Door and window driver mounting device based on floating structure and working method

Abstract

The invention belongs to the technical field of door and window machining, and particularly relates to a door and window driver mounting device based on a floating structure and a working method.The door and window driver mounting device comprises a storage unit for storing and supplying drivers, a feeding platform for receiving and pressing window sash workpieces and a driver mounting unit for grabbing, transferring and fastening integrated drivers; the clamping device and the fastening device move in the length direction and the height direction of a workpiece through a shared x-direction driving assembly and a shared z-direction driving assembly respectively, and the clamping device and the fastening device move in the width direction of the workpiece through a corresponding y-direction driving assembly respectively. The clamping device comprises a first connecting base and a second connecting base which are rotationally connected, a clamping jaw and a positioning shaft are arranged on the second connecting base, and a plurality of sets of elastic pieces are arranged between the first connecting base and the second connecting base. By means of the clamping device with the passive floating compensation function, the multi-dimensional microscopic alignment error between the workpiece and the mounting hole can be absorbed in a self-adaptive mode when the pushing-in action is executed.

Description

Technical Field

[0001] This invention belongs to the field of door and window processing technology, specifically a door and window actuator installation device and working method based on a floating structure. Background Technology

[0002] The statements in this section only refer to the background technology related to this invention and do not necessarily constitute prior art.

[0003] The transmission mechanism is a core functional component in aluminum alloy door and window systems, primarily used to realize the opening, closing, locking, and multi-point locking functions of door and window sashes. It typically consists of a handle, transmission rod, locking points, and lock seat. By operating the handle, the transmission rod is driven, causing the locking points to engage or disengage with the lock seat, thus completing the opening, closing, and locking of the door and window. The performance of the transmission mechanism directly affects the safety, sealing performance, and service life of the door and window, making it a key component ensuring the overall functionality of the doors and windows.

[0004] In the automated assembly of aluminum alloy doors and windows, the installation accuracy of the integrated drive directly determines the smoothness of opening and closing and the sealing performance of the doors and windows. If a robotic arm is used in conjunction with specialized grippers for the automatic gripping and installation of the drive, error compensation issues arise.

[0005] Specifically, this error mainly stems from two aspects: First, the manufacturing tolerances of the workpiece itself, namely, the unavoidable slight deviations in the machining dimensions of the mounting slots on the integrated transmission and window sash profiles; second, systematic positioning errors, including the positioning accuracy limits of the machine tool itself, and the cumulative deviations generated during the multiple transfers of the transmission from the feeding device to the installation station. These errors are usually at the millimeter or even sub-millimeter level, but for precision assembly that requires the transmission to be accurately guided into narrow slots, they are sufficient to lead to assembly failure.

[0006] In existing technologies, addressing such errors primarily relies on higher-precision guide rails, servo motors, and linear encoder feedback systems to improve the repeatability of the robot's positioning. This approach is costly and cannot adapt to variations caused by workpiece tolerances. Another method is visual recognition compensation, which involves using a camera to identify the actual position of the actuator and mounting slot, and then using algorithms to correct the robot's trajectory in real time. This method is sensitive to ambient light, increasing the cycle time for a single operation and making it difficult to meet the requirements of high-efficiency production lines. Summary of the Invention

[0007] This invention provides a door and window actuator installation device and working method based on a floating structure. The device is designed with a clamping device with passive floating compensation function. Through a flexible joint composed of a built-in spring and a rotating shaft, it can adaptively absorb the multi-dimensional micro-alignment error between the workpiece and the mounting hole when performing the pushing action, thereby achieving high-precision and smooth assembly without the need for external sensors and complex control algorithms.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention discloses a door and window actuator mounting device based on a floating structure, comprising: Storage unit for storing and supplying the integrated drive; The loading platform is used to receive and press the window sash workpieces; The transmission mounting unit is used to grip, transfer and fasten an integrated transmission, including a clamping device and a fastening device. The clamping device and the fastening device move along the length and height of the workpiece respectively through shared x-axis and z-axis drive components, and the clamping device and the fastening device move along the width of the workpiece respectively through corresponding y-axis drive components. The clamping device includes a first connecting seat and a second connecting seat that are rotatably connected. The second connecting seat is provided with a gripper and a positioning shaft. Multiple sets of elastic elements are provided between the first connecting seat and the second connecting seat.

[0009] Furthermore, the transmission mounting unit also includes a bracket, a first movable plate, and a second movable plate; the bracket is connected to the frame via an x-axis drive assembly and is provided with a z-axis drive assembly; the z-axis drive assembly is connected to the first movable plate to drive it to move along the z-axis; the clamping device is connected to the first horizontal drive assembly, and the fastening device is connected to the second horizontal drive assembly; the first horizontal drive assembly is disposed on the second movable plate, and the second horizontal drive assembly is disposed on the first movable plate; the first horizontal drive assembly and the second horizontal drive assembly respectively drive the clamping device and the fastening device to move linearly along the y-axis.

