Automated gaffing station and process

Abstract

Automated hinge-fitting station and method. The invention relates to an automated hinge-fitting station (1) for first and second joinery elements (2, 3), respectively provided with first and second hinge components (4, 5), with: robotic handling means, including a gripping member (6) of said first element (2);a clamping device (8) mounted on the component (6) and incorporating a position sensor (9), where processing and control means perform the following operations: grasping the first element (2) by the component (6), bringing the clamping device (8) against the first element (2), determining a reference position of said sensor (9), detecting the position of said second component (5) by the sensor (9), relative movement of the elements (2, 3) by said robotic means, bringing said components (4, 5) into a cooperation position determined via said reference position and said detected position of said second component (5), where said components (4, 5) are attached together, connecting said elements (2, 3). Joinery hinge, for example for window, door, French window. Figure for the abbreviation: Fig 7.;

Description

Title of the invention: Automated hinge station and method

[0001] The present invention relates to the general technical field of joinery and more particularly to joinery assemblies intended to constitute opening systems, such as windows, French windows, leaves or doors.

[0002] The present invention relates more particularly to a hinge station for hingeing together first and second joinery elements respectively provided with first and second hinge components, said first and second joinery elements forming respectively an opening and a fixed or vice versa.

[0003] The present invention also relates to a hinge-making method for hinge-making together first and second joinery elements respectively provided with first and second hinge components, said first and second joinery elements forming respectively an opening and a fixed or vice versa.

[0004] The assembly of a sash onto a frame is well known. The sash, for example a window or door leaf, is designed to be rotated with a fixed frame integrated into the structure, in order to create a closable opening. The rotational assembly is achieved via hinge components, or fittings, some of which are commonly attached to the sash, while others, complementary to the former, are attached to the frame. The hinge components can be pivots themselves composed of hinge pins, hinges, compass arms, etc., and ensure the rotation of the sash relative to the frame.

[0005] One of the best-known and simplest methods is to position a female hinge attached to the sash on a male hinge attached to the frame, and allow them to interlock using the pin on the female hinge. This method can be carried out manually, for example on-site, i.e., where the sash / frame assembly will be used regularly, or in a partially automated manner, in a workshop, where the frame is generally a frame, i.e., a frame that is currently freestanding but intended to be permanently integrated into a building.

[0006] This known method becomes more complicated, however, when installing alternative hardware, particularly hardware for tilt-and-turn openings, such as those used for awning or tilt-and-turn windows, where the window can be opened along a horizontal axis of rotation. In particular, installing hardware that allows both tilting and limiting the opening is especially difficult to automate.

[0007] These fittings include, in particular, a compass arm designed to be mounted for rotation with the sash at one end and the frame at the other. This compass arm allows, in particular, for the limited opening of the sash relative to the frame when the window is opened in a tilt-and-turn manner, i.e., to allow for an upward or downward opening of the window. The significant mechanical tolerances permitted by the travel of this compass arm systematically necessitate manual intervention to correctly position the compass arm relative to the sash or frame to which it is not yet connected. There is currently no solution that allows, once the compass arm is connected to one of the sash or frame, for it to be automatically connected to the other, thus completing the joint locking of the sash and frame.

[0008] The objects assigned to the invention therefore aim to address the preceding problem and to propose a new automated hinge station for hinged together first and second joinery elements, which, while being particularly simple and quick to implement, makes it possible to significantly increase the productivity of opening / fixed hinge operations in the workshop.

[0009] Another object of the invention aims to propose a new automated hinge station for hinge together first and second joinery elements which is universal and compatible with different shapes and dimensions of first and second joinery elements, i.e. different shapes and dimensions of openings and frames.

[0010] Another object of the invention aims to propose a new automated hinge-fitting station for fitting together first and second joinery elements which is compatible with different shapes and dimensions of fittings.

[0011] Another object of the invention aims to propose a new automated gating station for gagging together first and second joinery elements which is particularly reliable.

[0012] Another object of the invention aims to propose a new automated gating station for gating together first and second joinery elements which minimizes any risk of error on the part of the operators.

[0013] Another object of the invention aims to propose a new automated hinge station for hinged together first and second joinery elements which significantly increases the automation, and therefore the speed and repeatability, of the hinged openings and frames.

[0014] Another object of the invention aims to propose a new automated gating station for gagging together first and second joinery elements which makes it possible to minimize the necessary manpower.

[0015] Another object of the invention aims to propose a new automated gating station for gagging together first and second joinery elements which makes it possible to significantly reduce the risk of injury to an operator or material damage.

[0016] Another object of the invention aims to provide a new automated gating station for gagging together first and second joinery elements which is particularly easy and inexpensive to maintain.

[0017] Another object of the invention aims to propose a new automated hinge station for hinge together first and second joinery elements which is compatible with the use of joinery elements, i.e. openings and fixed parts, of different kinds, whether in wood, PVC, metal, etc.

[0018] Another object of the invention aims to propose a new automated hinge station for hinge together first and second joinery elements which simplifies the manufacturing process of an opening / fixed assembly.

[0019] Another object of the invention aims to propose a new automated gating station for gating together first and second joinery elements which makes it possible to reduce the surface area of ​​the workshop and / or limit the investment in machine and / or tooling.

[0020] Another object of the invention aims to propose a new automated hinge station for hinge together first and second joinery elements which is compatible with different openings (doors, windows, leaves, etc.).

[0021] Another object of the invention aims to provide a new automated gating station for gagging together first and second joinery elements which is particularly easy and quick to manufacture while being cheap.

[0022] Another object of the invention aims to propose a new automated gating station for gagging together first and second joinery elements which is, at least in part, easily manufacturable with the operators and machines currently available on the market.

[0023] Another object of the invention aims to propose a new automated hinge-fitting station for hinge-fitting together first and second joinery elements which does not require excessive investment to be installed on or in place of a pre-existing hinge-fitting station, by reusing at least in part common elements of the latter.

[0024] Another object of the invention aims to propose a new automated gating station for gagging together first and second joinery elements whose design allows it to present a simple and robust structure.

[0025] Another object of the invention aims to provide a new automated hinge-fitting station for jointing the first and second joinery elements of different types, for example tilt-and-turn openings, French-style openings, English-style openings, etc.

[0026] Another object of the invention is to propose a new automated hinge-fitting process for joining together first and second joinery elements, which, while being particularly simple and quick to implement, makes it possible to significantly increase the productivity of opening / fixed hinge-fitting operations in the workshop.

[0027] The objects assigned to the invention are accessed using an automated hinge-fitting station for joining together first and second joinery elements respectively equipped with first and second hinge components, said first and second joinery elements forming respectively an opening and a fixed part or vice versa, said hinge-fitting station comprising: - robotic handling means for manipulating at least the first joinery element, said robotic handling means including a gripping device for said first joinery element, - a clamping device integrated into said gripping member and mounted to move relative to the latter, - a first position sensor integrated by said clamping device, said lashing station comprising processing and control means designed to execute the following sequence of operations: - grasping the first joinery element by the said robotic handling means, in order to immobilize it in relation to said grasping device; - placing the clamping device against the first joinery element, said clamping device thus being located at a predetermined distance from, and / or abutted against, said first hinge component, - determination of a first reference position corresponding to the position of said first position sensor relative to said first hinge component, - detection of the position of said second hinge component by means of said first position sensor, - primary relative displacement of said first and second joinery elements by said robotic handling means, to bring said first and second hinge components into a primary relative cooperation position which is determined from both said first reference position and the detected position of said second hinge component, said primary relative cooperation position allowing said first and second hinge components to be attached to each other to connect said first and second joinery elements together.

[0028] The objects assigned to the invention are also achieved using an automated hinge-fitting process for joining together first and second joinery elements respectively equipped with first and second hinge components using a hinge-fitting station, said first and second joinery elements forming respectively an opening and a fixed part or vice versa, said hinge-fitting station comprising: - robotic handling means for manipulating at least the first joinery element, said robotic handling means including a gripping device for said first joinery element, - a clamping device integrated into said gripping member and mounted to move relative to the latter, - a first position sensor integrated into the said clamping device, - processing and control means, in which the processing and control means execute the following sequence of operations: - grasping the first joinery element by the said robotic handling means, in order to immobilize it in relation to said grasping device; - placing the clamping device against the first joinery element, said clamping device thus being located at a predetermined distance from, and / or abutted against, said first hinge component, - determination of a first reference position corresponding to the position of said first position sensor relative to said first hinge component, - detection of the position of said second hinge component by means of said first position sensor, - primary relative displacement of said first and second joinery elements by said robotic handling means, to bring said first and second hinge components into a primary relative cooperation position which is determined from both said first reference position and the detected position of said second hinge component, said primary relative cooperation position allowing said first and second hinge components to be attached to each other to connect said first and second joinery elements together.

