Door and window driver mounting device 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 and a working method.The door and window driver mounting device comprises a storage unit, a feeding platform, a driving unit and a driving unit, the driver mounting unit is used for grabbing the driver from the storage unit and transferring the driver to the feeding platform for mounting and fastening; the material storage unit is provided with a fixed material taking opening. The driver mounting unit comprises a clamping device and a fastening device which share an x-direction driving assembly and a Z-direction driving assembly and are independently driven in the y direction, and the driver mounting unit reciprocates between a material taking opening of the material storage unit and a workpiece mounting position of the feeding platform through the x-direction driving assembly. The clamping device grabs the driver from the material taking opening and installs the driver on the workpiece, and the fastening device executes fastening operation on the installed driver; and the control unit coordinates the action time sequence of each unit. The functions of material taking, feeding and fastening are integrated, the material storage unit and pressing are matched, and automatic driver installation starting from grabbing of a driver by a stock bin is achieved.

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 its working method. 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] After aluminum alloy doors and windows are manufactured, the transmission mechanism is installed onto the window sash and frame during the assembly process. Currently, this installation still relies on manual labor, requiring installers to manually insert each component of the transmission mechanism into the window sash and frame. This process involves repetitive labor, is highly intensive, and the installation speed is limited by worker skill levels, making it difficult to meet the demands of large-scale production. To improve installation speed, some door and window production lines have attempted to pre-assemble the transmission mechanism to a certain extent, forming a single integrated unit, which is then installed into the window sash. While this method can improve installation efficiency, it is essentially still manual work, offering limited efficiency gains. Furthermore, the pre-assembled integrated transmission mechanism, due to its larger size and weight, is more prone to positioning errors and uneven screw tightening torque during manual installation. Summary of the Invention

[0005] This invention provides a door and window actuator installation device and working method. By integrating an automatic device with functions of picking up, feeding, and fastening, and in conjunction with a storage unit and a precise positioning and pressing system, it realizes the unmanned operation of picking up the integrated actuator from the hopper, accurately feeding it into the preset slot of the door and window, and automatically completing the fastener locking process. This achieves seamless integration with the door and window automated production line.

[0006] 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, comprising: Storage unit for storing and supplying the integrated drive; The loading platform is used to receive, position, and press window sash workpieces. The transmission mounting unit is used to grab the transmission from the storage unit and transfer it to the workpiece fixed on the loading platform for installation and fastening. The storage unit is equipped with a fixed feeding port; the transmission installation unit includes a clamping device and a fastening device that share a common x-axis and Z-axis drive assembly and are driven independently in the y-axis direction, and reciprocates between the feeding port of the storage unit and the workpiece mounting position of the loading platform through the x-axis drive assembly; the clamping device grabs the transmission from the feeding port and installs it onto the workpiece, and the fastening device performs a fastening operation on the installed transmission. It also includes a control unit, which is connected to the storage unit, the feeding platform and the transmission installation unit by signal, and is used to coordinate the action sequence of each unit.

[0007] Furthermore, the storage unit includes multiple synchronously rotating storage trays, which store materials to be installed on the drive along the circumferential direction. When the storage trays rotate to a set angle, they face the discharge port of the storage unit.

[0008] Furthermore, the transmission mounting unit includes a bracket, on which an x-axis drive assembly and a z-axis drive assembly respectively drive a first moving plate and a second moving plate to move along the x-axis and z-axis; the first moving plate and the second moving plate are slidably connected; a second horizontal drive assembly is provided on the first moving plate, and a first horizontal drive assembly is provided on the second moving plate; the first horizontal drive assembly is connected to a clamping device, and the second horizontal drive assembly is connected to a fastening device; 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.

[0009] Furthermore, the feeding platform includes a first feeding component and a second feeding component. The first feeding component includes a first baffle and a first material support device, and the second feeding component includes a second baffle and a second material support device. The first material support device and the second material support device are used to carry and transport the workpiece along the x-direction. The first baffle and the second baffle are arranged side by side and move relative to each other along the y-direction to achieve workpiece width positioning. The first baffle and the second baffle are provided with multiple sets of vertical clamping devices that differentially clamp the workpiece mounting side and non-mounting side.

