You must create a CRON job or a scheduled task that opens the following URL once per day.
http://your-domain.com/invoices/cron/recur/your-cron-key-here
or
http://your-domain.com/index.php/invoices/cron/recur/your-cron-key-here
The "your-cron-key-here" must be replaced with the CRON Key in System Settings.