CN111531899A - Full-automatic welding production line for refrigerator door sealing strips - Google Patents

Full-automatic welding production line for refrigerator door sealing strips Download PDF

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Publication number
CN111531899A
CN111531899A CN202010356359.8A CN202010356359A CN111531899A CN 111531899 A CN111531899 A CN 111531899A CN 202010356359 A CN202010356359 A CN 202010356359A CN 111531899 A CN111531899 A CN 111531899A
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CN
China
Prior art keywords
axis
positioning
rubber sleeve
automatic
cylinder
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Granted
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CN202010356359.8A
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Chinese (zh)
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CN111531899B (en
Inventor
时乾中
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Anhui Higasket Plastics Co ltd
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Anhui Higasket Plastics Co ltd
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Priority to CN202010356359.8A priority Critical patent/CN111531899B/en
Publication of CN111531899A publication Critical patent/CN111531899A/en
Application granted granted Critical
Publication of CN111531899B publication Critical patent/CN111531899B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B29C65/18Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7802Positioning the parts to be joined, e.g. aligning, indexing or centring
    • B29C65/7805Positioning the parts to be joined, e.g. aligning, indexing or centring the parts to be joined comprising positioning features
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7855Provisory fixing
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/7858Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus characterised by the feeding movement of the parts to be joined
    • B29C65/7861In-line machines, i.e. feeding, joining and discharging are in one production line
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00General aspects of processes or apparatus for joining preformed parts
    • B29C66/01General aspects dealing with the joint area or with the area to be joined
    • B29C66/05Particular design of joint configurations
    • B29C66/10Particular design of joint configurations particular design of the joint cross-sections
    • B29C66/11Joint cross-sections comprising a single joint-segment, i.e. one of the parts to be joined comprising a single joint-segment in the joint cross-section
    • B29C66/114Single butt joints
    • B29C66/1142Single butt to butt joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29LINDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00Other particular articles
    • B29L2031/26Sealing devices, e.g. packaging for pistons or pipe joints
    • B29L2031/265Packings, Gaskets

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

The invention discloses a full-automatic welding production line of a refrigerator door sealing strip.A rubber sleeve mold-in mechanism consists of a rubber sleeve conveying mechanism and a rubber sleeve material-pushing mechanism, and a rubber sleeve positioning mechanism consists of two groups of guide mechanisms, a front positioning mechanism and a rear positioning mechanism and is arranged in a left-right symmetrical manner; the six-axis robot is provided with a rubber sleeve automatic grabbing mechanism; four matrix welding machines are arranged on the adjusting base; a right-angle die opening is formed in the inward end of the matrix welding machine, and a heating assembly capable of extending into or out of the middle of the die opening is arranged in the matrix welding machine; at least six position-adjustable material taking clamping jaws are arranged on the full-automatic material taking system and used for grabbing finished refrigerator door sealing strips. This full-automatic welding production line is through automatic some automated processes such as mould, automatic positioning, automatic transportation, automatic weld, automatic pickup, realizes the refrigerator door sealing strip, from semi-manufactured goods to off-the-shelf full automated production.

Description

Full-automatic welding production line for refrigerator door sealing strips
Technical Field
The invention relates to a full-automatic welding production line of a refrigerator door sealing strip.
Background
With the increasingly wide application range of the refrigerator in people's life, the demand of the door seal strip of the sealing assembly of the refrigerator door is also higher and higher. Refrigerator door sealing strip mainly comprises gum cover and magnetic stripe, penetrates the magnetic stripe and just forms a preliminary door sealing strip semi-manufactured goods in gum cover, this kind of door sealing strip still needs an important welding link in will using the refrigerator, generally adopt door manual welding's mode in this field at present, it not only requires highly to operating personnel, and inefficiency, the product uniformity is not high, the replacement will be automatic operation certainly, for this reason, provide a full-automatic welding production line of refrigerator door sealing strip, for replace manual welding, just seem very necessary.
Disclosure of Invention
The invention aims to provide a full-automatic welding production line for refrigerator door sealing strips, which realizes full-automatic production of the refrigerator door sealing strips from semi-finished products to finished products through automatic procedures such as automatic mold feeding, automatic positioning, automatic transferring, automatic welding, automatic piece taking and the like.
In order to achieve the purpose, the invention provides a full-automatic welding production line of a refrigerator door sealing strip, which comprises the following steps: the full-automatic glue sleeve positioning and mold entering system comprises a full-automatic glue sleeve positioning and mold entering system, a full-automatic glue sleeve grabbing system arranged at one end of the full-automatic glue sleeve positioning and mold entering system, at least one full-automatic welding system arranged at one side of the full-automatic glue sleeve grabbing system and a full-automatic part taking system arranged at one side of the full-automatic welding system; wherein, full-automatic gum cover location income mould system includes: the rubber sleeve feeding mechanism consists of a rubber sleeve conveying mechanism and two rubber sleeve pushing mechanisms which are arranged in a bilateral symmetry manner, and the rubber sleeve positioning mechanisms consist of two groups of guiding mechanisms, a front positioning mechanism and a rear positioning mechanism which are arranged in a bilateral symmetry manner; full-automatic gum cover grasping system includes: the six-axis robot is characterized in that the movable end of the six-axis robot is provided with an automatic gum cover grabbing mechanism capable of grabbing two gum covers which are parallel to each other, and the grabbing position of the automatic gum cover grabbing mechanism is adjustable; the full-automatic welding system comprises: the adjusting base is provided with four matrix welding machines which are in matrix distribution and extend towards the center direction of the adjusting base; a right-angle die opening is formed in the inward end of the matrix welding machine, the die opening can be opened and closed left and right and front and back, and a heating assembly capable of extending into or out of the middle of the die opening is arranged in the matrix welding machine; at least six position-adjustable material taking clamping jaws are arranged on the full-automatic material taking system, and at least two material taking clamping jaws are correspondingly arranged on each edge of the sealing strip of the finished product refrigerator door.
Preferably, the rubber sleeve conveying mechanism comprises a profile frame, a head wheel assembly and a tail wheel assembly are arranged in front of and behind the profile frame respectively, the head wheel assembly and the tail wheel assembly are connected through a belt, synchronizing wheels are arranged on two sides of each wheel, a driving motor is arranged below each wheel, and the driving motor and the synchronizing wheels are connected through a synchronous belt for transmission.
Preferably, the rubber sleeve pushing mechanism comprises a pushing positioning bottom plate, a positioning strip and a guide rail are arranged on the pushing positioning bottom plate, a linear sliding block is arranged on the guide rail, a material poking base is arranged on the linear sliding block, a material poking cylinder is arranged on the material poking base, and a material poking block is arranged on the material poking cylinder; the material pushing module is arranged below the material pushing positioning bottom plate, the material pushing connecting rod is arranged on the material pushing module, and the material pushing block is arranged on the material pushing connecting rod.
Preferably, the rubber sleeve positioning mechanism comprises a positioning bottom plate mechanism, a guide mechanism, a front positioning mechanism and a rear positioning mechanism; the positioning bottom plate mechanism comprises a positioning bottom plate, a guide mechanism and a guide sliding block are arranged on the positioning bottom plate, a front positioning mechanism and a rear positioning mechanism are arranged on the guide sliding block, and a rack is arranged below the positioning bottom plate.
Preferably, the guide mechanism comprises a guide bottom plate, a guide seat is arranged on the guide bottom plate, and a guide die is arranged on the guide seat.
Preferably, the front positioning mechanism comprises a front positioning bottom plate, and a front positioning guide rail sliding block, a front positioning opening and closing cylinder seat, a front positioning anti-deviation cylinder seat and a front positioning motor seat are respectively arranged on the front positioning bottom plate; a front positioning opening and closing seat is arranged on the front positioning guide rail sliding block, and a front positioning opening and closing die is arranged on the front positioning opening and closing seat; a front positioning opening and closing cylinder is arranged on the front positioning opening and closing cylinder seat, and a fisheye joint is arranged on the front positioning opening and closing cylinder; the front positioning anti-deviation cylinder seat is provided with a front positioning anti-deviation cylinder, and the front positioning anti-deviation cylinder is provided with a front positioning anti-deviation block; the front positioning motor base is provided with a front positioning driving motor, and the front positioning driving motor is provided with a front positioning gear.