[0010] Furthermore, the gripper is driven by a corresponding gripping cylinder and opens and closes in the z direction to grasp and hold the actuator. The positioning shaft is arranged on the side of the gripper, and the length of the positioning shaft in the y direction exceeds the front end of the gripper.

[0011] Furthermore, the first connecting seat is rotatably connected to the second connecting seat via a rotary shaft and rotates about the x-axis; the elastic elements are arranged along the y-direction and have at least three sets, of which two sets of elastic elements are located in the space above the rotary shaft and connected between the top of the first connecting seat and the tail of the second connecting seat; the other set of elastic elements is located in the space below the rotary shaft and connected between the bottom of the first connecting seat and the bottom of the second connecting seat; the rotatably connected first and second connecting seats form a floating compensation mechanism under the action of the elastic elements.

[0012] Furthermore, the transmission mounting unit also includes a rotary drive assembly, which is mounted on the second movable plate and is used to drive the first connecting seat together with the clamping device to rotate about an axis parallel to the x-direction.

[0013] Furthermore, the clamping device also includes a translation cylinder and a push rod. The translation cylinder is mounted on the first connecting seat, and the actuating end of the translation cylinder passes through the second connecting seat and is connected to the push rod. By driving the push rod to move linearly along the y-direction, the gripped transmission device is pushed into the mounting slot of the workpiece.

[0014] Furthermore, the loading platform includes a first baffle and a second baffle arranged in parallel and moving relative to each other along the y-direction. The first baffle and the second baffle are provided with multiple sets of vertical clamping devices that differentially clamp the workpiece mounting side and the non-mounting side.

[0015] Furthermore, the vertical clamping device includes a third vertical clamping device and a fourth vertical clamping device disposed on the second baffle for clamping the workpiece mounting side. The distance between the third vertical clamping device and the fourth vertical clamping device is adjustable, and a bearing plate with a positioning structure is provided below them. The vertical clamping device also includes a first vertical clamping device and a second vertical clamping device disposed on the first baffle for clamping the non-installation side of the workpiece, and the distance between the first vertical clamping device and the second vertical clamping device is fixed.

[0016] Furthermore, the second baffle is provided with a second horizontal clamping device connected to the third vertical clamping device on the mounting side, which is used to drive it to move along the x-direction to achieve positioning and clamping of the workpiece mounting side in the length direction; the first baffle is provided with a first horizontal clamping device corresponding to the vertical clamping device (first vertical clamping device and second vertical clamping device) on the non-mounting side, which is used to clamp the side of the workpiece non-mounting side from the y-direction.

[0017] The second aspect of the present invention discloses a method for operating a door and window actuator mounting device based on a floating structure, comprising the following steps: The loading platform receives the workpiece from the previous process and clamps and fixes the workpiece in the installation position through the corresponding vertical clamping device and horizontal clamping device on the two baffles. The transmission unit moves along the x-direction to the material inlet of the storage unit, clamps the integrated transmission unit from the storage unit through the clamping device, and moves along the x-direction to the space above the workpiece being pressed. The clamping device approaches the workpiece along the y-axis and uses the floating compensation mechanism to push the transmission into the workpiece's mounting slot; the clamping device moves backward along the y-axis and switches to the position of the fastening device corresponding to the transmission at the workpiece mounting slot by changing the height; the fastening device moves along the y-axis to the transmission and performs a fastening operation to lock the transmission onto the workpiece; then, the fastening device moves backward along the y-axis. Release the clamping force on the workpiece, and the loading platform will send out the workpiece with the drive installed.

[0018] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. A floating compensation mechanism is formed by a rotating first connecting seat, a second connecting seat, and multiple sets of elastic elements disposed between them. When the gripper carrying the transmission contacts the workpiece mounting slot, the resulting slight offset force overcomes part of the elastic force of the elastic elements, forcing the second connecting seat to produce a slight passive pitch rotation around the pivot axis. This allows the gripper and positioning shaft to adaptively adjust their angle and position, thus smoothly guiding the transmission to be gripped and guided into the mounting slot. This achieves a transition from "hard contact" to "soft landing," greatly improving the success rate of installation on the first attempt and avoiding damage to the workpiece and equipment. 2. Multiple sets of elastic elements are arranged in the upper and lower spaces of the rotating shaft, forming a stable triangular elastic balance system. This ensures that the floating motion has predictable stiffness and a stable zero position (ready state). Furthermore, this design is a purely mechanical structure, requiring no complex external sensors or real-time control algorithms. It offers fast response, low cost, and strong anti-interference capabilities, perfectly meeting the demands of high-efficiency, low-cost automated production. 3. The rotary drive component in the clamping device drives the entire clamping device to actively rotate at a large angle to compensate for macroscopic angular deviations when picking up material from hoppers from different directions or during initial alignment. The floating mechanism, on the other hand, absorbs microscopic, random alignment errors. This combined "active rotation + passive floating" dual compensation mechanism greatly improves the installation success rate.

