CN117102847B - Full-automatic muntin connecting piece assembling system and method - Google Patents

Abstract

The invention provides a full-automatic muntin connecting piece assembling system and method, and belongs to the technical field of automatic door and window processing. The system comprises: the connecting piece clamping and feeding mechanism is connected with the rack in a sliding manner; the connecting piece feeding mechanism is used for performing grabbing and overturning of the connecting piece and pushing the overturned connecting piece to the clamping station; the connecting piece clamping and feeding mechanism is used for clamping the connecting piece from the clamping station and then sliding to the position of the muntin along the frame so as to penetrate and fix the connecting piece to the muntin. The automatic feeding device can realize automatic feeding of two or even more connecting pieces, realizes that the connecting pieces of the muntin with various specifications penetrate pieces at any position of the muntin, has uniform standards, does not scratch, greatly improves the production efficiency, and reduces the labor intensity of workers.

Description

Full-automatic muntin connecting piece assembling system and method

Technical Field

The invention relates to the technical field of automatic door and window processing, in particular to a full-automatic muntin connecting piece assembling system and method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

At present, the demand of aluminum door and window industry to automation is also higher and higher, and the muntin of door and window is all connected by the muntin connecting piece when connecting.

Patent number CN216176843U provides a door and window muntin connecting machine, and muntin positioning mechanism includes closing device and side compression device, goes up closing device and can follow vertical direction muntin section bar and go up to compress tightly relatively the mounting bracket, side compression device can follow horizontal direction muntin section bar and compress tightly relatively the mounting bracket side; the nailing and screw-screwing drilling mechanism is used for drilling, feeding nails and screwing screws on the section bar and is arranged on the machine head transverse plate, and the machine head transverse plate can move relative to the transverse direction and the longitudinal direction of the mounting frame through the machine head adjusting mechanism.

The inventor finds that the installation and fixation of the muntin connecting piece of the current door and window are mostly completed manually, even if automation is adopted, only a muntin positioning and pressing mechanism and a connecting piece fixing mechanism are provided, and the automatic operation of full processes such as automatic feeding, automatic fixing and the like of the connecting piece is not realized yet, the manual feeding and the manual feeding are still needed, the installation efficiency is low, and the labor intensity of workers is still high; moreover, adopt the manual mode to wear the material, the fixed position and the fixed firmness of club connecting piece in door and window are difficult to unify the standard, cause the fish tail of club easily when wearing the piece.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides a full-automatic muntin connecting piece assembling system and method, which can realize automatic feeding of two or even more connecting pieces, realize that connecting pieces with various specifications penetrate pieces at any positions of muntin, have uniform standards, have no scratches, greatly improve the production efficiency and reduce the labor intensity of workers.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

in a first aspect, the present invention provides a fully automated muntin connector assembly system.

A fully automated muntin connector assembly system, comprising: the connecting piece clamping and feeding mechanism is connected with the rack in a sliding manner;

the connecting piece feeding mechanism is used for performing grabbing and overturning of the connecting piece and pushing the overturned connecting piece to the clamping station;

the connecting piece clamping and feeding mechanism is used for clamping the connecting piece from the clamping station and then sliding to the position of the muntin along the frame so as to penetrate and fix the connecting piece to the muntin.

As a further definition of the first aspect of the invention, the connector feeding mechanism comprises: the device comprises a connecting piece feeding platform, a gripper assembly, a pushing assembly, a turning assembly and a storage bin for bearing at least one connecting piece;

The gripper assembly is used for penetrating into the storage bin through the gripper to grasp the connecting piece and placing the connecting piece at the position of the turning assembly of the connecting piece feeding platform;

the turning assembly is used for turning the connecting piece by a set angle, the pushing assembly is connected to the connecting piece feeding platform, and the tail end of the pushing assembly is used for pushing the turned connecting piece to a clamping station on the connecting piece feeding platform.

As a further limitation of the first aspect of the present invention, the connecting piece feeding platform comprises a column, a cross support and a first slide seat, the cross support is connected with the column, and a first linear guide rail and a first driving mechanism are arranged on the cross support; the output end of the first linear driving mechanism is connected with the first sliding seat and can drive the first sliding seat to move along the first linear guide rail.

As a further limitation of the first aspect of the present invention, the gripper assembly includes a gripping jaw and a connecting member connected to the gripping jaw, wherein the connecting member is slidably connected to the first slider and can move up and down under the driving of the second driving mechanism.

As a further definition of the first aspect of the invention, the connector clip feed through mechanism comprises: the device comprises a connecting plate and a first transition plate which is in sliding connection with the connecting plate, wherein a first linear driving mechanism and a first clamping mechanism are fixed on the first transition plate, and the output end of the first linear driving mechanism is connected with a second clamping mechanism through the first connecting plate;

The first clamping mechanism comprises a first guide piece and a first clamping jaw which are connected with each other, a first elastic piece is connected to the first guide piece, the second clamping mechanism comprises a second guide piece and a second clamping jaw which are connected with each other, and a second elastic piece is connected to the second guide piece;

the first clamping jaw and the second clamping jaw are positioned relatively to rigidly clamp the first connecting piece, and the first elastic piece and the second elastic piece are positioned relatively to floatingly clamp the first connecting piece when the first clamping jaw and the second clamping jaw loosen the first connecting piece.

As a further limitation of the first aspect of the present invention, when the first clamping jaw and the second clamping jaw rigidly clamp the first connecting member, the first elastic member and the second elastic member are both in a retracted state and contact with the first connecting member;

the first clamping jaw and the second clamping jaw are used for rigidly clamping the first connecting piece so as to penetrate the first connecting piece from one end of the mullion, drive the first connecting piece to move in the mullion for a set distance, and clamp the first connecting piece after the first connecting piece is brought to a positioning and mounting position by the first elastic piece and the second elastic piece;

the first elastic piece and the second elastic piece are used for floating and clamping the first connecting piece so as to drive the first connecting piece to reach the positioning and mounting position of the muntin.

As a further limitation of the first aspect of the present invention, the first elastic member includes a first screw rod, a first spring and a first nut, the first spring is sleeved on the first screw rod, the first screw rod penetrates into the through hole at the end of the first guide member, the first end of the first screw rod is connected with the first nut, and the second end of the first screw rod is used for contacting with the first connecting member.

As a further limitation of the first aspect of the present invention, the second elastic member includes a second screw rod, a second spring and a second nut, the second spring is sleeved on the second screw rod, the second screw rod penetrates into the through hole at the end of the second guide member, the first end of the second screw rod is connected with the first nut, and the second end of the second screw rod is used for contacting with the first connecting member.

As a further definition of the first aspect of the invention, the assembly system further comprises: the device comprises a stirring mechanism, a conveying mechanism, a middle supporting mechanism and a muntin positioning mechanism;

the material shifting mechanism is used for shifting the muntin on the sorting line to the conveying mechanism and shifting the muntin assembled by the connecting piece on the conveying mechanism to the sorting line;

the conveying mechanism is used for conveying the muntin to the muntin positioning position and conveying the muntin assembled by the connecting piece out of the muntin positioning position;

An intermediate support mechanism for supporting the mullion such that the mullion is not stood down;

the muntin positioning mechanism is used for fixing the muntin when the connecting piece and the connecting piece are penetrated, so that the muntin is parallel to the movement direction of the connecting piece clamping penetrating mechanism when the connecting piece is penetrated.

As a further limitation of the first aspect of the present invention, the material stirring mechanism includes four material stirring devices with the same structure, which are respectively: the first material stirring device, the second material stirring device, the third material stirring device and the fourth material stirring device are used for feeding the mullion, and the third material stirring device and the fourth material stirring device are used for discharging the mullion;

the first material stirring device and the third material stirring device are mounted on the first horizontal plate together, and the first horizontal plate is in sliding connection with the second linear guide rail on the frame and can move along the second linear guide rail under the drive of the third driving mechanism;

the second material stirring device and the fourth material stirring device are jointly installed on the second horizontal plate, the second horizontal plate is in sliding connection with the second linear guide rail, the first material stirring device and the third material stirring device are symmetrically arranged along the center line of the second linear guide rail, and the second material stirring device and the fourth material stirring device are symmetrically arranged along the center line of the second linear guide rail.