Preferably, the rear positioning mechanism comprises a rear positioning bottom plate, and a rear positioning guide rail sliding block, a rear positioning opening and closing cylinder seat, a rear positioning anti-deviation cylinder seat and a rear positioning motor seat are respectively arranged on the rear positioning bottom plate; the rear positioning guide rail sliding block is provided with a rear positioning opening and closing seat, the rear positioning opening and closing seat is provided with a rear positioning opening and closing die and a rear positioning material pressing cylinder, the rear positioning material pressing cylinder is provided with a rear positioning material pressing sheet, the rear positioning opening and closing cylinder seat is provided with a rear positioning opening and closing cylinder, and the rear positioning opening and closing cylinder is provided with a fisheye joint; the rear positioning anti-deviation cylinder is arranged on the rear positioning anti-deviation cylinder seat, the rear positioning anti-deviation block is arranged on the rear positioning anti-deviation cylinder, the rear positioning motor seat is provided with a rear positioning driving motor, and the rear positioning driving motor is provided with a rear positioning gear.
Preferably, the automatic mechanism that snatchs of gum cover includes: the X-axis adjusting mechanism is positioned on the upper layer and connected with the six-axis robot, and the right Y-axis adjusting mechanism and the left Y-axis adjusting mechanism are arranged below the X-axis adjusting mechanism in a symmetrical mode; a right Y-axis grabbing mechanism is connected below the right Y-axis adjusting mechanism, and a left Y-axis grabbing mechanism is connected below the left Y-axis adjusting mechanism; when the six-axis robot runs to the rubber sleeve positioning position and descends to the position to be taken, the left and right Y-axis adjusting mechanisms are automatically adjusted to proper positions through the X-axis adjusting mechanism according to the parallel distance between the two rubber sleeves, and then the left and right Y-axis grabbing mechanisms are driven by the left and right Y-axis adjusting mechanisms according to the length of the rubber sleeves to grab the rubber sleeves simultaneously.
Preferably, the right Y-axis grabbing mechanism comprises a pair of right Y-axis positive floating grabbing mechanism and a right Y-axis negative floating grabbing mechanism which are symmetrical, and the right Y-axis positive floating grabbing mechanism and the right Y-axis negative floating grabbing mechanism are matched with a right Y-axis middle grabbing mechanism arranged in the middle to grab three points of the right rubber sleeve in the Y-axis direction at the same time; the left Y-axis grabbing mechanism comprises a pair of symmetrical left Y-axis positive floating grabbing mechanism and a left Y-axis negative floating grabbing mechanism, and is matched with the left Y-axis middle grabbing mechanism arranged in the middle to grab three points of the left rubber sleeve in the Y-axis direction at the same time.
Preferably, the Y-axis middle grabbing mechanism comprises a connecting rod, the upper end of the connecting rod is connected with the Y-axis secondary beam, a T-shaped adjusting plate is mounted at the lower end of the connecting rod, a C-shaped adjusting plate is mounted on the T-shaped adjusting plate, a middle clamping jaw air cylinder is mounted on the C-shaped adjusting plate, and a middle clamping jaw is mounted on the middle clamping jaw air cylinder.
Preferably, the X-axis adjusting mechanism comprises a main beam connecting block, an X-axis main beam, an X-axis positive adjusting module, an X-axis positive transmission servo motor, an X-axis negative adjusting module and an X-axis negative transmission servo motor; the upper end of the main beam connecting block is connected with the six-axis robot, and the lower end of the main beam connecting block is connected to the middle position of the X-axis main beam; an X-axis forward adjusting module is arranged on one side of the X-axis main beam and is in driving connection with an X-axis forward transmission servo motor; the other side of the X-axis main beam is provided with an X-axis negative direction adjusting module, and the X-axis negative direction adjusting module is in driving connection with an X-axis negative direction transmission servo motor.
Preferably, the right Y-axis adjusting mechanism comprises a right auxiliary beam connecting block, a right Y-axis auxiliary beam, a right Y-axis positive adjusting module, a right Y-axis positive transmission servo motor, a right Y-axis negative adjusting module and a right Y-axis negative transmission servo motor; the upper end of the right auxiliary beam connecting block is connected with the X-axis negative direction adjusting module, and the lower end of the right auxiliary beam connecting block is connected with the middle position of the right Y-axis auxiliary beam; one side of the Y-axis auxiliary beam is provided with a right Y-axis forward adjusting module, and the right Y-axis forward adjusting module is in driving connection with a right Y-axis forward transmission servo motor; the other side of the Y-axis auxiliary beam is provided with a right Y-axis negative direction adjusting module, and the right Y-axis negative direction adjusting module is in driving connection with a right Y-axis negative direction transmission servo motor.
Preferably, the left Y-axis adjusting mechanism comprises a left auxiliary beam connecting block, a left Y-axis auxiliary beam, a left Y-axis positive adjusting module, a left Y-axis positive transmission servo motor, a left Y-axis negative adjusting module and a left Y-axis negative transmission servo motor; the upper end of the left auxiliary beam connecting block is connected with the X-axis forward adjusting module, and the lower end of the left auxiliary beam connecting block is connected to the middle position of the left Y-axis auxiliary beam; one side of the Y-axis auxiliary beam is provided with a left Y-axis forward adjusting module, and the left Y-axis forward adjusting module is in driving connection with a left Y-axis forward transmission servo motor; the other side of the Y-axis auxiliary beam is provided with a left Y-axis negative direction adjusting module, and the left Y-axis negative direction adjusting module is in driving connection with a left Y-axis negative direction transmission servo motor.
Preferably, the Y-axis floating gripper mechanism comprises a main connecting plate, the upper end of the main connecting plate is connected with the Y-axis adjusting module, the lower end of the main connecting plate is provided with a transverse guide rail, a transverse cylinder is in driving connection with the transverse guide rail, the transverse guide rail is connected with a floating connecting plate, the floating connecting plate is provided with a longitudinal guide rail, the longitudinal guide rail is connected with a T-shaped plate, the T-shaped plate is provided with a centering guide rail, the centering guide rail is provided with a centering cylinder, and the centering cylinder is provided.
Preferably, the adjustment base comprises: the large bottom plate assembly is symmetrically provided with a middle bottom plate assembly, and the middle bottom plate assembly is symmetrically provided with a matrix welding machine; the large bottom plate assembly comprises a large bottom plate, a first guide rail group and a first rack group are arranged on the large bottom plate, and a lower sliding block which is sleeved on the first guide rail group in a sliding manner is arranged at the bottom of the middle bottom plate assembly; the middle base plate component comprises a middle base plate, a second guide rail group, a second rack group and a middle plate driving motor are arranged on the middle base plate, and a lower gear set matched with the first rack group is arranged on the middle plate driving motor.
Preferably, the matrix welding machine comprises a welding frame assembly, a left die assembly and a right die assembly are arranged on the welding frame assembly, the left die assembly and the right die assembly are connected with a front die assembly and a rear die assembly through die opening and closing guide rails, and a movable heating assembly is arranged in the welding frame assembly; the left and right die assembly components and the front and rear die assembly components are provided with right-angle die openings after die assembly, and after the left and right die assembly components are opened, the heating component can drive into the middle of the left and right die assembly components to heat the end part of the rubber sleeve.
Preferably, the heating assembly comprises: the heating block can drive in the middle of the left and right die assembly components to heat the end part of the rubber sleeve.
Preferably, a cleaning assembly is arranged on the front and rear die assembly assemblies, and a rubber sleeve stop block assembly is arranged at the tail of the welding frame assembly.
Preferably, the full-automatic piece taking system comprises an X-axis piece taking transverse moving mechanism which is parallel to the adjusting base, a Y-axis piece taking adjusting mechanism is arranged on the X-axis piece taking transverse moving mechanism, a Z-axis piece taking lifting mechanism is arranged on the Y-axis piece taking adjusting mechanism, and a material taking chuck mechanism is arranged below the Z-axis piece taking lifting mechanism.
Preferably, the chuck mechanism comprises a Z-axis connecting block, a lifting cylinder is arranged on the Z-axis connecting block, two X-axis adjusting rods are connected below the lifting cylinder, four Y-axis adjusting rods are connected below the X-axis adjusting rods, and material taking clamping jaws are respectively arranged at two ends of the lower part of each Y-axis adjusting rod.