[0010] 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.

[0011] 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.

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

[0013] Furthermore, the clamping device includes grippers for clamping the actuator, a positioning element for pre-positioning the actuator, and a pushing mechanism for pushing the actuator into the workpiece mounting slot, the pushing mechanism including a telescopic cylinder and a push rod.

[0014] Furthermore, the clamping device also includes a floating compensation mechanism, which includes a rotatably connected mounting base and a floating base, and an elastic element disposed between the two. The gripper and the positioning element are connected to the floating base, and the output shaft of the rotary drive assembly is connected to the mounting base.

[0015] A second aspect of the present invention discloses a method for operating a door and window actuator installation device, comprising the following steps: The loading platform receives the window sash workpiece, drives the first baffle to move along the y-direction, pushes the workpiece to the positioning surface of the second baffle, and the corresponding vertical and horizontal pressing devices on the two baffles are activated to press and fix the workpiece in the installation position and send a "workpiece ready" signal to the control unit. According to the "workpiece ready" signal, the control unit controls the transmission mounting unit to move along the x-direction to the material inlet of the storage unit, controls the clamping device to grab the integrated transmission from the storage unit, and controls the transmission mounting unit to move along the x-direction to the space above the workpiece being clamped. The control unit controls the clamping device to push the transmission into the workpiece's mounting slot based on the workpiece installation information, and controls the clamping device to move backward along the y direction. It then controls the fastening device to move forward along the y direction to the transmission and perform the fastening operation. After completion, it controls the fastening device to move backward along the y direction. The control unit controls all clamping devices to release the clamping on the workpiece, and sends the workpiece with the drive installed through the loading platform. The control unit then resets the device status and prepares for the next cycle.

[0016] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. A complete automated operation loop is constructed through the coordinated operation of the storage unit, the transmission installation unit, and the loading platform. Specifically, the fixed orientation of the storage unit towards the material inlet is precisely aligned with the reciprocating x-axis conveying path of the transmission installation unit, enabling precise and efficient transfer of the transmission from the hopper to the workpiece installation position. The "shared long axis, separate short axis" drive layout of the clamping and fastening devices inside the installation unit allows for seamless and interference-free rapid switching between placement and fastening processes within a compact space. The clamping device is located below the fastening device. When the clamping device completes the "transmission push-in" action, since it has already been positioned on the horizontal plane, it can quickly switch to the fastening device to perform subsequent fastening operations through y-axis retraction and overall z-axis displacement of the installation unit, reducing repetitive positioning processes on the horizontal plane and accelerating the production cycle. The differentiated clamping and positioning system adopted by the first loading component provides a stable and reliable benchmark for the installation action. The three-part system achieves coordinated action through central control, ultimately realizing fully automated operation from workpiece loading, positioning, feeding, installation to fastening, solving the problems of low efficiency and unstable quality of manual installation.

[0017] 2. For the critical installation side, an adjustable-spacing clamping device with corner 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

[0018] 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.

[0019] 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 5 This is a partial structural diagram of the second feeding assembly provided in one or more embodiments of the present invention; Figure 6A 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 This is a partial structural diagram of a storage unit provided in one or more embodiments of the present invention.

[0020] 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; Figure 9 In the middle: 21 support, 22 hopper drive assembly, 23 main shaft, 24 turntable, 25 outer retaining ring. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] For ease of understanding, the "window sash" in this solution can also be considered as the "workpiece".

[0026] This solution provides a door and window actuator installation device and working method. Through an automatic device that integrates material picking, feeding, and fastening functions, combined with a material storage unit and a precise positioning and pressing system, it realizes the unmanned operation of picking up the integrated actuator from the hopper, accurately feeding it into the preset slot of the door and window, and automatically completing the fastener locking process. This achieves seamless integration with the door and window automated production line.

[0027] 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.

[0028] 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.