As a further limitation of the first aspect of the present invention, the first material stirring device, the second material stirring device, the third material stirring device, and the fourth material stirring device all include: the device comprises a supporting seat, a second sliding seat, a third linear guide rail, a fourth driving mechanism, a fifth driving mechanism, a second connecting plate, a material shifting plate, a nylon plate and an air cylinder;

the second sliding seat is in sliding connection with the supporting seat and can move up and down under the drive of the fourth driving mechanism, and the third linear guide rail is in sliding connection with the second sliding seat and can move horizontally under the drive of the fifth driving mechanism;

the tail end of the third linear guide rail is fixedly provided with a connecting plate, the connecting plate is connected with a stirring plate, the stirring plate is connected with a nylon plate used for contacting with the muntin, and the stirring plate is parallel to the center line of the second linear guide rail.

As a further definition of the first aspect of the invention, the conveying mechanism comprises: a first conveying device fixed on the first horizontal plate and a second conveying device fixed on the second horizontal plate;

the first conveying device and the second conveying device each comprise: the driving wheel, the driven wheel, the fifth driving mechanism, the synchronous belt, the metal section, the fourth linear guide rail, the first connecting seat, the sixth driving mechanism, the fifth linear guide rail, the seventh driving mechanism and the second connecting seat;

The synchronous belt is sleeved on the driving wheel and the driven wheel, the driving wheel rotates under the drive of the fifth driving mechanism, a metal section is arranged between the driving wheel and the driven wheel, and the metal section is connected with an inductive switch;

the metal section bar is connected with the fourth linear guide rail through the first connecting plate, and the first connecting seat is connected with the vertical fourth linear guide rail and can move up and down under the drive of the sixth driving mechanism; the metal section bar is connected with the fifth linear guide rail through a second connecting plate, and the second connecting seat is connected with the vertical fifth linear guide rail and can move up and down under the drive of a seventh driving mechanism; the first connecting seat and the second connecting seat are symmetrically arranged along the center line of the second linear guide rail.

As a further definition of the first aspect of the invention, the muntin positioning mechanism comprises: the device comprises a first rotary pressing device, a first end surface positioning device, a second rotary pressing device and a second end surface positioning device;

the first rotary pressing device and the first end face positioning device are both fixed on the first horizontal plate and used for positioning the top face of the muntin; the second rotary pressing device and the second end face positioning device are used for positioning the end face of the muntin.

As a further definition of the first aspect of the invention, the first and second gyratory compaction devices each comprise:

The device comprises a pressing rotary driving mechanism, a limiting block, a sixth linear guide rail, a side plate, a top plate, a swing arm, a pressing plate, a rubber pad, a swing arm, a first vertical sliding plate, a second vertical sliding plate, a seventh linear guide rail, an eighth driving mechanism, an eighth linear guide rail, a ninth driving mechanism, a first lifting mechanism and a second lifting mechanism;

the output end of the compaction rotation driving mechanism is connected with the swing arm, the swing arm is movably connected with the side plate and can rotate under the drive of the compaction rotation driving mechanism, and the limiting block is fixed on the side plate and used for limiting the swing arm;

the top plate is provided with a limit groove, the seventh linear guide rail is in sliding connection with the first vertical sliding plate and can extend or retract below the top plate from the limit groove under the driving of the first lifting mechanism, and the eighth linear guide rail is in sliding connection with the second vertical sliding plate and can extend or retract below the top plate from the limit groove under the driving of the second lifting mechanism;

the first vertical sliding plate is in sliding connection with the sixth linear guide rail and can horizontally move under the drive of the eighth driving mechanism, and the second vertical sliding plate is in sliding connection with the sixth linear guide rail and can horizontally move under the drive of the ninth driving mechanism;

the seventh linear guide and the eighth linear guide are used for positioning the two sides of the mullion when extending out, the tail end of the swing arm is connected with a pressing mechanism, and the output end of the pressing mechanism is connected with a rubber pad used for contacting and pressing the upper surface of the mullion.

As a further limitation of the first aspect of the present invention, the first end surface positioning device and the second end surface positioning device each include: the third connecting seat is connected with the output end of the tenth driving mechanism and can move up and down under the drive of the tenth driving mechanism;

the eleventh driving mechanism is connected with the third connecting seat, and the output end of the eleventh driving mechanism is connected with the positioning plate and can drive the positioning plate to push and press the end part of the muntin to realize positioning.

In a second aspect, the invention provides a fully automated muntin connector assembly method.

The invention relates to a full-automatic muntin connecting piece assembling method, which comprises the following steps of:

the connecting piece feeding mechanism performs grabbing and overturning of the connecting piece and pushes the overturned connecting piece to the clamping station;

the connecting piece clamping and feeding mechanism is used for clamping the connecting piece from the clamping station and sliding to the position of the muntin along the frame, and penetrating and fixing the connecting piece into the muntin positioned by the muntin positioning mechanism.

Compared with the prior art, the invention has the beneficial effects that:

1. The invention creatively provides a full-automatic muntin connecting piece assembling system, which can realize automatic feeding of two or even more connecting pieces, realizes that the connecting pieces of muntin in various specifications penetrate pieces at any positions of muntin, has uniform standards, does not scratch, greatly improves the production efficiency, and reduces the labor intensity of workers.

2. The invention creatively provides a full-automatic muntin connecting piece assembling system, which has the advantages that a connecting piece clamping and feeding mechanism can float to feed a connecting piece into a muntin, the structure is simple, the manufacturing is convenient and the cost is low, the surface scratch of a muntin material is avoided on the premise of improving the feeding and fixing efficiency of the connecting piece, and the production yield is greatly improved.

3. The invention creatively provides a full-automatic muntin connecting piece assembling system, wherein a connecting piece clamping and feeding mechanism can slide along a linear track on a frame and can rotate by 360 degrees, so that the connecting pieces on two sides of a muntin can be worn and fixed, and the application range of products is greatly expanded.

4. The invention creatively provides a full-automatic muntin connecting piece assembling system, which combines a stirring mechanism, a conveying mechanism, a middle supporting mechanism and a muntin positioning mechanism, realizes full automation of muntin feeding, conveying, positioning and discharging, can realize more stable and more accurate connecting piece feeding and fixing by being matched with a connecting piece clamping and feeding mechanism, reduces labor and further improves working efficiency.

Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

Fig. 1 is a schematic structural diagram of a fully automated muntin connector assembly system according to embodiment 1 of the present invention;

fig. 2 is a schematic diagram of an automatic feeding mechanism for a connecting piece according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a driving part of a connector clamping and feeding mechanism provided in embodiment 1 of the present invention;

fig. 4 is an upper and lower isometric view and a left side view of a clamping part of a connecting piece clamping and feeding mechanism provided in embodiment 1 of the present invention;

fig. 5 is a schematic structural diagram of a material stirring mechanism provided in embodiment 1 of the present invention;

fig. 6 is an enlarged view of a kick-out mechanism provided in embodiment 1 of the present invention;

fig. 7 is a schematic structural diagram of a conveying mechanism according to embodiment 1 of the present invention;

fig. 8 is a schematic structural view of a muntin positioning mechanism and an intermediate support mechanism according to embodiment 1 of the present invention;

Fig. 9 is a schematic structural diagram of a rotary compressing device according to embodiment 1 of the present invention;

fig. 10 is a schematic structural diagram of an end face positioning device according to embodiment 1 of the present invention;

fig. 11 is a schematic structural diagram of an intermediate support mechanism according to embodiment 1 of the present invention;

wherein, 1, the frame; 2. automatic feeding mechanism of the connecting piece; 3. the connecting piece clamps the material penetrating mechanism; 4. a stirring mechanism 5 and a conveying mechanism; 6. a muntin positioning mechanism; 7. an intermediate support mechanism; 8. an electric control cabinet;