According to the technical scheme, after the rubber sleeve is positioned and molded by the full-automatic rubber sleeve positioning and molding system, the rubber sleeve is transferred to the full-automatic welding system by the full-automatic rubber sleeve grabbing system to be welded, the rectangular finished refrigerator door sealing strip which is connected in an end-to-end mode is formed by welding, finally, the welded rectangular finished refrigerator door sealing strip is taken out of the full-automatic welding system by the full-automatic pickup system, one-time welding work is completed, and full-automatic production of the sealing strip refrigerator door is achieved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
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 principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of a full automatic welding production line;
FIG. 2 is a schematic diagram of the overall structure of a fully automatic gum cover positioning and mold-entering system;
FIG. 3 is a partial schematic structural view of a fully automatic gum cover positioning and molding system;
FIG. 4 is a schematic structural view of a gum cover mold-inserting mechanism;
FIG. 5 is a schematic structural view of a gum cover positioning mechanism;
FIG. 6 is a schematic structural view of a gum cover transfer mechanism;
FIG. 7 is a schematic structural view of a gum cover pushing mechanism;
FIG. 8 is a schematic structural view of a guide mechanism;
FIG. 9 is a schematic structural view of the front positioning mechanism;
FIG. 10 is a schematic structural view of the rear positioning mechanism;
FIG. 11 is a schematic diagram of the overall structure of the fully automatic gum cover gripping system;
FIG. 12 is a schematic structural view of an automatic gum cover gripping mechanism;
FIG. 13 is a schematic structural view of an X-axis adjusting mechanism in the automatic rubber sleeve gripping mechanism;
FIG. 14 is a schematic structural view of a Y-axis adjusting mechanism in the automatic rubber sleeve gripping mechanism;
FIG. 15 is a schematic structural view of a Y-axis positive floating gripper mechanism in the automatic gum cover gripping mechanism;
FIG. 16 is a schematic structural view of a Y-axis middle gripper mechanism in the automatic rubber sleeve gripping mechanism;
FIG. 17 is a schematic diagram of the overall structure of the fully automatic welding system;
FIG. 18 is a schematic structural view of a large base plate assembly;
FIG. 19 is a schematic illustration of a construction of a midsole assembly;
FIG. 20 is a schematic view of the overall structure of the matrix welding machine;
FIG. 21 is a cross-sectional structural view of one state of the matrix welding machine;
FIG. 22 is a schematic cross-sectional view of another state of the matrix welding machine;
FIG. 23 is a schematic view of the assembly between the front and rear clamp assemblies and the gum cover;
FIG. 24 is a schematic view of the overall structure of the fully automatic pickup system;
fig. 25 is an overall configuration diagram of the material pick-up chuck mechanism.
Description of the reference numerals
a-a full-automatic rubber sleeve positioning and mold-entering system; b, a full-automatic rubber sleeve grabbing system; c-full automatic welding system; d, a full-automatic pickup system; a 1-rubber sleeve mold-in mechanism; a 2-rubber sleeve positioning mechanism; a 3-gum cover conveying mechanism; a 4-rubber sleeve pushing mechanism; a 5-guide mechanism; a 6-front positioning mechanism; a 7-rear positioning mechanism; a 8-positioning bottom plate; a 9-profile frame; a 10-head wheel assembly; a 11-tailwheel assembly; a 12-belt; a 13-synchronizing wheel; a 14-pushing material positioning bottom plate; a 15-positioning bar; a 16-guide rail; a 17-kick-off cylinder; a 18-material stirring block; a 19-pushing connecting rod; a 20-a pusher block; a 21-material pushing module; a 22-guide shoe; a 23-guide seat; a 24-guide die; a 25-front positioning floor; a 26-front positioning guide rail slide block; a 27-front positioning open-close seat; a 28-front positioning open and close mold; a 29-front positioning opening and closing cylinder seat; a 30-front positioning opening and closing cylinder; a 31-front positioning anti-deviation cylinder seat; a 32-front positioning anti-deviation cylinder; a 33-front positioning anti-deviation block; a 34-front positioning motor base; a 35-front positioning drive motor; a 36-front positioning gear; a 37-rear positioning bottom plate; a 38-rear positioning guide rail slide block; a 39-rear positioning opening and closing seat; a 40-rear positioning opening and closing the die; a 41-rear positioning opening and closing cylinder seat; a 42-rear positioning opening and closing cylinder; a 43-rear positioning deviation-proof cylinder; a 44-rear positioning deviation-proof cylinder seat; a 45-rear positioning anti-deviation block; a 46-rear positioning material pressing cylinder; a 47-post-positioning tablet; a 48-rear positioning motor base; a 49-rear positioning driving motor; a 50-rear positioning gear; a 51-gantry platform; b 1-main beam connecting block; b2-X axis beam; b3-X axis forward drive servo motor; b4-X axis positive direction adjusting module; b5-X axis negative direction adjustment module; b6-X axis negative transmission servo motor; b 7-right auxiliary beam connecting block; b 8-right Y-axis secondary beam; b 9-right Y-axis forward drive servo motor; b 10-right Y-axis positive adjustment module; b 11-right Y-axis negative adjustment module; b 12-right Y-axis negative transmission servo motor; b 13-main connection board; b 14-transverse cylinder; b 15-cross-guide; b 16-floating connecting plate; b 17-longitudinal rail; b18-T type board; b 19-centering rail; b 20-centering cylinder; b 21-gum cover jaw; b 22-connecting rod; b23-T shaped adjusting plate; b24-C type adjusting plate; b 25-middle jaw cylinder; b 26-middle jaw; b 27-left gum cover; b 28-right gum cover; b 29-six axis robot; c 1-large floor assembly; c 2-the midsole component; c 3-matrix welder; c4 — first rail set; c5 — first rack set; c 6-big bottom plate; c 7-middle bottom plate; c 8-second set of rails; c 9-second rack set; c 10-middle plate driving motor; c 11-welding carriage assembly; c 12-left and right clamp assemblies; c 13-front and rear clamping assembly; c 14-cleaning assembly; c 15-gum cover stop block assembly c 16-rotary cylinder; c 17-swing arm; c 18-heating block; d1-X axis workpiece taking and traversing mechanism; d2-Y axis pick-up adjusting mechanism; d 3-Z-axis workpiece taking and lifting mechanism; d 4-a take-up chuck mechanism; d5-Z shaft connecting block; d 6-Lift Cylinder; d7-X axis adjustment lever; d8-Y axis adjustment lever; d 9-take-off jaw.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, directional words included in terms such as "upper, lower, left, right, front, rear, inner, and outer" and the like merely represent the directions of the terms in a normal use state or are colloquially known by those skilled in the art, and should not be construed as limiting the terms.
Referring to fig. 1 to 25, the fully automatic welding production line of the refrigerator door sealing strip includes: the automatic glue sleeve positioning and mold entering system comprises a full-automatic glue sleeve positioning and mold entering system a, a full-automatic glue sleeve grabbing system b arranged at one end of the full-automatic glue sleeve positioning and mold entering system a, at least one full-automatic welding system c arranged at one side of the full-automatic glue sleeve grabbing system b, and a full-automatic part taking system d arranged at one side of the full-automatic welding system c; wherein, full-automatic gum cover location is gone into mould system a and is included: the rubber sleeve mold-inserting mechanism a1 and the rubber sleeve positioning mechanism a2 are installed on the rack platform a51, the rubber sleeve mold-inserting mechanism a1 consists of a rubber sleeve conveying mechanism a3 and two rubber sleeve material-pushing mechanisms a4 which are arranged in a left-right symmetrical mode, and the rubber sleeve positioning mechanism a2 consists of a guide mechanism a5, a front positioning mechanism a6 and a rear positioning mechanism a7 which form two groups and are arranged in a left-right symmetrical mode; full-automatic gum cover grasping system b includes: the six-axis robot b29 is characterized in that the movable end of the six-axis robot b29 is provided with an automatic gum cover grabbing mechanism capable of grabbing two parallel gum covers, and the grabbing position of the automatic gum cover grabbing mechanism is adjustable; the full-automatic welding system c comprises: the adjusting base is provided with four matrix welding machines c3, and the four matrix welding machines c3 are in matrix subsections and extend towards the center direction of the adjusting base; a right-angle die opening is formed in the inward end of the matrix welding machine c3, the die opening can be opened and closed left and right and front and back, and a heating assembly capable of extending into or out of the middle of the die opening is arranged in the matrix welding machine c 3; at least six position-adjustable material taking clamping jaws d9 are arranged on the full-automatic material taking system d, and at least two material taking clamping jaws d9 are correspondingly arranged on each edge of the sealing strip of the finished product refrigerator door.
