation manipulator for plastic-steel door and window hardware fittings to solve the problems in the automatic installation process of plastic-steel door and window hardware fittings raised in the above background art, that is, it is difficult for the existing opening and closing type manipulator to accurately grasp the thin and light hardware fittings, it is easy to have a situation of insufficient clamping, resulting in the dropping of the fittings during the handling process. If the method of replacing the manipulator is adopted, it will consume a lot of time, cause the assembly to be interrupted, and affect the installation efficiency and quality.

[0007] To achieve the above object, the present invention provides the following technical solution: An automatic installation manipulator for plastic-steel door and window hardware fittings, including an assembly robotic arm, one end of the assembly robotic arm is provided with an assembly fixture mechanism, the bottom of the assembly fixture mechanism is provided with two rigid gripping clamps, and extension plates are fixedly installed on the outer surfaces of the two rigid gripping clamps. Moving components and magnetic adsorption gripping components are arranged inside the two extension plates, and angle adjustment components are arranged at the bottoms of the two magnetic adsorption gripping components;

[0008] Both of the two magnetic adsorption gripping components include bent rods, hydraulic rods are fixedly installed at the bottom ends of the two bent rods, fixed plates are fixedly installed at the bottom ends of the two hydraulic rods, spherical rods are fixedly installed on the top surfaces inside the two fixed plates, spherical brackets are movably sleeved on the outer surfaces of the two spherical rods, mounting plates are fixedly installed at the bottoms of the two spherical brackets, and electromagnets are arranged inside the two mounting plates.

[0009] Preferably, both of the two moving components include moving plates, traveling motors are fixedly installed on the tops of the two moving plates, rotating shafts are fixedly installed at the output ends of the two traveling motors, traveling gears are fixedly installed at the bottom ends of the two rotating shafts, and traveling racks are meshed and connected to the outer surfaces of the two traveling gears.

[0010] Preferably, moving blocks are movably sleeved on the outer surfaces of the two rotating shafts, detection holes are opened inside the two moving blocks, laser sensors are fixedly installed inside the two detection holes, flexible gaskets are fixedly connected to the bottoms of the opposite sides of the two rigid gripping fixtures, and an industrial camera is arranged at the center of the bottom of the assembly fixture mechanism.

[0011] Preferably, adjusting gears are fixedly installed at the top ends of the outer surfaces of the two bent rods, adjusting racks are fixedly connected to the front surfaces inside the two extension plates, limiting bushings are fixedly installed on the outer surfaces of the two bent rods near the adjusting gears, T-shaped rods are fixedly installed at the top ends of the two bent rods, support bars are movably sleeved on the outer surfaces of the two T-shaped rods, two limiting rods are fixedly installed on one side inside each of the two rigid gripping clamps, and two limiting holes are opened on the outer surfaces of the two bent rods.

[0012] Preferably, moving holes are opened on the tops of the two moving blocks, the outer surfaces of the two limiting bushings are respectively movably embedded inside the two moving holes, first sliders are fixedly installed on both sides inside the two moving plates, second sliders are movably embedded inside the four first sliders, and second sliders are movably embedded inside the four rails.

[0013] Preferably, every two adjacent ones of the four second sliders form a group. The bottoms of the two groups of second sliders are respectively fixedly installed on the tops of the two moving blocks. Every two adjacent ones of the four slide rails form a group. The outer surfaces on both sides of the two groups of slide rails are respectively fixedly installed on both sides inside the two extension plates. The output ends of the two traveling motors respectively pass through the bottoms of the two moving plates movably. The bottoms of the two traveling racks are respectively fixedly installed on the inner bottoms of the two extension plates.

[0014] Preferably, the outer surfaces of the four limiting rods are respectively movably embedded in the four limiting holes. The outer surfaces of the two bending rods are respectively movably embedded in the two rigid gripping clamps. One sides of the two support bars are respectively fixedly installed on one sides inside the two rigid gripping clamps. The other sides of the two support bars are respectively fixedly installed on one sides inside the two extension plates.

[0015] Preferably, each of the two angle adjustment assemblies includes an adjustment motor. The output ends of the two adjustment motors are both fixedly installed with U-shaped rods. The outer surfaces of the two U-shaped rods are both fixedly installed with connecting plates. Angle sensors are arranged on the tops of the two connecting plates. Two adjustment blocks are fixedly installed on the outer surfaces of the two spherical frames. The outer surfaces at both ends of the two U-shaped rods are respectively movably embedded in the four adjustment blocks. The outer surfaces of the two adjustment motors are respectively fixedly installed on one sides inside the two fixing plates.