2.1, a gripper assembly; 2.2, a storage bin; 2.3, a pushing component; 2.4, a first turning component; 2.5, a second turning component; 2.6, a connecting piece feeding platform; 2.7, a first limit switch; 2.8, a second limit switch; 2.9, a first connector; 2.10, a second connecting piece;

3.1, an X-axis sliding seat; 3.2, Y-axis sliding seat; 3.3, a Z-axis sliding seat; 3.4, a Z-axis sliding plate; 3.5, a rotating seat; 3.6, a linear guide rail; 3.7, sliding blocks; 3.8, a diagonal rack; 3.9, a servo motor; 3.10, a planetary reducer; 3.11, bevel gears; 3.12, a linear guide rail; 3.13, a sliding block; 3.14, a servo motor; 3.15, a screw rod; 3.16, a linear guide rail; 3.17, a sliding block; 3.18, a servo motor; 3.19, a lead screw; 3.20, a servo motor; 3.21, a speed reducer; 3.22, connecting plates; 3.23, connecting seat; 3.24, a cylinder; 3.25, a cylinder; 3.26, a cylinder connecting plate; 3.27, air batching; 3.28, a horizontal sliding plate; 3.29, linear guide rail; 3.30, sliding blocks; 3.31, sliding plate; 3.32, a transition plate; 3.33, connecting rods; 3.34, connecting rod; 3.35, a first clamping jaw; 3.36, a second clamping jaw; 3.37, a sliding block; 3.38, linear guide rail; 3.39, connecting seat; 3.40, a cylinder connecting plate; 3.41, a cylinder; 3.42, air batching; 3.43, linear guide rail; 3.44, a slider; 3.45, horizontal skateboards; 3.46, a skateboard; 3.47, transition plates; 3.48, cylinder; 3.49, connecting rod; 3.50, connecting rod; 3.51, third clamping jaw; 3.52, fourth clamping jaw;

4.1, a left front stirring device; 4.2, a right front stirring device; 4.3, a left rear stirring device; 4.4, a right rear stirring device; 4.5, big plate; 4.6, large plate; 4.7, sliding blocks; 4.8, a linear guide rail; 4.9, a servo motor; 4.10, a planetary reducer; 4.11, bevel gears; 4.12, a diagonal rack; 4.1.1, a supporting seat; 4.1.2, sliding block; 4.1.3, linear guide rail; 4.1.4, connecting plate; 4.1.5, transition plate; 4.1.6, linear guide rail; 4.1.7, sliding block; 4.1.8, baffle; 4.1.9, sliding block; 4.1.10, linear guide rail; 4.1.11, cylinder; 4.1.12, a connecting plate; 4.1.13, a kick-out plate; 4.1.14, nylon plate; 4.1.15, air cylinder;

5.2.1, driving wheel; 5.2.2, expanding sleeve; 5.2.3, a transmission shaft; 5.2.4, a chevron synchronous belt; 5.2.5, transition plate; 5.2.6, a worm gear speed reducing motor; 5.2.7 and a speed reducer mounting plate; 5.2.8, customizing the aluminum profile; 5.2.9, connecting plates; 5.2.10, linear guide rail; 5.2.11, a slider; 5.2.12, a connecting seat; 5.2.13, lifting cylinder; 5.2.14, connecting plates; 5.2.15, linear guide rail; 5.2.16, a slider; 5.2.17, a connecting seat; 5.2.18, connecting blocks; 5.2.19, cylinder block; 5.2.20, driven wheel; 5.2.21, driven shaft; 5.2.22, deep groove ball bearings; 5.2.23, lifting cylinder; 5.2.24, inductive switch support; 5.2.25, an inductive switch;

6.1, a rotary pressing device; 6.2, an end face positioning device; 6.3, a left positioning plate; 6.1.1, compacting the rotary cylinder; 6.1.2, limiting blocks; 6.1.3, left and right positioning cylinders; 6.1.4, linear guide rail; 6.1.5, side plates; 6.1.6, upper plate; 6.1.7, swing arms; 6.1.8, a platen; 6.1.9, cylinder connecting plate; 6.1.10, compacting cylinder; 6.1.11 and rubber pad; 6.1.12, swing arms; 6.1.13, a slider; 6.1.14, push plate; 6.1.15, connecting plates; 6.1.16, vertical slide; 6.1.17, linear guide rail; 6.1.18, a slider; 6.1.19, guide rail connecting plate; 6.1.20, cylinder connecting plate; 6.1.21, side plates; 6.1.22, a connecting plate; 6.1.23, bottom plate; 6.1.24, Y-joint; 6.1.25, connection pad; 6.1.26, lock nut; 6.1.27 and ear mount; 6.1.28, CM sleeve; 6.1.29, connecting plates; 6.1.30, compacting a rotary cylinder; 6.1.31, lifting cylinder; 6.1.32, lifting cylinder; 6.1.33, compacting cylinder; 6.1.34, left and right positioning cylinders; 6.2.1, locating plate; 6.2.2, positioning the cylinder; 6.2.3, top plate; 6.2.4, linear guide rail; 6.2.5, support; 6.2.6 connecting plates; 6.2.7, sliding block; 6.2.8, floating joint; 6.2.9, lifting cylinder; 6.2.10, cylinder base;

7.1.1, a sliding block; 7.1.2, connecting the bottom plate; 7.1.3, bottom plate; 7.1.4, side plates; 7.1.5, lifting cylinder; 7.1.6, cylinder connecting plate; 7.1.7, connecting the guide rail with the plate; 7.1.8, top plate; 7.1.9, linear guide rail; 7.1.10, side plates; 7.1.11, a clamp; 7.1.12, positioning cylinder; 7.1.13, linear guide rail; 7.1.14, connecting plates; 7.1.15, a slider; 7.1.16, a connecting plate; 7.1.17, push plate; 7.1.18, vertical slide; 7.1.19, a slider; 7.1.20, lifting cylinder; 7.1.21, positioning cylinder.

Detailed Description

The invention will be further described with reference to the drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, 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 belongs.

Embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Example 1:

as shown in fig. 1, embodiment 1 of the present invention provides a fully automated muntin connector assembly system, comprising: the feeding device comprises a frame 1, a connecting piece feeding mechanism 2 and a connecting piece clamping and feeding mechanism 3, wherein the connecting piece clamping and feeding mechanism 3 is in sliding connection with the frame 1;

the connecting piece feeding mechanism 2 is used for performing grabbing and overturning of the connecting piece and pushing the overturned connecting piece to the clamping station;

the connecting piece clamping and feeding mechanism 3 is used for clamping the connecting piece from the clamping station and then sliding to the position of the muntin along the frame so as to penetrate and fix the connecting piece to the muntin.

Preferably, the assembly system according to the present embodiment may further include: the device comprises a stirring mechanism 4, a conveying mechanism 5, a middle supporting mechanism 7 and a muntin positioning mechanism 6;

The material shifting mechanism 4 is used for shifting the muntin on the sorting line to the conveying mechanism and shifting the muntin assembled by the connecting piece on the conveying mechanism to the sorting line;

a conveying mechanism 5 for conveying the muntin to the muntin positioning position and conveying the muntin assembled by the connecting piece out of the muntin positioning position;

an intermediate support mechanism 7 for supporting the mullion so that the mullion does not go down;

and the muntin positioning mechanism 6 is used for fixing the muntin when the connecting piece and the connecting piece are penetrated, so that the muntin is parallel to the movement direction of the connecting piece clamping penetrating mechanism when the connecting piece is penetrated.

It can be appreciated that the material stirring mechanism 4, the conveying mechanism 5, the intermediate supporting mechanism 7 and the muntin positioning mechanism 6 are all used for positioning the muntin, and in other implementations, muntin positioning modes in other modes can be adopted, and those skilled in the art can select according to specific working conditions, which is not repeated here.