Through the implementation of above-mentioned technical scheme, full-automatic gum cover location is gone into mould system an and is adopted full-automatic gum cover grasping system b to transfer the gum cover to full-automatic welding system c after going into the mould with the gum cover location and welds, welds the rectangle finished product refrigerator door sealing strip that forms the end to end, takes out the rectangle finished product refrigerator door sealing strip that welds from full-automatic welding system c through full-automatic system d of getting at last, accomplishes welding work once, and then has realized the full automated production of refrigerator door sealing strip.
In the embodiment, in order to improve the mold entering precision, the requirement on the control of the upstream process capability of the door seal rubber sleeve product is greatly reduced, the manufacturing cost of the door seal product is effectively reduced, the efficiency and the consistency are improved, the comprehensive competitiveness of the product is improved, and meanwhile, the stability of production and processing is improved. As shown in fig. 6, the gum cover conveying mechanism a3 includes a profile frame a9, a head wheel assembly a10 and a tail wheel assembly a11 are respectively arranged at the front and the rear of the profile frame a9, the head wheel assembly a10 and the tail wheel assembly a11 are connected through a belt a12, synchronizing wheels a13 are arranged at the two sides of the wheels, a driving motor is arranged below the wheels, and the driving motor and the synchronizing wheels a13 are connected and driven through a synchronous belt.
In addition, as shown in fig. 7, the gum cover pushing mechanism a4 includes a pushing positioning bottom plate a14, a positioning bar a15 and a guide rail a16 are installed on the pushing positioning bottom plate a14, a linear slider is installed on the guide rail a16, a material poking base is installed on the linear slider, a material poking cylinder a17 is installed on the material poking base, and a material poking block a18 is installed on the material poking cylinder a 17; a material pushing module a21 is arranged below the material pushing positioning bottom plate a14, a material pushing connecting rod a19 is arranged on the material pushing module a21, and a material pushing block a20 is arranged on the material pushing connecting rod a 19.
Further, in fig. 5, the gum cover positioning mechanism a2 includes a positioning bottom plate a8 mechanism, a guide mechanism a5, a front positioning mechanism a6 and a rear positioning mechanism a 7; wherein the content of the first and second substances,
the positioning bottom plate a8 mechanism comprises a positioning bottom plate a8, a guide mechanism a5 and a guide slider are arranged on the positioning bottom plate a8, a front positioning mechanism a6 and a rear positioning mechanism a7 are arranged on the guide slider, and a rack is arranged below a positioning bottom plate a 8.
As shown in fig. 8, the guide mechanism a5 includes a guide base plate a22, a guide base a23 attached to the guide base plate a22, and a guide die a24 attached to the guide base a 23.
In this embodiment, as shown in fig. 9, the front positioning mechanism a6 includes a front positioning bottom plate a25, and a front positioning guide rail slider a26, a front positioning opening and closing cylinder base a29, a front positioning deviation preventing cylinder base a31 and a front positioning motor base a34 are respectively mounted on the front positioning bottom plate a 25; a front positioning opening and closing seat a27 is installed on the front positioning guide rail slide block a26, and a front positioning opening and closing mold a28 is installed on the front positioning opening and closing seat a 27; a front positioning opening and closing cylinder a30 is arranged on the front positioning opening and closing cylinder seat a29, and a fisheye joint is arranged on the front positioning opening and closing cylinder a 30; a front positioning anti-deviation cylinder a32 is arranged on the front positioning anti-deviation cylinder seat a31, and a front positioning anti-deviation block a33 is arranged on the front positioning anti-deviation cylinder a 32; the front positioning motor seat a34 is provided with a front positioning driving motor a35, and the front positioning driving motor a35 is provided with a front positioning gear a 36.
Similarly, in fig. 10, the rear positioning mechanism a7 includes a rear positioning bottom plate a37, and a rear positioning guide rail slider a38, a rear positioning opening and closing cylinder block a41, a rear positioning anti-deviation cylinder block a44 and a rear positioning motor block a48 are respectively mounted on the rear positioning bottom plate a 37; a rear positioning opening and closing seat a39 is installed on the rear positioning guide rail sliding block a38, a rear positioning opening and closing seat a40 and a rear positioning material pressing cylinder a46 are installed on the rear positioning opening and closing seat a39, a rear positioning material pressing sheet a47 is installed on the rear positioning material pressing cylinder a46, a rear positioning opening and closing cylinder a42 is installed on the rear positioning opening and closing cylinder seat a41, and a fisheye joint is installed on the rear positioning opening and closing cylinder a 42; the rear positioning anti-deviation cylinder seat a44 is provided with a rear positioning anti-deviation cylinder a43, the rear positioning anti-deviation cylinder a43 is provided with a rear positioning anti-deviation block a45, the rear positioning motor seat a48 is provided with a rear positioning driving motor a49, and the rear positioning driving motor a49 is provided with a rear positioning gear a 50.
Specifically, the operation process of the full-automatic rubber sleeve positioning and mold entering system a is divided into two sections:
in the first stage, a front positioning mechanism a6 and a rear positioning mechanism a7 in a gum cover positioning mechanism a2 are driven by a driving motor, and are combined to a guide mechanism a5 until the gum cover positioning mechanism a5 is contacted with the guide mechanism, so that the gum cover positioning mechanism a2 is ready to be molded. At the moment, two door seal gum covers are simultaneously conveyed to a preset position from two belts a12 in the gum cover conveying mechanism a3, the preset position is set through a photoelectric switch, and after the gum covers reach the preset position, the gum cover conveying mechanism a3 stops. At this time, three material shifting cylinders a17 in the rubber sleeve mold-in mechanism a1 act simultaneously to pull the two rubber sleeves to the left and right respectively to the specified positions, and the specified positions are preset through the positioning strips a15 so as to be guided into the mold. Then, the material pushing module a21 pushes forwards to drive the material pushing connecting rod a19 and the material pushing block a20 to push forwards at a constant speed, and after the material pushing connecting rod a19 and the material pushing block a20 run for a certain distance, the material pushing connecting rod a contacts with the material poking cylinder a17 and is linked forwards together until the material pushing connecting rod contacts with the rubber sleeve. At this time, the servo motor controls the forward mold-entering distance to be equal to the total length of the combined front positioning mechanism a6, rear positioning mechanism a7 and guide mechanism a5, so that the rubber sleeve mold-entering is completed.
In the second stage, after the gum cover is completely inserted into the mold, a rear positioning material pressing cylinder a46 in the rear positioning mechanism a7 acts to drive a rear positioning material pressing sheet a47 to press the gum cover, then a rear positioning driving motor a49 drives a rear positioning gear a50 to be in transmission with the rack, and the rear positioning mechanism a7 is moved to a preset position, wherein the preset position is a distance which is half of the length of the current gum cover from the center of a positioning bottom plate a8, and then the rear positioning material pressing sheet a47 rises and releases. In this process, to prevent the front positioning mechanism a6 and the rear positioning mechanism a7 from colliding, the front positioning mechanism a6 lags the rear positioning mechanism a7 for two seconds and starts to move together in the same direction to a predetermined position, which is the total length distance from the rear positioning mechanism a7 rubber sleeve. At this time, the front positioning mechanism a6 and the rear positioning mechanism a7 respectively position the front end face and the rear end face of the rubber sleeve, and the front end face and the rear end face are symmetrical with the two central ends of the positioning bottom plate a8 to wait for the mechanical arm to grab. When the manipulator descends to a preset position which is specifically set according to the cross section height of the rubber sleeve, in the rear positioning mechanism a7, the two rear positioning opening and closing cylinders a42 move to open the rear positioning opening and closing cylinders a40, so that the rubber sleeve is conveniently grabbed and moved out by the manipulator. After the rubber sleeve is moved out, the front positioning mechanism a6 and the rear positioning mechanism a7 are merged to the guiding mechanism a5 again until the rubber sleeve contacts and enters a state to be molded, and then the rubber sleeve conveying mechanism a3 operates again to convey the rubber sleeve, and the mold entering and the positioning are repeated.
In the whole process, the front positioning anti-deviation cylinder a32 in the front positioning mechanism a6 drives the front positioning anti-deviation block a33, the left side and the right side of the front positioning mechanism are symmetrically closed, the situation that a rubber sleeve deviates and even falls off in the whole moving positioning process is avoided, the same parts in the rear positioning mechanism a7 have the same functions, and the details are omitted.