[0016] A control system for an automatic installation manipulator of plastic-steel door and window hardware fittings, which includes: a power supply module, a power transmission module, an operation execution module, a precise positioning module, a state monitoring module, and a central control module;

[0017] The power supply module is responsible for providing power for each moving part of the manipulator. The power transmission module is responsible for transmitting the power generated by the power supply module to each execution part of the manipulator to ensure the effective transmission and precise control of the power. The operation execution module is responsible for grasping and transporting the hardware fittings and assembling them into the hardware slots of the plastic-steel doors and windows. The precise positioning module is responsible for positioning the position and posture of the manipulator in space and the installation position of the hardware fittings on the plastic-steel doors and windows. The state monitoring module is responsible for monitoring the working state of the manipulator and the installation situation of the hardware fittings in real time. The central control module coordinates and controls the work of each module of the manipulator and sends instructions to the relevant modules according to the preset programs and task requirements.

[0018] Preferably, the operation execution module includes a fixture grasping unit, an electromagnetic grasping unit, and an end execution unit;

[0019] The fixture grasping unit is responsible for grasping and transporting hardware fittings with regular shapes. The electromagnetic grasping unit is responsible for adsorbing, grasping and transporting thin and light hardware fittings. The end effector unit is responsible for completing the installation work of the hardware fittings and connecting the hardware fittings to the plastic-steel doors and windows.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. When the present invention is in use, the industrial camera collects the types of hardware fittings. The assembly robotic arm drives the assembly fixture mechanism to move to the feeding position of the hardware fittings. The assembly fixture mechanism is started to drive the two rigid grasping clamps to open and close, so as to clamp the regular-shaped hardware fittings and move them to the installation position of the plastic-steel doors and windows for assembly. When it is photographed that the thin and light hardware fittings are assembled, the two hydraulic rods are started to push the fixed plate to move and push out the electromagnets. The two electromagnets are started to magnetically adsorb the thin and light hardware fittings, and under the drive of the assembly robotic arm, the thin and light hardware fittings are installed at the installation position of the plastic-steel doors and windows. With the cooperation of the assembly fixture mechanism, the rigid grasping clamps and the magnetic adsorption grasping components, the regular-shaped hardware fittings can be grasped and installed, and the thin and light hardware fittings can also be grasped and installed, which is more targeted and applicable, avoiding the situation of accidental dropping caused by the inappropriate clamping of the fixture for the hardware fittings, and there is no need to pause the operation of the equipment and replace the manipulator, greatly reducing the time waste and improving the installation efficiency.

[0022] 2. When the present invention is in use, the adjusting motor is adjusted to drive the U-shaped rod and the adjusting block to rotate, and drive the mounting plate and the electromagnet to rotate through the spherical frame to adjust the angle of the electromagnet. At the same time, the angle sensor detects the rotation angle and transmits it to the PLC controller for identification and comparison. When the rotation angle of the U-shaped rod meets the requirements, the adjusting motor is turned off. Under the action of the angle adjusting component, the effect of adjusting the angle of the electromagnet is achieved. With the cooperation of the two adjusting motors and the two angle sensors, different angles can be adjusted to magnetically adsorb and grasp the thin and light hardware fittings at different angles, improving the magnetic adsorption grasping stability and flexibility.

[0023] 3. When the present invention is in use, start the two traveling motors to drive the two rotating shafts to rotate, drive the traveling gears to travel on the outer surface of the traveling racks, drive the limiting bushings to move through the moving blocks, drive the bending rods and the adjusting gears to move together, and further drive the electromagnets to move outwards. When the laser sensor detects the target distance, turn off the corresponding traveling motor. With the cooperation of the moving assembly and the magnetic adsorption and grasping assembly, the distance between the electromagnets can be adjusted, facilitating the magnetic adsorption and grasping of thin and light metal fittings of different lengths. As the traveling gears continue to travel, the bending rods slide out from the limiting rods, and the adjusting gears gradually mesh with the adjusting racks. With the continuous movement of the moving blocks, drive the adjusting gears to rotate and move on the outer surface of the adjusting racks, thereby driving the bending rods to rotate 180 degrees, maximizing the moving distance of the electromagnets, expanding the adsorption range of the electromagnets through rotation, providing long-distance adsorption points, being more suitable for longer metal fittings, keeping the fittings stable during handling, enhancing the grasping ability of the manipulator for different metal fittings, and making the functions more abundant.

[0024] 4. When the present invention is in use, the precise positioning module determines the installation position of the metal fittings on the plastic-steel doors and windows and the initial position of the manipulator. Under the command of the central control module, the power supply module provides power for the operating arm and the clamping device through the power transmission module, enabling the clamping and grasping unit or the electromagnetic grasping unit to move to the feeding position of the metal fittings for clamping and grasping or magnetic adsorption and grasping. Under the action of the power supply module and the power transmission module, the operating arm transports the grasped fittings to the installation position of the plastic-steel doors and windows. The end effector fixes and installs the metal fittings according to the command of the central control module. The status monitoring module monitors the status of each link in real time during the whole process. The central control module adjusts and optimizes the system according to the feedback information to ensure that the automatic installation process of the metal fittings is carried out accurately, efficiently and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the first-angle three-dimensional view of a plastic-steel door and window hardware fitting automatic installation manipulator of the present invention;