[0029] The storage unit 2 is used to store the transmission device 10 to be installed. The frame assembly 1 is provided with a loading platform, which receives the "window sash of the transmission device to be installed", referred to as "workpiece" in this embodiment. The workpiece is fed into the loading platform along the y-direction and clamped and fixed in the horizontal and vertical directions. The transmission unit 3 moves along the x-direction and uses the clamping device 31 to take out a set of "integrated transmissions" (referred to as transmissions in this embodiment) from the storage unit 2 and transport them to the installation position reserved for the workpiece. The transmission is sent into the transmission installation slot reserved for the workpiece by moving in the y-direction, and the transmission and the workpiece are connected and fixed by the fastening device 32 (bolt connection or nailing). After the transmission device is installed, the workpiece is released from its clamping state, and the loading platform carries the workpiece with the transmission device installed into the subsequent process.

[0030] The storage unit 2 includes a storage tray driven by a driven component. The storage tray pre-stores a certain number of "integrated actuators". When the storage tray moves to the discharge port position, the clamping device 31 takes out a set of "integrated actuators" through the discharge port and performs the subsequent installation and fastening process.

[0031] The number of storage units 2 is not limited. For example, two sets of storage units 2 can be arranged on the frame assembly 1 as backups for each other.

[0032] In storage unit 2, the storage tray can move linearly or rotary under the drive of the drive component. When the storage tray moves to the discharge port position, the control unit controls the operation of the clamping device 31 according to the arrival signal (which can be obtained by a photoelectric switch arranged at the discharge port).

[0033] Taking a rotary storage tray as an example, in this motion mode, the discharge port is set at a predetermined angle position in the circumferential direction of the storage tray. When the storage tray rotates to the angle position corresponding to the discharge port, an arrival signal is sent, controlling the clamping device 31 to execute the transmission gripping action. When the storage tray is circular, the arrival signal can be determined based on the rotation angle of the storage tray each time.

[0034] In this embodiment, the structure of the storage unit 2 is as follows: Figure 9 As shown, the device includes a support 21 connected to the frame assembly 1. The support 21 has multiple sets of turntables 24 arranged in parallel and rotating synchronously. Several sets of outer retaining rings 25 are provided on the outer circumference of each turntable 24. The outer circumference of the multiple turntables 24 engages with the transmission device 10. The outer retaining rings 25 prevent the transmission device 10 from falling off. The grippers in the clamping device 31 extend into the gaps between the turntables 24 to grasp the transmission device 10.

[0035] 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.

[0036] 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.

[0037] like Figure 4As 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.

[0038] 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.

[0039] 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).

[0040] 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.

[0041] 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.

[0042] The distance between the first vertical clamping device 44 and the second vertical clamping device 45 can be fixed or not fixed; When not fixed, a parallel slide rail assembly and a rack can be set on the first baffle 43. The first vertical clamping device 44 and the second vertical clamping device 45 are slidably connected through the slide rail assembly. The size driven by the motor output shaft meshes with the rack, so that the distance between the two sets of vertical clamping devices can be adjusted to cope with workpieces in different length directions. In this embodiment, a fixed spacing method is adopted. Since the transmission device will be installed on the side of one of the profiles of the workpiece, the mounting surface needs to be reliably pressed. Therefore, the spacing between the third vertical pressing device 15 and the fourth vertical pressing device 17 is adjustable. The other side only needs to ensure that the workpiece is fixed. The reliability requirement is slightly lower than that of the mounting surface. Based on cost considerations, a fixed spacing is adopted between the first vertical pressing device 44 and the second vertical pressing device 45 in this embodiment. The specific spacing can cover the length dimension of most window sashes.

[0043] 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.

[0044] 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 vertically under the drive 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.

[0045] In this embodiment, the material blocking assembly 14 has four units, with two units arranged on the first baffle 43. Figure 3 (Not shown), two more units are arranged on the second baffle 12 (such as...) Figure 4 As shown, since there is a difference between the positive and negative directions when the workpiece travels along the x direction (depending on the specific process differences and the assembly line layout), the two baffle assemblies 14 located in the same direction on the first baffle 43 and the second baffle 12 operate synchronously, while the other two baffle assemblies 14 serve as backups to ensure that the entire installation device can still operate reliably when the workpiece travels in different directions.

[0046] 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 has right-angled protrusions / grooves for positioning the corners of the workpiece.

[0047] 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).

[0048] 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 positioning structure on the bearing plate of the third vertical clamping device 15 and the fourth vertical clamping device 17 fits with the corner of the workpiece, thereby achieving horizontal clamping in the x-direction.