In the embodiment, the frame 1 is used as a basic support of the whole equipment, is formed by welding rectangular pipes, steel plates and the like, has the function of connecting and bearing all parts, is provided with a guide rail sliding block on the top surface of the frame 1, is provided with a sliding plate on the sliding block, and is provided with a leveling base on the bottom surface, and can be leveled by bolts when the ground is uneven; the two ends of the frame 1 are provided with the stop blocks, so that the movable slide plate driving mechanism is prevented from derailing when the control system fails, and the safety protection function is realized.

As shown in fig. 2, the automatic feeding device for connecting pieces mainly comprises a handle assembly 2.1, a bin 2.2, a pushing assembly 2.3, a first turning assembly 2.4 and a second turning assembly 2.5, and more specifically, the automatic feeding device comprises:

in this embodiment, the gripper assembly 2.1 is configured to grasp the connecting piece by penetrating the gripper into the bin 2.2, and place the connecting piece at the position of the first material turning assembly 2.4 or the position of the second material turning assembly 2.5 of the connecting piece feeding platform 2.6;

the first turning component 2.4 and the second turning component 2.5 are used for turning over the connecting piece for a set angle, the pushing component 2.3 is connected to the connecting piece feeding platform 2.6, and the tail end of the pushing component 2.3 is used for pushing the turned connecting piece to a clamping station on the connecting piece feeding platform 2.6.

In this embodiment, the connecting piece feeding platform includes a column, a cross support and a first slide seat, the cross support is connected with the column, and a first linear guide rail and a first driving mechanism (preferably, an air cylinder, an electric cylinder, an oil cylinder or other linear driving mechanisms may be adopted) are arranged on the cross support; the output end of the first linear driving mechanism is connected with the first sliding seat and can drive the first sliding seat to move along the first linear guide rail, and the upright post is fixed on the connecting piece feeding platform 2.6.

In this embodiment, the preferred pushing component 2.3 may adopt an air cylinder or an electric cylinder or other linear driving mechanism to implement pushing of the connecting pieces, and each connecting piece moves in its set limiting slot until reaching the gripping station;

the first material turning component 2.4 is used for turning materials of the first connecting piece 2.9, the corresponding first connecting piece 2.9 moves in the first limiting groove, the tail end of the first limiting groove is provided with a first inductive switch 2.7, and the position of the first connecting piece 2.9 is limited through the first inductive switch 2.7 so that the first connecting piece 2.9 is finally located at the clamping station;

the second material turning component 2.5 is used for turning materials of the second connecting piece 2.10, the corresponding second connecting piece 2.10 moves in the second limiting groove, the tail end of the second limiting groove is provided with the second inductive switch 2.8, and the position of the second connecting piece 2.10 is limited through the second inductive switch 2.8 so that the second connecting piece 2.10 is finally located at the clamping station.

In this embodiment, the gripper assembly includes a gripping jaw and a connecting piece (preferably, a plate, a rod or a rack) connected to the gripping jaw, where the connecting piece is slidably connected to the first sliding seat and can be driven by a second driving mechanism (preferably, an air cylinder, an electric cylinder, an oil cylinder or other linear driving mechanisms) to move up and down.

The connecting piece clamping and feeding mechanism 3 is fixed on the frame 1 through a sliding block and a linear guide rail, and the connecting piece clamping and feeding mechanism 3 can move on an XYZ axis and rotate around the Z axis and mainly comprises a driving part and a clamping part, as shown in figure 3;

the framework of the driving part is composed of main components such as an X-axis sliding seat 3.1, a Y-axis sliding seat 3.2, a Z-axis sliding seat 3.3, a Z-axis sliding plate 3.4, a rotating seat 3.5 and the like, wherein the X-axis sliding seat 3.1 is fixed on a frame through a linear guide rail 3.6 and a sliding block 3.7, a bevel rack 3.8 is directly fixed on the frame 1, and the movement in the X-axis direction is completed through a gear rack mechanism by a servo motor 3.9, a planetary reducer 3.10 and a bevel gear 3.11;

the Y-axis sliding seat 3.2 is connected with the X-axis sliding seat 3.1 through a linear guide rail 3.12 and a sliding block 3.13, and the servo motor 3.14 and the screw rod 3.15 drive the Y-axis sliding seat 3.2 to finish the movement in the Y-axis direction;

the Z-axis sliding seat 3.3 is connected with the Y-axis sliding seat 3.2 through a screw, the Z-axis sliding plate 3.4 is fixed on the Z-axis sliding seat 3.3 through a linear guide rail 3.16 and a sliding block 3.17, and the movement in the Z-axis direction is completed by driving a servo motor 3.18 and a screw rod 3.19;

the servo motor 3.20 and the speed reducer 3.21 are connected and fixed on the Z-axis sliding plate 3.4, and the speed reducer 3.21 is connected with the rotating seat 3.5 and drives the rotating seat to rotate around the Z axis.

The framework of the clamping part mainly comprises a clamping part of a first connecting piece 2.9 and a clamping part of a second connecting piece 2.10, as shown in fig. 4, the clamping part of the first connecting piece 2.9 and the clamping part of the second connecting piece 2.10 are connected into a whole through a connecting plate 3.22;

the clamping part of the first connector 2.9 comprises: the connecting seat 3.23, the air cylinder 3.24, the air cylinder 3.25, the air cylinder connecting plate 3.26, the air batch 3.27, the horizontal sliding plate 3.28, the linear guide rail 3.29, the sliding block 3.30, the sliding plate 3.31, the transition plate 3.32, the connecting rod 3.33, the connecting rod 3.34, the first clamping jaw assembly 3.35, the second clamping jaw assembly 3.36, the sliding block 3.37 and the linear guide rail 3.38;

the connecting seat 3.23 is vertically and fixedly connected with the connecting plate 3.22, the air cylinder 3.24 is fixed on the connecting seat 3.23, the output end of the air cylinder 3.24 is connected with the horizontal sliding plate 3.28, the horizontal sliding plate 3.28 is connected with the sliding block 3.30, the sliding block 3.30 is in sliding connection with the linear guide rail 3.29, the horizontal sliding plate 3.28 is connected with the sliding plate 3.31, the sliding plate 3.31 is connected with the transition plate 3.32, the transition plate 3.32 is connected with the connecting rod 3.33, and the connecting rod 3.33 is connected with the first clamping jaw assembly 3.35;

the output of cylinder 3.25 is connected with cylinder connecting plate 3.26, and cylinder connecting plate 3.26 is connected with wind and is criticized 3.27, is connected with the cylinder on the transition board 3.32, and the output of cylinder is connected with the connecting plate, and the connecting plate is connected with connecting rod 3.34, and connecting rod 3.34 is connected with second clamping jaw subassembly 3.36.

The clamping part of the first connecting piece 2.10 comprises: the connecting seat 3.39, the cylinder connecting plate 3.40, the cylinder 3.41, the wind mill 3.42, the linear guide rail 3.43, the sliding block 3.44, the horizontal sliding plate 3.45, the sliding plate 3.46, the transition plate 3.47, the cylinder 3.48, the connecting rod 3.49, the connecting rod 3.50, the third clamping jaw assembly 3.51 and the fourth clamping jaw assembly 3.52;

the connecting seat 3.39 is vertically and fixedly connected with the connecting plate 3.22, the air cylinder 3.41 is connected with the air batch 3.42 through the air cylinder connecting plate 3.40, the horizontal sliding plate 3.45 is connected with the linear guide rail 3.43 in a sliding manner through the sliding block 3.44, the horizontal sliding plate 3.45 is connected with the transition plate 3.47 through the sliding plate 3.46, the transition plate 3.47 is connected with the connecting rod 3.49, the connecting rod 3.49 is connected with the third clamping jaw assembly 3.51, the air cylinder 3.48 is connected on the transition plate 3.47, the air cylinder 3.48 is connected with the connecting plate, and the connecting plate is connected with the fourth clamping jaw assembly 3.52.

