Energy-saving door and window automatic assembling production line

Abstract

This invention relates to the field of door and window processing technology, specifically disclosing a production line for the automatic assembly of energy-saving doors and windows. The production line includes: a control console, a combination mechanism, a fixing execution mechanism, an installation execution mechanism, a first conveyor belt, a second conveyor belt, and a gluing mechanism. The combination mechanism is located on the outer rear side of the control console and is capable of gripping, transporting, and initially assembling the U-shaped frame and glass. The fixing execution mechanism is responsible for fixing the hardware screws between the frames. The installation execution mechanism is located outside the control console and to the right of the fixing execution mechanism, capable of gripping the transverse frame and connecting it to the U-shaped frame. The gluing mechanism is capable of applying sealant to the gap between the glass and the frame. This automatic assembly production line for energy-saving doors and windows uses automated handling, precise positioning, and collaborative control to replace manual labor in the automatic assembly of energy-saving doors and windows, achieving automatic transfer and assembly of various components, significantly improving the production efficiency of energy-saving doors and windows.

Description

Technical Field

[0001] This invention relates to the field of door and window processing technology, specifically to an energy-saving automatic assembly production line for doors and windows. Background Technology

[0002] Energy-saving windows and doors are key components that significantly reduce building energy consumption by optimizing materials, structure, and processes. Their core lies in improving thermal insulation, airtightness, and optical performance, while also taking into account lighting, ventilation, and safety requirements. Mainstream profiles include thermally broken aluminum alloy, UPVC, and aluminum-wood composite. Glass systems widely use triple-glazed double-cavity insulated glass, filled with argon gas and combined with warm edge spacers, Low-E coated glass, and smart electrochromic glass. Combined with multiple layers of EPDM rubber sealing strips and weather-resistant hardware, they achieve high airtightness and long-term stability. In regions with large climate differences, such as northern regions, suitable energy-saving windows and doors can reduce annual heating costs by reducing heat loss and air conditioning load, thus balancing energy-saving benefits and living comfort.

[0003] Currently, energy-saving door and window assembly in the existing technology field is mainly done manually, involving multiple processes such as component handling, positioning and assembly, screw fixing, and glue sealing. Manually handling heavy components such as profiles and glass one by one is time-consuming for each process, and the production capacity of a single shift is limited, making it difficult to meet the needs of large-scale production. Furthermore, each process relies on manual transfer and lacks a unified scheduling mechanism, which easily leads to problems such as starting the next process before the previous process is completed or waiting for the process to finish. Summary of the Invention

[0004] The purpose of this invention is to provide an energy-saving automatic assembly line for doors and windows, so as to at least solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an energy-saving automatic assembly production line for doors and windows, comprising: a control console, a combination mechanism, a fixing execution mechanism, an installation execution mechanism, a first conveyor belt, a second conveyor belt, and an adhesive application mechanism; the combination mechanism is located on the outer rear side of the control console and is capable of gripping, transporting, and initially assembling the U-shaped frame and glass; the fixing execution mechanism is located on the outer front side of the control console and is responsible for fixing the hardware screws between the frames; the installation execution mechanism is located outside the control console and to the right of the fixing execution mechanism, and is capable of gripping the transverse frame and docking it with the U-shaped frame; the first conveyor belt is located on the inner side of the combination mechanism along the front-back direction, and the first conveyor belt is electrically connected to the control console; the second conveyor belt is located on the outer right front side of the control console along the front-back direction, and the second conveyor belt is electrically connected to the control console; the adhesive application mechanism is located on the outer right side of the combination mechanism and is capable of applying sealant to the gap between the glass and the frame.

[0006] Preferably, the combined mechanism includes: a gantry frame, a dual-axis moving platform, a material cart docking frame, and a handling assembly; the gantry frame is disposed on the outer rear side of the control console in a left-right direction, and the rear side of the first conveyor belt extends into the inner bottom left front of the gantry frame; the dual-axis moving platform is mounted on the top of the gantry frame in a left-right direction, and the dual-axis moving platform is electrically connected to the control console; the material cart docking frame is disposed on the inner bottom left side of the gantry frame, and the material cart docking frame is electrically connected to the control console; the handling assembly is mounted on the moving end of the dual-axis moving platform.

[0007] Preferably, the transport assembly includes: a slot seat, a insert, a first limiting component, a gear and rack assembly, and a first motor; the slot seat is fixedly installed on the top of the moving end of the dual-axis moving platform; the insert is inserted into the inner cavity of the slot seat in a vertical direction; the first limiting component is installed on the left side of the inner cavity of the slot seat, and the limiting end of the first limiting component is fixedly connected to the left side of the outer wall of the insert; the rack in the gear and rack assembly is installed on the right side of the outer wall of the insert in a vertical direction; the first motor is fixedly installed on the right side of the outer surface of the slot seat, and the rotating end of the first motor extends into the inner cavity of the slot seat and is fixedly connected to the gear shaft in the gear and rack assembly; the first motor is electrically connected to the control console.

[0008] Preferably, the conveying assembly further includes: a housing, an inner connecting frame, an outer connecting frame, large gears, a second motor, and small gears; the housing is fixedly mounted on the bottom end of the first motor; the inner connecting frame is rotatably connected to the top of the inner cavity of the housing via bearings in the vertical direction, and the bottom end of the inner connecting frame extends out of the lower surface of the housing; the outer connecting frame is rotatably connected to the outside of the inner connecting frame via bearings, and the bottom end of the outer connecting frame extends out of the lower surface of the housing; there are two large gears, which are respectively keyed to the top of the outer walls of the inner connecting frame and the outer connecting frame; there are two second motors, which are respectively mounted on the left and right sides of the top of the housing, and the rotating ends of the two second motors extend into the inner cavity of the housing, and the second motors are electrically connected to the control console; there are two small gears, which are respectively mounted on the rotating ends of the two second motors, and the two small gears mesh with the two large gears respectively.