[0026] Figure 2 is the second-angle three-dimensional view of a plastic-steel door and window hardware fitting automatic installation manipulator of the present invention;

[0027] Figure 3 is the unfolded three-dimensional view of the structure of the assembly fixture mechanism in a plastic-steel door and window hardware fitting automatic installation manipulator of the present invention;

[0028] Figure 4 is the schematic cross-sectional view of the structure of the rigid grasping clamp in a plastic-steel door and window hardware fitting automatic installation manipulator of the present invention;

[0029] Figure 5Structural sectional view of the outer extension plate in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0030] Figure 6 Exploded three-dimensional view of the magnetic adsorption grasping component in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0031] Figure 7 Exploded three-dimensional view of the moving component in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0032] Figure 8 Exploded three-dimensional view of the moving block in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0033] Figure 9 Exploded three-dimensional view of the angle adjustment component in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0034] Figure 10 Exploded three-dimensional view of the spherical frame in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0035] Figure 11 Schematic diagram of the rotation process of the bending rod in an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention;

[0036] Figure 12 Regulation system diagram of an automatic installation robot for plastic-steel door and window hardware fittings according to the present invention.

[0037] In the figure:

[0038] 1. Assembly robotic arm; 2. Assembly fixture mechanism; 3. Rigid gripping clamp; 4. Flexible gasket; 5. Extension board; 6. Moving component; 601. Moving plate; 602. Traveling motor; 603. Rotating shaft; 604. Traveling gear; 605. Traveling rack; 606. Moving block; 607. Detection hole; 608. Laser sensor; 609. Slide rail; 610. First slider; 611. Second slider; 612. Activity hole; 7. Magnetic adsorption gripping component; 701. Bent rod; 702. Hydraulic rod; 703. Fixed plate; 704. Spherical rod; 705. Spherical frame; 706. Mounting plate; 707. Electromagnet; 708. Limiting rod; 709. Adjusting gear; 710. Adjusting rack; 711. Limiting bushing; 712. T-shaped rod; 713. Support bar; 714. Limiting hole; 8. Angle adjusting component; 801. Adjusting motor; 802. U-shaped rod; 803. Connecting plate; 804. Angle sensor; 805. Adjusting block; 9. Industrial camera; 10. Power supply module; 11. Power transmission module; 12. Operation execution module; 1201. Fixture gripping unit; 1202. Electromagnetic gripping unit; 1203. End execution unit; 13. Precision positioning module; 14. Status monitoring module; 15. Central control module. Detailed implementation manners

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment 1: Please refer to Figures 1 - 12As shown in the figure, the present invention provides a technical solution: an automatic installation manipulator for plastic-steel door and window hardware fittings, including an assembly robotic arm 1. An assembly fixture mechanism 2 is arranged at one end of the assembly robotic arm 1. Two rigid gripping clamps 3 are arranged at the bottom of the assembly fixture mechanism 2. Extension plates 5 are fixedly installed on the outer surfaces of the two rigid gripping clamps 3. A moving component 6 and a magnetic adsorption gripping component 7 are arranged inside each of the two extension plates 5. Angle adjustment components 8 are arranged at the bottoms of the two magnetic adsorption gripping components 7. Each of the two magnetic adsorption gripping components 7 includes a bent rod 701. Hydraulic rods 702 are fixedly installed at the bottom ends of the two bent rods 701. Fixed plates 703 are fixedly installed at the bottom ends of the two hydraulic rods 702. Spherical rods 704 are fixedly installed on the top surfaces inside each of the two fixed plates 703. Spherical frames 705 are movably sleeved on the outer surfaces of the two spherical rods 704. Mounting plates 706 are fixedly installed at the bottoms of the two spherical frames 705. Electromagnets 707 are arranged inside each of the two mounting plates 706. Each of the two angle adjustment components 8 includes an adjustment motor 801. U-shaped rods 802 are fixedly installed at the output ends of the two adjustment motors 801. Connecting plates 803 are fixedly installed on the outer surfaces of the two U-shaped rods 802. Angle sensors 804 are arranged on the tops of the two connecting plates 803. Two adjustment blocks 805 are fixedly installed on the outer surfaces of each of the two spherical frames 705. The outer surfaces at both ends of the two U-shaped rods 802 are respectively movably embedded inside the four adjustment blocks 805. The outer surfaces of the two adjustment motors 801 are respectively fixedly installed on one side inside each of the two fixed plates 703. Flexible gaskets 4 are fixedly connected to the bottoms of the opposite sides of the two rigid gripping clamps 3. An industrial camera 9 is arranged at the center of the bottom of the assembly fixture mechanism 2.