In this embodiment, optionally, the third jaw assembly 3.51 includes a first guide member and a first jaw, the first guide member is connected with a first elastic member, the fourth jaw assembly 3.52 includes a second guide member and a second jaw that are connected with each other, and the second guide member is connected with a second elastic member;

the first clamping jaw and the second clamping jaw are positioned relatively to rigidly clamp the first connecting piece, and the first elastic piece and the second elastic piece are positioned relatively to floatingly clamp the first connecting piece when the first clamping jaw and the second clamping jaw loosen the first connecting piece.

When the first clamping jaw and the second clamping jaw rigidly clamp the first connecting piece, the first elastic piece and the second elastic piece are in a retracted state and are in contact with the first connecting piece; the first clamping jaw and the second clamping jaw are used for rigidly clamping the first connecting piece so as to penetrate the first connecting piece from one end of the mullion, drive the first connecting piece to move in the mullion for a set distance, and clamp the first connecting piece after the first connecting piece is brought to a positioning and mounting position by the first elastic piece and the second elastic piece; the first elastic piece and the second elastic piece are used for floating and clamping the first connecting piece so as to drive the first connecting piece to reach the positioning and mounting position of the muntin.

The first elastic piece comprises a first screw rod, a first spring and a first nut, the first spring is sleeved on the first screw rod, the first screw rod penetrates into a through hole at the end part of the first guide piece, the first end of the first screw rod is connected with the first nut, and the second end of the first screw rod is used for being in contact with the first connecting piece;

the second elastic piece comprises a second screw rod, a second spring and a second nut, the second spring is sleeved on the second screw rod, the second screw rod penetrates into a through hole at the end part of the second guide piece, the first end of the second screw rod is connected with the first nut, and the second end of the second screw rod is used for being in contact with the first connecting piece.

In this embodiment, the stirring mechanism includes: a left front stirring device 4.1 (i.e. a first stirring device), a right front stirring device 4.2 (i.e. a second stirring device), a left rear stirring device 4.3 (i.e. a third stirring device) and a right rear stirring device 4.4 (i.e. a fourth stirring device), as shown in fig. 5;

the left front stirring device 4.1 and the right front stirring device 4.2 form a feeding stirring unit, the left rear stirring device 4.3 and the right rear stirring device 4.4 form a discharging stirring unit, the left front stirring device 4.1 and the left rear stirring device 4.3 are jointly arranged on a large plate 4.6 (namely a first horizontal plate), the large plate 4.6 is connected with the frame 1 through a sliding block 4.7 and a linear guide rail 4.8 (namely a second linear guide rail), power is output by a servo motor 4.9 and a planetary reducer 4.10, the left front stirring device 4.1, the right front stirring device 4.2, the left rear stirring device 4.3 and the right rear stirring device 4.4 are driven by a bevel gear 4.11 and a bevel gear 4.12 to move left and right so as to meet the requirements of middle stiles with different lengths, and the structures of the left front stirring device 4.1, the right front stirring device 4.2, the left rear stirring device 4.3 and the right rear stirring device 4.4 are identical, as shown in fig. 6, the left front stirring device 4.1 and the left rear stirring device 4.3 are symmetrical along the central line of the linear guide rail 4.8, and the right front stirring device 4.2 and the right stirring device 4.4.4 are symmetrical along the central line 4.8.

The left front stirring device 4.1, the right front stirring device 4.2, the left rear stirring device 4.3 and the right rear stirring device 4.4 all comprise:

Support base 4.1.1, slide block 4.1.2, linear guide 4.1.3, connecting plate 4.1.4, transition plate 4.1.5, linear guide 4.1.6, slide block 4.1.7, baffle 4.1.8, slide block 4.1.9, linear guide 4.1.10 (i.e. third linear guide), cylinder 4.1.11, connecting plate 4.1.12, kick-out plate 4.1.13, nylon plate 4.1.14, cylinder 4.1.15;

specifically, the second sliding seat is formed by the sliding block 4.1.2, the linear guide rail 4.1.3, the connecting plate 4.1.4, the transition plate 4.1.5, the linear guide rail 4.1.6, the sliding block 4.1.7, the baffle plate 4.1.8 and the sliding block 4.1.9, and is slidably connected with the supporting seat and can move up and down under the drive of a fourth driving mechanism (the embodiment is preferably a cylinder 4.1.15, or other driving mechanisms such as an electric cylinder or an oil cylinder) and the third linear guide rail is slidably connected with the second sliding seat and can move horizontally under the drive of a fifth driving mechanism (the embodiment is preferably a cylinder 4.1.11, or other driving mechanisms such as an electric cylinder or an oil cylinder);

more specifically, the sliding block 4.1.2 is fixed on the supporting seat 4.1.1, the linear guide rail 4.1.3 is in sliding connection with the sliding block 4.1.2, and the linear guide rail 4.1.3 is connected with the output end of the air cylinder 4.1.15;

the linear guide rails 4.1.3 are double guide rails, the top of the linear guide rails 4.1.3 is connected with a connecting plate 4.1.4, the bottom of the connecting plate 4.1.4 (between the two linear guide rails 4.1.3) is connected with a transition plate 4.1.5, the side part of the transition plate 4.1.5 is connected with a baffle plate 4.1.8, and the transition plate 4.1.5 is connected with a sliding block 4.1.9;

The linear guide rail 4.1.10 is in sliding connection with the sliding block 4.1.9, the output end of the air cylinder 4.1.11 is connected with the linear guide rail 4.1.10, the tail end of the linear guide rail 4.1.10 is fixedly provided with a connecting plate 4.1.12, the connecting plate 4.1.12 is connected with a stirring plate 4.1.13, the stirring plate 4.1.13 is connected with a nylon plate 4.1.14 for contacting with the muntin, and the stirring plate 4.1.13 is parallel to the central line of the linear guide rail 4.8.

In this embodiment, the conveying mechanism includes a left conveying device 5.1 (i.e., a first conveying device) and a right conveying device 5.2 (i.e., a second conveying device), as shown in fig. 7, the left conveying device 5.1 is mounted on the large plate 4.6, and the right conveying device 5.2 is mounted on the large plate 4.5, and the two conveying devices are in mirror symmetry, and the two conveying devices have the same structure, and the specific structure of the right conveying device is described herein by taking the right conveying device as an example.

The right conveyor 5.2 comprises: the driving wheel 5.2.1, the expanding sleeve 5.2.2, the transmission shaft 5.2.3, the herringbone synchronous belt 5.2.4, the transition plate 5.2.5, the worm gear reduction motor 5.2.6, the speed reducer mounting plate 5.2.7, the customized aluminum profile 5.2.8, the connecting plate 5.2.9, the linear guide rail 5.2.10, the sliding block 5.2.11, the connecting seat 5.2.12, the lifting cylinder 5.2.13, the connecting plate 5.2.14, the linear guide rail 5.2.15, the sliding block 5.2.16, the connecting seat 5.2.17, the connecting block 5.2.18, the cylinder seat 5.2.19, the driven wheel 5.2.20, the driven shaft 5.2.21, the deep groove ball bearing 5.2.22, the lifting cylinder 5.2.23, the inductive switch bracket 5.2.24 and the inductive switch 5.2.25;

In the embodiment, a transmission shaft 5.2.3 is connected with a driving wheel 5.2.1 through an expansion sleeve 5.2.2, a herringbone synchronous belt 5.2.4 (i.e. a synchronous belt) is sleeved on the driving wheel 5.2.1 and a driven wheel 5.2.20, the driving wheel 5.2.1 rotates under the drive of a fifth driving mechanism (i.e. a worm gear reduction motor 5.2.6), and a customized aluminum profile 5.2.8 (i.e. a metal profile) is arranged between the driving wheel 5.2.1 and the driven wheel 5.2.20;

the customized aluminum profile 5.2.8 is connected with the linear guide rail 5.2.10 (namely a fourth linear guide rail) through a connecting plate 5.2.9, and the connecting seat 5.2.12 (namely a first connecting seat) is connected with the vertical linear guide rail 5.2.10 and can move up and down under the drive of the lifting cylinder 5.2.13 (namely a sixth driving mechanism);

the customized aluminum profile 5.2.8 is connected with the linear guide rail 5.2.15 (namely a fifth linear guide rail) through a connecting plate 5.2.14, and the connecting seat 5.2.17 (namely a second connecting seat) is connected with the vertical linear guide rail 5.2.15 (namely a fifth linear guide rail) and can move up and down under the drive of the lifting cylinder 5.2.23 (namely a seventh driving mechanism); the connection seats 5.2.12 and 5.2.17 are symmetrically arranged along the center line of the second linear guide rail.