[0049] In the structure of the loading platform, the third vertical clamping device 15 and the fourth vertical clamping device 17 are used to clamp the side where the workpiece mounting surface is located, so reliable positioning and clamping are required. The first vertical clamping device 44 and the second vertical clamping device 45 are located on the side where the non-mounting surface is located, so the requirements for the reliability of positioning and clamping are slightly lower. Therefore, the four sets of vertical clamping devices and the two sets of horizontal clamping devices have differentiated designs in structure to better balance performance and cost.

[0050] 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.

[0051] 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.

[0052] like Figures 7-8 As 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.

[0053] 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.

[0054] In the transmission mounting unit 3, the clamping device 31 and the fastening device 32 move in the vertical (z-direction) and x-direction directions through a shared drive assembly, and their strokes are synchronized; however, their y-direction movements are independent of each other through their respective drive assemblies. During the "material handling" and "initial placement" stages, the clamping device 31 and the fastening device 32 need to move as a single module. Configuring separate, complete, long-stroke x-direction and vertical motion systems for two side-by-side devices would significantly increase the mechanical complexity, manufacturing cost, and floor space required for the equipment. A shared drive assembly is the most economical and compact solution.

[0055] The installation process is "place first, then tighten." The clamping device 31 needs to push the transmission device 10 into the profile groove (forward in the y-axis), and then it must retract to make room so that the tightening device 32 can move forward above the screw hole to perform the operation, presenting an alternating forward and backward motion. If the y-axis is also shared, the clamping device 31 cannot retract independently after installation, which will block the working path of the tightening device 32, causing physical interference and preventing the screw tightening operation.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] The clamping device 31 and the fastening device 32 are arranged side by side in space. Since they share the drive in the x and z directions, and considering the x-direction positioning problem, the clamping device 31 is placed in the space below the fastening device 32. After the clamping device 31 completes the installation and retracts and resets in the y direction, only the fastening device 32 needs to move in the z direction to achieve switching. There is no need for repeated positioning in the x direction, which reduces the processing steps of the control signal and speeds up the production cycle.

[0062] The clamping device 31 includes a pneumatic gripper that clamps and fixes the actuator from the z-direction. It also includes a telescopic cylinder that moves in the y-direction to push the actuator 10 into the mounting slot of the window sash workpiece and cooperate with the pneumatic gripper to grasp the actuator 10. The pneumatic gripper has positioning elements on its toothed side for positioning the actuator during grasping and installation.

[0063] The clamping device 31 is driven by the rotary drive assembly 311 to rotate around the x-axis, which is used to change the pitch angle of the clamping device 31 to cope with the deviation during the gripping and installation of the transmission.

[0064] The pneumatic grippers and positioning components on the clamping device 31 can be flexibly connected to the output shaft of the rotary drive assembly 31, giving the end-effector of the clamping device 31 a passive compliant function, enabling it to adaptively fine-tune its posture when contacting the workpiece. For example, a rotatably connected mounting base and a floating base can be provided, with the pneumatic grippers, positioning components, and other actuators fixed on the floating base. The output shaft of the rotary drive assembly 31 is fixedly connected to the mounting base, and an elastic element is provided between the mounting base and the floating base. The deformation of the elastic element absorbs the deviation of the clamping device 31 during gripping and installation.

[0065] The clamping device 31 is equipped with a photoelectric switch to detect the stroke of the telescopic cylinder. After the transmission 10 is pushed into the workpiece mounting slot, the actuating end of the telescopic cylinder is in the extended state. When the telescopic cylinder retracts to the "standby position," the photoelectric switch receives a sensing signal and sends a signal to the control unit indicating that the translation has been fully retracted. Corresponding photoelectric switches are installed at both teeth of the pneumatic gripper. When both photoelectric switches simultaneously emit sensing signals and the telescopic cylinder is in the reset state, it is considered that the entire clamping device 31 has been completely separated from the transmission 10. The transmission mounting unit 3 can then be controlled to move vertically, switching the fastening device 32 to the position of the transmission 10 for fastening operations.

[0066] The working process of the above-mentioned door and window actuator installation device is as follows: Phase 1: Workpiece loading and precise positioning.