[0019] 4. For the critical installation side, an adjustable-spacing clamping device with corner point positioning is used, linked with an independent horizontal clamping device, achieving rigid and precise positioning of this side in three-dimensional space, providing a fundamental guarantee for high-precision installation. For the non-installation side, a simpler clamping scheme with fixed spacing is used, ensuring sufficient fixing force while effectively controlling the overall manufacturing cost, thus achieving a balance between function and cost. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 A schematic diagram of a transmission device provided for one or more embodiments of the present invention; Figure 2 A schematic diagram of the overall structure of the door and window actuator installation device provided in one or more embodiments of the present invention; Figure 3 This is a schematic diagram of the structure of a first feeding assembly provided in one or more embodiments of the present invention; Figure 4 This is a schematic diagram of the structure of the second loading assembly in a rack assembly provided in one or more embodiments of the present invention; Figure 5This is a partial structural diagram of the second feeding assembly provided in one or more embodiments of the present invention; Figure 6 A schematic diagram of the transmission mounting unit structure provided in one or more embodiments of the present invention; Figure 7 A schematic diagram of the fastening device structure provided in one or more embodiments of the present invention; Figure 8 Another structural schematic diagram of the fastening device provided in one or more embodiments of the present invention; Figure 9 A schematic diagram of the clamping device structure provided in one or more embodiments of the present invention; Figure 10 This is a partial structural diagram of a clamping device provided in one or more embodiments of the present invention; Figure 11 This is a top view of the clamping device provided in one or more embodiments of the present invention.

[0022] Figure 2 In the middle: 1. Frame assembly, 2. Material storage unit, 3. Transmission mounting unit, 4. First feeding assembly, 5. Operation panel; Figure 3 In the middle: 41 workbench, 42 first material support device, 43 first baffle, 44 first vertical clamping device, 45 second vertical clamping device, 46 first horizontal clamping device; Figures 4-5 In the middle: 11 support leg, 12 second baffle, 13 second material support device, 14 material blocking assembly, 15 third vertical clamping device, 16 second horizontal clamping device, 17 fourth vertical clamping device; Figure 6 In the middle: 10 Transmission device, 30 Support bracket, 31 Clamping device, 32 Fastening device, 33 Fastening support assembly; Figures 7-8 In the middle: 301 First moving plate, 302 Second moving plate, 311 Rotary drive assembly, 321 Vertical drive assembly, 322 First horizontal drive assembly, 323 Second horizontal drive assembly, 324 Nail-driving auxiliary cylinder, 325 Nail-driving cylinder; Figures 9-11 In the middle: 312 gripper, 313 positioning shaft, 314 push rod, 315 clamping cylinder, 316 translation cylinder, 317 photoelectric switch, 318 spring, 319 rotating shaft, 3101 first connecting seat, 3102 second connecting seat. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0025] Doors and windows are divided into two types: "frames" and "sashes." Generally, the size of the "sash" is smaller than that of the "frame," and the "frame" often has a "stile." The transmission mechanism includes parts installed on the window sash, generally including a mounting base installed inside the window sash, a transmission rod installed on the side of the window sash, a handle installed on the surface of the window sash, and lock seats and locking points installed on the window sash and window frame to cooperate with each other.

[0026] An integrated transmission is a type of integrated design for transmissions, pre-assembling traditionally separate components such as transmission rods and locking points into a single module. Unless otherwise specified, the transmissions involved in this embodiment are all "integrated transmissions," and their external structure is as follows. Figure 1 As shown, it includes at least a mounting base and a transmission rod, which can be directly embedded into the pre-set mounting slots of the aluminum alloy door and window sash, and installation can be completed by tightening. Considering that the flatness of the window sash surface facilitates subsequent processes, the "integrated transmission device" in this solution does not include a "handle", which is installed in a later process.

[0027] For ease of understanding, the "window sash" in this solution can also be considered as the "workpiece".

[0028] This solution provides a door and window actuator installation device and working method based on a floating structure. It designs a clamping device with passive floating compensation function. Through a flexible joint composed of a built-in spring and a rotating shaft, it can adaptively absorb the multi-dimensional micro-alignment error between the workpiece and the mounting hole when performing the pushing action, thereby achieving high-precision and smooth assembly without external sensors and complex control algorithms.

[0029] In this scheme, the direction of movement of the window sash from the first feeding component to the installation position is the y direction, which is the width direction of the window sash. The direction perpendicular to the y direction on the horizontal plane is the x direction, which is the length direction of the window sash. The z direction (vertical direction) is perpendicular to the x and y directions.