[0009] Preferably, the handling assembly further includes: a rotating cylinder, a connecting frame, a rotating module, a first mounting bracket, a mounting frame, a first electric telescopic rod, an electric suction cup, and a first clamp; the number of rotating cylinders is two, and the two rotating cylinders are respectively installed on the outer bottom ends of the inner connecting frame and the outer connecting frame; the number of connecting brackets is two, and the two connecting brackets are respectively installed on the outer walls of the upper and lower rotating cylinders, and the shapes of the two connecting brackets are L-shaped and I-shaped respectively; the number of rotating modules is two, and the two rotating modules are respectively installed on the outer ends of the two connecting brackets, and the rotating modules are electrically connected to the control console; the number of first mounting brackets is two, and the two first mounting brackets are respectively installed on the bottom of the rotating ends of the two rotating modules; the number of mounting frames is... Two mounting frames are rotatably mounted on the outer bottom ends of two first mounting brackets via pivot seats; two first electric telescopic rods are rotatably mounted on the outer top ends of two first mounting brackets via pivot seats, and the telescopic ends of the two first electric telescopic rods are connected to the outer top ends of the two mounting frames via pivot seats, and the first electric telescopic rods are electrically connected to the control console; four electric suction cups are installed at the four corners of the bottom end of one side mounting frame, and the electric suction cups are electrically connected to the control console; two first clamps are installed on both sides of the bottom end of the other side mounting frame, and the first clamps are electrically connected to the control console.

[0010] Preferably, the fixed actuator includes: a first AGV robot, a first robotic arm, and a screw-mounting actuator; the first AGV robot is disposed outside the console and remotely connected to the console via a network; the first robotic arm is fixedly mounted on the top of the first AGV robot in a vertical direction, and the first robotic arm and the first AGV robot are electrically connected; the screw-mounting actuator is mounted on the moving end of the first robotic arm, and the screw-mounting actuator and the first AGV robot are electrically connected.

[0011] Preferably, the installation actuator includes: a second AGV robot, a second robotic arm, an installation crossbeam, a second gripper, a slide housing, a sliding seat, a lead screw assembly, and a third motor; the second AGV robot is disposed outside the console and located to the right of the first AGV robot and is remotely network-connected to the console; the second robotic arm is fixedly mounted on the top of the second AGV robot, and the second robotic arm and the second AGV robot are electrically connected; the installation crossbeam is mounted on the moving end of the second robotic arm in a left-right direction; the number of second grippers is two, and the two second grippers are respectively The second gripper and the second AGV robot are electrically connected and installed on the left and right ends of the rear side of the mounting frame; the slide rail housing is installed at the bottom of the mounting frame in the left and right direction; the sliding seat is inserted into the inner cavity of the slide rail housing; the lead screw assembly is rotatably installed in the inner cavity of the slide rail housing in the left and right direction through bearings, and the lead screw nut of the lead screw assembly is connected to the inner side of the sliding seat; the third motor is installed on the outer left side of the slide rail housing, and the rotating end of the third motor extends into the inner cavity of the slide rail housing and is connected to the lead screw shaft of the lead screw assembly, and the third motor and the second AGV robot are electrically connected.

[0012] Preferably, the fixed actuator further includes: a base frame, a second limiting component, a second mounting frame, a second electric telescopic rod, a third electric telescopic rod, and a fixing block; the base frame is fixedly installed at the rear end of the sliding seat; there are two second limiting components, which are respectively installed on the left and right sides of the top of the base frame in the front-rear direction; the second mounting frame is installed on the top of the limiting ends of the left and right second limiting components; the second electric telescopic rod is installed on the front top of the base frame, and the telescopic end of the second electric telescopic rod passes through the base frame and is connected to the bottom end of the second mounting frame, and the second electric telescopic rod is electrically connected to the second AGV robot; there are two third electric telescopic rods, which are respectively installed on the left and right sides of the front end of the second mounting frame from rear to upward, and the telescopic end of the third electric telescopic rod passes through the second mounting frame, and the third electric telescopic rod is electrically connected to the second AGV robot; the fixing block is installed on the rear side of the telescopic ends of the two third electric telescopic rods.

[0013] Preferably, the adhesive application mechanism includes: a ground rail platform, an electric turntable, a dual-station tilting device, an adhesive application robot, and an adhesive supply device; the ground rail platform is arranged on the right side of the bottom inner side of the gantry frame in a left-right direction, and the ground rail platform and the control console are electrically connected; the electric turntable is fixedly installed on the top of the moving end of the ground rail platform, and the electric turntable and the control console are electrically connected; the dual-station tilting device is installed on the top of the rotating end of the electric turntable, and the dual-station tilting device and the control console are electrically connected; the adhesive application robot is installed on the outer right side of the ground rail platform via a bracket, and the adhesive application robot and the control console are electrically connected; the adhesive supply device is located on the outer right side of the adhesive application robot, and the adhesive supply device and the adhesive application robot are connected via pipelines, and the adhesive supply device and the control console are electrically connected.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the production line for automatic assembly of energy-saving doors and windows:

[0015] 1. The U-shaped frame is transported to a designated position inside the gantry by the first conveyor belt. The dual-axis moving platform drives the transport assembly to move to the material cart docking frame above the material trolley or the first conveyor belt, and aligns it with the glass or U-shaped frame workpiece. The first motor drives the gear and rack assembly to move the insert frame up or down to a designated height. The second motors on the left and right sides drive the small gears at the corresponding positions to rotate. The large gears on the upper and lower sides drive the inner or outer connecting frame to rotate under the rotational force of the small gears at the corresponding positions. The inner or outer connecting frame drives the rotating cylinder at the corresponding position to rotate. The rotating cylinders on the upper and lower sides drive the rotating module to rotate to the designated direction position with the cooperation of the connecting frame. The rotating modules on both sides drive the first mounting frame at the corresponding position to rotate to the designated direction. The first electric telescopic rod drives the mounting frame to rotate downward to a horizontal state. The electric suction cup adsorbs and grips the glass surface. The first clamp mechanically grips the U-shaped frame. With the cooperation of the transport assembly, the dual-axis moving platform first places the U-shaped frame inside the dual-station flipping equipment for fixation, and then transports and inserts the glass into the U-shaped frame for installation.