In the embodiment, in order to perfectly solve the unstable factors caused by manual grabbing, the efficiency is high, the consistency is good, and the occurrence of welding safety accidents is more fundamentally avoided. Preferably, the automatic mechanism that snatchs of gum cover includes: the X-axis adjusting mechanism is positioned on the upper layer and connected with the six-axis robot b29, and the right Y-axis adjusting mechanism and the left Y-axis adjusting mechanism are arranged below the X-axis adjusting mechanism in a symmetrical mode; a right Y-axis grabbing mechanism is connected below the right Y-axis adjusting mechanism, and a left Y-axis grabbing mechanism is connected below the left Y-axis adjusting mechanism;
when the six-axis robot b29 runs to the rubber sleeve positioning position and descends to the position to be taken, the left and right Y-axis adjusting mechanisms are automatically adjusted to proper positions through the X-axis adjusting mechanism according to the parallel distance between the two rubber sleeves, and then the left and right Y-axis grabbing mechanisms are driven by the left and right Y-axis adjusting mechanisms according to the lengths of the rubber sleeves to grab the rubber sleeves simultaneously.
In this embodiment, preferably, the right Y-axis gripping mechanism includes a pair of right Y-axis positive floating gripper mechanism and right Y-axis negative floating gripper mechanism which are symmetrical, and cooperates with the right Y-axis middle gripper mechanism arranged in the middle to grip three points in the Y-axis direction of the right rubber sleeve b28 at the same time;
the left Y-axis grabbing mechanism comprises a pair of symmetrical left Y-axis positive floating grabbing mechanism and a left Y-axis negative floating grabbing mechanism, and is matched with the left Y-axis middle grabbing mechanism arranged in the middle to grab three points of the left rubber sleeve b27 in the Y-axis direction at the same time.
In this embodiment, preferably, the Y-axis middle gripping mechanism includes a connecting rod b22, the upper end of the connecting rod b22 is connected with the Y-axis secondary beam, the lower end is provided with a T-shaped adjusting plate b23, the T-shaped adjusting plate b23 is provided with a C-shaped adjusting plate b24, the C-shaped adjusting plate b24 is provided with a middle clamping jaw cylinder b25, and the middle clamping jaw cylinder b25 is provided with a middle clamping jaw b 26.
In this embodiment, preferably, the X-axis adjusting mechanism includes a main beam connecting block b1, an X-axis main beam b1, an X-axis positive adjusting module b4, an X-axis positive transmission servo motor b3, an X-axis negative adjusting module b5 and an X-axis negative transmission servo motor b 6; the upper end of the main beam connecting block b1 is connected with a six-axis robot b29, and the lower end of the main beam connecting block b1 is connected to the middle position of an X-axis main beam b 1; an X-axis positive adjusting module b4 is arranged on one side of the X-axis general beam b1, and the X-axis positive adjusting module b4 is in driving connection with an X-axis positive transmission servo motor b 3; the other side of the X-axis general beam b1 is provided with an X-axis negative direction adjusting module b5, and the X-axis negative direction adjusting module b5 is in driving connection with an X-axis negative direction transmission servo motor b 6.
In this embodiment, preferably, the right Y-axis adjusting mechanism includes a right secondary beam connecting block b7, a right Y-axis secondary beam b8, a right Y-axis positive adjusting module b10, a right Y-axis positive transmission servo motor b9, a right Y-axis negative adjusting module b11, and a right Y-axis negative transmission servo motor b 12; the upper end of the right auxiliary beam connecting block b7 is connected with an X-axis negative direction adjusting module b5, and the lower end of the right auxiliary beam connecting block b7 is connected with the middle position of a right Y-axis auxiliary beam b 8; one side of the Y-axis auxiliary beam is provided with a right Y-axis forward adjusting module b10, and a right Y-axis forward adjusting module b10 is in driving connection with a right Y-axis forward transmission servo motor b 9; the other side of the Y-axis auxiliary beam is provided with a right Y-axis negative direction adjusting module b11, and a right Y-axis negative direction adjusting module b11 is in driving connection with a right Y-axis negative direction transmission servo motor b 12.
In this embodiment, preferably, the left Y-axis adjusting mechanism includes a left secondary beam connecting block, a left Y-axis secondary beam, a left Y-axis positive adjusting module, a left Y-axis positive transmission servo motor, a left Y-axis negative adjusting module, and a left Y-axis negative transmission servo motor; the upper end of the left auxiliary beam connecting block is connected with an X-axis forward adjusting module b4, and the lower end of the left auxiliary beam connecting block is connected to the middle position of the left Y-axis auxiliary beam; one side of the Y-axis auxiliary beam is provided with a left Y-axis forward adjusting module, and the left Y-axis forward adjusting module is in driving connection with a left Y-axis forward transmission servo motor; the other side of the Y-axis auxiliary beam is provided with a left Y-axis negative direction adjusting module, and the left Y-axis negative direction adjusting module is in driving connection with a left Y-axis negative direction transmission servo motor.
In this embodiment, preferably, the Y-axis floating gripper mechanism includes a main connecting plate b13, the upper end of the main connecting plate b13 is connected with the Y-axis adjusting module, a transverse guide rail b15 is installed on the lower end, a transverse cylinder b14 is in driving connection with the transverse guide rail b15, a floating connecting plate b16 is connected on the transverse guide rail b15, a longitudinal guide rail b17 is installed on the floating connecting plate b16, a T-shaped plate b16 is connected on the longitudinal guide rail b17, a centering guide rail b19 is installed on the T-shaped plate b16, a centering cylinder b20 is installed on the centering guide rail b19, and a rubber sleeve clamping jaw b21 is installed on the centering cylinder b 20.
Specifically, when the full-automatic rubber sleeve grabbing system b operates, the upper end of a main beam connecting block b1 is connected with a six-axis robot b29, the robot firstly operates to a rubber sleeve positioning position and descends to a position to be taken, an X-axis adjusting mechanism automatically adjusts a left Y-axis adjusting mechanism and a right Y-axis adjusting mechanism to proper positions according to the parallel distance between two rubber sleeves, a left Y-axis adjusting mechanism and a right Y-axis adjusting mechanism automatically adjust positive and negative floating gripper mechanisms of the shaft to proper positions according to the lengths of the rubber sleeves, the middle gripper mechanism is located at the middle position at the moment to form three points in the Y-axis direction grabbed by the rubber sleeves on one side, deviation is eliminated by a centering guide rail b19 in the floating gripper mechanism, the robot continuously descends to the material taking position according to the height of the middle gripper mechanism, the self heights of the positive and negative floating gripper mechanisms are automatically adjusted according to the descending positions and are consistent with the middle gripper, and a centering cylinder b20 in the positive and negative floating gripper at the moment drives a rubber sleeve clamping jaw b21 and the middle clamping jaw b26 acts simultaneously to grab the rubber sleeve, the actions of the two sides are the same, the starting and stopping time is the same, and the description of the other side is omitted. At the moment, the two rubber sleeves are simultaneously grabbed, the robot is lifted and operated to the feeding station, and the robot cooperates with the welding equipment to automatically feed materials.
When the floating gripper mechanism works, the height direction is automatically adjusted, the T-shaped plate b16 is automatically pushed when the rubber sleeve clamping jaw b21 is limited in the external vertical direction, the rubber sleeve clamping jaw b21 is automatically pushed to move horizontally when being lifted and adjusted by the longitudinal guide rail b17, and the rubber sleeve clamping jaw b21 is limited in the external horizontal direction, so that the centering guide rail b19 is automatically pushed to move horizontally and adjust.
When the middle gripper mechanism operates, the floating gripper is used as a reference for left-right and up-down adjustment of the floating gripper, and after the floating gripper is manually adjusted to be in place according to actual conditions for the first time, screws are locked and fixed, specifically, the floating gripper is adjusted through waist-shaped hole positions on a C-shaped adjusting plate b24 in the horizontal direction, the T-shaped adjusting plate b23 is adjusted through waist-shaped holes on a connecting rod b22 in the vertical direction, and the middle position is adjusted through matching of protrusions on a T-shaped adjusting plate b23 and grooves of a C-shaped adjusting plate 539.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
For example, the driving of the X-axis and Y-axis adjusting mechanisms adopts a servo motor and lead screw module to realize linear motion adjustment, and in view of the fact that many standard driving products for realizing linear motion adjustment are linear motors, synchronous belts and gear racks, the invention notes that a scheme of replacing the X-axis and Y-axis linear driving modes and keeping the mechanisms unchanged is adopted, and the invention also belongs to the protection scope of the invention.