[0030] like Figure 2 As shown, the door and window actuator installation device includes a frame assembly 1, on which a storage unit 2 and an actuator installation unit 3 are provided, and also has a first feeding assembly 4 and an operation screen 5.

[0031] The storage unit 2 is used to store the transmission device 10 to be installed. The frame assembly 1 is equipped with a loading platform, which is used to receive the "window sash to be installed with the transmission device", referred to as "workpiece" in this embodiment. The loading platform feeds the workpiece along the y-direction and clamps and fixes the workpiece in the horizontal and vertical directions. The transmission device installation unit 3 moves along the x-direction and uses the clamping device 31 to take out a set of "integrated transmission devices" (referred to as transmission devices in this embodiment) from the storage unit 2 and transports them to the installation position reserved on the workpiece. The transmission device is fed into the transmission device installation slot reserved on the workpiece by moving in the y-direction, and the transmission device and the workpiece are connected and fixed by the fastening device 32 (bolt connection or nailing). After the transmission device installation is completed, the clamping state of the workpiece is released, and the loading platform drives the workpiece with the transmission device installed to be sent to the subsequent process.

[0032] The material loading platform includes, for example, Figure 3 The first feeding component 4 shown and as follows Figure 4 The second feeding assembly shown is used to receive the workpiece to be installed with the transmission device, and after feeding the workpiece into the position that fits with the second feeding assembly, it presses the workpiece, and cooperates with the transmission device installation unit 3 to complete the installation action. After the transmission device is installed, the pressing state is released, and the workpiece is sent to the next process step.

[0033] like Figure 3 As shown, the loading platform includes a workbench 41. The workbench 41 is connected to a first material support device 42 and a first baffle 43 via a y-axis motion unit. The first material support device 42 and the first baffle 43 are arranged side by side. The first baffle 43 is provided with a first vertical pressing device 44, a second vertical pressing device 45 and a first horizontal pressing device 46.

[0034] like Figure 4 As shown, the second feeding assembly includes a support leg 11 connected to the frame assembly 1. The support leg 11 is provided with a second baffle 12 and a second material support device 13 arranged in parallel. The second baffle 12 is provided with a third vertical pressing device 15, a second horizontal pressing device 16 and a fourth vertical pressing device 17.

[0035] Both the first material support device 42 and the second material support device 13 include a conveyor belt driven by a motor. The conveyor belts in the two devices form a plane that supports the workpiece and drive the workpiece to move along the x-direction (the length direction of the window sash) under the action of the motor, which is used to receive and transfer the workpiece.

[0036] The y-axis motion unit can be a ball screw structure driven by a motor, which drives the first material support device 42 and the first baffle 43 to move along the y-direction (the width direction of the window sash).

[0037] The first baffle 43 and the second baffle 12 are located between the first material support device 42 and the second material support device 13, and are respectively used to abut against the two side edges of the workpiece in the width direction. When the width dimension of the workpiece changes, the first baffle 43 moves along the y direction (the width direction of the window sash) under the drive of the y-direction motion unit, and the first baffle 43 assists the first material support device 42 in pushing the workpiece to a suitable position.

[0038] The first vertical clamping device 44 and the second vertical clamping device 45 have the same structure and are both used to clamp the workpiece from the vertical direction. They include a clamping block driven by a cylinder and a flat plate for supporting the workpiece is provided in the space below the clamping block. The flat plate is connected to the first baffle 43.

[0039] The first vertical clamping device 44 and the second vertical clamping device 45 have corresponding first horizontal clamping devices 46 for clamping the workpiece from the y-direction (the width direction of the workpiece). Specifically, both the first vertical clamping device 44 and the second vertical clamping device 45 have a support A, which is connected to a cylinder A that moves in the vertical direction. The actuating end of the cylinder A is connected to a clamping block to form vertical clamping. The support A and the support B are slidably connected by a slide rail assembly arranged in the y-direction. The support B is provided with a cylinder B arranged in the y-direction. The actuating end of the cylinder B pushes the support A to move in the y-direction. The support A is provided with a backing plate. The action of the cylinder B causes the backing plate to fit against the side of the workpiece, thereby achieving horizontal clamping in the y-direction.

[0040] Both the first baffle 43 and the second baffle 12 are equipped with a baffle assembly 14. When the first material support device 42 and the second material support device 13 transport the workpiece to the designated position along the x-direction (workpiece length direction), the baffle assembly 14 is activated to block the movement of the workpiece. The baffle assembly 14 includes a baffle rod driven by a cylinder. When the baffle rod extends under the action of the cylinder, its height exceeds the height of the conveyor belt in the first material support device 42 and the second material support device 13.

[0041] Both the third vertical clamping device 15 and the fourth vertical clamping device 17 include a cylinder and a clamping block that move in the vertical direction. A bearing plate is provided in the space below the clamping block. The bearing plate is provided with protrusions or grooves arranged vertically. The protrusions or grooves are used to position the corners of the workpiece.