[0067] Phase 2: Gripping and conveying by the actuator.

[0068] Phase 3: Installation and fastening of the transmission device.

[0069] Phase 4: Resetting and unloading.

[0070] Phase 1: Workpiece loading and precise positioning.

[0071] Installation Information Acquisition: The window sash (workpiece) to be installed with the actuator is transported to this device from the previous process via a conveyor line. The control unit acquires the workpiece's installation information, which includes at least the workpiece's external dimensions (length, width, and thickness, etc.) and the dimensions of the mounting slot (mounting slot position, fastening hole position, and / or positioning hole position). The installation information can be pre-entered into the control unit or obtained by scanning the QR code / electronic tag on the workpiece.

[0072] Loading: The conveyor belts on the first material support device 42 and the second material support device 13 start synchronously, transporting the workpiece along the x-direction (the length of the window sash) to the loading platform. The first material support device 42 and the second material support device 13 are equipped with induction switches (which can be photoelectric switches). When the workpiece traveling along the x-direction passes the induction switch, it sends a signal to the control unit, indicating that "the workpiece has begun to enter the installation station". The control unit sends a signal to the blocking assembly 14, controlling the cylinder in the blocking assembly 14 to actuate and extend the blocking rod to prepare to block the workpiece at the end of the installation station. At the same time, the control unit calculates the running time of the conveyor belt based on the running speed of the conveyor belt and the length of the workpiece.

[0073] x-direction (length direction) positioning: When the workpiece moves to the preset installation position, it is blocked by the stop assembly 14 and stops moving. At this time, the control unit controls the conveyor belt to stop running. This process can be controlled by the inductive switches (which can be photoelectric switches) on the first material support device 42 and the second material support device 13. For example, a photoelectric switch is set at the stop assembly 14. When one end of the workpiece's travel direction is blocked by the stop assembly 14, the photoelectric switch sends a signal to the control unit, informing the control unit that "the workpiece has reached the position of the stop assembly 14" and the conveyor belt can be stopped. Alternatively, the control unit uses the calculated conveyor belt running time plus an additional compensation time as the control quantity of the conveyor belt. By controlling the set running time of the conveyor belt, it is considered that the workpiece has reached the position of the stop assembly 14.

[0074] Y-direction (width direction) positioning: The y-direction motion unit drives the first baffle 43 and the first material support device 42 to move along the y-direction (window width direction), pushing the workpiece from the side to make it fit with the positioning surface of the second baffle 12.

[0075] Tighten and fix: Mounting-side clamping: Based on the workpiece length information and using the position of the third vertical clamping device 15 as a reference, the control unit controls the movement stroke of the fourth vertical clamping device 17 to adjust the distance (x-direction) between the third and fourth vertical clamping devices 15 and executes a drop according to the workpiece thickness, achieving clamping on the mounting side of the workpiece. Simultaneously, the second horizontal clamping device 16 actuates, pushing the third vertical clamping device 15 to move along the x-direction, causing the positioning structure on the support plate to align with the corner of the workpiece, completing precise positioning and clamping on the mounting side in the x and z directions.

[0076] Non-installation side clamping: The first vertical clamping device 44 and the second vertical clamping device 45 fall according to the thickness of the workpiece, and the first horizontal clamping device 46 operates to jointly complete the clamping of the other side of the workpiece.

[0077] At this point, the workpiece is completely constrained and fixed in six degrees of freedom in space.

[0078] Phase 2: Gripping and conveying by the actuator.

[0079] Grasping preparation: The transmission mounting unit 3 moves from its initial position along the x-direction to the material dispensing port position of one of the storage units 2. The control unit controls the vertical drive assembly 321 according to the height of the material dispensing port of the storage unit 2, driving the clamping device 31 and the fastening device 32 to adjust their height, so that the clamping device 31 is at the height of the material dispensing port; When the storage unit 2 adopts a rotary storage tray, it stops moving after each set division angle and waits for the material to be picked up.

[0080] Grasping the transmission device: The rotary drive assembly 311 adjusts the pitch angle of the clamping device 31. At the same time, the first horizontal drive assembly 322 drives the clamping device 31 to extend along the y direction, so that the gripper grabs the transmission device. Subsequently, the gripper closes and holds the transmission device.