Similarly, the upper end of the main beam connecting block b1 is connected with a standardized six-axis robot b29, and in view of more robot brands and types, the scheme of the invention is used by replacing the robot brands or types, and the invention also belongs to the protection scope of the invention.
In this embodiment, preferably, the adjustment base includes: the large bottom plate assembly c1 is characterized in that a middle bottom plate assembly c2 is symmetrically arranged on the large bottom plate assembly c1, and a matrix welding machine c3 is symmetrically arranged on the middle bottom plate assembly c 2; the large bottom plate assembly c1 comprises a large bottom plate c6, a first guide rail group c4 and a first rack group c5 are arranged on the large bottom plate c6, and a lower sliding block which is slidably sleeved on the first guide rail group c4 is arranged at the bottom of the middle bottom plate assembly c 2; the middle base plate component c2 includes a middle base plate c7, a second guide rail group c8, a second rack group c9 and a middle plate driving motor c10 are arranged on the middle base plate c7, and a lower gear group matched with the first rack group c5 is arranged on the middle plate driving motor c 10.
In this embodiment, preferably, the matrix welding machine c3 includes a welding machine frame assembly c11, an upper gear set matched with the second gear set (c9) is arranged on a driving motor of the welding machine, a left and right die closing assembly c12 is arranged on the welding machine frame assembly c11, a front and rear die closing assembly c13 is connected to the left and right die closing assembly c12 through a die opening and closing guide rail, and a movable heating assembly is arranged inside the welding machine frame assembly c 11; the left and right die assembly components c12 and the front and rear die assembly components c13 are matched to form a right-angle die opening, and when the left and right die assembly components c12 are opened, the heating component can move into the middle of the left and right die assembly components c12 to heat the end part of the rubber sleeve.
In this embodiment, preferably, the heating assembly includes: the heating device comprises a rotary cylinder c16 and a swing arm c17 mounted on the rotary cylinder c16, wherein a heating block c18 is arranged at the end part of the swing arm c17, and a heating block c18 can move into the middle of a left mold clamping assembly c12 and a right mold clamping assembly c12 to heat the end part of the rubber sleeve.
In this embodiment, it is preferable that a cleaning assembly c14 is arranged on the front and rear clamping assembly c13, and a rubber sleeve stop assembly c15 is arranged at the tail of the welding frame assembly c 11.
In this embodiment, preferably, the full-automatic pickup system d includes an X-axis pickup traversing mechanism d1 disposed parallel to the adjusting base, a Y-axis pickup adjusting mechanism d2 is disposed on the X-axis pickup traversing mechanism d1, a Z-axis pickup lifting mechanism d3 is disposed on the Y-axis pickup adjusting mechanism d2, and a pickup chuck mechanism d4 is disposed below the Z-axis pickup lifting mechanism d 3.
In this embodiment, preferably, the chuck mechanism includes a Z-axis connecting block d5, a lifting cylinder d6 is mounted on the Z-axis connecting block d5, two X-axis adjusting rods d7 are connected below the lifting cylinder d6, four Y-axis adjusting rods d8 are connected below the X-axis adjusting rods d7, and material-taking clamping jaws d9 are respectively disposed at the lower two ends of the Y-axis adjusting rods d 8.
Specifically, the welding stage process is as follows: when the full-automatic rubber sleeve grabbing system b carries the taken rubber sleeve to a preset position above the full-automatic welding system c, the preset position is a reasonable height above the full-automatic welding system c and does not collide, in the full-automatic welding system c, the preset position is adjusted by the motor drive of the middle bottom plate component c2, the preset position is the same as the space between the rubber sleeves grabbed by the full-automatic rubber sleeve grabbing system b, the preset position is adjusted to the preset position by the motor drive of the matrix welding machine c3, the preset position is the same as the length of the rubber sleeves grabbed by the rubber sleeve automatic grabbing mechanism, at the moment, the six-axis robot b29 drives the rubber sleeve automatic grabbing mechanism to descend to the preset position, the positions are arranged according to different rubber sleeve section heights, after the rubber sleeve automatic grabbing mechanism reaches the preset position, the same sides of the two matrix welding machines c3 in the middle bottom plate component c2 move oppositely through the motor drive, and the rubber sleeve which is hung on the, penetrating into die openings of a matrix welding machine c3, completing the loading of two door seals in the process, then repeating the actions of a full-automatic rubber sleeve grabbing system b to a preset position which is at a reasonable height from the position right above the full-automatic welding system c and does not collide, at the moment, driving a rubber sleeve automatic grabbing mechanism to rotate for 90 degrees by a six-axis robot b29, descending to the preset position, setting the position according to the section heights of different rubber sleeves, after the rubber sleeve automatic grabbing mechanism reaches the preset position, driving two matrix welding machines c3 on the same side of a middle baseplate component c2 to move oppositely through a motor, penetrating rubber sleeves hung on a floating gripper mechanism into die openings of a matrix welding machine c3, completing the loading of the other two door seals in the process, and till the whole four rubber sleeves are completely loaded and are in a rectangular state to be welded, then moving the four matrix welding machines c3 to weld the rubber sleeves, the specific actions are as follows:
heating block c18 in matrix welding machine c3 is rotated to a die opening by a rotary cylinder c16 to perform radiation heating on the end part of a rubber sleeve, after the set process time is reached, the cylinder pushes left and right die assembly components c12 to collide with and merge with the other half die assembly components, after the process set time is delayed, the cylinder pushes front and rear die assembly components c13 to separate the dies from one another, after four matrix welding machines c3 are all completed, namely, welding of a door seal finished product is completed, at the moment, after a full-automatic workpiece taking system d takes away the finished product, left and right die assembly components c12 are pushed to open by the cylinder, front and rear die assembly components c13 are pushed to merge by the cylinder, cleaning component c14 drives a brush to perform welding slag cleaning by the rotation of a cleaning cylinder, then rubber sleeve stop block component c15 is pushed by the cylinder to enter between two front and rear die assembly components c13 for next rubber sleeve loading and positioning, and the.
Specifically, the pickup process is as follows: at this stage, the full-automatic workpiece taking system d mainly operates, after all matrix welding machines c3 of the full-automatic welding system c in the previous stage complete welding actions, the motor drives the Y-axis workpiece taking adjusting mechanism d2 to form a workpiece taking mechanism, the chuck mechanism moves to a preset position right above the full-automatic welding system c on the X-axis workpiece taking transverse moving mechanism d1, at the moment, the Z-axis workpiece taking mechanism sends the workpiece taking chuck mechanism d4 to a rubber sleeve grabbing position through a lifting cylinder d6, the rubber sleeve grabbing position is specifically set according to the height of a rubber sleeve, at the moment, 8 workpiece taking clamp grabbers grab a welded product in a state that every two workpieces clamp one edge, then the Z-axis workpiece taking mechanism is driven by the cylinder to be lifted to a safe position, and then the welded product is conveyed to a finished product stacking position through the X-axis workpiece taking transverse moving mechanism d 1. At the moment, 8 material taking clamp grippers are simultaneously loosened, a finished product is placed in the area to be detected, then the chuck mechanism rises to a safety position to wait for next piece taking action, and the operation is repeated.
The four stages are combined into a whole set of automatic production flow of the invention, the patent only describes a station flow, in order to improve the efficiency of the equipment, the general structure diagram provided by the invention is shown in figure 1, which is a double-station structure diagram of the invention, and the actual working action flow is alternately carried out on two stations according to the four stages.
In the technical scheme of the invention, the linear motion mode is realized by a linear module, a gear rack, a ball screw and the like, and in view of the fact that more standard driving products for realizing linear motion adjustment are such as a linear motor and a synchronous belt, the invention notes that the linear driving mode is adopted, and the mechanism does not make innovative changes, and also belongs to the protection scope of the invention.
The mechanism of the invention relates to the use of a six-axis robot b29, and in view of more robot brands and types, the scheme of the invention is used by replacing the robot brands or types, and the invention also belongs to the protection scope of the invention.
The invention provides a double-station embodiment, and belongs to the protection scope of the invention through a scheme of increasing or decreasing the number of stations or changing the layout of equipment.