[0042] The second baffle 12 is provided with a rack and slide rail assembly arranged in parallel. The third vertical clamping device 15 and the fourth vertical clamping device 17 are both slidably connected to the slide rail assembly. The fourth vertical clamping device 17 is provided with a drive motor. The output shaft of the drive motor is connected to a gear, and the gear meshes with the rack, so that the fourth vertical clamping device 17 forms a movable platform that moves in the x-direction. Correspondingly, the third vertical clamping device 15 forms a non-movable platform (here, the non-movable platform is not completely fixed, but only refers to the position of the third vertical clamping device 15 as a reference to control the movement stroke of the fourth vertical clamping device 17 when actually adjusting the distance between the third vertical clamping device 15 and the fourth vertical clamping device 17).

[0043] like Figure 5 As shown, the third vertical clamping device 15 is connected to the second horizontal clamping device 16. The second horizontal clamping device 16 includes a cylinder that moves in the x-direction. The movement of the second horizontal clamping device 16 drives the third vertical clamping device 15 to move along the slide rail assembly (x-direction), so that the protrusions or grooves on the bearing plate of the third vertical clamping device 15 and the fourth vertical clamping device 17 fit with the corners of the workpiece, thereby achieving horizontal clamping in the x-direction.

[0044] like Figure 6 As shown, the transmission mounting unit 3 includes a bracket 30. On one side of the bracket 30, there is a clamping device 31 and a fastening device 32 arranged in a vertical direction. In this embodiment, the clamping device 31 is located at the bottom of the fastening device 32. On the other side of the bracket 30, there is a fastening support assembly 33 and a drive assembly (which can be a gear driven by a motor, and the gear meshes with a rack set on the frame assembly 1) that drives the entire transmission mounting unit 3 to move in the x direction.

[0045] The clamping device 31 is used to clamp the drive unit 10 from the storage unit 2 and feed the drive unit 10 into the pre-reserved mounting slot of the workpiece. The fastening device 32 is used to fasten the drive unit 10 fed into the mounting slot. The "fastening" can be screwing in a threaded bolt or screw, or it can be installing a threadless nail (such as a pneumatic nail or a nail gun) by impact. The fastening support assembly 33 is used to store the fasteners to be installed, and when the "pinning" method (installing threadless nails) is selected, it is equipped with a vibratory feeder to ensure that the fasteners enter the fastening device 32 in a set direction.

[0046] like Figures 7-8As shown, the bracket 30 of the transmission mounting unit 3 is slidably connected to the first moving plate 301 via a slide rail assembly arranged in the vertical direction. The bracket 30 is provided with a vertical drive assembly 321, which includes a ball screw structure driven by a motor. The slider in the ball screw structure is connected to the first moving plate 301. The vertical drive assembly 321 drives the clamping device 31 and the fastening device 32 to move vertically in sync, thereby changing the height of the two devices relative to the workpiece and realizing the clamping, positioning, installation and fastening actions of the transmission 10.

[0047] The first moving plate 301 is connected to the fastening device 32 and the second moving plate 302 respectively through at least two independent sets of slide rail assemblies. The second moving plate 302 is provided with a first horizontal drive assembly 322, and the first moving plate 301 is provided with a second horizontal drive assembly 323. The first horizontal drive assembly 322 is used to drive the clamping device 31 to move linearly in the y direction, and the second horizontal drive assembly 323 is used to drive the fastening device 32 to move linearly in the y direction. The specific structure of the first horizontal drive assembly 322 and the second horizontal drive assembly 323 is not limited. For example, in this embodiment, a ball screw structure driven by a motor is used to obtain a higher precision motion stroke. The slider in the ball screw structure is connected to the corresponding support in the clamping device 31 and the fastening device 32 respectively.

[0048] When the workpiece (window sash) is clamped and fixed, the area waiting to install the transmission device 10 is located in the space above the storage unit 2. The clamping device 31 is located below the fastening device 32. When the vertical drive assembly 321 is activated, driving the transmission device installation unit 3 to move in the z direction, the clamping device 31 can reach the height of the notch 251. Then, the first horizontal drive assembly 322 drives the clamping device 31 to move in the y direction, "penetrating" from the notch 251 into the storage unit 2 to grab a set of transmission devices 10. Then, the vertical drive assembly 321 moves in the z direction, causing the clamping device 31 to rise to the height of the workpiece (window sash) 100 to perform the installation. The storage unit 2 is located in the space below the loading platform and close to the transmission device installation unit 3, so that the stroke of the clamping device 31 and the fastening device 32 in the transmission device installation unit 3 in the y direction is as short as possible.