[0029] Other features and advantages of the invention will become apparent and will be described in more detail upon reading the following description, with reference to the accompanying drawings, given solely by way of purely illustrative and non-limiting examples, in which:

[0030] [Fig.1] illustrates, according to a schematic perspective view from above, a known joinery assembly, formed of an opening and a fixed frame hinged together, in particular by means of a hinge allowing said opening to open upwards along a horizontal axis of rotation, this hinge being typically one of those that can be made by the automated hinge station of the invention.

[0031] [Fig.2] illustrates, according to a schematic perspective view from above, a hinge station conforming to an embodiment of the invention, as well as a first joinery element, here an opening, carried by a gripping device forming part of robotic means for handling the hinge station.

[0032] [Fig.3] illustrates, according to a schematic perspective view, a detail of the first joinery element of [Fig.2], where the latter is equipped with a first hinge component, here consisting of a half-opening compass whose opening bearing and the entire compass arm are visible, the arm being in a folded position, folded against the first joinery element.

[0033] [Fig.4] illustrates, according to a schematic front perspective view, part of the robotic means of the automated hinge station of [Fig.2], comprising a moving and / or locking device in position of a second joinery element, also illustrated, and here constituted by a frame blocked in position by said moving and / or locking device.

[0034] [Fig.5] illustrates, according to a schematic front perspective view, a part of the lashing station similar to that of [Fig.2], comprising the gripping member and a clamping device carried by the gripping member.

[0035] [Fig.6] illustrates, according to a schematic front perspective view, a detail of [Fig.5], in the lower part thereof.

[0036] [Fig.7] illustrates, according to a schematic front perspective view, the same elements as in [Fig.5], with the difference that a first joinery element, here an opening, is now carried by the gripping member and that the clamping device is against the first joinery element, as well as against the first hinge component, at the upper left corner of the first joinery element.

[0037] [Fig.8] illustrates, according to a schematic perspective view, a detail of [Fig.7], representing in particular: - a portion of the first joinery element, in this case the upper left corner of the latter, - a first hinge component attached to the first joinery element and consisting here of a half-opening stay comprising an opening bearing and a stay arm of which only a part is visible, - the clamping device, placed against the first joinery element, and here also against the first hinge component, and - a first position sensor, carried by the clamping device, and positioned approximately at the level of the opening bearing.

[0038] [Fig.9] illustrates, according to a schematic perspective view from another point of view, the same elements as those of [Fig.8], with the difference that the opening bearing and the first position sensor are no longer visible but hidden by the clamping device.

[0039] [Fig. 10] illustrates, according to a schematic perspective view, the clamping device of figures 2 and 5 to 8, as well as the first position sensor it carries, shown without the rest of the lashing station or the first and second joinery elements.

[0040] [Fig. 11] illustrates, in a schematic perspective view, a portion of the hinge attachment station and a portion of the first joinery element of [Fig. 2], as well as a portion of the second joinery element of [Fig. 4], where the first position sensor is seen detecting the position of the second hinge component with which the second joinery element is fitted, in order to proceed with the hinge attachment. The first hinge component is hidden by the clamping device, with the exception of a portion of the compass arm.

[0041] [Fig. 12] illustrates, according to a schematic perspective view, the end of the gaffing operation initiated at [Fig. 10] by the gaffing station according to the embodiment illustrated in the other figures, the first and second joinery elements being in a relative position of primary cooperation.

[0042] [Fig. 13] illustrates, according to a schematic perspective view, a second hinge component attached to a second joinery element in the same embodiment as the previous figures, where the second hinge component is a fixed bearing equipped with a connecting axis ready to be pushed upwards to connect the second hinge component to the first hinge component (the latter not being illustrated in this figure).

[0043] [Fig. 14] schematically illustrates the beginning of a gripping operation, by a gating station according to the invention, of a first joinery element by robotic handling means, to immobilize said first joinery element in relation to the gripping member, including a first securing of the first joinery element with retention means, as well as the loading of the first joinery element by the gripping member, finalized in the figure on the right.

[0044] [Fig. 15] illustrates the continuation of the gripping operation of [Fig. 14], where the first joinery element is tilted by the gripping member (drawing of left), then to a separation of the first joinery element and the retention means to slide by gravity the first joinery element 2 until it comes into contact with the stop means (right drawing).

[0045] [Fig.16] illustrates the end of the gripping operation of [Fig.15], where the first joinery element was tilted by the gripping member, and a second securing of the first joinery element and the retaining means was carried out, the first joinery element then being in a position of reference relative to the gripping member, followed by the clamping device being butted against the first joinery element and against the first hinge component.

[0046] [Fig. 17] illustrates, according to a side view, a schematic diagram of a primary scanning operation, here vertical, of a second hinge component by a first sensor, before hinge-fitting, carried out by a hinge-fitting station of a particular variant of the invention where the dimensions and the different elements illustrated do not represent reality but are only represented for guidance purposes, and where only the first and second joinery elements are shown respectively on the left and right, the first and second position sensors respectively at the top and bottom, and the first, second, third and fourth hinge components.

[0047] [Fig. 18] illustrates, according to a top view, elements of [Fig. 17], to represent a schematic diagram of a secondary scanning operation, here horizontal, of the second hinge component by the first sensor, before hinge engagement.

[0048] [Fig. 19] illustrates, according to a view from below, elements of [Fig. 17], to represent a schematic diagram of a tertiary scanning operation, here horizontal, of the fourth hinge component by the second sensor, before hinge mounting.

[0049] [Fig.20] illustrates a schematic diagram of the beginning of a hinge-fitting operation carried out by the hinge-fitting station according to a variant of the invention, according to a schematic side view, where the dimensions and the different elements represented do not represent reality but are only represented for guidance for proper understanding, and where the first and second joinery elements are represented respectively on the left and right, the clamping device, the position sensor, and hinge components.

[0050] [Fig.21] illustrates a schematic diagram of the sequence of the gudgeoning operation of [Fig.20],

[0051] [Fig.22] illustrates the end of the hinge operation of [Fig.21], the first and second joinery elements having been completely hinged together.

[0052] [Fig.23] illustrates a gaffing station according to a particular embodiment of the invention, similar to the embodiment illustrated in figures 2 to 12, performing the steps of figures 20 to 22 in a condensed manner.

[0053] According to a first aspect of the invention, it relates to an automated hinge-fitting station 1 for joining together first and second joinery elements 2, 3, respectively provided with first and second hinge components 4, 5, said first and second joinery elements 2, 3 forming respectively a sash and a frame, or vice versa. Advantageously, the first and second joinery elements 2, 3 respectively incorporate said first and second hinge components 4, 5. Obviously, said second hinge component 5 is preferably complementary to said first hinge component 4 and is advantageously intended to be attached to the latter to join together said first and second joinery elements 2, 3. In a particular embodiment of the invention, such as that illustrated in the figures, said first joinery element 2 is a sash.For example, the first joinery element 2 is a sash intended to be mounted to rotate relative to the second joinery element 3, in particular a window or French door sash, or a door leaf. In this same particular variant, the second joinery element 3 is a fixed element, for example a fixed frame, in particular a fixed sash intended to be permanently integrated into a structure. Of course, the reverse could also be possible, that is, the first joinery element 2 could be a fixed element as described above, and the second joinery element 3 could be a sash as described above.The hinge-fitting station 1 of the invention is therefore preferably designed to automatically hinge, that is to say without or with the minimum possible human intervention, the said first and second joinery elements 2, 3 in the workshop, that is to say before their installation within a structure, generally a building. The part of the first and second joinery elements 2, 3 that constitutes the frame is therefore, within the scope of the invention, an object advantageously independent of a frame, manipulable, and intended to be integrated into such a frame after being hinged with the part of the first and second joinery elements 2, 3 that constitutes the sash.