The custom aluminum profile 5.2.8 is connected with a sensing switch bracket 5.2.24, and the sensing switch bracket 5.2.24 is connected with a sensing switch 5.2.25.

In this embodiment, the muntin positioning mechanism includes a rotary pressing device 6.1 and an end surface positioning device 6.2, as shown in fig. 8, one set of the rotary pressing device 6.1 and the end surface positioning device 6.2 is installed on the 4.6 large plate for positioning one end of the muntin, the other set of the rotary pressing device 6.1 and the end surface positioning device 6.2 is installed on the large plate 4.5, and the large plate 4.5 is connected with a positioning cylinder 6.3 to realize movement of the large plate 4.5 along the linear guide rail 4.8.

Specifically, the gyratory compaction apparatus 6.1 comprises: compression swivel cylinders 6.1.1, limit blocks 6.1.2, left and right positioning cylinders 6.1.3, linear guide rails 6.1.4, side plates 6.1.5, upper plate 6.1.6, swing arm 6.1.7, pressure plate 6.1.8, cylinder connecting plate 6.1.9, compression cylinder 6.1.10, rubber pad 6.1.11, swing arm 6.1.12, slider 6.1.13, push plate 6.1.14, connecting plate 6.1.15, vertical slide plate 6.1.16, linear guide rail 6.1.17, slider 6.1.18, guide rail connecting plate 6.1.19, cylinder connecting plate 6.1.20, side plate 6.1.21, connecting plate 6.1.22, bottom plate 6.1.23, Y-joint 6.1.24, connecting plate 6.1.25, lock nut 6.1.26, ear mount 6.1.27, CM sleeve 6.1.28, connecting plate 6.1.29, compression swivel cylinder 6.1.30, lifting cylinder 6.1.31, lifting cylinder 6.1.32, compression cylinder 6.1.33, left and right positioning cylinder 6.1.34 as shown in fig. 9;

The output end of the pressing rotary cylinder 6.1.1 (namely, the pressing rotary driving mechanism) is connected with a swing arm 6.1.7, the swing arm 6.1.7 is movably connected with a side plate 6.1.5 and can rotate under the drive of the pressing rotary cylinder 6.1.1, and a limiting block 6.1.2 is fixed on the side plate 6.1.5 and used for limiting the swing arm;

the upper plate 6.1.6 (i.e. the top plate) is provided with a limit groove, the linear guide rail 6.1.17 (i.e. the seventh linear guide rail) is in sliding connection with the vertical slide plate 6.1.16 (i.e. the first vertical slide plate) and can extend from the limit groove or retract below the upper plate 6.1.6 under the driving of the lifting cylinder 6.1.31 (i.e. the first lifting mechanism), and the linear guide rail (i.e. the eighth linear guide rail) is in sliding connection with the second vertical slide plate and can extend from the limit groove or retract below the upper plate 6.1.6 under the driving of the lifting cylinder 6.1.32 (i.e. the second lifting mechanism);

the vertical slide plate 6.1.16 (i.e. a first vertical slide plate) is in sliding connection with the linear guide rail 6.1.4 (i.e. a sixth linear guide rail) and can horizontally move under the drive of the left and right positioning air cylinders 6.1.3 (i.e. an eighth driving mechanism), and the second vertical slide plate is in sliding connection with the linear guide rail 6.1.4 (i.e. a sixth linear guide rail) and can horizontally move under the drive of the left and right positioning air cylinders 6.1.34 (i.e. a ninth driving mechanism);

The linear guide 6.1.17 (i.e. seventh linear guide) and the eighth linear guide are used for positioning two sides of the mullion when extending, and the tail end of the swing arm 6.1.12 is connected with a rubber pad 6.1.11 for contacting and pressing the upper surface of the mullion through a pressing cylinder 6.1.33.

In this embodiment, the end face positioning device 6.2 includes: positioning plate 6.2.1, positioning cylinder 6.2.2, top plate 6.2.3, linear guide rail 6.2.4, support 6.2.5, connecting plate 6.2.6, slider 6.2.7, floating joint 6.2.8, lifting cylinder 6.2.9, cylinder base 6.2.10, as shown in fig. 10;

the cylinder base 6.2.10 is connected with the lifting cylinder 6.2.9, the output end of the lifting cylinder 6.2.9 is connected with the floating joint 6.2.8, the floating joint 6.2.8 is connected with the connecting plate 6.2.6, the top of the connecting plate 6.2.6 is connected with the top plate 6.2.3, the top of the connecting plate 6.2.6 is connected with the positioning cylinder 6.2.2 (i.e. a pressing mechanism), and the output end of the positioning cylinder 6.2.2 is connected with the positioning plate 6.2.1;

the connecting plate 6.2.6 is slidably connected with the linear guide 6.2.4 through the slider 6.2.7, the linear guide 6.2.4 is arranged on the support 6.2.5, and the support is connected with the big plate 4.6.

In this embodiment, the intermediate support structure is directly connected to the frame 1 through the linear guide 4.8 and the slider 7.1.1, and includes the slider 7.1.1, the connection bottom plate 7.1.2, the bottom plate 7.1.3, the side plate 7.1.4, the lifting cylinder 7.1.5, the cylinder connection plate 7.1.6, the guide connection plate 7.1.7, the top plate 7.1.8, the linear guide 7.1.9, the side plate 7.1.10, the clamp 7.1.11, the positioning cylinder 7.1.12, the linear guide 7.1.13, the connection plate 7.1.14, the slider 7.1.15, the connection plate 7.1.16, the push plate 7.1.17, the vertical slide 7.1.18, the slider 7.1.19, the lifting cylinder 7.1.20, and the positioning cylinder 7.1.21.

The specific working method of the system in this embodiment includes:

when the middle stile is processed in the last working procedure, the connecting piece clamping and feeding mechanism 3 is positioned at a safety position set by a program, the connecting piece automatic feeding mechanism 2 starts feeding, the first connecting piece 2.9 and the second connecting piece 2.10 are respectively pushed to a connecting piece clamping station, and the first position sensing switch 2.7 and the second position sensing switch 2.8 are triggered, as shown in fig. 2;

the cylinder 3.48 of the clamping part of the connecting piece clamping and feeding mechanism 3 drives the connecting rod 3.34 and the connecting rod 3.49 to enable the second clamping jaw 3.36 and the fourth clamping jaw 3.52 to be opened, as shown in fig. 4, then the connecting piece clamping and feeding mechanism 3 respectively reaches a position 1 and a position 2 to respectively clamp the first connecting piece 2.9 and the second connecting piece 2.10 to finish taking materials under the driving of the driving part, then the connecting piece clamping and feeding mechanism returns to a safe position to wait for feeding materials, the connecting piece automatic feeding mechanism 2 repeatedly feeds materials, and the first connecting piece 2.9 and the second connecting piece 2.10 are pushed to a clamping station to wait for the connecting piece clamping and feeding mechanism 3 to take materials again;

the cylinders 4.1.15 of the left front stirring device 4.1 and the right front stirring device 4.2 extend to drive the cylinders 4.1.15 to rise, and the cylinders 4.1.11 are in a retracted state, as shown in fig. 6, and the cylinders 4.1.15 and the cylinders 4.1.11 of the left rear stirring device 4.3 and the right rear stirring device 4.4 are in an extended state;