[0049] Meanwhile, the clamping device 31 in the y-direction is primarily used for actions such as "pushing" the drive unit 10 into the slot and gripping the drive unit 10. Precision requirements are relatively focused on repeatability. The fastening device 32 may have a finer y-direction travel, requiring precise alignment of the cutting head or impact head that drives the fastener's rotation with multiple mounting holes on the drive unit. In addition to positioning accuracy, the ability to compensate for minor floats during hole alignment also needs to be considered.

[0050] Therefore, the clamping device 31 and the fastening device 32 are treated as a whole during the non-working movement phase, sharing the "long-distance transportation" system (x and z directions) to achieve efficient movement and structural simplification. During the core working phase, the two functions are treated as independent modules, each given an independent, short-stroke precision motion axis (y direction) to meet the requirements of sequential operation, avoidance of interference, and achieving optimal accuracy for each.

[0051] The fastening device 32 can be an existing product, capable of rotating and feeding the fastener, or feeding alone. In this embodiment, the fastening device 32 is equipped with a nail-driving cylinder 325. The actuating end of the nail-driving cylinder 325 impacts the driving head in the y-direction, used to install unthreaded fasteners by impact. A nail-driving auxiliary cylinder 324 is also provided. The actuating end of the nail-driving auxiliary cylinder 324 pushes the nail-driving cylinder 325 to move in the y-direction, used to change the initial position of the nail-driving cylinder 325 in the y-direction. By adjusting the initial position of the nail-driving action, it can adapt to different fastener lengths. "Pushing the nail-driving cylinder 325 to move in the y-direction" means that the nail-driving cylinder 325 can be connected to the fastening device 32 through a sliding support. This part of the design is conventional and will not be described in detail in this embodiment.

[0052] The second movable plate 302 is also equipped with a rotary drive assembly 311, which drives the clamping device 31 to rotate around the x-axis. This is used to adjust the angle of the clamping device 31, making it easier to grab the transmission device 10 from the storage unit 2, and to assist in positioning during installation. The rotary drive assembly 311 is not limited to a specific structure; it can be a gear driven by a motor, with the gear connected to the gear ring in the clamping device 31.

[0053] like Figures 9-11 As shown, the clamping device 31 includes a first connecting seat 3101 driven by the rotary drive assembly 311. The first connecting seat 3101 is rotatably connected to the second connecting seat 3102 via a rotary shaft 319, and multiple sets of springs 318 are provided between the first connecting seat 3101 and the second connecting seat 3102.

[0054] The first connecting seat 3101 is equipped with a translation cylinder 316. The actuating end of the translation cylinder 316 passes through the second connecting seat 3102 and is connected to the push rod 314. The push rod 314 extends or retracts in the y direction under the drive of the translation cylinder 316, and is used to push the transmission device 10 into the preset mounting groove of the workpiece.

[0055] The second connecting seat 3102 is provided with at least two sets of grippers 312 arranged in parallel. The two sets of grippers 312 are symmetrical about the center of the push rod 314. Each set of grippers 312 is driven by the corresponding clamping cylinder 315 to open and close, so as to grasp and clamp the transmission device 10.

[0056] Each set of grippers 312 has a corresponding positioning shaft 313 on its side. The distance between the two positioning shafts 313 is equal to the distance between the two preset holes on the transmission device 10, and the length of the positioning shaft 313 in the y direction exceeds the front end of the gripper 312. When the clamping device 31 moves in the y direction, it positions the transmission device 10 before the gripper 312 touches the transmission device 10.

[0057] The storage unit 2 can only ensure that the transmission 10 is in an approximate posture. At the same time, there is an error between the size of the transmission 10 and the mounting slot reserved for the workpiece. In order to deal with the deviation caused by this situation, the rotary drive assembly 311 drives the first connecting seat 3101 together with the second connecting seat 3102 and the connected components to rotate around the x-axis, so that the entire clamping device 31 can achieve initial adjustment by adjusting the pitch angle. The first connecting seat 3101 is rotatably connected to the second connecting seat 3102 through the rotary shaft 319, and also rotates around the x-axis. This movement is supported by the spring 318, forming a passive flexible floating mechanism for secondary adjustment during installation.

[0058] Specifically, the springs 318 have at least three sets, with two sets arranged side-by-side between the top of the first connecting seat 3101 and the tail of the second connecting seat 3102, and the other set arranged between the bottom of the first connecting seat 3101 and the bottom of the second connecting seat 3102. The rotating shaft 319 is arranged along the x-direction, and all three sets of springs 318 are arranged along the y-direction, with two sets of springs 318 located in the space above the rotating shaft 319 and the other set located in the space below the rotating shaft 319.