[0081] Phase 3: Installation and fastening of the transmission device.

[0082] Transfer to the installation position: The transmission mounting unit 3 carries the gripped transmission, and the control unit controls the clamping device 31 to move back to above the workpiece in the x direction according to the position of the installation groove in the workpiece. The vertical drive assembly 321 is adjusted to the installation height, and the transmission is aligned with the groove by moving in the y direction to approach the workpiece installation groove.

[0083] Pushing in the transmission device: The telescopic cylinder is activated to push the transmission device into the preset mounting slot of the workpiece profile.

[0084] Gripper release and retraction: The grippers open, releasing the actuator. Subsequently, the gripping device 31 retracts along the y-direction under the drive of the first horizontal drive assembly 322, and the photoelectric switch detects and confirms that the gripping device 31 has been fully retracted to the safe position.

[0085] Switch to fastening position: The vertical drive assembly 321 actuates, switching the fastening device 32 to align with the screw hole on the drive.

[0086] Fastening operation: The fastening device 32 moves forward along the y-direction under the drive of the second horizontal drive assembly 323. The nail-driving auxiliary cylinder 324 adjusts the initial position of the nail-driving cylinder 325, and then the nail-driving cylinder 325 actuates, installing the fasteners into place sequentially by impact, and firmly locking the transmission device onto the workpiece. After the fastening operation is completed, the fastening device 32 retracts and resets along the y-direction.

[0087] Phase 4: Resetting and Discharging.

[0088] Overall device reset: The transmission mounting unit 3 moves along the x-direction back to the standby position and is raised to a safe height.

[0089] Workpiece release: The cylinders of all vertical and horizontal clamping devices reset, releasing the constraint on the workpiece.

[0090] Workpiece delivery: 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 drive installed out of this station along the x direction and into the next process.

[0091] Cycle and hopper switching: The system automatically starts the next work cycle. When the drive in one storage unit is exhausted, the control unit will instruct the drive installation unit 3 to automatically switch to another full hopper to retrieve material, thereby achieving uninterrupted continuous production.

[0092] The fastening device 32 in the transmission mounting unit 3 embodies a balance between functional independence and collaborative efficiency. It shares a drive with the clamping device 31 for the long-stroke x-axis and z-axis movements, significantly simplifying the mechanical structure and reducing cost and space requirements. However, on the critical short-stroke y-axis, both have their own independent precision drives. This design allows the fastening device 32 to immediately move to the working position for locking after the clamping device 31 completes its pushing-in and retraction action. This achieves seamless and rapid switching between the two key processes of "placement" and "fastening," avoiding motion interference and optimizing the work cycle.

[0093] The feeding platform formed by the first feeding component 4 and the second feeding component constitutes a differentiated, high-precision positioning and clamping system. For the transmission mounting side (force-bearing side), a servo-driven vertical clamping device with corner positioning protrusions / grooves and an integrated independent horizontal clamping cylinder is used, achieving rigid, precise positioning and firm clamping in three-dimensional space, providing a stable reference for installation. The non-installation side uses a relatively simplified clamping device with fixed spacing, ensuring reliable fixation while effectively controlling overall cost, achieving a balance between cost and performance in the design.

[0094] The coordinated design of each component is key to achieving full-process automation. The storage unit 2 and the transmission mounting unit 3 are fixed horizontally (x-axis). This layout allows the mounting unit to efficiently switch between the "picking point" and the "installation point" through a single linear reciprocating motion along the x-axis, resulting in a simple and reliable motion logic. The time-sharing and sequential independent movement of the clamping and fastening modules within the transmission mounting unit 3 ensures smooth connection of the series of actions—grabbing, placing, retracting, and fastening—avoiding interference. The entire system, coordinated by the control unit, precisely synchronizes actions such as material feeding positioning, hopper indexing, and multi-axis linkage of the mounting unit, ultimately forming a highly efficient, continuous, and unmanned closed-loop "positioning-supply-grabbing-installation-fastening" operation, perfectly integrated into the automated production line.