The four cylinders 5.2.23 of the left conveying device 5.1 and the right conveying device 5.2 are in an extending state, as shown in fig. 7, so that the heights of the conveying devices and the sorting lines are consistent, and the material stirring is convenient;

the pressing rotary cylinders 6.1.30 of the two sets of rotary pressing devices 6.1 extend to enable the swing arms 6.1.7 to be lifted, all other cylinders of the device are in a retracted state, as shown in fig. 9, the positioning cylinders 6.3 are in an extended state, and the end face positioning devices 6.2 and the cylinders of the intermediate supporting mechanism 7 are also in a retracted state, as shown in fig. 8;

when the mullion passes over the inductive switch 5.2.25 on the conveying mechanism 5, the switch is triggered, at this time, the large plate 4.6 reaches the corresponding position under the drive of the servo motor 4.9 and the planetary reducer 4.10, then the two cylinders 4.1.15 of the left front stirring device 4.1 and the right front stirring device 4.2 retract simultaneously, the two cylinders 4.1.11 extend simultaneously after being in place, the stirring plate 4.1.13 is driven to act to stir the mullion onto the conveying mechanism 5, the two cylinders 4.1.11 retract simultaneously after being in place, and the two cylinders 4.1.15 extend simultaneously as shown in fig. 5;

the two worm gear speed reducing motors 5.2.6 are operated simultaneously after the middle stile is in place, so that the middle stile moves on the chevron synchronous belt 5.2.4, after the inductive switch 5.2.25 is triggered, the two worm gear speed reducing motors 5.2.6 stop rotating simultaneously, the four cylinders 5.2.23 retract simultaneously, the middle stile falls onto the two upper plates 6.1.6, at the moment, the two cylinders 6.1.31 and the lifting cylinder 7.1.5 extend simultaneously, after the cylinder 6.3 retracts in place, the two cylinders 6.1.32 and the lifting cylinder 7.1.20 extend simultaneously, the two left and right positioning cylinders 6.1.34 and the positioning cylinder 7.1.21 extend simultaneously, and after the lifting cylinder 6.2.9 extends in place, the positioning cylinder 6.2.2 extends out, and after the inductive switch 5.2.25 is in place, the two pressing cylinders 6.1.10 extend simultaneously, so that the middle stile is positioned;

Then, except that the two pressing cylinders 6.1.10, the two pressing rotary cylinders 6.1.30 and the two lifting cylinders 6.1.31 are in an extending state, the rest cylinders are in a retracting state, then the connecting piece clamping and feeding mechanism 3 starts to move to enable the first connecting piece 2.9 and the second connecting piece 2.10 to penetrate into the middle stile respectively, after reaching a designated position, the cylinders 3.25 and the cylinders 3.42 extend, the air batch 3.27 and the air batch 3.42 are ventilated, the first connecting piece 2.9 and the second connecting piece 2.10 are positioned on the middle stile by utilizing screws, then the connecting piece clamping and feeding mechanism 3 returns to a safety position after returning to the position 1 and the position 2 for feeding again, and the servo motor 3.20 and the speed reducer 3.21 drive the clamping part to rotate 180 degrees and wait for feeding again;

the two compaction cylinders 6.1.10 retract simultaneously, the two compaction rotary cylinders 6.1.30 retract simultaneously, after the two compaction rotary cylinders 6.1.1 extend simultaneously, the two lifting cylinders 6.1.32 and the lifting cylinder 6.2.9 extend simultaneously, the two left and right positioning cylinders 6.1.3 and the positioning cylinder 6.2.2 extend simultaneously, after the two compaction cylinders 6.1.33 extend simultaneously for compaction, the two left and right positioning cylinders 6.1.3, the two lifting cylinders 6.1.31, the positioning cylinder 6.2.2 and the lifting cylinder 6.2.9 retract completely, and the muntin is positioned again;

After the connecting piece clamping and feeding mechanism 3 positions the first connecting piece 2.9 and the second connecting piece 2.10 to the designated positions again, the connecting piece clamping and feeding mechanism 3 returns to the position 1 and the position 2 to take materials again and returns to the safe position to wait for the command of feeding materials again to be issued, at this time, the two pressing cylinders 6.1.33 retract, the two lifting cylinders 6.1.32 retract, the two pressing rotary cylinders 6.1.1 retract, the two swing arms 6.1.12 descend to the position, the four lifting cylinders 5.2.23 extend simultaneously to drive the whole conveying mechanism 5 to ascend, the middle stile is completely separated from the upper plate 6.1.6, the two worm gear motors 5.2.6 start rotating, after the middle stile is sent to the position of the pulling-out equipment, the two worm gear motors 5.2.6 stop rotating, the two cylinders 4.1.15 of the left rear pulling-out device 4.3 and the right rear pulling-out device 4.4 retract, the middle stile is pulled on the rear sorting line, then the two cylinders 4.1.15 and the two cylinders 4.1.11 return to the original state, and the whole circulation is completed.

By adopting the scheme of the invention, the production efficiency is greatly improved, the normal production beat reaches about 90s, the stability of the position precision of the connecting piece is greatly improved, the positioning precision can reach 0.3-0.5mm, the invention is suitable for penetrating connecting pieces of various specifications, and can be matched with other equipment to form an automatic production line, thereby greatly improving the automation level of factories, saving labor force and reducing production cost.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A full-automatic muntin connecting piece assembling system is characterized in that,

comprising the following steps: the connecting piece clamping and feeding mechanism is connected with the rack in a sliding manner;

the connecting piece feeding mechanism is used for performing grabbing and overturning of the connecting piece and pushing the overturned connecting piece to the clamping station;

the connecting piece clamping and feeding mechanism is used for clamping the connecting piece from the clamping station and then sliding to the position of the muntin along the frame so as to penetrate and fix the connecting piece to the muntin;

connecting piece feed mechanism includes: the device comprises a connecting piece feeding platform, a gripper assembly, a pushing assembly, a turning assembly and a storage bin for bearing at least one connecting piece;

the gripper assembly is used for penetrating into the storage bin through the gripper to grasp the connecting piece and placing the connecting piece at the position of the turning assembly of the connecting piece feeding platform;

The turning assembly is used for turning the connecting piece by a set angle, the pushing assembly is connected to the connecting piece feeding platform, and the tail end of the pushing assembly is used for pushing the turned connecting piece to a clamping station on the connecting piece feeding platform;

the connecting piece feeding platform comprises an upright post, a transverse support and a first sliding seat, wherein the transverse support is connected with the upright post, and a first linear guide rail and a first driving mechanism are arranged on the transverse support; the output end of the first linear driving mechanism is connected with the first sliding seat and can drive the first sliding seat to move along the first linear guide rail;

the gripper assembly comprises a clamping jaw and a connecting piece connected with the clamping jaw, wherein the connecting piece is in sliding connection with the first sliding seat and can move up and down under the drive of the second driving mechanism;

the connecting piece presss from both sides and gets feed mechanism, include: the device comprises a connecting plate and a first transition plate which is in sliding connection with the connecting plate, wherein a first linear driving mechanism and a first clamping mechanism are fixed on the first transition plate, and the output end of the first linear driving mechanism is connected with a second clamping mechanism through the first connecting plate;

the first clamping mechanism comprises a first guide piece and a first clamping jaw which are connected with each other, a first elastic piece is connected to the first guide piece, the second clamping mechanism comprises a second guide piece and a second clamping jaw which are connected with each other, and a second elastic piece is connected to the second guide piece;

The first clamping jaw and the second clamping jaw are positioned relatively to rigidly clamp the first connecting piece, and the first elastic piece and the second elastic piece are positioned relatively to floatingly clamp the first connecting piece when the first clamping jaw and the second clamping jaw loosen the first connecting piece.