[0016] 2. The second robotic arm drives the mounting frame to move to a designated position above the transverse frame on the second conveyor belt surface. The second gripper mechanically grasps the transverse frame on the second conveyor belt surface. The second AGV robot moves to the position in front of the gluing mechanism and, with the cooperation of the second gripper, installs the transverse frame in front of the U-shaped frame. The third motor drives the lead screw in the lead screw assembly to rotate, causing the lead screw nut in the lead screw assembly to drive the sliding seat to move horizontally in the left-right direction along the inner cavity of the slide groove. The second electric telescopic rod extends, driving the second mounting frame to move backward under the limiting action of the second limiting assembly, and causing the fixing block to engage with the transverse frame. The front side of the outer wall of the frame contacts the third electric telescopic rod, which extends to drive the fixing block to move to the rear side. With the cooperation of the fixing block, the transverse frame is pressed into the front docking position of the U-shaped frame. The first AGV robot moves to the installation and connection positions at the front and rear ends of the transverse frame in sequence. The first robotic arm drives the screw installation actuator to move and align with the hardware screw connection position. The internal robotic arm of the glue applicator drives the glue applicator to move circumferentially along the gap between the frame and the glass to perform the glue application operation. After the glue application on one side is completed, the dual-station flipping device drives the glass door frame workpiece to flip to the other side for glue application.

[0017] In summary, this invention replaces manual labor in the automatic assembly of energy-saving doors and windows by adopting automated handling, precise positioning, and collaborative control, thereby achieving automatic transfer and assembly of various components and significantly improving the production efficiency, product quality, and large-scale production capacity of energy-saving doors and windows. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 for Figure 1 Schematic diagram of the combined mechanism;

[0020] Figure 3 for Figure 2 Schematic diagram of the transport assembly components;

[0021] Figure 4 for Figure 3 Enlarged view of point A;

[0022] Figure 5 for Figure 3 Enlarged view of point B;

[0023] Figure 6 for Figure 2 A schematic diagram of a fixed actuator;

[0024] Figure 7 for Figure 2 Schematic diagram of the installation actuator;

[0025] Figure 8 for Figure 7 Enlarged view of point C;

[0026] Figure 9 for Figure 2 A schematic diagram of the glue application mechanism.

[0027] In the diagram: 1. Control console; 2. Combined mechanism; 21. Gantry frame; 22. Dual-axis moving platform; 23. Material cart docking frame; 3. Handling assembly; 31. Slot seat; 32. Insert frame; 33. First limit assembly; 34. Gear and rack assembly; 35. First motor; 36. Housing; 37. Inner connecting frame; 38. Outer connecting frame; 39. Large gear; 310. Second motor; 311. Small gear; 312. Rotating cylinder; 313. Connecting frame; 314. Rotating module; 315. First mounting frame; 316. Mounting frame; 317. First electric telescopic rod; 318. Electric suction cup; 319. First gripper; 4. Fixed actuator; 41. First AG V-robot, 42. First robotic arm, 43. Screw mounting actuator, 5. Mounting actuator, 51. Second AGV robot, 52. Second robotic arm, 53. Mounting crossbeam, 54. Second gripper, 55. Slide rail housing, 56. Sliding seat, 57. Lead screw assembly, 58. Third motor, 59. Base frame, 510. Second limit assembly, 511. Second mounting frame, 512. Second electric telescopic rod, 513. Third electric telescopic rod, 514. Fixing block, 6. First conveyor belt, 7. Second conveyor belt, 8. Glue application mechanism, 81. Ground rail platform, 82. Electric turntable, 83. Dual-station flipping device, 84. Glue application robot, 85. Glue supply equipment. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figures 1-9This invention provides a technical solution: an energy-saving automatic assembly production line for doors and windows, comprising: a control console 1, a combination mechanism 2, a fixed execution mechanism 4, an installation execution mechanism 5, a first conveyor belt 6, a second conveyor belt 7, and an adhesive applicator 8. The control console 1 uses an industrial control cabinet, integrating a PLC, SCADA system, and digital twin module to achieve fully automated control of the entire process, real-time monitoring of the operating status of each device, displaying production data via a touchscreen, and possessing fault alarm functions, recording fault codes and locations, and supporting remote diagnostics. The combination mechanism 2 is located on the rear exterior of the control console 1, capable of gripping, transporting, and initially assembling the U-shaped frame and glass. The fixed execution mechanism 4 is located on the front exterior of the control console 1, responsible for fixing the hardware screws between the frames. The installation execution mechanism 5 is located outside the control console 1 and to the right of the fixed execution mechanism 4. The first conveyor belt 6 is located on the inner side of the combined mechanism 2 along the front-back direction. The first conveyor belt 6 is electrically connected to the control console 1. The first conveyor belt 6 is a variable frequency conveyor belt, and its speed is adjusted by a variable frequency motor. The surface is covered with wear-resistant rubber to prevent slippage. A photoelectric sensor is installed at the end to trigger a stop signal when the frame is in place, ensuring that the frame is conveyed to the designated position inside the gantry 21. The second conveyor belt 7 is located on the outer right front of the control console 1 along the front-back direction. The second conveyor belt 7 is electrically connected to the control console 1. The second conveyor belt 7 is a variable frequency conveyor belt and is responsible for conveying the horizontal frame. Its speed is synchronously adjustable. A position sensor is installed at the end to send a gripping signal to the second AGV robot 51 when the horizontal frame is in place. The glue application mechanism 8 is located on the outer right side of the combined mechanism 2 and can complete the application of sealant to the gap between the glass and the frame.