[0095] 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, characterized in that, include: Storage unit for storing and supplying the integrated drive; The loading platform is used to receive, position, and press window sash workpieces. The transmission mounting unit is used to grab the transmission from the storage unit and transfer it to the workpiece fixed on the loading platform for installation and fastening. The storage unit is equipped with a fixed feeding port; the transmission installation unit includes a clamping device and a fastening device that share x-axis and z-axis drive components and are driven independently in the y-axis direction, and reciprocates between the feeding port of the storage unit and the workpiece mounting position of the loading platform through the x-axis drive component. The clamping device picks up the drive unit from the feed port and installs it onto the workpiece, while the fastening device performs a fastening operation on the installed drive unit. It also includes a control unit, which is connected to the storage unit, the feeding platform and the transmission installation unit by signal, and is used to coordinate the action sequence of each unit.

2. The door and window actuator installation device as described in claim 1, characterized in that, The storage unit includes multiple synchronously rotating storage trays. The multiple storage trays store materials to be installed on the transmission device along the circumferential direction. When the storage trays rotate to a set angle, they face the discharge port of the storage unit.

3. The door and window actuator installation device as described in claim 1, characterized in that, The transmission mounting unit includes a bracket, on which an x-axis drive assembly and a z-axis drive assembly drive a first moving plate and a second moving plate to move along the x-axis and z-axis, respectively; the first moving plate and the second moving plate are slidably connected; a second horizontal drive assembly is provided on the first moving plate, and a first horizontal drive assembly is provided on the second moving plate; the first horizontal drive assembly is connected to a clamping device, and the second horizontal drive assembly is connected to a fastening device; the first horizontal drive assembly and the second horizontal drive assembly drive the clamping device and the fastening device to move linearly along the y-axis, respectively.

4. The door and window actuator installation device as described in claim 1, characterized in that, The feeding platform includes a first feeding component and a second feeding component. The first feeding component includes a first baffle and a first material support device, and the second feeding component includes a second baffle and a second material support device. The first material support device and the second material support device are used to carry and transport the workpiece along the x-direction. The first baffle and the second baffle are arranged side by side and move relative to each other along the y-direction to achieve workpiece width positioning. 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.

5. The door and window actuator installation device as described in claim 4, 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.

6. The door and window actuator installation device as described in claim 4, 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.

7. The door and window actuator installation device as described in claim 1, characterized in that, The transmission mounting unit also includes a rotary drive assembly, which is connected to the second movable plate and is used to drive the clamping device to rotate about an axis parallel to the x-direction.

8. The door and window actuator installation device as described in claim 1, characterized in that, The clamping device includes grippers for clamping the actuator, a positioning element for pre-positioning the actuator, and a pushing mechanism for pushing the actuator into the workpiece mounting slot. The pushing mechanism includes a telescopic cylinder and a push rod.

9. The door and window actuator installation device as described in claim 1, characterized in that, The clamping device further includes a floating compensation mechanism, which includes a rotatably connected mounting base and a floating base, and an elastic element disposed between the two. The gripper and the positioning element are connected to the floating base, and the output shaft of the rotary drive assembly is connected to the mounting base.

10. A method for operating a door and window actuator installation device, implemented based on the installation device according to any one of claims 1-9, characterized in that, Includes the following steps: The loading platform receives the window sash workpiece, drives the first baffle to move along the y-direction, pushes the workpiece to the positioning surface of the second baffle, and the corresponding vertical and horizontal pressing devices on the two baffles are activated to press and fix the workpiece in the installation position and send a "workpiece ready" signal to the control unit. According to the "workpiece ready" signal, the control unit controls the transmission mounting unit to move along the x-direction to the material inlet of the storage unit, controls the clamping device to grab the integrated transmission from the storage unit, and controls the transmission mounting unit to move along the x-direction to the space above the workpiece being clamped. The control unit controls the clamping device to push the transmission into the workpiece's mounting slot based on the workpiece installation information, and controls the clamping device to move backward along the y direction. It then controls the fastening device to move forward along the y direction to the transmission and perform the fastening operation. After completion, it controls the fastening device to move backward along the y direction. The control unit controls all clamping devices to release the clamping on the workpiece, and sends the workpiece with the drive installed through the loading platform. The control unit then resets the device status and prepares for the next cycle.

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