2. The fully automated muntin connector assembly system of claim 1, wherein,

when the first clamping jaw and the second clamping jaw rigidly clamp the first connecting piece, the first elastic piece and the second elastic piece are in a retracted state and are in contact with the first connecting piece;

the first clamping jaw and the second clamping jaw are used for rigidly clamping the first connecting piece so as to penetrate the first connecting piece from one end of the mullion, drive the first connecting piece to move in the mullion for a set distance, and clamp the first connecting piece after the first connecting piece is brought to a positioning and mounting position by the first elastic piece and the second elastic piece;

the first elastic piece and the second elastic piece are used for floating and clamping the first connecting piece so as to drive the first connecting piece to reach the positioning and mounting position of the muntin.

3. The fully automated muntin connector assembly system of claim 1, wherein,

the first elastic piece comprises a first screw rod, a first spring and a first nut, the first spring is sleeved on the first screw rod, the first screw rod penetrates into a through hole at the end part of the first guide piece, the first end of the first screw rod is connected with the first nut, and the second end of the first screw rod is used for being in contact with the first connecting piece.

4. The fully automated muntin connector assembly system of claim 1, wherein,

the second elastic piece comprises a second screw rod, a second spring and a second nut, the second spring is sleeved on the second screw rod, the second screw rod penetrates into a through hole at the end part of the second guide piece, the first end of the second screw rod is connected with the first nut, and the second end of the second screw rod is used for being in contact with the first connecting piece.

5. The fully automated muntin connector assembly system of claim 1, wherein,

the assembly system further comprises: the device comprises a stirring mechanism, a conveying mechanism, a middle supporting mechanism and a muntin positioning mechanism;

the material shifting mechanism is used for shifting the muntin on the sorting line to the conveying mechanism and shifting the muntin assembled by the connecting piece on the conveying mechanism to the sorting line;

the conveying mechanism is used for conveying the muntin to the muntin positioning position and conveying the muntin assembled by the connecting piece out of the muntin positioning position;

an intermediate support mechanism for supporting the mullion such that the mullion is not stood down;

the muntin positioning mechanism is used for fixing the muntin when the connecting piece and the connecting piece are penetrated, so that the muntin is parallel to the movement direction of the connecting piece clamping penetrating mechanism when the connecting piece is penetrated.

6. The fully automated muntin connector assembly system of claim 5, wherein,

the material stirring mechanism comprises four material stirring devices with the same structure, and the material stirring devices are respectively as follows: the first material stirring device, the second material stirring device, the third material stirring device and the fourth material stirring device are used for feeding the mullion, and the third material stirring device and the fourth material stirring device are used for discharging the mullion;

the first material stirring device and the third material stirring device are mounted on the first horizontal plate together, and the first horizontal plate is in sliding connection with the second linear guide rail on the frame and can move along the second linear guide rail under the drive of the third driving mechanism;

the second material stirring device and the fourth material stirring device are jointly installed on the second horizontal plate, the second horizontal plate is in sliding connection with the second linear guide rail, the first material stirring device and the third material stirring device are symmetrically arranged along the center line of the second linear guide rail, and the second material stirring device and the fourth material stirring device are symmetrically arranged along the center line of the second linear guide rail.

7. The fully automated muntin connector assembly system of claim 6, wherein,

the first material stirring device, the second material stirring device, the third material stirring device and the fourth material stirring device all comprise: the device comprises a supporting seat, a second sliding seat, a third linear guide rail, a fourth driving mechanism, a fifth driving mechanism, a second connecting plate, a material shifting plate, a nylon plate and an air cylinder;

The second sliding seat is in sliding connection with the supporting seat and can move up and down under the drive of the fourth driving mechanism, and the third linear guide rail is in sliding connection with the second sliding seat and can move horizontally under the drive of the fifth driving mechanism;

the tail end of the third linear guide rail is fixedly provided with a connecting plate, the connecting plate is connected with a stirring plate, the stirring plate is connected with a nylon plate used for contacting with the muntin, and the stirring plate is parallel to the center line of the second linear guide rail.

8. The fully automated muntin connector assembly system of any one of claims 5-7, wherein,

the conveying mechanism comprises: a first conveying device fixed on the first horizontal plate and a second conveying device fixed on the second horizontal plate;

the first conveying device and the second conveying device each comprise: the driving wheel, the driven wheel, the fifth driving mechanism, the synchronous belt, the metal section, the fourth linear guide rail, the first connecting seat, the sixth driving mechanism, the fifth linear guide rail, the seventh driving mechanism and the second connecting seat;

the synchronous belt is sleeved on the driving wheel and the driven wheel, the driving wheel rotates under the drive of the fifth driving mechanism, a metal section is arranged between the driving wheel and the driven wheel, and the metal section is connected with an inductive switch;

The metal section bar is connected with the fourth linear guide rail through the first connecting plate, and the first connecting seat is connected with the vertical fourth linear guide rail and can move up and down under the drive of the sixth driving mechanism; the metal section bar is connected with the fifth linear guide rail through a second connecting plate, and the second connecting seat is connected with the vertical fifth linear guide rail and can move up and down under the drive of a seventh driving mechanism; the first connecting seat and the second connecting seat are symmetrically arranged along the center line of the second linear guide rail.

9. The fully automated muntin connector assembly system of claim 6, wherein,

muntin positioning mechanism includes: the device comprises a first rotary pressing device, a first end surface positioning device, a second rotary pressing device and a second end surface positioning device;

the first rotary pressing device and the first end face positioning device are both fixed on the first horizontal plate and used for positioning the top face of the muntin; the second rotary pressing device and the second end face positioning device are used for positioning the end face of the muntin.

10. The fully automated muntin connector assembly system of claim 9, wherein,

the first rotary pressing device and the second rotary pressing device both comprise:

the device comprises a pressing rotary driving mechanism, a limiting block, a sixth linear guide rail, a side plate, a top plate, a swing arm, a pressing plate, a rubber pad, a first vertical sliding plate, a second vertical sliding plate, a seventh linear guide rail, an eighth driving mechanism, an eighth linear guide rail, a ninth driving mechanism, a first lifting mechanism and a second lifting mechanism;

The output end of the compaction rotation driving mechanism is connected with the swing arm, the swing arm is movably connected with the side plate and can rotate under the drive of the compaction rotation driving mechanism, and the limiting block is fixed on the side plate and used for limiting the swing arm;

the top plate is provided with a limit groove, the seventh linear guide rail is in sliding connection with the first vertical sliding plate and can extend or retract below the top plate from the limit groove under the driving of the first lifting mechanism, and the eighth linear guide rail is in sliding connection with the second vertical sliding plate and can extend or retract below the top plate from the limit groove under the driving of the second lifting mechanism;

the first vertical sliding plate is in sliding connection with the sixth linear guide rail and can horizontally move under the drive of the eighth driving mechanism, and the second vertical sliding plate is in sliding connection with the sixth linear guide rail and can horizontally move under the drive of the ninth driving mechanism;

the seventh linear guide and the eighth linear guide are used for positioning the two sides of the mullion when extending out, the tail end of the swing arm is connected with a pressing mechanism, and the output end of the pressing mechanism is connected with a rubber pad used for contacting and pressing the upper surface of the mullion.

11. The fully automated muntin connector assembly system of claim 9, wherein,

the first end face positioning device and the second end face positioning device both comprise: the third connecting seat is connected with the output end of the tenth driving mechanism and can move up and down under the drive of the tenth driving mechanism;

The eleventh driving mechanism is connected with the third connecting seat, and the output end of the eleventh driving mechanism is connected with the positioning plate and can drive the positioning plate to push and press the end part of the muntin to realize positioning.

12. A method of fully automated muntin connector assembly using the fully automated muntin connector assembly system of any one of claims 1-11, comprising the steps of:

the connecting piece feeding mechanism performs grabbing and overturning of the connecting piece and pushes the overturned connecting piece to the clamping station;

the connecting piece clamping and feeding mechanism is used for clamping the connecting piece from the clamping station and sliding to the position of the muntin along the frame, and penetrating and fixing the connecting piece into the muntin positioned by the muntin positioning mechanism.