[0054] Quite conventionally, the opening sash may comprise four longitudinal members connected to one another, forming a frame for the opening sash, with, for example, a pane of glass attached to the longitudinal members between said members. Alternatively, the longitudinal members of the opening sash may simply form its edges, and the space between them may be either empty or filled with a material other than glass (wood, metal, etc.). The fixed frame may also comprise four longitudinal members connected to one another, forming a frame for the fixed sash. Whether for the opening sash or the fixed frame, each longitudinal member is advantageously perpendicular to the two adjacent side members to which it is attached, and parallel to the fourth side member to which it is not directly attached (but connected to the latter via the two adjacent side members). The sash and the frame advantageously each have four corners, each corner being formed by the joining of two adjacent side members.

[0055] Preferably, and in a manner known as such, said first and second hinge components 4, 5 are designed to cooperate mechanically, once attached to each other, by being rotationally mobile relative to each other.

[0056] According to a second aspect of the invention, it relates to an automated hinge-fitting method for joining together first and second joinery elements respectively provided with first and second hinge components using a hinge-fitting station 1, said first and second joinery elements forming respectively an opening and a fixed or vice versa.

[0057] Obviously, the elements of the first and second aspects of the invention that are described in the same way are advantageously common and apply to both aspects of the invention. For example, the gaffing station 1 of the first aspect of the invention is preferably the same as that implemented in the automated gaffing process of the invention.

[0058] According to the invention, and as illustrated in the figures, said gating station 1 comprises at least robotic handling means for manipulating at least said first joinery element 2. Said robotic handling means include at least one gripping member 6 of said first joinery element 2. Advantageously, as illustrated in particular in [Fig. 2], said robotic means comprise at least one robot arm 7 with several distinct axes, preferably with at least four axes, more advantageously with six axes, said robot arm 7 being connected to said gripping member 6. More precisely, said gripping member 6 is advantageously located at the end of the robot arm 7.Thus, advantageously, said hinge-fitting station 1 is designed to be able to grasp and place the first joinery element 2 in any position, or according to any spatial orientation, for example relative to a fixed frame within a workshop housing the hinge-fitting station.

[0059] According to the invention, said gaffing station 1 further comprises at least: - a clamping device 8 carried by said gripping member 6 and mounted to move relative to the latter, - a first position sensor 9 integrated by said clamping device 8.

[0060] Advantageously, said clamping device 8 is mounted to move at least in translation relative to the gripping member 6. Thus, advantageously, when the gripping member 8 manipulates the first joinery element 2, said clamping device 8 is designed to be mobile relative to said first joinery element 2, preferably at least in translation relative to the latter.

[0061] As illustrated in the figures, the clamping device 8 forms, according to a particular embodiment, an elbow, the inside of said elbow being adapted to be brought against the outside of one (of the four) corner(s) of the first joinery element 2.

[0062] According to the invention, said gaffing station 1 comprises processing and control means designed to perform the following sequence of operations: - grasping the first joinery element 2 by the said robotic handling means, to immobilize it in relation to said gripping device 6; - placing the clamping device 8 against the first joinery element 2, said clamping device 8 being located at a predetermined distance from, and / or abutted against, said first hinge component 4; - determination of a first reference position corresponding to the position of said first position sensor 9 relative to said first hinge component 4, - detection of the position of said second hinge component 5 by means of said first position sensor 9, - primary relative displacement of said first and second joinery elements 2, 3 by said robotic handling means, to bring said first and second hinge components 4, 5 into a primary relative cooperation position which is determined from both said first reference position and the detected position of said second hinge component 5, said primary relative cooperation position allowing said first and second hinge components 4, 5 to be attached to each other to connect said first and second joinery elements 2, 3 together. An example of a primary relative cooperation position is illustrated in Figures 12 and 21 (on the right in the latter figure).

[0063] In the automated gaffing process of the invention, the processing and control means execute the sequence of operations mentioned above.

[0064] Said processing and control means (not illustrated) include, for example, computer hardware and software, digital data, databases, pre-recorded instructions, digital files, for example 3D files, and more generally any means, in particular electronic, suitable for giving the various elements of the gaffing station 1 the instructions necessary to carry out the sequence of operations mentioned above (and the other operations and sub-operations mentioned below). Said sequence of operations is not necessarily formed from a strict succession of operations As mentioned above, some operations may, as we will see later, be broken down into several sub-operations, some of which occur before a previously mentioned operation, or after a subsequently mentioned operation.

[0065] Prior to the sequence of operations mentioned above, the first hinge component 4 is preferably already attached to said first joinery element 2, while said second hinge component 5 is advantageously already attached to said second joinery element 3. Thus, advantageously, the first and second joinery elements 2, 3 are respectively provided with the first and second hinge components 4, 5 before the execution of said sequence.

[0066] Advantageously, the gripping member 6 is designed to become reversibly attached to said first joinery element 2 during the operation of grasping the first joinery element 2 by the robotic handling means. The gripping member 6 is thus, after this operation, temporarily connected (and controlled via said processing and control means) to the first joinery element 2 via a link with no degrees of freedom. Preferably, during said operation of grasping the first joinery element 2 by said robotic handling means, said first joinery element 2 is carried (and in particular lifted) by said robotic handling means, and more specifically by said robot arm 7, at the end of which is preferably located the gripping member reversibly attached to the first joinery element 2.

[0067] Advantageously, the operation of butting the clamping device 8 against the first joinery element 2 is performed after the operation of gripping the first joinery element 2 by said robotic handling means. In the particular embodiments illustrated in the figures, the operation of butting the clamping device 8 against the first joinery element 2 also includes butting the clamping device 8 against said first hinge component 4, advantageously preventing any unintentional movement of the latter (and possibly of the first joinery element 2) during the hinge attachment. This is particularly useful when the first and second joinery elements 2, 3 are intended to form a tilt-and-turn type opening, as illustrated in most of the figures with the exception of Figures 17 to 19.Indeed, as will be described in more detail below in tilt-and-turn opening systems (and possibly other systems), the first hinge component 4 often includes a moving part, for example a compass arm 13 when the first hinge component 4 is a tilt-and-turn compass. This moving part can thus be locked in position by the clamping device 8 during the said stop operation, where the clamping device 8 therefore comes to rest against said first joinery element 2. and against said hinge component 4. In the case of other types of openings formed by the first and second joinery elements 2, 3, as in figures 17 to 19 where they are designed to form a French (or alternatively, English) opening, it is not always mandatory that, during the stop operation, the clamping device 8 comes to rest against the first hinge component 4. The clamping device 8 can simply come to rest against the first joinery element 2, as in [Fig.9] for example, but remaining at a distance from said first hinge component 3 (such a distance is not visible in figures 17 to 19, but it is possible). In all cases, after the operation of butting the clamping device 8 against the first joinery element 2, said clamping device is thus advantageously located at a predetermined distance (which can therefore be zero) from said first hinge component 4.This allows us to know the relative position of the first joinery element 2 with respect to the first position sensor 9, during the step of determining the first reference position, since the position of the first position sensor 9 with respect to the clamping device 8 is also preferably known, said first position sensor 9 being carried by the clamping device 8. The operation of detecting the position of said second hinge component 5 then allows us to know the relative position of the latter with respect to the first hinge component 4.

[0068] Said clamping device 8 is preferably slidably mounted relative to said gripping member 6 in at least one first direction. More preferably, said clamping device 8 is also slidably mounted relative to said gripping member 6 in at least one second direction, which is preferably distinct from said first direction. Said second direction is advantageously substantially perpendicular to said first direction. For example, the first and second directions are respectively horizontal and vertical, or vice versa.

[0069] The clamping device 8 is thus advantageously mounted to slide relative to said gripping member 6 in at least the first direction so that, during the operation of bringing the clamping device 8 against the first joinery element 2, the clamping device 8 moves in said first direction until it comes to rest against a first face of said first joinery element 2. Even more preferably, said clamping device 8 is mounted to slide relative to said gripping member 6 in at least the second direction (in addition to the first direction) so that, during the operation of bringing the clamping device 8 against the first joinery element 2, the clamping device 8 moves in said second direction until it comes to rest against a second face of said first joinery element 2. Preferably, as As illustrated in the figures, the second face is substantially perpendicular to the first face. For example, the first and second faces extend respectively substantially horizontally and vertically, or vice versa.