In addition, by switching the die and modifying the software parameters, the production requirements of refrigerator sealing strips with different lengths and different sections can be realized, and the adaptability is wide. Meanwhile, the development of the refrigerator sealing strip is greatly promoted, and the prior art of the traditional refrigerator sealing strip production industry is improved.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims (19)

1. The utility model provides a full-automatic welding production line of refrigerator door sealing strip which characterized in that includes: the automatic glue sleeve positioning and mold entering system comprises a full-automatic glue sleeve positioning and mold entering system (a), a full-automatic glue sleeve grabbing system (b) arranged at one end of the full-automatic glue sleeve positioning and mold entering system (a), at least one full-automatic welding system (c) arranged at one side of the full-automatic glue sleeve grabbing system (b), and a full-automatic part taking system (d) arranged at one side of the full-automatic welding system (c); wherein the content of the first and second substances,
full-automatic gum cover location income mould system (a) includes: the rubber sleeve mold inserting mechanism (a1) and the rubber sleeve positioning mechanism (a2) are installed on a rack platform (a51), the rubber sleeve mold inserting mechanism (a1) consists of a rubber sleeve conveying mechanism (a3) and two rubber sleeve pushing mechanisms (a4) which are arranged in a left-right symmetrical mode, and the rubber sleeve positioning mechanism (a2) consists of a guide mechanism (a5), a front positioning mechanism (a6) and a rear positioning mechanism (a7) and is formed into two groups which are arranged in a left-right symmetrical mode;
full-automatic gum cover grasping system (b) includes: the automatic grabbing device comprises a six-axis robot (b29), wherein the movable end of the six-axis robot (b29) is provided with an automatic rubber sleeve grabbing mechanism capable of grabbing two parallel rubber sleeves, and the grabbing position of the automatic rubber sleeve grabbing mechanism is adjustable;
the fully automatic welding system (c) comprises: the adjusting base is provided with four matrix welding machines (c3), and the four matrix welding machines (c3) are in matrix distribution and extend towards the center direction of the adjusting base;
a right-angle die opening is formed in the inward end of the matrix welding machine (c3), the die opening can be opened and closed left and right and front and back, and a heating assembly capable of extending into or out of the middle of the die opening is arranged in the matrix welding machine (c 3);
at least six position-adjustable material taking clamping jaws (d9) are arranged on the full-automatic material taking system (d), and at least two material taking clamping jaws (d9) are correspondingly arranged on each edge of the sealing strip of the finished refrigerator door.
2. The full-automatic welding production line of the refrigerator door sealing strips of claim 1, wherein the rubber sleeve conveying mechanism (a3) comprises a profile frame (a9), a head wheel assembly (a10) and a tail wheel assembly (a11) are respectively arranged at the front and the rear of the profile frame (a9), the head wheel assembly (a10) and the tail wheel assembly (a11) are connected through a belt (a12), synchronizing wheels (a13) are arranged on the two sides of each wheel, a driving motor is arranged below each wheel, and the driving motor and the synchronizing wheels (a13) are connected and driven through a synchronous belt.
3. The full-automatic welding production line of the refrigerator door sealing strip according to claim 1, wherein the rubber sleeve pushing mechanism (a4) comprises a pushing positioning bottom plate (a14), a positioning strip (a15) and a guide rail (a16) are arranged on the pushing positioning bottom plate (a14), a linear sliding block is arranged on the guide rail (a16), a material stirring base is arranged on the linear sliding block, a material stirring cylinder (a17) is arranged on the material stirring base, and a material stirring block (a18) is arranged on the material stirring cylinder (a 17); a material pushing module (a21) is arranged below the material pushing positioning bottom plate (a14), a material pushing connecting rod (a19) is arranged on the material pushing module (a21), and a material pushing block (a20) is arranged on the material pushing connecting rod (a 19).
4. The fully automatic welding production line of the refrigerator door sealing strip according to claim 1, wherein the rubber sleeve positioning mechanism (a2) comprises a positioning bottom plate (a8) mechanism, a guide mechanism (a5), a front positioning mechanism (a6) and a rear positioning mechanism (a 7); wherein the content of the first and second substances,
the positioning bottom plate (a8) mechanism comprises a positioning bottom plate (a8), a guide mechanism (a5) and a guide slide block are arranged on the positioning bottom plate (a8), a front positioning mechanism (a6) and a rear positioning mechanism (a7) are arranged on the guide slide block, and a rack is arranged below the positioning bottom plate (a 8);
the guide mechanism (a5) comprises a guide bottom plate (a22), a guide seat (a23) is arranged on the guide bottom plate (a22), and a guide die (a24) is arranged on the guide seat (a 23).
5. The full-automatic welding production line of the refrigerator door sealing strip according to claim 4, wherein the front positioning mechanism (a6) comprises a front positioning bottom plate (a25), and a front positioning guide rail sliding block (a26), a front positioning opening and closing cylinder seat (a29), a front positioning deviation-preventing cylinder seat (a31) and a front positioning motor seat (a34) are respectively arranged on the front positioning bottom plate (a 25); a front positioning opening and closing seat (a27) is arranged on the front positioning guide rail sliding block (a26), and a front positioning opening and closing die (a28) is arranged on the front positioning opening and closing seat (a 27); a front positioning opening and closing cylinder (a30) is arranged on the front positioning opening and closing cylinder seat (a29), and a fisheye joint is arranged on the front positioning opening and closing cylinder (a 30); a front positioning anti-deviation cylinder (a32) is arranged on the front positioning anti-deviation cylinder seat (a31), and a front positioning anti-deviation block (a33) is arranged on the front positioning anti-deviation cylinder (a 32); the front positioning motor seat (a34) is provided with a front positioning driving motor (a35), and the front positioning driving motor (a35) is provided with a front positioning gear (a 36).
6. The full-automatic welding production line of the refrigerator door sealing strip according to claim 4, wherein the rear positioning mechanism (a7) comprises a rear positioning bottom plate (a37), and a rear positioning guide rail sliding block (a38), a rear positioning opening and closing cylinder seat (a41), a rear positioning deviation-preventing cylinder seat (a44) and a rear positioning motor seat (a48) are respectively arranged on the rear positioning bottom plate (a 37); a rear positioning opening and closing seat (a39) is installed on the rear positioning guide rail sliding block (a38), a rear positioning opening and closing die (a40) and a rear positioning material pressing cylinder (a46) are installed on the rear positioning opening and closing seat (a39), a rear positioning material pressing sheet (a47) is installed on the rear positioning material pressing cylinder (a46), a rear positioning opening and closing cylinder (a42) is installed on the rear positioning opening and closing cylinder seat (a41), and a fisheye joint is installed on the rear positioning opening and closing cylinder (a 42); the rear positioning anti-deviation cylinder (a43) is arranged on the rear positioning anti-deviation cylinder seat (a44), the rear positioning anti-deviation block (a45) is arranged on the rear positioning anti-deviation cylinder (a43), the rear positioning driving motor (a49) is arranged on the rear positioning motor seat (a48), and the rear positioning gear (a50) is arranged on the rear positioning driving motor (a 49).
7. The fully automatic welding production line of the refrigerator door sealing strip according to any one of claims 1 to 6, wherein the automatic rubber sleeve grabbing mechanism comprises: the X-axis adjusting mechanism is positioned on the upper layer and connected with the six-axis robot (b29), and the right Y-axis adjusting mechanism and the left Y-axis adjusting mechanism are arranged below the X-axis adjusting mechanism in a symmetrical mode; a right Y-axis grabbing mechanism is connected below the right Y-axis adjusting mechanism, and a left Y-axis grabbing mechanism is connected below the left Y-axis adjusting mechanism;
when the six-axis robot (b29) runs to the rubber sleeve positioning position and descends to the position to be taken, the left and right Y-axis adjusting mechanisms are automatically adjusted to proper positions through the X-axis adjusting mechanism according to the parallel distance between the two rubber sleeves, and then the left and right Y-axis grabbing mechanisms are driven by the left and right Y-axis adjusting mechanisms according to the length of the rubber sleeves to grab the rubber sleeves simultaneously.
8. The fully automatic welding production line of the refrigerator door sealing strip according to claim 7, wherein the right Y-axis grabbing mechanism comprises a pair of right Y-axis positive floating grabbing mechanism and right Y-axis negative floating grabbing mechanism which are symmetrical, and the right Y-axis positive floating grabbing mechanism and the right Y-axis negative floating grabbing mechanism are matched with the right Y-axis middle grabbing mechanism arranged in the middle to grab three points of the right rubber sleeve (b28) in the Y-axis direction at the same time;
the left Y-axis grabbing mechanism comprises a pair of symmetrical left Y-axis positive floating grabbing mechanism and a left Y-axis negative floating grabbing mechanism, and is matched with the left Y-axis middle grabbing mechanism arranged in the middle to grab three points of the left rubber sleeve (b27) in the Y-axis direction at the same time.