[0041] In this embodiment, during use, the assembly robot arm 1, the assembly clamping mechanism 2, the walking motor 602, the laser sensor 608, the hydraulic rod 702, the electromagnet 707, the adjustment motor 801, the angle sensor 804, and the industrial camera 9 are all electrically connected to an external PLC controller. The assembly robot arm 1 has multiple degrees of freedom and can perform movements such as telescoping, rotating, and lifting to reach different installation positions. The assembly fixture mechanism 2 can drive the two rigid grasping clamps 3 to open and close, so as to grasp the hardware fittings. Both the assembly robot arm 1 and the assembly fixture mechanism 2 are existing mature technologies and will not be elaborated here. Start the assembly robot arm 1 and the industrial camera 9. The assembly robot arm 1 drives the assembly fixture mechanism 2 to move to the feeding position of the hardware fittings. The industrial camera 9 takes an image of the hardware fittings, and then transmits the captured image to the PLC controller for judgment. When a regular-shaped hardware fitting that needs to be grasped is captured, start the assembly fixture mechanism 2 to drive the two rigid grasping clamps 3 to open and close, so as to clamp the regular-shaped hardware fitting. Under the action of the two flexible gaskets 4, the clamping tightness is increased, and the wear suffered by the hardware fittings during the clamping process is reduced. Driven by the assembly robot arm 1, the hardware fittings are moved to the installation position of the plastic-steel window for assembly. When it is captured that a thin and light hardware fitting needs to be assembled, the assembly robot arm 1 moves the assembly fixture mechanism 2 and the rigid grasping clamps 3 to the feeding position of the thin and light hardware fitting, and then starts the two hydraulic rods 702 to push the two fixed plates 703, the two angle adjustment components 8, and the two mounting plates 706 downward, so as to push the two electromagnets 707 out of the two rigid grasping clamps 3. Then start the two electromagnets 707 to be energized to generate magnetic attraction, so as to magnetically attract the thin and light hardware fitting, and under the drive of the assembly robot arm 1, install the thin and light hardware fitting at the installation position of the plastic-steel window. After the installation is completed, the two electromagnets 707 are powered off and the magnetism disappears. The hydraulic rod 702 pulls the fixed plate 703 and the electromagnet 707 to move into the rigid grasping clamp 3, without affecting the normal operation of the rigid grasping clamp 3. With the cooperation of the assembly fixture mechanism 2, the rigid grasping clamps 3, and the magnetic attraction grasping assembly 7, both regular-shaped hardware fittings and thin and light hardware fittings can be grasped and installed, which is more targeted and applicable, avoiding the situation that the fixture fails to properly grasp the hardware fitting and causes accidental dropping, and there is no need to pause the equipment operation and replace the manipulator, greatly reducing the time waste and improving the installation efficiency, solving the problem that in the automatic installation process of the plastic-steel window hardware fittings, the existing opening and closing manipulator is difficult to accurately grasp the thin and light hardware fittings and is prone to the situation of insufficient clamping, resulting in the dropping of the fittings during the handling process. If the method of replacing the manipulator is adopted, it will consume a lot of time, resulting in the interruption of the assembly and affecting the installation efficiency and quality.After the hydraulic rod 702 pushes the electromagnet 707 out of the rigid grasping clamp 3, the adjustment motor 801 is started. The rotation of the output end of the adjustment motor 801 drives the U-shaped rod 802 to rotate, and drives the two adjustment blocks 805 to rotate, further driving the spherical frame 705 to rotate on the outer surface of the spherical rod 704, thereby driving the mounting plate 706 and the electromagnet 707 to rotate, and adjusting the angle of the electromagnet 707. While the U-shaped rod 802 rotates, it drives the connecting plate 803 to rotate together. The rotation angle of the U-shaped rod 802 is detected by the angle sensor 804, and the detected angle data is transmitted to the external PLC controller in the form of an electrical signal for identification and comparison. When the rotation angle of the U-shaped rod 802 meets the requirements, the adjustment motor 801 is turned off. Under the action of the angle adjustment assembly 8, the effect of adjusting the angle of the electromagnet 707 is achieved. The two electromagnets 707 can be adjusted at different angles with the cooperation of the two adjustment motors 801 and the two angle sensors 804, and perform magnetic adsorption grasping at different angles on different thin and light metal fittings, improving the stability and flexibility of magnetic adsorption grasping.