[0070] According to a particular embodiment, illustrated in particular in Figures 3, 7, 8, 9, 11 to 16 and 20 to 23, when the clamping device 8 is pressed against said first face of said first joinery element 2, the clamping device 8 is designed to abut against the first hinge component 4, thus eliminating at least one degree of freedom of the latter (relative to the first joinery element 2, to which the first hinge component 4 is advantageously attached). Advantageously, when the clamping device 8 is pressed against said second face of said first joinery element 2, the clamping device 8 is designed to abut against the first hinge component 4, thus eliminating at least one second degree of freedom of the latter.In other words, in certain particular embodiments (for example in the case of a tilt-and-turn opening system), after said gripping operation and during said stop operation, the clamping device 8 may be advantageously designed to move, relative to both the gripping member 6, the first joinery element 2 and the first hinge component 4, in the first direction in order to press said first hinge component 4 against the first joinery element 2, effectively blocking any movement of the first hinge component 4 in the first direction.Advantageously, in these particular embodiments mentioned above, after the gripping operation and during the abutting operation, the clamping device 8 is further advantageously designed to move, relative to both the gripping member 6, the first joinery element 2, and the first hinge component 4, in the second direction in order to press said first hinge component 4 against the first joinery element 2, effectively blocking any movement of the first hinge component 4 in the second direction. Obviously, the second degree of freedom is different from the first. The abutting operation may optionally, particularly in the specific cases mentioned above, be broken down into at least two of the following sub-operations: - displacement of the clamping device 8, relative to said gripping member 6, in the first direction, until it comes into contact with (the first face of the first joinery element 2 and) a part of the first hinge component 4 and removes a first degree of freedom from the latter (relative to the gripping member 6 and / or the first joinery element 2), - movement of the clamping device 8, relative to said gripping member 6, along the second direction, until it comes into contact with (the second face of the first joinery element 2 and) another part of the first hinge component 4 and removes a second degree of freedom to the latter (relative to the gripping member 6 and / or the first joinery element 2).

[0071] Advantageously, at the end of the stop operation, the first hinge component 4 can no longer move relative to the first joinery element 2 thanks to the mechanical locking provided by the clamping device 8, and thus, the first reference position of said first position sensor 9 with respect to said first hinge component 4 is known and stable. This allows, as will be seen below, the hinge-setting station 1 to achieve a particularly precise positioning of the first and second hinge components 4, 5 relative to each other.

[0072] Furthermore, at the end of the stop operation, the first position sensor 9, carried by the clamping device 8, is advantageously located in the first reference position (relative to the gripping member 6 in particular), preferably situated in the immediate vicinity of the first hinge component 4, as illustrated in the figures. The first reference position is advantageously predetermined, for example by means of preliminary tests.Thus, the first reference position corresponds to the position of the first position sensor 9 when the clamping device 8 is abutted against the first joinery element 2 as mentioned above. However, since this first reference position is predetermined, it is advantageously possible to deduce, using the processing and control means, the actual position of the first hinge component 4 (since its position relative to the first joinery element 2 is advantageously known beforehand). At the very least, thanks to the detection of the first reference position, the processing and control means can deduce the actual position of the first hinge component 4 relative to the rest of the hinge assembly 1. After the abutment, the first position sensor 9 is ideally only a few centimeters away, for example, less than 10 cm, preferably less than 5 cm, from the first hinge component 4.

[0073] Preferably, the operation of determining the first reference position follows the stop operation and is followed by the operation of detecting the position of the second hinge component 5 by means of said first position sensor 9. The first position sensor 9 advantageously comprises an optical sensor, which in particular enables the detection operation to be performed. The processing and control means are therefore designed to move, preferably by means of robotic means (and more specifically by means of the robot arm 7), the first position sensor 9, mounted on the clamping device 8 itself mounted on the gripping member, until said first sensor of Position sensor 9 (and more specifically its optical sensor) passes in front of the second hinge component 5 and thus detects its position. The first position sensor 9 can be designed to detect a particular shape and / or relief on the surface of the second hinge component 5 and the second joinery element 3. The first position sensor 9 thus advantageously performs two functions: determining its own (first) reference position when the clamping device 8 is abutted against the first joinery element 2 (and possibly against the first hinge component 4), which allows the actual position of the first hinge component 4 to be deduced, and then detecting the position of the second hinge component 5, notably using its optical sensor.

[0074] Finally, during the primary relative movement operation of said first and second joinery elements 2, 3 by said robotic handling means, the processing and control means are advantageously designed to command said robotic handling means to bring said first and second hinge components 4, 5 into said primary relative cooperation position. In this latter position, the first and second hinge components 4, 5 are preferably placed relative to each other so as to be ready to be attached together, preferably by being mounted to rotate movably relative to each other, particularly during a subsequent operation in which a connecting pin 12 is inserted into the first and second hinge components 4, 5 to connect them together, as will be seen later.This allows, as indicated, the first and second joinery elements 2, 3 to be connected together, preferably in a movable, rotational manner relative to each other. The primary relative displacement operation of the first and second joinery elements 2, 3 is, according to one variant, at least partially simultaneous with one or more of the other operations mentioned previously. Thus, in practice, between the grasping operation and the detection operation, the robotic handling means have advantageously moved the first and second joinery elements 2, 3 relative to each other in order to bring them closer together, and more precisely, to position them relative to each other so that the first position sensor 9 can detect the position of the second hinge component 5.The processing and control means are advantageously designed to control said primary relative movement of said first and second joinery elements 2, 3 by said robotic handling means using at least: . - said first reference position, which in practice corresponds substantially to the position of the first position sensor 9, in particular with respect to said first hinge component 4, - possibly, the actual position of the first hinge component 4, determined from said first reference position, and optionally from pre-recorded data concerning the gap between the first position sensor 9 and the first hinge component 4 at the end of the stop operation (of the clamping device 8 against the first joinery element 2), - said position detected, by the first position sensor 9 (and more particularly not the optical sensor of the latter), of the second hinge component 5.

[0075] When the first position sensor 9 passes in front of the second hinge component 5 (or a particular relief of the latter), it is advantageously designed to send a signal associated with the processing and control means, which then cause the robotic means, and more particularly the robot arm 7, to move said first joinery element 2 relative to said second joinery element 3, to bring the first and second joinery elements 2, 3 closer to each other sufficiently to match the first and second hinge components 4, 5 with each other, so that they can then be attached together for example during a subsequent final hinge-fitting operation.

[0076] According to one embodiment, illustrated in the figures and particularly visible in Figures 1, 11, and 13 to 19, one of said first and second hinge components 4, 5 is designed to receive within itself the other of said first and second hinge components 4, 5. According to a particular embodiment, said first and second hinge components 4, 5 respectively comprise an opening bearing 10 and a fixed bearing 11. According to a first embodiment, as illustrated in the figures, said fixed bearing 11 is designed to receive within itself said opening bearing 10 in said primary relative position. Alternatively, the reverse is possible, that is to say, said opening bearing 10 is designed to receive within itself said fixed bearing 11 in said primary relative position.

[0077] According to a particular embodiment, a variant of which is illustrated in Figures 1 to 3, 7 to 9, 11 to 16, and 20 to 23, said first and second joinery elements 2, 3 are intended to form, once hinged to one another, a tilt-and-turn or casement window assembly, for example, a tilt-and-turn window, a sash, a tilt-and-turn window, or a French window. The hinge station 1 and the hinge method of the invention are particularly useful for hinged sashes to the frames of this type of window opening, although they are not limited to this application, which is particularly complex and difficult to automate. According to another particular embodiment, a variant of which is illustrated in Figures 17 to 19, the said first and second joinery elements 2, 3 are intended to form, Once joined together, a French-style (or alternatively, English-style) window assembly—that is, an opening that opens inwards (or alternatively, outwards) from the building in only one way (specifically by rotation around a vertical axis), unlike tilt-and-turn windows—is secured. The joining station 1 of the invention is thus advantageously designed to efficiently, precisely, repeatably, quickly, and automatically join different types of window and door systems.Advantageously, during said operation of detecting the position of said second hinge component 5, the processing and control means are designed to cause said robotic handling means to move the first joinery element 2 relative to said second joinery element 3 in the vicinity of, and preferably along, the latter, so that the first position sensor 9 performs at least one scanning operation of the second hinge component 5. Said scanning operation of the second hinge component 5 preferably includes at least one primary scanning along a primary direction, preferably vertical, of the second hinge component 5 by the first position sensor 9, to detect primary positioning data, preferably vertical positioning, of said second hinge component 5 relative to the first hinge component 4. Such a primary scanning is illustrated in particular in [Fig.