[0030] As a preferred option, further, such as Figure 2 As shown, the combined mechanism 2 includes: a gantry frame 21, a dual-axis moving platform 22, a material cart docking frame 23, and a handling assembly 3; the gantry frame 21 is arranged on the outer rear side of the control console 1 in the left-right direction, and the rear side of the first conveyor belt 6 extends into the inner bottom left front of the gantry frame 21; the dual-axis moving platform 22 is installed on the top of the gantry frame 21 in the left-right direction, and the dual-axis moving platform 22 is electrically connected to the control console 1; the material cart docking frame 23 is arranged on the inner bottom left side of the gantry frame 21, and the material cart docking frame 23 is electrically connected to the control console 1; the handling assembly 3 is installed on the moving end of the dual-axis moving platform 22.

[0031] As a preferred option, further, such as Figure 3 , Figure 4 and Figure 5As shown, the transport assembly 3 includes: a slot seat 31, a bracket 32, a first limiting component 33, a gear and rack assembly 34, a first motor 35, a housing 36, an inner connecting frame 37, an outer connecting frame 38, a large gear 39, a second motor 310, a small gear 311, a rotating cylinder 312, a connecting frame 313, a rotating module 314, a first mounting frame 315, a mounting frame 316, a first electric telescopic rod 317, an electric suction cup 318, and a first clamp 319; the slot seat 31 is fixedly installed on the top of the moving end of the dual-axis moving platform 22; the bracket 32 ​​is inserted into the inner cavity of the slot seat 31 in the vertical direction; the first limiting component 33 is installed on the left side of the inner cavity of the slot seat 31, and the limiting end of the first limiting component 33 is connected to the bracket. The outer wall of the insert 32 is fixedly connected to the left side. The first limiting component 33 adopts a linear guide rail assembly. The slider part is installed in the inner cavity of the slot seat 31. The guide rail is connected to the outer wall of the insert 32 as a limiting end, constraining the insert 32 to move only in the vertical direction. It works with the gear and rack assembly 34 to achieve smooth lifting and lowering, avoiding jamming caused by gravity offset. The rack in the gear and rack assembly 34 is installed on the right side of the outer wall of the insert 32 in the vertical direction. Through the meshing transmission of the gear and rack, the rotational motion of the first motor is converted into the vertical linear motion of the insert 32. The first motor 35 is fixedly installed on the right side of the outer surface of the slot seat 31. The rotating end of the first motor 35 extends into the inner cavity of the slot seat 31 and is fixedly connected to the gear shaft in the gear and rack assembly 34. 5 is electrically connected to the control console 1. The first motor 35 is a servo motor that receives pulse signals from the control console 1 to drive the gears in the gear rack assembly 34 to rotate, thereby controlling the lifting and lowering of the insert 32. The built-in encoder provides closed-loop feedback to ensure accurate lifting height. The outer shell 36 is fixedly installed at the bottom of the first motor 35. The inner connecting frame 37 is rotatably connected to the top of the inner cavity of the outer shell 36 via bearings in the vertical direction, and the bottom of the inner connecting frame 37 extends out of the lower surface of the outer shell 36. The outer connecting frame 38 is rotatably connected to the outside of the inner connecting frame 37 via bearings, and the bottom of the outer connecting frame 38 extends out of the lower surface of the outer shell 36. The inner connecting frame 37 is rotatably connected to the top of the inner cavity of the outer shell 36 via deep groove ball bearings, and the outer connecting frame 38 is rotatably connected to the top of the inner cavity of the outer shell 36 via the same type of bearings. The inner connecting frame 37 and the outer connecting frame 38 are mounted on the outside of the inner connecting frame 37 and can rotate independently. The bottom end extends out of the lower surface of the outer shell 36 to install the rotating cylinder 312, realizing double-layer independent transmission. There are two large gears 39, which are keyed to the top of the outer walls of the inner connecting frame 37 and the outer connecting frame 38 respectively. There are two second motors 310, which are installed on the left and right sides of the top of the outer shell 36 respectively. The rotating ends of the two second motors 310 extend into the inner cavity of the outer shell 36. The second motors 310 are electrically connected to the control console 1. The second motors 310 are servo motors and are controlled by the control console 1 to achieve forward and reverse rotation. They are used with an encoder to achieve precise positioning and ensure that the turning angle of the inner connecting frame 37 and the outer connecting frame 38 is accurate.There are two pinions 311, each mounted on the rotating end of one of the two second motors 310, and each pinion 311 meshes with one of the two large gears 39. There are two rotating cylinders 312, mounted on the outer bottom of the inner connecting frame 37 and the outer connecting frame 38, respectively. There are two connecting frames 313, mounted on the outer walls of the upper and lower rotating cylinders 312, with L-shaped and I-shaped frames respectively. The L-shaped connecting frame 313 is mounted on the outer wall of the lower rotating cylinder 312, and the I-shaped connecting frame 313 is mounted on the outer wall of the upper rotating cylinder 312. There are two rotating modules 314. Two rotating modules 314 are respectively installed on the outer ends of the two connecting brackets 313. The rotating modules 314 are electrically connected to the control console 1. The rotating modules 314 use harmonic reducers and receive signals from the control console 1 to drive the output shaft to rotate, ensuring that the first mounting bracket 315 rotates accurately and adapts to the gripping angle requirements of the glass and frame. There are two first mounting brackets 315, which are respectively installed at the bottom of the rotating ends of the two rotating modules 314. There are two mounting frames 316, which are respectively rotatably installed on the outer bottom ends of the two first mounting brackets 315 through rotating shaft seats. There are two first electric telescopic rods 317. The first electric telescopic rods 317 are rotatably mounted on the outer top of the two first mounting brackets 315 via pivot seats. The telescopic ends of the two first electric telescopic rods 317 are connected to the outer top of the two mounting frames 316 via pivot seats. The first electric telescopic rods 317 are electrically connected to the control console 1. The first electric telescopic rods 317 receive signals from the control console 1 to extend and retract, driving the mounting frames 316 to rotate around the bottom pivot, realizing the posture conversion from vertical gripping to horizontal placement. There are four electric suction cups 318, which are respectively installed at the four corners of the bottom end of one side of the mounting frame 316. The electric suction cups 318 are electrically connected to the control console 1. The electric suction cups 318 are vacuum suction cups equipped with vacuum... The vacuum generator, controlled by console 1, creates negative pressure to adsorb the glass. The electric suction cup 318 has a nitrile rubber coating to ensure a tight seal and prevent scratching the glass surface. A built-in pressure sensor triggers an alarm when the suction force is insufficient. Two first grippers 319 are installed on either side of the bottom of the mounting frame 316 on the other side. The first grippers 319 are electrically connected to console 1. Console 1 controls the opening and closing of the grippers' jaws to grasp the U-shaped frame. The gripper jaws of the first grippers 319 are covered with polyurethane padding to prevent damage to the profile. A built-in force sensor provides real-time feedback on the clamping force, ensuring both tight clamping and no damage to the workpiece.