[0042] Embodiment 2: As Figures 4 - 8As shown in the figure, both of the two moving components 6 include moving plates 601. At the top of both of the two moving plates 601, traveling motors 602 are fixedly installed. At the output ends of both of the two traveling motors 602, rotating shafts 603 are fixedly installed. At the bottom ends of both of the two rotating shafts 603, traveling gears 604 are fixedly installed. On the outer surfaces of both of the two traveling gears 604, traveling racks 605 are meshed and connected. On the outer surfaces of both of the two rotating shafts 603, moving blocks 606 are movably sleeved. In the interiors of both of the two moving blocks 606, detection holes 607 are formed. In the interiors of both of the two detection holes 607, laser sensors 608 are fixedly installed. At the top ends of the outer surfaces of both of the two bending rods 701, adjusting gears 709 are fixedly installed. On the front surfaces of the interiors of both of the two extension plates 5, adjusting racks 710 are fixedly connected. Near the adjusting gears 709 on the outer surfaces of both of the two bending rods 701, limiting bushings 711 are fixedly installed. At the top ends of both of the two bending rods 701, T-shaped rods 712 are fixedly installed. On the outer surfaces of both of the two T-shaped rods 712, support bars 713 are movably sleeved. On one side inside both of the two rigid grasping clamps 3, two limiting rods 708 are fixedly installed. On the outer surfaces of both of the two bending rods 701, two limiting holes 714 are formed. On the tops of both of the two moving blocks 606, movable holes 612 are formed. On the outer surfaces of both of the two limiting bushings 711, they are respectively movably embedded in the interiors of the two movable holes 612. On both sides inside both of the two moving plates 601, first sliders 610 are fixedly installed. In the interiors of all of the four first sliders 610, slide rails 609 are movably embedded. In the interiors of all of the four slide rails 609, second sliders 611 are movably embedded. Every two adjacent second sliders 611 among the four second sliders 611 form a group. The bottoms of the two groups of second sliders 611 are respectively fixedly installed on the tops of the two moving blocks 606. Every two adjacent slide rails 609 among the four slide rails 609 form a group. On the outer surfaces of both sides of the two groups of slide rails 609, they are respectively fixedly installed on both sides inside the two extension plates 5. The output ends of both of the two traveling motors 602 respectively pass through the bottoms of the two moving plates 601 movably. The bottoms of both of the two traveling racks 605 are respectively fixedly installed on the bottoms inside the two extension plates 5. On the outer surfaces of all of the four limiting rods 708, they are respectively movably embedded in the interiors of the four limiting holes 714. On the outer surfaces of both of the two bending rods 701, they are respectively movably embedded in the interiors of the two rigid grasping clamps 3. On one side of the outer surfaces of both of the two support bars 713, they are respectively fixedly installed on one side inside the two rigid grasping clamps 3. On the other side of the outer surfaces of both of the two support bars 713, they are respectively fixedly installed on one side inside the two extension plates 5.

[0043] In this embodiment, when in use, two traveling motors 602 are started. The rotation of the output ends of the two traveling motors 602 drives the rotation of two rotating shafts 603, and drives two traveling gears 604 to rotate on the outer surfaces of two traveling racks 605 and move towards both sides. At the same time, the corresponding moving blocks 606 are driven to move outwards. During this process, the first slider 610 and the second slider 611 slide outwards on the slide rail 609 respectively. When the moving block 606 moves, it drives the limiting bushing 711 to move together, and drives the bent rod 701 to slide on the outer surface of the limiting rod 708. The adjusting gear 709 moves together, and the T-shaped rod 712 moves outwards inside the support bar 713, further driving the hydraulic rod 702, the angle adjusting assembly 8 and the electromagnet 707 to move outwards together. When starting the traveling motor 602, two laser sensors 608 are started. The laser sensors 608 emit laser light to one side inside the rigid grasping clamp 3 and receive the reflected laser light, calculate the distance between the moving block 606 and the rigid grasping clamp 3, and transmit the detected distance data to an external PLC controller for analysis and processing. When the two moving blocks 606 move to the target distance respectively, the corresponding traveling motor 602 is turned off. With the cooperation of the moving assembly 6 and the magnetic adsorption grasping assembly 7, the distance between the two bent rods 701 is adjusted, that is, the distance between the two electromagnets 707 is adjusted, which is convenient for magnetically adsorbing and grasping thin and light metal fittings of different lengths, expanding the distance between the two magnetic adsorption points, adapting to thin and light metal fittings of different lengths, and is beneficial to improving the stability and accuracy during handling and installation and reducing the risk of shaking. Both of the two moving assemblies 6 are equipped with laser sensors 608, which can adjust the two electromagnets 707 to different distances. When the thin and light metal fitting to be grasped is relatively slender, the traveling motor 602 is started. The rotation of the traveling gear 604 drives the moving block 606 to move, and drives the magnetic adsorption grasping assembly 7 and the angle adjusting assembly 8 to move together. When the bent rod 701 completely slides out from the outer surface of the limiting rod 708, the adjusting gear 709 moves to the adjusting rack 710 and gradually meshes with the adjusting rack 710. As the moving block 606 continues to move, it drives the bent rod 701 to continue to move, causing the adjusting gear 709 to rotate and move on the outer surface of the adjusting rack 710, thereby driving the bent rod 701 to rotate. The limiting bushing 711 rotates inside the movable hole 612, and the T-shaped rod 712 rotates and moves inside the support bar 713. When the traveling motor 602 is automatically turned off, the bent rod 701 just rotates 180 degrees. The flow chart of the rotation of the bent rod 701 is as shown in Figure 11As shown, at this time, the bending rod 701 changes from the original lower right tilt to the lower left tilt, which maximizes the moving distance of the electromagnet 707, which is very beneficial for grasping some extra-long and thin hardware accessories. The adsorption range of the electromagnet 707 is expanded by rotating the bending rod 701, which effectively utilizes the space and provides a long-distance adsorption point, which is more suitable for longer hardware accessories, so that the accessories remain stable during the transportation process, enhances the robot's ability to grasp different hardware accessories, and has richer functions.