[0059] Since the rotation angle of the rotary drive assembly 311 is adjustable, the clamping device 31 can be rotated to a set angle without physical interference. Under the preload of the spring 318, the gripper 312 and the positioning shaft 313 on the second connecting seat 3102 are lifted, so that the gripper 312 and the positioning shaft 313 are maintained in a set posture (e.g., maintaining horizontal), which is the "zero position" or "ready state". When the clamping device 31 moves the actuator 10 toward the mounting hole of the window sash, if there is a slight alignment error in the vertical direction (z-direction) (such as the hole being too high or too low), the actuator 10 will generate a reverse force when it contacts the edge of the mounting hole. This reverse force overcomes part of the elastic force of the spring 318, forcing the second connecting seat 3102 to produce a slight pitch rotation around the rotation axis 319. This rotation allows the two sets of positioning shafts 313 or the actuator 10 body to adjust their angles to match the actual position of the mounting hole, thus facilitating smooth insertion. If there is a slight error in the y-direction or x-direction, this slight rotation around the rotation axis 319 can also be absorbed by the deformation of the spring 318 caused by the angle change, avoiding hard jamming.

[0060] When the actuator 10 is successfully pushed in and the clamping device 31 is retracted, the external pressure is lost, and the force of the spring 318 will push the floating component connected to the second connecting seat 3102 back, so that it returns to its initial state and waits for the next gripping.

[0061] The first connecting seat 3101 is equipped with a photoelectric switch 317, which is used to detect the position of the push rod 314 or the positioning shaft 313 in the y direction and to send a signal to the control system that "the translation has been completely retracted".

[0062] The working process of the above-mentioned door and window actuator installation device is as follows: The window sash (workpiece) to be installed with the drive unit is sent to this device from the previous process via a conveyor line. The conveyor belts on the first material support device 42 and the second material support device 13 of the loading platform start synchronously, transporting the workpiece along the x-direction (the length direction of the window sash) to the installation station.

[0063] When the workpiece moves to the preset position, the material-stopping assembly 14 on the first baffle 43 and the second baffle 12 activates, and the cylinder drives the stop lever to rise, preventing the workpiece from moving further and completing the coarse positioning. The y-axis motion unit drives the first baffle 43 and the first material-supporting device 42 to move along the y-direction (window sash width direction), pushing the side of the workpiece so that it fits against the positioning surface of the second baffle 12. The first to fourth vertical clamping devices activate, and at the same time, the first and second horizontal clamping devices activate, so that the workpiece is completely constrained and fixed in six degrees of freedom in space.

[0064] The drive assembly of the transmission mounting unit 3 is activated, moving the entire unit along the x-direction to the front of the material inlet of one of the storage units 2. The vertical drive assembly 321 actuates, lowering the overall height of the clamping device 31 and the fastening device 32, positioning the clamping device 31 at the material inlet position. The rotary drive assembly 311 adjusts the angle of the clamping device 31 to match the orientation of the transmission in the hopper. The clamping device 31 extends along the y-direction, with its two positioning shafts 313 first inserted into the positioning holes of the transmission for guidance. The two sets of grippers 312 close under the drive of the clamping cylinder 315, clamping the transmission 10.

[0065] The transmission mounting unit 3, carrying the gripped transmission, moves back above the workpiece along the x-direction and is adjusted to the mounting height by the vertical drive assembly 321. The clamping device 31 approaches the workpiece mounting slot along the y-direction. If there is an alignment error, the floating mechanism formed by the internal spring 318 allows the second connecting seat 3102 to produce a slight pitch rotation, adaptively compensating for the deviation and ensuring that the transmission is smoothly aligned with the slot. The translation cylinder 316 actuates, pushing the push rod 314 to smoothly push the transmission into the preset mounting slot of the workpiece profile.

[0066] The gripper 312 opens, releasing the actuator. The clamping device 31 retracts along the y-direction under the drive of the first horizontal drive assembly 322, and the photoelectric switch 317 detects and confirms that the push rod 314 and the positioning shaft 313 have fully retracted to the safe position. The vertical drive assembly 321 finely adjusts the height to align the fastening device 32 with the screw holes on the actuator.

[0067] The fastening device 32 moves forward in the y-direction under the drive of the second horizontal drive assembly 323. The nailing auxiliary cylinder 324 adjusts the initial position of the nailing cylinder 325, and then the nailing cylinder 325 actuates to install the fasteners (nails or screws) into place in sequence by impact (or rotational tightening), and firmly locks the actuator onto the workpiece.

[0068] After the fastening operation is completed, the fastening device 32 retracts and resets in the y-direction. The transmission mounting unit 3 moves back to the standby position in the x-direction and is raised to a safe height. The cylinders of all vertical and horizontal clamping devices reset, releasing the constraint on the workpiece. The stop bar of the stop assembly 14 descends. The conveyor belts of the first and second material support devices (42, 13) restart, sending the workpiece with the transmission installed out of the station in the x-direction and into the next process.