[0032] As a preferred option, further, such as Figure 6As shown, the fixed execution mechanism 4 includes: a first AGV robot 41, a first robotic arm 42, and a screw installation actuator 43; the first AGV robot 41 is located outside the console 1 and remotely connected to the console 1 via a network. The first AGV robot 41 is an autonomous mobile robot that autonomously plans its path using laser SLAM navigation, supports preset routes and dynamic obstacle avoidance. The first AGV robot 41 communicates remotely with the console 1 via industrial Ethernet, receiving information such as material specifications and screw installation position coordinates in real time, and feeding back its own position and working status. It is equipped with a programmable logic controller to coordinate the action sequence of the first robotic arm 42 and the screw installation actuator 43, ensuring collaborative operation with the installation execution mechanism 5; the first robotic arm 42 is fixedly mounted on the top of the first AGV robot 41 in the vertical direction. At the first end, the first robotic arm 42 and the first AGV robot 41 are electrically connected. The first robotic arm 42 is a multi-axis industrial robot that receives control signals from the first AGV robot 41 and drives the screw installation actuator 43 to complete the position adjustment in three-dimensional space. It also integrates a vision guidance system, which automatically calibrates the alignment deviation of the screw installation actuator 43 by photographing the mounting hole position of the hardware parts, ensuring that the screw is accurately inserted into the hole. The screw installation actuator 43 is installed at the moving end of the first robotic arm 42 and is electrically connected to the first AGV robot 41. The screw installation actuator 43 uses an electric tightening shaft with a feeder, integrating a multi-process automated process: the feeder orderly transports the screws from the hopper to the execution end, the pneumatic gripper picks up the screws, the robotic arm guides the screws to align with the mounting holes, and the electric tightening shaft rotates and tightens them.

[0033] As a preferred option, further, such as Figure 7 and Figure 8As shown, the installation actuator 5 includes: a second AGV robot 51, a second robotic arm 52, an installation crossbeam 53, a second gripper 54, a slide rail housing 55, a sliding seat 56, a lead screw assembly 57, a third motor 58, a base frame 59, a second limit assembly 510, a second mounting frame 511, a second electric telescopic rod 512, a third electric telescopic rod 513, and a fixing block 514. The second AGV robot 51 is located outside the control console 1 and to the right of the first AGV robot 41, and is remotely connected to the control console 1 via a network. The second AGV robot 51 is an autonomous mobile robot that autonomously plans its path using laser SLAM navigation, supporting preset routes and dynamic obstacle avoidance. The second AGV robot 51 communicates remotely with the control console 1 via industrial Ethernet, receiving data such as the specifications and installation position of the transverse frame, providing real-time feedback on the operational status, and supporting collaborative operation with the first AGV robot 41. The second robotic arm 52 is fixedly mounted on top of the second AGV robot 51 and electrically connected to it. The second robotic arm 52 is a multi-axis collaborative robot that receives commands from the second AGV robot 51 and drives the mounting frame 53 to complete three-dimensional spatial movement. It integrates a vision positioning module and automatically calibrates the gripping position by photographing the transverse frame on the second conveyor belt 7. The mounting frame 53 is mounted on the second robotic arm along the left-right direction. The mobile end of 52; there are two second grippers 54, which are respectively installed on the left and right ends of the rear side of the mounting frame 53. The second grippers 54 are electrically connected to the second AGV robot 51. The second grippers 54 are electric grippers that receive instructions from the second AGV robot 51 to complete the opening and closing action and grab the transverse frame on the second conveyor belt 7. The surface of the gripper is covered with a polyurethane buffer pad to ensure gripping stability and avoid scratching the profile surface; the slide chute housing 55 is installed at the bottom of the mounting frame 53 in the left and right direction; the sliding seat 56 is inserted into the inner cavity of the slide chute housing 55; the lead screw assembly 57 is rotatably installed in the inner cavity of the slide chute housing 55 in the left and right direction through bearings. The lead screw nut of the lead screw assembly 57 is connected to the inner side of the sliding seat 56. The lead screw assembly 57 adopts a ball screw, which converts the rotational motion of the third motor 58 into the linear motion of the sliding seat 56. The third motor 58 is installed on the outer left side of the slide groove housing 55. The rotating end of the third motor 58 extends into the inner cavity of the slide groove housing 55 and is connected to the lead screw shaft of the lead screw assembly 57. The third motor 58 is electrically connected to the second AGV robot 51. The third motor 58 adopts a servo motor equipped with an encoder, receives the pulse signal from the second AGV robot 51 to drive the lead screw of the lead screw assembly 57 to rotate, and realizes closed-loop control with the encoder. The base frame 59 is fixedly installed at the rear end of the sliding seat 56.Two second limiting components 510 are provided, installed on the left and right sides of the top of the base frame 59 respectively in the front-back direction. Each second limiting component 510 uses a linear guide rail to constrain the second mounting frame 511 to move only in the front-back direction, cooperating with the second electric telescopic rod 512 to achieve smooth pushing. The second mounting frame 511 is installed on the top of the limiting ends of the two second limiting components 510. The second electric telescopic rod 512 is installed on the front top of the base frame 59, with its telescopic end passing through the base frame 59 and connecting to the bottom of the second mounting frame 511. The second electric telescopic rod 512 is electrically connected to the second AGV robot 51, receiving signals from the second AGV robot 51 to drive the second mounting frame. The 511 unit moves back and forth, precisely delivering the fixing block 514 to the compaction position of the transverse frame. Two third electric telescopic rods 513 are installed on the left and right sides of the front end of the second mounting bracket 511, angled upwards from rear to top. The telescopic ends of the third electric telescopic rods 513 pass through the second mounting bracket 511. The third electric telescopic rods 513 are electrically connected to the second AGV robot 51. Upon receiving instructions from the second AGV robot 51, they extend rearwards, using the fixing block 514 to compact the transverse frame at the U-shaped frame docking position. The fixing block 514 is installed behind the telescopic ends of the two third electric telescopic rods 513. The fixing block 514 is made of custom nylon, combining wear resistance and cushioning to prevent damage to the profile surface during compaction.