[17] , where the robotic handling means (in this case the six-axis robot) move the first position sensor 9 and the first joinery element 2 vertically downwards, which had previously been immobilized relative to, and carried by, the gripping member 6. The first position sensor 9 can therefore scan the second hinge component 5 to detect a particular data of the latter, for example a data indicating the altitude of a relief of said second hinge component 5. Thus, advantageously, said primary positioning data of said second hinge component 5 include at least: . - a position data point for one end of the second component of gond 5, preferably a primary altitude data point, and / or - a position data of a relief difference on the surface of said second component of gond 5, preferably a secondary altitude data.

[0078] The position data for an end indicates, for example, the altitude of the upper end of the second hinge component 5, for example, that of the fixed bearing 11. The position data for a difference in relief indicates, for example, the highest altitude of the interior of the fixed bearing 11 forming the second hinge component 5, that is to say, in practice, the boundary between an upper raised part of the fixed bearing 11 and a hollow part thereof, said hollow part being intended to receive the opening bearing 10. This allows for very precise positioning of the first component of hinge 4 relative to the second component of hinge 5 by the hinge position 1, in particular in the vertical plane.

[0079] Figures 17 to 19 relate to a particular embodiment, where the first and second joinery elements 2, 3 are intended to form a French (or English) opening, but obviously the operations illustrated in these figures also apply to other types of joinery, in particular tilt-and-turn openings. It should be noted that in the figures, in particular in Figures 17, 18 and 19, we have: - the arrow F which indicates a movement (vertical translation downwards) of the assembly formed by the gripping member, the clamping device 8 (not shown in these figures for reasons of understanding), the first joinery element 2, the first and second hinge components 4, 5, and the first and second position sensors 9, 23; - the arrow G which indicates approximately the scanning movement of the first or second position sensor 9, 23, which is in practice the same movement as that indicated by the arrow F; - the arrow(s) P which schematically indicate a direction or a scanning field of the first or second position sensor 9, 23, turned towards the second or fourth hinge component 5, 15.

[0080] According to a particular embodiment, said scanning operation of the second hinge component 5 includes at least a secondary scanning in a secondary direction, preferably horizontal, of the second hinge component 5 by the first position sensor 9, to detect secondary positioning data, preferably horizontal positioning, of said second hinge component 5 relative to the first hinge component 4. Such a secondary scanning is illustrated in particular in [Fig. 18], where the robotic handling means (in this case the six-axis robot) translate horizontally to the side the first position sensor 9 and the first joinery element 2, which had previously been immobilized relative to, and carried by, the gripping member 6 (the first position sensor 9 and the first joinery element 2 are therefore immobilized relative to each other, via the clamping device 8).This allows us to know precisely the position in the horizontal plane of the second hinge component 5 relative to the first hinge component 4.

[0081] In a manner known as such, said first and second joinery elements 2, 3 are advantageously also provided respectively with third and fourth hinge components 14, 15. Said third and fourth hinge components 14, 15 may be substantially similar to said first and second hinge components 4, 5, as illustrated in figures 17 to 19, or very different from them, as illustrated in the other figures.

[0082] According to a particular embodiment of the invention, said lashing station 1 further comprises a second position sensor 23 mounted on said gripping member 6. Preferably, said processing and control means are then also designed to perform the following sequence of operations: - referencing the first joinery element 2 by butting the latter against said gripping member 6, for example by gravity, in the vicinity of the third hinge component 4, said butting being thus carried out at a predetermined distance from the latter, - determination of a second reference position corresponding to the position of said second position sensor 23 relative to said third hinge component 14, - detection of the position of said fourth hinge component 15 by means of said second position sensor 23, - secondary relative displacement of said first and second joinery elements 2, 3 by said robotic handling means, to bring said third and fourth hinge components 14, 15 into a secondary relative cooperation position which is determined from both said second reference position and the detected position of said fourth hinge component 5, said secondary relative cooperation position allowing said third and fourth hinge components 14, 15 to be attached to each other to connect said first and second joinery elements 2, 3 together.

[0083] Advantageously, during said operation of detecting the position of said fourth hinge component 15, the processing and control means are designed to cause said robotic handling means to move the first joinery element 2 relative to said second joinery element 3 in the vicinity of, and preferably along, the latter, so that the second position sensor 23 performs at least one scanning operation of the fourth hinge component 15. According to a particular embodiment, said scanning operation of the fourth hinge component 15 includes at least one tertiary scanning in a tertiary direction, preferably horizontal (alternatively horizontal), of the fourth hinge component 15 by the second position sensor 23, to detect tertiary positioning data, preferably horizontal positioning data, of said fourth hinge component 15 relative to the third hinge component 14.Such a tertiary scanning is illustrated in particular in [Fig. 19], where robotic means of manipulation (in this case the six-axis robot) put into translation. horizontally towards the side, the second position sensor 23 and the first joinery element 2, which had previously been immobilized relative to, and secured by, the gripping member 6 (the second position sensor 23 and the first joinery element 2 are thus immobilized relative to each other via the clamping device 8). This makes it possible to know precisely the position in the horizontal plane of the fourth hinge component 15 relative to the third hinge component 14.

[0084] Advantageously, one or each of said first position sensor 9 and second position sensor 23 includes a respective laser sensor. The latter is, for example, a green laser sensor, emitting in particular at a wavelength of (approximately) 505 nm (+ / -20 nm). Obviously, said first and second sensors 9, 23, like the rest of the hinge assembly 1, are preferably electrically powered.One or both of said first position sensor 9 and second position sensor 23 is preferably designed to detect an object at a distance of between 10 and 80 mm, preferably between 15 and 70 mm, more preferably between 20 and 60 mm, and more preferably between 25 and 50 mm. One or both of said first position sensor 9 and second position sensor 23 advantageously has a mass of between 10 and 100 grams, preferably between 20 and 60 grams, more preferably between 25 and 50 grams, for example, approximately 35 g. One or both of said first position sensor 9 and second position sensor 23 has, for example, width, length, and thickness that are all on the order of a few cm or a few mm, for example, less than 4 cm, 5 cm, and 2 cm, respectively.The limited mass and dimensions of the first position sensor 9 and / or the second position sensor 23 allow them in particular to be easily carried by the clamping device 8 and / or by the gripping member 6. .

[0085] In a particular embodiment, especially that concerning tilt-and-turn openings, one of said first and second hinge components 4, 5 is advantageously formed by a half-opening compass, which comprises at least: - an opening bearing 10, which is advantageously intended to be rotationally connected to the other of said first and second hinge components 4, 5, - a compass arm 13 integral with said opening bearing 10, said compass arm 13 being on the one hand, (directly) rotationally connected to one of said first and second joinery elements 4, 5, and on the other hand, via said opening bearing 10, intended to be rotationally connected to the other of said first and second joinery elements 4, 5.

[0086] Such a hinged door stay is particularly visible in Figures 1, 3, 8, 9, 11, 14 to 16 and 20 to 23. The first hinge component 4 then forms a hinged door stay as mentioned above, while the stay arm 13 is initially (that is, before the sequence of operations mentioned above) already connected to rotation said first joinery element 2 via a first end, while a second end of said compass arm 13 is connected to the opening bearing 10, which is therefore intended to be connected to the second joinery element 3 via the second hinge component 5.