[0069] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A door and window actuator installation device based on a floating structure, characterized in that, include: Storage unit for storing and supplying the integrated drive; The loading platform is used to receive and press the window sash workpieces; The transmission mounting unit is used to grip, transfer and fasten an integrated transmission, including a clamping device and a fastening device. The clamping device and the fastening device move along the length and height of the workpiece respectively through shared x-axis and z-axis drive components, and the clamping device and the fastening device move along the width of the workpiece respectively through corresponding y-axis drive components. The clamping device includes a first connecting seat and a second connecting seat that are rotatably connected. The second connecting seat is provided with a gripper and a positioning shaft. Multiple sets of elastic elements are provided between the first connecting seat and the second connecting seat.

2. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The transmission mounting unit further includes a bracket, a first movable plate, and a second movable plate; the bracket is connected to the frame via an x-axis drive assembly and is provided with a z-axis drive assembly; the z-axis drive assembly is connected to the first movable plate to drive it to move along the z-axis; the clamping device is connected to the first horizontal drive assembly, and the fastening device is connected to the second horizontal drive assembly; the first horizontal drive assembly is disposed on the second movable plate, and the second horizontal drive assembly is disposed on the first movable plate; the first horizontal drive assembly and the second horizontal drive assembly respectively drive the clamping device and the fastening device to move linearly along the y-axis.

3. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The gripper is driven by a corresponding gripping cylinder and opens and closes in the z-direction to grasp and hold the transmission device. The positioning shaft is arranged on the side of the gripper, and the length of the positioning shaft in the y-direction exceeds the front end of the gripper.

4. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The first connecting seat is rotatably connected to the second connecting seat via a rotary shaft and rotates about the x-axis; the elastic element is arranged along the y-direction and has at least three sets, of which two sets of elastic elements are located in the space above the rotary shaft and connected between the top of the first connecting seat and the tail of the second connecting seat; the other set of elastic elements is located in the space below the rotary shaft and connected between the bottom of the first connecting seat and the bottom of the second connecting seat; the rotatably connected first and second connecting seats form a floating compensation mechanism under the action of the elastic elements.

5. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The transmission mounting unit also includes a rotary drive assembly, which is mounted on the second movable plate and is used to drive the first connecting seat together with the clamping device to rotate about an axis parallel to the x-direction.

6. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The clamping device also includes a translation cylinder and a push rod. The translation cylinder is mounted on the first connecting seat, and the actuating end of the translation cylinder passes through the second connecting seat and is connected to the push rod. By driving the push rod to move linearly along the y-direction, the gripped transmission device is pushed into the mounting slot of the workpiece.

7. The door and window actuator installation device based on a floating structure as described in claim 1, characterized in that, The loading platform includes a first baffle and a second baffle arranged in parallel and moving relative to each other along the y-direction. The first baffle and the second baffle are provided with multiple sets of vertical clamping devices that differentially clamp the workpiece mounting side and the non-mounting side.

8. The door and window actuator installation device based on a floating structure as described in claim 7, characterized in that, The vertical clamping device includes a third vertical clamping device and a fourth vertical clamping device disposed on the second baffle for clamping the workpiece mounting side. The distance between the third vertical clamping device and the fourth vertical clamping device is adjustable, and a bearing plate with a positioning structure is provided below them. The vertical clamping device also includes a first vertical clamping device and a second vertical clamping device disposed on the first baffle for clamping the non-installation side of the workpiece, and the distance between the first vertical clamping device and the second vertical clamping device is fixed.

9. The door and window actuator installation device based on a floating structure as described in claim 7, characterized in that, The second baffle is provided with a second horizontal clamping device connected to the third vertical clamping device on the mounting side, which is used to drive it to move along the x-direction to achieve positioning and clamping of the workpiece mounting side in the length direction; the first baffle is provided with a first horizontal clamping device corresponding to the vertical clamping device on the non-mounting side, which is used to clamp the side of the workpiece non-mounting side from the y-direction.

10. A method for operating a door and window actuator installation device based on a floating structure, implemented using the installation device described in any one of claims 1-9, characterized in that, Includes the following steps: The loading platform receives the workpiece from the previous process and clamps and fixes the workpiece in the installation position through the corresponding vertical clamping device and horizontal clamping device on the two baffles. The transmission unit moves along the x-direction to the material inlet of the storage unit, clamps the integrated transmission unit from the storage unit through the clamping device, and moves along the x-direction to the space above the workpiece being pressed. The clamping device approaches the workpiece along the y-axis and uses a floating compensation mechanism to push the transmission into the workpiece's mounting slot. The clamping device retracts along the y-axis, switching its height to align with the drive mechanism at the workpiece mounting slot; the fastening device moves along the y-axis to the drive mechanism, performing a fastening operation to lock the drive mechanism onto the workpiece, and then retracts along the y-axis. Release the clamping force on the workpiece, and the loading platform will send out the workpiece with the drive installed.

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