[0044] Embodiment 3: Figure 12 As shown, a control system for an automatic installation manipulator for plastic-steel door and window hardware accessories comprises: a power supply module 10, a power transmission module 11, an operation execution module 12, a precise positioning module 13, a state monitoring module 14 and a central control module 15; the power supply module 10 is responsible for providing power to various moving parts of the manipulator, the power transmission module 11 is responsible for transmitting the power generated by the power supply module 10 to various execution parts of the manipulator to ensure effective transmission and precise control of the power, the operation execution module 12 is responsible for grabbing and carrying the hardware accessories and assembling them into the hardware slots of the plastic-steel doors and windows, and the precise positioning module 13 is responsible for the position and posture of the manipulator in space, as well as the position of the hardware accessories in the plastic-steel doors and windows. The installation position on the doors and windows is located, the status monitoring module 14 is responsible for real-time monitoring of the working status of the manipulator and the installation status of hardware accessories, the central control module 15 coordinates and controls the work of each module of the manipulator, and sends instructions to related modules according to preset programs and task requirements. The operation execution module 12 includes a clamp grasping unit 1201, an electromagnetic grasping unit 1202 and an end execution unit 1203; the clamp grasping unit 1201 is responsible for grasping and carrying hardware accessories of regular shapes, the electromagnetic grasping unit 1202 is responsible for adsorption, grasping and carrying thin hardware accessories, and the end execution unit 1203 is responsible for completing the installation of hardware accessories and connecting the hardware accessories to plastic-steel doors and windows.

[0045] In this embodiment, during use, the power supply module 10 can provide power for various moving parts of the manipulator, enabling the operating arm, clamping device, etc. to move as required, such as realizing the telescoping and rotation of the operating arm, the opening and closing of the fixture, etc. The power transmission module 11 transmits the power generated by the power supply module 10 to each execution component of the manipulator, ensuring the effective transmission and precise control of the power, so that the manipulator can accurately complete various actions. For example, the rotational motion of the motor is converted into the linear motion of the operating arm or the opening and closing motion of the clamping device through a transmission device. The operation execution module 12 is the core part for the manipulator to achieve specific tasks, directly completing operations such as grasping, transporting, and installing hardware fittings. Among them, the fixture grasping unit 1201 grasps and transports regular-shaped hardware fittings, such as handles, pulleys, etc., through the opening and closing action of the mechanical clamping device, and fixes the fittings with the clamping force of the clamping device to ensure that the fittings do not fall during transportation and installation. The electromagnetic grasping unit 1202 is aimed at thin and light hardware fittings, and uses the magnetic force generated by electromagnetic equipment for adsorption and grasping. By controlling the on-off and magnetic force magnitude of the electromagnetic equipment, stable grasping and releasing of thin and light fittings with different materials and thicknesses can be achieved. The end execution unit 1203 is mainly used to complete the installation work of hardware fittings. For fittings that need to be fixed with screws, the end execution unit 1203 will screw the screws into the designated positions of the plastic-steel doors and windows to achieve the fixed connection between the hardware fittings and the doors and windows. It usually has motion functions such as rotation and feeding, and can accurately control the tightening force and depth of the screws. The precise positioning module 13 can accurately determine the position and posture of the manipulator in space, as well as the installation position of the hardware fittings on the plastic-steel doors and windows, ensuring the accuracy and precision of the installation. Position information is obtained through devices such as sensors to provide a positioning reference for the movement of the manipulator. The status monitoring module 14 monitors the working status of the manipulator and the installation situation of the hardware fittings in real time, such as detecting whether the clamping device correctly grasps the fittings, whether the fittings are installed in place, whether the screws are tightened, etc. Information is collected through various sensors and fed back to the central control module 15 to promptly detect problems and make adjustments to ensure the accurate, efficient, and stable progress of the automatic installation process of the hardware fittings. The central control module 15 coordinates and controls the work of each module of the manipulator, sends instructions to the power supply module 10, the operation execution module 12, the end execution unit 1203, etc. according to the preset program and task requirements, and realizes the automatic operation of the manipulator. At the same time, it monitors and adjusts the operation status of the entire system to ensure the stable and efficient operation of the manipulator.