[0034] As a preferred embodiment, further as shown in Figure 9, the adhesive application mechanism 8 includes: a ground rail platform 81, an electric turntable 82, a dual-station tilting device 83, an adhesive application robot 84, and an adhesive supply device 85; the ground rail platform 81 is located on the right side of the bottom inner side of the gantry frame 21 in a left-right direction, and the ground rail platform 81 is electrically connected to the control console 1. The ground rail platform 81 uses a linear guide system equipped with a servo driver to receive displacement commands from the control console 1 and accurately move the electric turntable 82 within the working radius of the adhesive application robot 84; the electric turntable 82 is fixedly installed on... At the top of the moving end of the ground rail platform 81, the electric turntable 82 is electrically connected to the control console 1. The electric turntable 82 is a servo turntable that receives angle adjustment commands from the control console 1 and achieves high-precision rotation through an internal harmonic reducer, driving the dual-station tilting device 83 and the workpiece to adjust their circumferential angle. The dual-station tilting device 83 is installed on the top of the rotating end of the electric turntable 82. The glue-applying robot 84 is electrically connected to the control console 1. The dual-station tilting device 83 adopts a customized servo tilting mechanism with a tilting angle of 0-180° and is equipped with two sets of independent workpiece fixing devices. This system enables double-sided flipping of glass door frame workpieces, supporting alternating operation at two workstations. While one workstation is applying adhesive, the other can handle workpiece loading and unloading, shortening changeover time and improving adhesive application efficiency. The adhesive application robot 84 is mounted on the outer right side of the ground rail platform 81 via a bracket. The robot 84 is electrically connected to the control console 1. The multi-axis robot 84 receives adhesive application path data from the control console 1. The end effector of the robotic arm is equipped with a precision adhesive application actuator, including a dispensing valve, adhesive width detection sensor, heating and insulation sleeve, and sensors. This actuator transmits data via... The sensor detects minute deformations of the workpiece in real time and automatically adjusts the adhesive application path to ensure continuous and uniform application of sealant to the gap between the glass and the frame. The adhesive supply device 85 is located on the outside right side of the adhesive application robot 84. The adhesive supply device 85 and the adhesive application robot 84 are connected by pipelines. The adhesive supply device 85 is electrically connected to the control console 1. The adhesive supply device 85 uses a pneumatic adhesive pump and an insulated adhesive tank. The inside of the adhesive tank can be heated and is equipped with an adhesive quantity monitoring sensor. The pneumatic adhesive pump is connected to the adhesive application valve through a high-pressure hose. The control console 1 realizes linkage control to ensure stable adhesive supply pressure.

[0035] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, and the specific work is as follows:

[0036] Step 1: The worker places the pre-installed U-shaped frame on the surface of the first conveyor belt 6 and the transverse frame on the surface of the second conveyor belt 7. Simultaneously, the material trolley containing the glass is pushed into the material trolley docking frame 23. Positioning and locking are achieved through the fixing device inside the material trolley docking frame 23. The control console 1 then sequentially starts the first conveyor belt 6, the dual-axis moving platform 22, the first motor 35, the second motor 310, the rotating module 314, the first electric telescopic rod 317, the electric suction cup 318, and the first clamp 31. 9. Upon startup, the first conveyor belt 6 begins operation, precisely transporting the U-shaped frame to the designated position inside the gantry 21. The dual-axis moving platform 22 drives the transport assembly 3, first moving above the first conveyor belt 6 to align with the positioned U-shaped frame, and then moving directly above the material trolley in the material cart docking frame 23 to align with the glass to be grasped. The first motor 35 drives the gears in the gear and rack assembly 34 to rotate. Through the meshing transmission of the gears and rack, the insert frame 32 moves up and down under the constraint of the first limiting assembly 33. Once adjusted to a suitable gripping height, the second motors 310 on both the left and right sides drive the corresponding small gears 311 to rotate. The small gears 311 then drive the large gears 39 on the upper and lower sides to rotate, which in turn, through the inner connecting frame 37 or the outer connecting frame 38, drives the corresponding rotating cylinder 312 to rotate clockwise or counterclockwise. With the cooperation of the connecting frame 313, the rotating cylinder 312 drives the rotating module 314 to rotate to a preset direction, causing the rotating modules 314 on both sides to drive the first mounting frame 315 to adjust to a suitable angle, and the first electric telescopic rod... 317 extends, pushing the mounting frame 316 downward to a horizontal position. The electric suction cup 318 on the mounting frame 316 is aligned with the glass surface. After starting, it generates negative pressure to adsorb the glass. The first clamp 319 on the other side closes, mechanically clamping the U-shaped frame. The dual-axis moving platform 22, in conjunction with the transport assembly 3, first moves the gripped U-shaped frame to the inside of the dual-station flipping device 83 and locks it through the device's fixing device. Then, the adsorbed glass is precisely transported and embedded into the inner mounting groove of the U-shaped frame, completing the initial assembly.