9. The fully automatic welding production line of the refrigerator door weather strip according to claim 8, wherein the Y-axis middle grabbing mechanism comprises a connecting rod (b22), the upper end of the connecting rod (b22) is connected with the Y-axis secondary beam, the lower end of the connecting rod is provided with a T-shaped adjusting plate (b23), the T-shaped adjusting plate (b23) is provided with a C-shaped adjusting plate (b24), the C-shaped adjusting plate (b24) is provided with a middle clamping jaw cylinder (b25), and the middle clamping jaw cylinder (b25) is provided with a middle clamping jaw (b 26).
10. The fully automatic welding production line of the refrigerator door sealing strip according to claim 7, wherein the X-axis adjusting mechanism comprises a main beam connecting block (b1), an X-axis main beam (b1), an X-axis positive adjusting module (b4), an X-axis positive transmission servo motor (b3), an X-axis negative adjusting module (b5) and an X-axis negative transmission servo motor (b 6); wherein the content of the first and second substances,
the upper end of the main beam connecting block (b1) is connected with a six-axis robot (b29), and the lower end of the main beam connecting block is connected to the middle position of an X-axis main beam (b 1); an X-axis positive direction adjusting module (b4) is arranged on one side of the X-axis main beam (b1), and the X-axis positive direction adjusting module (b4) is in driving connection with an X-axis positive direction transmission servo motor (b 3); the other side of the X-axis general beam (b1) is provided with an X-axis negative direction adjusting module (b5), and the X-axis negative direction adjusting module (b5) is in driving connection with an X-axis negative direction transmission servo motor (b 6).
11. The fully automatic welding production line of the refrigerator door sealing strip of claim 10, wherein the right Y-axis adjusting mechanism comprises a right auxiliary beam connecting block (b7), a right Y-axis auxiliary beam (b8), a right Y-axis positive adjusting module (b10), a right Y-axis positive transmission servo motor (b9), a right Y-axis negative adjusting module (b11) and a right Y-axis negative transmission servo motor (b 12); wherein the content of the first and second substances,
the upper end of the right auxiliary beam connecting block (b7) is connected with an X-axis negative direction adjusting module (b5), and the lower end of the right auxiliary beam connecting block is connected with the middle position of a right Y-axis auxiliary beam (b 8); one side of the Y-axis auxiliary beam is provided with a right Y-axis positive direction adjusting module (b10), and the right Y-axis positive direction adjusting module (b10) is in driving connection with a right Y-axis positive direction transmission servo motor (b 9); the other side of the Y-axis auxiliary beam is provided with a right Y-axis negative direction adjusting module (b11), and the right Y-axis negative direction adjusting module (b11) is in driving connection with a right Y-axis negative direction transmission servo motor (b 12).
12. The fully-automatic welding production line for the refrigerator door sealing strip according to claim 10, wherein the left Y-axis adjusting mechanism comprises a left secondary beam connecting block, a left Y-axis secondary beam, a left Y-axis positive adjusting module, a left Y-axis positive transmission servo motor, a left Y-axis negative adjusting module, and a left Y-axis negative transmission servo motor; wherein the content of the first and second substances,
the upper end of the left auxiliary beam connecting block is connected with an X-axis positive direction adjusting module (b4), and the lower end of the left auxiliary beam connecting block is connected to the middle position of the left Y-axis auxiliary beam; one side of the Y-axis auxiliary beam is provided with a left Y-axis forward adjusting module, and the left Y-axis forward adjusting module is in driving connection with a left Y-axis forward transmission servo motor; the other side of the Y-axis auxiliary beam is provided with a left Y-axis negative direction adjusting module, and the left Y-axis negative direction adjusting module is in driving connection with a left Y-axis negative direction transmission servo motor.
13. The fully automatic welding production line of the refrigerator door sealing strip according to claim 11 or 12, wherein the Y-axis floating gripper mechanism comprises a main connecting plate (b13), the upper end of the main connecting plate (b13) is connected with the Y-axis adjusting module, a transverse guide rail (b15) is installed at the lower end, a transverse cylinder (b14) is in driving connection with the transverse guide rail (b15), a floating connecting plate (b16) is connected to the transverse guide rail (b15), a longitudinal guide rail (b17) is installed to the floating connecting plate (b16), a T-shaped plate (b16) is connected to the longitudinal guide rail (b17), a centering guide rail (b19) is installed to the T-shaped plate (b16), a centering cylinder (b20) is installed to the centering guide rail (b19), and a centering cylinder (b20) and a rubber sleeve clamping jaw (b 21).
14. A fully automatic production line for refrigerator door sealing strips according to any of claims 1 to 6 or 8 to 12, characterised in that the adjustment seating comprises: the large bottom plate assembly (c1), the middle bottom plate assembly (c2) is symmetrically arranged on the large bottom plate assembly (c1), and the matrix welding machine (c3) is symmetrically arranged on the middle bottom plate assembly (c 2); wherein the content of the first and second substances,
the large bottom plate component (c1) comprises a large bottom plate (c6), a first guide rail group (c4) and a first rack group (c5) are arranged on the large bottom plate (c6), and a lower sliding block which is slidably sleeved on the first guide rail group (c4) is arranged at the bottom of the middle bottom plate component (c 2);
the middle baseplate component (c2) comprises a middle baseplate (c7), a second guide rail group (c8), a second rack group (c9) and a middle plate driving motor (c10) are arranged on the middle baseplate (c7), and a lower gear set matched with the first rack group (c5) is arranged on the middle plate driving motor (c 10).
15. The fully-automatic welding production line of the refrigerator door sealing strips according to claim 14, wherein the matrix welding machine (c3) comprises a welding frame assembly (c11), a left die assembly component (c12) and a right die assembly component (c12) are arranged on the welding frame assembly (c11), the left die assembly component (c12) and the right die assembly component (c12) are connected with a front die assembly component (c13) and a rear die assembly component (c11) through die opening and closing guide rails, and a movable heating component is arranged inside the welding frame assembly (c;
the left and right mold clamping assemblies (c12) and the front and rear mold clamping assemblies (c13) are clamped to form a right-angle mold opening, and when the left and right mold clamping assemblies (c12) are opened, the heating assembly can move into the middle of the left and right mold clamping assemblies (c12) to heat the end part of the rubber sleeve.
16. The fully automatic welding production line of the refrigerator door sealing strip according to claim 15, wherein the heating assembly comprises: the rubber sleeve heating device comprises a rotary cylinder (c16) and a swing arm (c17) mounted on the rotary cylinder (c16), wherein a heating block (c18) is arranged at the end part of the swing arm (c17), and the heating block (c18) can move into the middle of a left mold closing assembly (c12) and a right mold closing assembly (c12) to heat the end part of the rubber sleeve.
17. The fully automatic welding production line of refrigerator door weatherstrips as claimed in claim 15, wherein the front and rear clamping assemblies (c13) are provided with a cleaning assembly (c14), and the tail of the welding frame assembly (c11) is provided with a rubber sleeve stopper assembly (c 15).
18. A fully automatic welding line for refrigerator door seals according to any one of claims 1 to 6, 8 to 12 or 15 to 17, wherein the fully automatic pickup system (d) comprises an X-axis pickup traversing mechanism (d1) disposed parallel to the adjustment base, a Y-axis pickup adjusting mechanism (d2) is disposed on the X-axis pickup traversing mechanism (d1), a Z-axis pickup lifting mechanism (d3) is disposed on the Y-axis pickup adjusting mechanism (d2), and a pickup chuck mechanism (d4) is disposed below the Z-axis pickup lifting mechanism (d 3).
19. The fully automatic welding production line of the refrigerator door weather strip according to claim 18, wherein the chuck mechanism comprises a Z-axis connecting block (d5), a lifting cylinder (d6) is mounted on the Z-axis connecting block (d5), two X-axis adjusting rods (d7) are connected below the lifting cylinder (d6), four Y-axis adjusting rods (d8) are connected below the X-axis adjusting rods (d7), and material taking clamping jaws (d9) are respectively arranged at two lower ends of the Y-axis adjusting rods (d 8).
CN202010356359.8A 2020-04-29 2020-04-29 Full-automatic welding production line for refrigerator door sealing strips Active CN111531899B (en)

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