[0087] Tilt-and-turn or casement window and door assemblies are particularly difficult to automate due to their specific hardware. As in the embodiments shown in the aforementioned figures, the third and fourth hinge components 14, 15 form or comprise, respectively, a pivot bearing 14 and a pivot axis 15, or vice versa. Said pivot axis 15 is preferably rotatably mounted (for example, by means of a ball joint) relative to said first and second window and door elements 2, 3 to which it is attached. The pivot axis 15 is, of course, advantageously designed to be inserted into the pivot bearing 14, particularly in the lower part of the first and second window and door elements 2, 3. The tilt stay, when present, is often located in the upper part of the first and second window and door elements 2, 3.The reverse is obviously possible (opening compass in the lower part, or even on the side, and oscillation axis 15 / oscillation bearing 14 in the upper part).

[0088] Preferably, and in a manner known as such, said first and second joinery elements 2, 3 comprise respectively first and second local portions 16, 17 that are substantially elongated, as illustrated in the figures where said first and second joinery elements 2, 3 are visible. Said first and second local portions 16, 17 are advantageously designed to extend substantially along one another, and preferably substantially parallel to one another, when said first and second joinery elements 2, 3 have been hinged together, as illustrated in Figures 1 and 22, which advantageously corresponds to a final hinged position. Said first and second local portions 16, 17 are preferably formed respectively by first and second longitudinal members 16, 17 belonging respectively to said first and second joinery elements 2, 3.As mentioned previously, each of said first and second joinery elements 2, 3 advantageously comprises four respective longitudinal members (which form for example a frame), the first longitudinal member 16 forming one of the four longitudinal members of the first joinery element 2, while said second longitudinal member 17 forms one of the four longitudinal members of the second joinery element 3. Advantageously, when said first and second joinery elements 2, 3 are hinged together, and the opening is positioned against the fixed frame (in the closed position), each of the longitudinal members of the first element. Joinery element 2 is located against and along one of the corresponding stringers of the second joinery element 3. The first and second stringers 16, 17 are then preferentially against and along each other. Advantageously, when said first and second joinery elements 2, 3 are hinged together, and the opening is positioned opposite the fixed part so as to form an opening (the opening being therefore in the open position), the first and second rails 16, 17 are then preferentially still along each other, preferably in the vicinity of each other, while some of the other rails of the first joinery element 2 may be away from the other rails of the second joinery element 3. When said first and second joinery elements 2, 3 are hinged together, said first and second rails 16, 17 are advantageously substantially parallel to each other.

[0089] A variant of the hinge-fitting of the first and second joinery elements 2, 3, by the hinge-fitting station 1 of the invention, is illustrated in Figures 20 to 22, which show successive steps of hinge-fitting a first set of fittings (then a second set of fittings). In essence, in the particular case described here, which is preferably non-limiting, the first set of fittings comprises the third and fourth hinge components 14, 15, more precisely the oscillation bearing 14 and the oscillation axis 15 respectively, while the second set of fittings comprises said first and second hinge components 4, 5. Figure 23 illustrates a particular embodiment of the hinge-fitting station 1, which is substantially similar to the hinge-fitting station 1 illustrated in Figures 2 to 12, and where the steps of Figures 14 to 16 are repeated in a condensed. Thus, in [Fig. 23]: - the left-hand step corresponds to the relative position of the first and second joinery elements 2, 3, as on the left of [Fig.20], where the first and second stringers 16, 17 are advantageously substantially parallel to each other, - the middle stage corresponds to the relative position of the first and second joinery elements 2, 3, as in [Fig.21] in the middle, the oscillation axis 15 being inserted in the oscillation bearing 14, the first and second longitudinal members 16, 17 being advantageously still substantially slightly oblique to each other, the opening bearing 10 being ready to be housed in the fixed bearing 11 by rotation of the first joinery element 2 relative to the second joinery element 3, - the right step corresponds to a final locking position, as in [Fig.22], the oscillation axis 15 being inserted into the oscillation bearing 14 and connected to the latter, the first and second joinery elements 2, 3 being locked together.

[0090] According to a particular embodiment of the invention, said primary relative displacement operation of said first and second joinery elements 2, 3 by said robotic handling means comprises at least the following sequence of sub-operations (which mainly concerns the second set of fittings): - prior positioning of said first and second joinery elements 2, 3 relative to each other by said robotic handling means, to bring said first and second hinge components 4, 5 substantially opposite and in the vicinity of each other and said first local portion 16 substantially along said second local portion 17, as illustrated in particular in [Fig.21] on the left, - setting in motion by translation of said first joinery element 2 by said gripping member 6, to move said first local portion 16 along said second local portion 17 (preferably downwards), until said operation of detecting the position of said second hinge component 5 occurs by means of said first position sensor 9; variants of this last sub-operation are illustrated in particular in figures 17 and 18 as well as in [Fig.21] (left then middle); - after said detection operation, movement by rotation of said first joinery element 2 by said gripping member 6, to move said first local portion 16 relative to said second local portion 17, bringing said first and second hinge components 4, 5 closer together until they are in said primary cooperation relative position; a variant of this last sub-operation is illustrated in particular in [Fig.21] (in the middle then on the right).

[0091] Optionally, but advantageously in the particular case where said first and second joinery elements 2, 3 are intended to form a tilt-and-turn or tilt-and-turn joinery assembly, and preferably prior to the aforementioned prior positioning sub-operation and the fitting of the second set of fittings, more specifically of the third and fourth hinge components 14, 15, the processing and control means are further designed to achieve the joining of the third hinge component 14 equipping the first joinery element 2 with the fourth hinge component 15 equipping the second joinery element 3. Said third hinge component 14 is for example formed by the swing bearing 14 (preferably the one mentioned above), while the fourth hinge component 15 is formed by the swing axis 15 (preferably the one mentioned above).The processing and control means are then designed to achieve the securing of the oscillation bearing 14 with the oscillation axis 15. More precisely, preferably prior to the winding of the . The first and second hinge components 4, 5 together, the processing and control means are designed to engage the oscillating bearing 14 with the oscillating shaft 15, by driving the oscillating shaft 15 into the oscillating bearing 14. To achieve this, the processing and control means can, for example, be further designed to execute the following sequence of operations: - relative approach of said first and second joinery elements 2, 3 to each other by said robotic means of manipulation, to bring said first local portion 16 substantially in the vicinity, and preferably opposite, said second local portion 17, as illustrated in particular in [Fig.20] (left), - rotation, in a first direction (here counterclockwise), of the first joinery element 2 incorporating said third hinge component 14 (here the oscillation bearing 14) to bring the latter into correspondence with said fourth hinge component 15 (here the oscillation axis 15), as illustrated in particular in [Fig.20] (on the left then in the middle), - translation, for example downwards, of the first joinery element 2 so as to secure (at least in part) said third hinge component 14 with said fourth hinge component 15, as illustrated in particular in [Fig.20] (in the middle then on the left); preferably, the oscillation axis 15 is then inserted, only in part, within said oscillation bearing 14; - rotation, in a second direction (here clockwise) opposite to the first direction, of the first joinery element 2, as illustrated in particular in [Fig.20] (right) then in [Fig.21] (left); the oscillation axis 15, then partially inserted in the oscillation bearing 14, allows this rotation, which also advantageously allows, on the one hand, the said first and second hinge components 4, 5 to be brought substantially opposite and in the vicinity of each other and, on the other hand, to bring said first local portion 16 substantially along said second local portion 17. This last operation can thus be concomitant with or constitute the sub-operation of prior positioning of said first and second joinery elements 2, 3 mentioned above.

[0092] It should be noted that the sub-operation of moving said first joinery element 2 by translation using said gripping member 6 advantageously allows the first joinery element 2 to move downwards relative to the second joinery element 3. This then advantageously results in the insertion of a greater part, or even all, of the oscillation axis 15 within the oscillation bearing 14, until said operation of detecting the position of said second hinge component 5 by means of said first position sensor 9 as illustrated in [Fig. 21] (left then middle). It should also be noted that the sub-operation of moving said first joinery element 2 by rotation using said gripping member 6, thus advantageously allows the first joinery element 2 to move downwards relative to the second joinery element 3, to bring the first and second hinge components 4, 5 closer together until they are in said primary cooperation relative position, where preferably the fixed bearing 11 accommodates the opening bearing 10.

[0093] According to a particular embodiment, illustrated in the figures, said first and second hinge components 4, 5 respectively comprise first and second recesses, such that in said primary relative cooperation position, said first and second recesses are positioned in line with each other. The opening bearing 10 and the fixed bearing 11 are advantageously provided respectively with the first and second recesses.