[0037] Step 2: The internal program of console 1 sequentially starts the second AGV robot 51 and the first AGV robot 41. The second AGV robot 51 controls the second robotic arm 52, the second gripper 54, the third motor 58, the second electric telescopic rod 512, and the third electric telescopic rod 513 to start according to the preset program. The second robotic arm 52 extends, driving the mounting frame 53 to move directly above the transverse frame on the surface of the second conveyor belt 7. The second gripper 54 closes, completing the mechanical gripping of the transverse frame. The second AGV robot 51 moves to the front position of the glue application mechanism 8. With the cooperation of the second gripper 54, it aligns the transverse frame with the front docking position of the U-shaped frame and initially places it in place. To ensure that the transverse frame and the U-shaped frame fit tightly, the third motor 58 drives the lead screw in the lead screw assembly 57 to rotate, causing the lead screw nut to drive the sliding seat 56 to move left and right along the inner cavity of the slide groove shell 55 to adjust the position. Positioning is determined, the second electric telescopic rod 512 extends, pushing the second mounting bracket 511 to move backward under the constraint of the second limiting component 510, so that the fixing block 514 contacts the front side of the outer wall of the transverse frame. The third electric telescopic rod 513 extends further, driving the fixing block 514 to apply pressure to the rear, firmly pressing the transverse frame into the front docking position of the U-shaped frame, completing the mechanical positioning. The first AGV robot 41 starts the first robotic arm 42 and the screw installation actuator 43 according to the program. The first AGV robot 41 moves sequentially to the connection position of the front and rear ends of the transverse frame and the U-shaped frame. The first robotic arm 42 adjusts the angle and drives the screw installation actuator 43 to align with the screw hole of the hardware. The screw installation actuator 43 automatically completes the screw delivery, installation and locking operation, fixing the overall frame composed of the transverse frame and the U-shaped frame to the outside of the glass, finally forming a complete glass door frame workpiece.

[0038] Step 3: The internal program of the control console 1 sequentially starts the ground rail platform 81, the glue supply device 85, the glue application robot 84, and the dual-station flipping device 83. The ground rail platform 81 starts, driving the electric turntable 82 carrying the glass door frame workpiece to move out from under the gantry 21 and move to the left working area of ​​the glue application robot 84. The glue supply device 85 delivers sealant to the glue application robot 84 to ensure sufficient glue. The robotic arm of the glue application robot 84 moves circumferentially along the gap between the frame and the glass according to the preset trajectory, evenly applying sealant to complete the sealing operation of the first side. After the first side is glued, the dual-station flipping device 83 starts, driving the glass door frame workpiece to rotate 180 degrees so that the un-glue side faces upward. The glue application robot 84 starts again and performs the same glue application operation on the gap of the flipped side to ensure that the connection between the glass and the frame is completely sealed, ensuring the airtightness and watertightness of the door and window.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A production line for automatic assembly of energy-saving doors and windows, characterized in that, include: Console (1); The combination mechanism (2) is located on the outer rear side of the control console (1) and can complete the gripping, handling and preliminary assembly of the U-shaped frame and glass; The fixed actuator (4) is located on the front side of the console (1) and is responsible for fixing the hardware screws between the frames; The installation actuator (5) is located outside the console (1) and to the right of the fixed actuator (4), and is capable of grabbing the horizontal frame and docking with the U-shaped frame. The first conveyor belt (6) is arranged inside the combined mechanism (2) in the front-back direction, and the first conveyor belt (6) is electrically connected to the control console (1); The second conveyor belt (7) is arranged in the front right side of the console (1) in the front-back direction, and the second conveyor belt (7) and the console (1) are electrically connected; The adhesive application mechanism (8) is located on the outside right side of the combined mechanism (2) and is capable of applying sealant to the gap between the glass and the frame. The combined mechanism (2) includes: The gantry (21) is arranged on the outer rear side of the control console (1) in the left-right direction, and the rear side of the first conveyor belt (6) extends into the inner bottom left front of the gantry (21). A dual-axis moving platform (22) is installed on the top of the gantry (21) in the left-right direction, and the dual-axis moving platform (22) is electrically connected to the control console (1); The material cart docking frame (23) is located on the inner bottom left side of the gantry frame (21), and the material cart docking frame (23) is electrically connected to the control console (1); The transport assembly (3) is installed at the moving end of the dual-axis moving platform (22); The transport assembly (3) includes: The slot seat (31) is fixedly installed on the top of the moving end of the dual-axis moving platform (22); The insert (32) is inserted into the cavity of the slot seat (31) in the vertical direction; The first limiting component (33) is installed on the left side of the inner cavity of the slot seat (31), and the limiting end of the first limiting component (33) is fixedly connected to the left side of the outer wall of the insert (32). A gear and rack assembly (34), wherein the rack is mounted on the right side of the outer wall of the insert (32) in the vertical direction; The first motor (35) is fixedly installed on the right side of the outer surface of the slot seat (31). The rotating end of the first motor (35) extends into the inner cavity of the slot seat (31) and is fixedly connected to the gear shaft in the gear rack assembly (34). The first motor (35) is electrically connected to the control console (1). The outer casing (36) is fixedly installed at the bottom end of the first motor (35); The inner connecting frame (37) is rotatably connected to the top of the inner cavity of the outer shell (36) via a bearing in the vertical direction, and the bottom end of the inner connecting frame (37) extends out of the lower surface of the outer shell (36). An outer connecting frame (38) is rotatably connected to the outside of the inner connecting frame (37) via a bearing, and the bottom end of the outer connecting frame (38) extends out of the lower surface of the outer casing (36); Large gear (39), there are two large gears (39), and the two large gears (39) are respectively keyed to the top of the outer wall of the inner connecting frame (37) and the outer connecting frame (38); The second motor (310) has two motors (310). The two motors (310) are respectively installed on the top left and right sides of the housing (36). The rotating ends of the two motors (310) extend into the inner cavity of the housing (36). The second motors (310) are electrically connected to the control console (1). Two small gears (311) are installed on the rotating ends of two second motors (310), and the two small gears (311) mesh with two large gears (39). Two rotating cylinders (312) are installed on the outer bottom of the inner connecting frame (37) and the outer connecting frame (38), respectively. Connecting frame (313), there are two connecting frames (313), the two connecting frames (313) are respectively installed on the outer wall of the upper and lower rotating cylinders (312), and the shapes of the two connecting frames (313) are L-shaped and straight. Rotating module (314), there are two rotating modules (314), the two rotating modules (314) are respectively installed on the outer ends of two connecting frames (313), and the rotating modules (314) are electrically connected to the control console (1).