[0046] The effects achieved by the entire mechanism and its working principle are as follows: Start the assembly robotic arm 1 and the industrial camera 9. The assembly robotic arm 1 drives the assembly fixture mechanism 2 to move to the feeding location of the hardware fittings. The industrial camera 9 takes images of the hardware fittings, and then transmits the captured image to the PLC controller for judgment. When a regular-shaped hardware fitting needs to be grasped, start the assembly fixture mechanism 2 to drive the two rigid grasping clamps 3 to open and close, clamp the regular-shaped hardware fitting, and then, under the drive of the assembly robotic arm 1, move to the installation position of the plastic-steel window for assembly. When it is necessary to assemble a thin and light hardware fitting, start the two hydraulic rods 702 to push the two fixed plates 703, the two angle adjustment components 8, and the two mounting plates 706 to move downward, and push out the two electromagnets 707. Start the two electromagnets 707 to be energized to generate magnetic attraction, magnetically attract the thin and light hardware fitting, and under the drive of the assembly robotic arm 1, install the thin and light hardware fitting at the installation position of the plastic-steel window. After the installation is completed, the two electromagnets 707 are de-energized, the magnetism disappears, and the hydraulic rods 702 pull the fixed plates 703 and the electromagnets 707 to move inside the rigid grasping clamps 3 without affecting the normal operation of the rigid grasping clamps 3. When it is necessary to adjust the angle of the electromagnet 707, start the adjustment motor 801 to drive the U-shaped rod 802 and the adjustment block 805 to rotate, further drive the spherical frame 705 to rotate on the outer surface of the spherical rod 704, thereby driving the mounting plate 706 and the electromagnet 707 to rotate and adjust the angle of the electromagnet 707. While the U-shaped rod 802 rotates, the angle sensor 804 detects the rotation angle and transmits the angle data to the PLC controller for identification and comparison. When the rotation angle of the U-shaped rod 802 meets the requirements, turn off the adjustment motor 801. Start the two traveling motors 602 to drive the two rotating shafts 603 to rotate, so that the two traveling gears 604 rotate on the outer surfaces of the two traveling racks 605 and move to both sides, and at the same time drive the corresponding moving blocks 606 to move outward. During this process, the first slider 610 and the second slider 611 slide outward on the slide rails 609 respectively. When the moving block 606 moves, it drives the limit bushing 711 to move together, and drives the bent rod 701 and the electromagnet 707 to move, and the adjustment gear 709 moves along with it. Start the two laser sensors 608 in advance to calculate the distance between the moving block 606 and the inner wall of the rigid grasping clamp 3. When the two moving blocks 606 move to the target distance respectively, turn off the corresponding traveling motor 602. With the cooperation of the moving assembly 6 and the magnetic attraction grasping assembly 7, the distance between the two electromagnets 707 is adjusted. Both of the two moving assemblies 6 are equipped with laser sensors 608, which can adjust the two electromagnets 707 to different distances.When the thin and light hardware accessories that need to be grasped are relatively slender, the rotation of the walking gear 604 drives the moving block 606 to continue to move. When the bending rod 701 completely slides out from the outer surface of the limit rod 708, the adjusting gear 709 moves to the adjusting rack 710 and gradually engages with the adjusting rack 710. As the moving block 606 continues to move, the adjusting gear 709 rotates and moves on the outer surface of the adjusting rack 710, thereby driving the bending rod 701 to rotate. When the walking motor 602 is automatically turned off, the bending rod 701 just rotates one hundred and eighty degrees. At this time, the bending rod 701 changes from the original lower right tilt to the lower left tilt, which maximizes the moving distance of the electromagnet 707 and is more suitable for longer hardware accessories.

[0047] Among them, the assembly robot arm 1, the assembly fixture mechanism 2, the walking motor 602, the laser sensor 608, the hydraulic rod 702, the electromagnet 707, the adjustment motor 801, the angle sensor 804 and the industrial camera 9 are all prior arts, and their components and usage principles are all public arts, and no further explanation is given here.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic installation manipulator for plastic-steel door and window hardware fittings, including an assembly robotic arm (1), and an assembly fixture mechanism (2) is arranged at one end of the assembly robotic arm (1), characterized in that: At the bottom of the assembly fixture mechanism (2), two rigid gripping clamps (3) are provided. Extension plates (5) are fixedly installed on the outer surfaces of the two rigid gripping clamps (3). A moving component (6) and a magnetic adsorption gripping component (7) are arranged inside each of the two extension plates (5). Angle adjustment components (8) are arranged at the bottoms of the two magnetic adsorption gripping components (7). Each of the two magnetic adsorption gripping components (7) includes a bent rod (701). Hydraulic rods (702) are fixedly installed at the bottom ends of the two bent rods (701). Fixed plates (703) are fixedly installed at the bottom ends of the two hydraulic rods (702). Spherical rods (704) are fixedly installed on the top surfaces inside the two fixed plates (703). Spherical frames (705) are movably sleeved on the outer surfaces of the two spherical rods (704). Mounting plates (706) are fixedly installed at the bottoms of the two spherical frames (705). Electromagnets (707) are arranged inside each of the two mounting plates (706).

2. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 1, wherein: Each of the two moving components (6) includes a moving plate (601). Walking motors (602) are fixedly installed on the tops of the two moving plates (601). Rotating shafts (603) are fixedly installed at the output ends of the two walking motors (602). Walking gears (604) are fixedly installed at the bottom ends of the two rotating shafts (603). Walking racks (605) are meshed and connected to the outer surfaces of the two walking gears (604).

3. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 2, wherein: Moving blocks (606) are movably sleeved on the outer surfaces of the two rotating shafts (603). Detection holes (607) are opened inside each of the two moving blocks (606). Laser sensors (608) are fixedly installed inside the two detection holes (607). Flexible gaskets (4) are fixedly connected to the bottoms of the opposite sides of the two rigid gripping fixtures (3). An industrial camera (9) is arranged at the center of the bottom of the assembly clamping mechanism (2).

4. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 3, wherein: Adjustment gears (709) are fixedly installed at the top ends of the outer surfaces of the two bent rods (701). Adjustment racks (710) are fixedly connected to the front walls inside the two extension plates (5). Position-limiting bushings (711) are fixedly installed on the outer surfaces of the two bent rods (701) near the adjustment gears (709). T-shaped rods (712) are fixedly installed at the top ends of the two bent rods (701). Support bars (713) are movably sleeved on the outer surfaces of the two T-shaped rods (712). Two position-limiting rods (708) are fixedly installed on one side inside each of the two rigid gripping clamps (3). Two position-limiting holes (714) are opened on the outer surfaces of the two bent rods (701).

5. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 4, characterized in that: Activity holes (612) are formed in the tops of the two moving blocks (606). The outer surfaces of the two limiting bushings (711) are respectively and movably embedded in the two activity holes (612). First sliders (610) are fixedly installed on both sides inside the two moving plates (601). Slide rails (609) are movably embedded in the four first sliders (610). Second sliders (611) are movably embedded in the four slide rails (609).

6. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 5, characterized in that: Every two adjacent ones of the four second sliders (611) form a group. The bottoms of the two groups of second sliders (611) are respectively fixedly installed on the tops of the two moving blocks (606). Every two adjacent ones of the four slide rails (609) form a group. The outer surfaces on both sides of the two groups of slide rails (609) are respectively fixedly installed on both sides inside the two extension plates (5). The output ends of the two traveling motors (602) respectively and movably penetrate to the bottoms of the two moving plates (601). The bottoms of the two traveling racks (605) are respectively fixedly installed on the inner bottoms of the two extension plates (5).

7. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 6, characterized in that: The outer surfaces of the four limiting rods (708) are respectively movably embedded in the four limiting holes (714). The outer surfaces of the two bent rods (701) are respectively movably embedded in the two rigid gripping clamps (3). One side outer surfaces of the two support bars (713) are respectively fixedly installed on one side inside the two rigid gripping clamps (3). The other side outer surfaces of the two support bars (713) are respectively fixedly installed on one side inside the two extension plates (5).

8. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 7, characterized in that: Both of the two angle adjustment assemblies (8) include adjustment motors (801). U-shaped rods (802) are fixedly installed at the output ends of the two adjustment motors (801). Connecting plates (803) are fixedly installed on the outer surfaces of the two U-shaped rods (802). Angle sensors (804) are arranged on the tops of the two connecting plates (803). Two adjustment blocks (805) are fixedly installed on the outer surfaces of the two spherical frames (705). The outer surfaces at both ends of the two U-shaped rods (802) are respectively movably embedded in the four adjustment blocks (805). The outer surfaces of the two adjustment motors (801) are respectively fixedly installed on one side inside the two fixing plates (703).

9. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 8, characterized in that: Further comprising: A control system for an automatic installation manipulator of plastic-steel door and window hardware fittings, which includes: a power supply module (10), a power transmission module (11), an operation execution module (12), a precise positioning module (13), a status monitoring module (14) and a central control module (15); The power supply module (10) is responsible for providing power to each moving part of the manipulator. The power transmission module (11) is responsible for transmitting the power generated by the power supply module (10) to each execution part of the manipulator to ensure the effective transmission and precise control of the power. The operation execution module (12) is responsible for grasping and handling the hardware fittings and assembling them into the hardware slots of the plastic-steel doors and windows. The precise positioning module (13) is responsible for positioning the position and posture of the manipulator in space and the installation position of the hardware fittings on the plastic-steel doors and windows. The status monitoring module (14) is responsible for real-time monitoring of the working status of the manipulator and the installation situation of the hardware fittings. The central control module (15) coordinates and controls the work of each module of the manipulator and sends instructions to the relevant modules according to the preset programs and task requirements.

10. The automatic installation manipulator for plastic-steel door and window hardware fittings according to claim 9, characterized in that: The operation execution module (12) includes a fixture grasping unit (1201), an electromagnetic grasping unit (1202), and an end execution unit (1203); The fixture grasping unit (1201) is responsible for grasping and handling the hardware fittings with regular shapes. The electromagnetic grasping unit (1202) is responsible for adsorbing, grasping, and handling the thin and light hardware fittings. The end execution unit (1203) is responsible for completing the installation work of the hardware fittings and connecting the hardware fittings to the plastic-steel doors and windows.

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