[0094] According to one variant, one of said first and second hinge components 4, 5 (here the second hinge component 5) includes a movable connecting pin 12 (preferably with translation, as illustrated in figures 21 right and 22), relative to the rest of said hinge component 4, 5, and in particular relative to said fixed bearing 11. Said hinge station 1 then optionally includes a pusher means 22, including for example in particular a jack, designed to push said connecting pin 12, preferably upwards, so that it inserts itself both into said first and second recesses (and therefore into said opening bearings 10 and fixed bearings 11), thus rotationally connecting said first and second hinge components 4, 5 to each other. In other words, the said lashing station 1 comprises, according to a particular embodiment, a pusher means 22 (the one mentioned above) which is advantageously carried by the said gripping member 6.The pusher means 22 is preferably mounted to slide (for example, by means of a cylinder) relative to the gripping member 6. The pusher means 22 is thus preferably designed to ensure final locking between the first and second hinge components 4, 5 after they have been placed in their primary relative position of cooperation (and therefore, in practice, when the opening bearing 10 has been inserted into the fixed bearing 11). Obviously, the processing and control means are advantageously designed to control, preferably during a final locking operation, the pusher means 22 to push the connecting shaft 12 into the first and second hinge components 4, 5, more precisely into the opening bearing 10 and fixed bearing 11, and even more precisely into the first hinge component 4. and second recesses, when the said first and second components of hinge 4, 5 are in the said relative position of primary cooperation.

[0095] Said gripping member 6 preferably comprises at least retention means 18, 19, for example a plurality of suction cups 18 and / or claws 19, and advantageously also comprises stop means 20 (distinct from the retention means 18, 19). The suction cups 18 allow, for example, the gripping member 6 to be secured to a pane of glass or to the stringers of the first joinery element 2, in particular when it constitutes an opening.

[0096] According to an alternative embodiment, illustrated in particular by figures 14 to 16, during the operation of grasping the first joinery element 2 by said robotic handling means, said gripping member 6 is designed to position the first joinery element 2 in a position of reference relative to the gripping member 6, this being preferably predetermined and recorded by the processing and control means.

[0097] Said operation of grasping the first joinery element 2 by said robotic handling means preferably comprises at least the following sequence of sub-operations: - first joining of the first joinery element 2 and the retaining means 18, 19, the first joinery element 2 being in a prior gripping position relative to the gripping member 6, - loading of the first joinery element 2 by said gripping device 6; [Fig. 14] illustrates the result of the initial joining and loading operations, - tilting of the first joinery element 2 by said gripping member 6, as illustrated in [Fig. 15], left part; in this latter position, the first local portion 16 is advantageously at a lower altitude than the rest of the first joinery element 2, - at least partial disengagement of the first joinery element 2 and the retaining means 18, 19, to allow the first joinery element 2 to slide by gravity until it comes into contact with the stop means 20, as illustrated in [Fig. 15], right-hand side; this allows in particular the referencing of the first joinery element 2 with respect to the stop means 20, and therefore with respect to the gripping member 6 (and therefore is part of the referencing operation mentioned above), - second joining of the first joinery element 2 and the retaining means 18, 19, the first joinery element 2 then being in the said reference position relative to the gripping member 6 ( [Fig.15], right), - and optionally, re-tilting of the first joinery element 2 by said gripping member 6; [Fig. 16] illustrates the result of the second securing and re-tilting operations, then of the operation of butting the clamping device 8 against the first hinge component 4.

[0098] This configuration allows the first joinery element 2 to be positioned in the reference position, which, as mentioned, is predetermined. It is thus possible to know precisely where the first joinery element 2 is located relative to the gripping member 6 (and therefore relative to the rest of the hinge assembly 1). The operation of butting the clamping device 8 against the first hinge component 4 is preferably performed after the aforementioned second securing sub-operation. The clamping device 8 can therefore be butted against the first hinge component 4 with a minimized risk of error, since the first joinery element 2 is in a predetermined position (reference position), advantageously recorded beforehand by the processing and control means.After the second joining sub-operation, the processing and control means are preferably designed to tilt the first joinery element 2 in order to execute said operation of relative bringing said first and second joinery elements 2, 3 together with respect to each other by said robotic handling means.

[0099] According to an advantageous embodiment, said robotic handling means are also designed to manipulate said second joinery element 3. Advantageously, said robotic handling means thus further include a movement and / or locking member 21 in position of said second joinery element 3. The processing and control means are then preferably designed to perform an operation of grasping the second joinery element 3 by said robotic handling means, in order to immobilize it with respect to said movement and / or locking member in position 21.According to this latter variant, during the operation of grasping the second joinery element 3 by the robotic handling means, the moving and / or locking member in position 21 is preferably designed to maintain the second joinery element 3 in a predetermined locking position recorded by the processing and control means. The moving and / or locking member 21 comprises, for example, at least: . - a conveying means, for example consisting of a conveyor belt or a plurality of transport rollers, for conveying the second joinery element 3, - as well as a plurality of locking arms, said locking arms being in particular designed to be able to clamp and hold in position said second local portion 17, as illustrated in [Fig.4].

[0100] Thus, said processing and control means are preferably designed to perform said preliminary positioning operation of said first and second joinery elements 2, 3, from both said locking position of said second joinery element 3 and said reference position of said first joinery element 2. In other words, the determination of said locking position and said reference position makes it possible to know precisely the relative position of the first and second local portions 16, 17, even before the first and second joinery elements 2, 3 are joined together.

Claims

1. Demands Automated hinge-fitting station (1) for jointly fitting the first and second joinery elements (2, 3) respectively equipped with first and second hinge components (4, 5), said first and second joinery elements (2, 3) forming respectively an opening and a fixed part or vice versa, said hinge-fitting station (1) comprising: - robotic handling means for manipulating at least said first joinery element (2), said robotic handling means including a gripping member (6) of said first joinery element (2), - a clamping device (8) integrated by said organ grip (6) and movable mounting relative to the latter, - a first position sensor (9) integrated by said clamping device (8), said gaffing station (1) comprising processing and control means designed to perform the following sequence of operations: - grasping the first joinery element (2) by said robotic handling means, in order to immobilize it in relation to said gripping device (6), - placing the clamping device (8) against the first joinery element (2), said clamping device (8) thus being located at a predetermined distance from, and / or abutted against, said first hinge component (4), - determination of a first reference position corresponding to the position of said first position sensor (9) relative to said first hinge component (4), - detection of the position of said second hinge component (5) by means of said first position sensor (9), - primary relative displacement of said first and second joinery elements (2, 3) by said robotic manipulation means, to bring said first and second hinge components (4, 5) into a primary cooperation relative position which is determined from both of said first reference position and of the detected position of said second hinge component (5), said primary cooperation relative position allowing said first and second hinge components (4, 5) to be attached to each other to connect said first and second joinery elements (2, 3).

2. Hinge-fitting station (1) according to the preceding claim, characterized in that during said operation of detecting the position of said second hinge component (5), the processing and control means are designed to cause said robotic handling means to move the first joinery element (2) relative to said second joinery element (3) in the vicinity, and preferably along, of the latter, so that the first position sensor (9) performs at least one scanning operation of the second hinge component (5).

3. Hinge-locking station (1) according to the preceding claim, characterized in that said scanning operation of the second hinge component (5) comprises at least a primary scan in a primary direction, preferably vertical, of the second hinge component (5) by the first position sensor (9), to detect primary positioning data, preferably vertical positioning, of said second hinge component (5) relative to the first hinge component (4).

4. Hinge-point (1) according to the preceding claim, characterized in that said primary positioning data of said second hinge component (5) comprise at least: - a position data of an end of the second hinge component (5), preferably a primary altitude data, and / or - a position data of a relief difference on the surface of said second hinge component (5), preferably a secondary altitude data.

5. A hinge-locking station (1) according to any one of claims 2 to 4, characterized in that said scanning operation of the second hinge component (5) comprises at least a secondary scanning along a secondary direction, preferably horizontal, of the second hinge component (5) by the first position sensor (9), to detect secondary positioning data, preferably horizontal positioning data, of said second hinge component (5) relative to the first hinge component (4).