2. The production line for automatic assembly of energy-saving doors and windows according to claim 1, characterized in that: The transport assembly (3) also includes: The first mounting bracket (315) has two components, and the two first mounting brackets (315) are respectively installed at the bottom of the rotating end of the two rotating modules (314); Mounting frame (316), there are two mounting frames (316), and the two mounting frames (316) are respectively rotatably mounted on the outer bottom ends of two first mounting brackets (315) via rotating shaft seats; The first electric telescopic rod (317) has two components. The two first electric telescopic rods (317) are rotatably mounted on the outer top of the two first mounting brackets (315) through a pivot seat. The telescopic ends of the two first electric telescopic rods (317) are connected to the outer top of the two mounting frames (316) through a pivot seat. The first electric telescopic rod (317) is electrically connected to the control console (1). The electric suction cup (318) has four components. The four electric suction cups (318) are respectively installed at the four corners of the bottom end of the mounting frame (316) on one side. The electric suction cups (318) are electrically connected to the control console (1). The first clamp (319) has two clamps, which are respectively installed on both sides of the bottom end of the mounting frame (316) on the other side. The first clamp (319) is electrically connected to the console (1).

3. The production line for automatic assembly of energy-saving doors and windows according to claim 2, characterized in that: The fixed actuator (4) includes: The first AGV robot (41) is located outside the console (1) and remotely connected to the console (1) via a network; The first robotic arm (42) is fixedly installed on the top of the first AGV robot (41) in the vertical direction, and the first robotic arm (42) and the first AGV robot (41) are electrically connected. A screw-mounting actuator (43) is installed on the moving end of the first robotic arm (42), and the screw-mounting actuator (43) is electrically connected to the first AGV robot (41).

4. The production line for automatic assembly of energy-saving doors and windows according to claim 3, characterized in that: The installation actuator (5) includes: The second AGV robot (51) is located outside the console (1) and to the right of the first AGV robot (41) and is remotely connected to the console (1) via a network. The second robotic arm (52) is fixedly installed on the top of the second AGV robot (51), and the second robotic arm (52) and the second AGV robot (51) are electrically connected. The mounting frame (53) is installed on the moving end of the second robotic arm (52) in the left-right direction; The second gripper (54) has two grippers (54), which are respectively installed on the left and right ends of the rear side of the mounting frame (53). The second gripper (54) is electrically connected to the second AGV robot (51). The slide housing (55) is installed at the bottom of the mounting crossbeam (53) in the left-right direction; The sliding seat (56) is inserted into the inner cavity of the slide groove housing (55); The lead screw assembly (57) is rotatably mounted in the inner cavity of the slide housing (55) via bearings in the left-right direction, and the lead screw nut of the lead screw assembly (57) is connected to the inner side of the sliding seat (56); The third motor (58) is installed on the outer left side of the slide housing (55). The rotating end of the third motor (58) extends into the inner cavity of the slide housing (55) and is connected to the screw axis of the lead screw assembly (57). The third motor (58) is electrically connected to the second AGV robot (51).

5. The production line for automatic assembly of energy-saving doors and windows according to claim 4, characterized in that: The installation actuator (5) also includes: The base frame (59) is fixedly installed at the rear end of the sliding seat (56); The second limiting component (510) has two components, and the two second limiting components (510) are respectively installed on the left and right sides of the top of the base frame (59) in the front-back direction; The second mounting bracket (511) is installed on the top of the limiting ends of the left and right second limiting components (510); The second electric telescopic rod (512) is installed on the front top of the base frame (59). The telescopic end of the second electric telescopic rod (512) passes through the base frame (59) and is connected to the bottom end of the second mounting frame (511). The second electric telescopic rod (512) is electrically connected to the second AGV robot (51). The third electric telescopic rod (513) has two components. The two third electric telescopic rods (513) are installed on the left and right sides of the front end of the second mounting frame (511) from back to top. The telescopic ends of the third electric telescopic rods (513) pass through the second mounting frame (511). The third electric telescopic rods (513) are electrically connected to the second AGV robot (51). A fixing block (514) is installed on the rear side of the telescopic end of the two third electric telescopic rods (513).

6. The production line for automatic assembly of energy-saving doors and windows according to claim 5, characterized in that: The adhesive application mechanism (8) includes: The ground rail platform (81) is located on the right side of the bottom inner side of the gantry frame (21) in the left-right direction, and the ground rail platform (81) and the control console (1) are electrically connected; An electric turntable (82) is fixedly installed on the top of the moving end of the ground rail platform (81), and the electric turntable (82) and the control console (1) are electrically connected. A dual-station flipping device (83) is installed on the top of the rotating end of the electric turntable (82), and the dual-station flipping device (83) is electrically connected to the control console (1); The glue-applying robot (84) is mounted on the outside right side of the ground rail platform (81) via a bracket, and the glue-applying robot (84) is electrically connected to the control console (1); The glue supply device (85) is located on the outside right side of the glue application robot (84). The glue supply device (85) and the glue application robot (84) are connected by a pipeline. The glue supply device (85) and the control console (1) are electrically connected.

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