6. A hinge-fitting station (1) according to any one of the preceding claims, wherein said first and second joinery elements (2, 3) are also respectively provided with third and fourth hinge components (14, 15), characterized in that said hinge-fitting station (1) further comprises a second position sensor (23) carried by said gripping member (6), and in that said processing and control means are also designed to perform the following sequence of operations: - referencing the first joinery element (2) by butting the latter against said gripping member (6), for example by gravity, in the vicinity of the third hinge component (4), said butting being thus carried out at a predetermined distance from the latter, - determining a second reference position corresponding to the position of said second position sensor (23) with respect to said third hinge component (14),- detection of the position of said fourth hinge component (15) by means of said second position sensor (23), - secondary relative displacement of said first and second joinery elements (2, 3) by said robotic handling means, to bring said third and fourth hinge components (14, 15) into a secondary relative cooperation position which is determined from both said second reference position and the detected position of said fourth hinge component (5), said secondary relative cooperation position allowing said third and fourth hinge components (14, 15) to be attached to each other to connect said first and second joinery elements (2, 3).

7. Hinge-fitting station (1) according to the preceding claim, characterized in that during said operation of detecting the position of said fourth hinge component (15), the processing and control means are designed to cause said robotic handling means to move the first joinery element (2) relative to said second joinery element (3) in the vicinity, and preferably along, of the latter, so that the second position sensor (23) performs at least one scanning operation of the fourth hinge component (15).

8. Hinge-locking station (1) according to the preceding claim, characterized in that said scanning operation of the fourth hinge component (15) comprises at least one tertiary scan in a tertiary direction, preferably horizontal, of the fourth hinge component (15) by the second position sensor (23), to detect tertiary positioning data, preferably horizontal positioning data, of said fourth hinge component (15) relative to the third hinge component (14).

9. A lashing station (1) according to any one of the preceding claims, characterized in that said clamping device (8) is mounted to slide relative to said gripping member (6) in at least one first direction, so that, during the operation of butting the clamping device (8) against the first joinery element (2), the clamping device (8) moves in said first direction until it comes to rest against a first face of said first joinery element (2).

10. Hinge post (1) according to the preceding claim, characterized in that when the clamping device (8) is pressed against said first face of said first joinery element (2), the clamping device (8) is designed to come to rest against the first hinge component (4), thus eliminating at least one first degree of freedom to the latter.

11. A lashing station (1) according to claim 9 or 10, characterized in that said clamping device (8) is mounted to slide relative to said gripping member (6) in at least a second direction, so that, during the operation of butting the clamping device (8) against the first joinery element (2), the clamping device (8) moves in said second direction until it comes to rest against a second face of said first joinery element (2).

12. A latching station (1) according to the preceding claim, characterized in that when the clamping device (8) is pressed against said second face of said first joinery element (2), the clamping device (8) is designed to abut against the first hinge component (4), thereby removing at least a second degree of freedom to the latter.

13. Lashing station (1) according to claim 9 or 10, as well as according to claim 11 or 12, wherein said second direction is substantially perpendicular to said first direction, and / or wherein said second face is substantially perpendicular to said first face.

14. A hinge assembly (1) according to any one of the preceding claims, characterized in that said first and second joinery elements (2, 3) are intended to form, when hinged together, a tilt-and-turn or casement window assembly, for example a tilt-and-turn window, a sash, a tilt-and-turn window or French window, and in that one of said first and second hinge components (4, 5) is formed by a hinge stay, which comprises at least: - an opening bearing (10) intended to be rotationally connected to the other of said first and second hinge components (4, 5), - a stay arm (13) integral with said opening bearing (10), said stay arm (13) being, on the one hand, directly rotationally connected to one of said first and second joinery elements (2, 3), and on the other hand, through said opening landing (10),intended to be connected by rotation to the other of the said first and second joinery elements (2, 3).

15. A gating station (1) according to any one of the preceding claims, characterized in that said robotic handling means are also designed to manipulate said second joinery element (3), said robotic handling means thus further including a displacement and / or locking element in position (21) of said second joinery element (3), the processing and control means being designed to perform an operation of grasping the second joinery element (3) by said robotic handling means, in order to immobilize it with respect to said displacement and / or locking element in position (21).

16. A locking station (1) according to the preceding claim, characterized in that, during said operation of gripping the second joinery element (3) by said robotic handling means, said displacement and / or locking member in position (21) is designed to maintain said second joinery element (3) in a predetermined locking position recorded by the processing and control means.

17. A gating station (1) according to any one of the preceding claims, characterized in that, during the operation of gripping the first joinery element (2) by said robotic handling means, said gripping member (6) is designed to position the first joinery element (2) in a reference position relative to the gripping member (6), this being predetermined and recorded by the processing and control means.

18. A gating station (1) according to the preceding claim, characterized in that said gripping member (6) comprises retaining means (18, 19), for example a plurality of suction cups (18) and / or claws (19), and further comprises stop means (20), and in that said operation of gripping the first joinery element (2) by said robotic handling means comprises at least the following sequence of sub-operations: - initial securing of the first joinery element (2) and the retaining means (18, 19), the first joinery element (2) being in a prior gripping position relative to the gripping member (6), - loading of the first joinery element (2) by said gripping member (6), - tilting of the first joinery element (2) by said gripping member (6), - at least partial uncoupling of the first joinery element (2) and means of restraint (18, 19),to slide the first joinery element (2) by gravity until it comes into contact with the stop means (20), - second securing of the first joinery element (2) and the retaining means (18, 19), the first joinery element (2) then being in said reference position relative to the gripping member (6).

19. A gaffing station (1) according to claim 16 as well as according to claim 17 or 18, characterized in that said means processing and control are designed to perform said pre-positioning operation of said first and second joinery elements (2, 3), from both said blocking position of said second joinery element (3) and said reference position of said first joinery element (2).

20. Hinge post (1) according to any one of the preceding claims, characterized in that said first and second hinge components (4, 5) respectively comprise an opening bearing (10) and a fixed bearing (11), said fixed bearing (11) being designed to accommodate within it said opening bearing (10) in said primary cooperation relative position.

21. A gaffing station (1) according to any one of the preceding claims, characterized in that said robotic means comprise at least one robot arm (7) with several distinct axes, preferably with at least four axes, more advantageously with six axes, said robot arm (7) being connected to said gripping member (6).

22. A hinge-locking station (1) according to any one of the preceding claims, characterized in that said first and second hinge components (4, 5) respectively comprise first and second recesses such that, in said primary cooperation relative position, said first and second recesses are positioned in line with each other, one of said first and second hinge components (4, 5) further comprising a connecting pin (12) mounted movable, preferably translationally, relative to the remainder of said hinge component (4, 5), and in that said hinge-locking station (1) comprises a pusher means (22), for example a jack, designed to push said connecting pin (12), preferably upwards, so that it inserts simultaneously into said first and second recesses, thus rotationally linking said first and second hinge components (4, 5) to each other. the other one.

23. An automated hinge-fitting method for joining together first and second joinery elements (2, 3) respectively provided with first and second hinge components (4, 5) using a hinge-fitting station (1), said first and second joinery elements (2, 3) forming respectively a sash and a frame or vice versa, said hinge-fitting station (1) comprising: - robotic handling means for manipulating at least said first joinery element (2), said robotic handling means including a gripping member (6) of said first joinery element (2), - a clamping device (8) carried by said gripping member (6) and mounted to move relative to the latter, - a first position sensor (9) integrated by said clamping device (8), - processing and control methods, in which the processing and control means execute the following sequence of operations: - grasping the first joinery element (2) by the said robotic handling means, to immobilize it in relation to said grasping device (6); - placing the clamping device (8) against the first joinery element (2), said clamping device (8) thus being located at a predetermined distance from, and / or abutted against, said first hinge component (4), - determination of a first reference position corresponding to the position of said first position sensor (9) relative to said first hinge component (4), - detection of the position of said second hinge component (5) by means of said first position sensor (9), - primary relative displacement of said first and second joinery elements (2, 3) by said robotic handling means, to bring said first and second hinge components (4, 5) into a primary relative cooperation position which is determined from both said first reference position and the detected position of said second hinge component (5), said primary relative cooperation position allowing said first and second hinge components (4, 5) to be attached to each other to connect said first and second joinery elements (2, 3).

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