WO2021217498A1 - 一种冰箱门密封条的全自动焊接生产线 - Google Patents

一种冰箱门密封条的全自动焊接生产线 Download PDF

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Publication number
WO2021217498A1
WO2021217498A1 PCT/CN2020/087785 CN2020087785W WO2021217498A1 WO 2021217498 A1 WO2021217498 A1 WO 2021217498A1 CN 2020087785 W CN2020087785 W CN 2020087785W WO 2021217498 A1 WO2021217498 A1 WO 2021217498A1
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WIPO (PCT)
Prior art keywords
axis
positioning
rubber sleeve
cylinder
bottom plate
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PCT/CN2020/087785
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English (en)
French (fr)
Inventor
时乾中
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安徽万朗磁塑股份有限公司
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Application filed by 安徽万朗磁塑股份有限公司 filed Critical 安徽万朗磁塑股份有限公司
Priority to PL440935A priority Critical patent/PL440935A1/pl
Priority to PCT/CN2020/087785 priority patent/WO2021217498A1/zh
Priority to MX2021015542A priority patent/MX2021015542A/es
Publication of WO2021217498A1 publication Critical patent/WO2021217498A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B29C65/18—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78—Means 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

Definitions

  • the invention relates to a fully automatic welding production line for refrigerator door sealing strips.
  • Refrigerator door seals are mainly composed of rubber sleeves and magnetic strips. Insert the magnetic strips into the rubber sleeves to form a preliminary semi-finished door seal. This kind of door seals need an important welding link to be applied to refrigerators.
  • Manual door welding is commonly used, which not only requires high operators, but also has low efficiency and low product consistency. It will be replaced by automatic operation. For this reason, a fully automatic welding production line for refrigerator door sealing strips is provided. It is very necessary to replace manual welding.
  • the purpose of the present invention is to provide a fully automatic welding production line for refrigerator door sealing strips.
  • the fully automatic welding production line realizes refrigerator door sealing strips through automatic mold insertion, automatic positioning, automatic transfer, automatic welding, and automatic parts removal. , Fully automated production from semi-finished products to finished products.
  • the present invention provides a fully automatic welding production line for refrigerator door sealing strips, including: a fully automatic rubber sleeve positioning and inserting system, and a fully automatic rubber sleeve grabbing set at one end of the automatic rubber sleeve positioning and inserting system System, at least one automatic welding system installed on the side of the automatic rubber sleeve grabbing system, and a full automatic picking system installed on the side of the automatic welding system; among them, the automatic rubber sleeve positioning and inserting system includes: installation The rubber sleeve inserting mechanism and the rubber sleeve positioning mechanism on the frame platform.
  • the rubber sleeve inserting mechanism is composed of a rubber sleeve conveying mechanism and two rubber sleeve pushing mechanisms arranged in a symmetrical shape.
  • the rubber sleeve positioning mechanism is composed of a guide mechanism.
  • the front positioning mechanism and the rear positioning mechanism are composed of two groups and arranged in a symmetrical arrangement;
  • the automatic rubber sleeve grasping system includes: a six-axis robot, and the movable end of the six-axis robot is equipped with two parallel ones that can grasp each other.
  • the rubber sleeve automatic grabbing mechanism of the root rubber sleeve, and the grab position of the rubber sleeve automatic grabbing mechanism can be adjusted;
  • the automatic welding system includes: an adjustment base, on which there are four matrix welding machines and four matrix welding machines The matrix is divided into sections and all extend towards the center of the adjustment base; the matrix welding machine has a right-angled mold opening formed inside the inward end of the matrix welding machine, and the mold opening can realize left-right and front-rear opening and closing of the molds.
  • the matrix welding machine is equipped with The heating component that extends into or out of the middle of the mold mouth; at least six position-adjustable picking jaws are provided on the fully automatic picking system, and at least two picking jaws are provided on each side of the finished refrigerator door sealing strip. Material clamping jaws.
  • the rubber sleeve conveying mechanism includes a profile frame.
  • the front and rear of the profile frame are respectively provided with a head wheel assembly and a tail wheel assembly.
  • the head wheel assembly and the tail wheel assembly are connected by a belt.
  • Both sides of the wheel are equipped with synchronous wheels and a drive is provided below.
  • the motor, the driving motor and the synchronous wheel are connected and driven by a synchronous belt.
  • the rubber sleeve pushing mechanism includes a pushing positioning base plate, a positioning bar and a guide rail are installed on the pushing positioning base plate, a linear sliding block is installed on the guide rail, a material shifting base is installed on the linear sliding block, and a material shifting cylinder is installed on the material shifting base, A shifting block is installed on the shifting cylinder; a pusher module is installed under the pusher positioning bottom plate, a pusher connecting rod is installed on the pusher module, and a pusher block is installed on the pusher connecting rod.
  • the rubber sleeve positioning mechanism includes a positioning bottom plate mechanism, a guide mechanism, a front positioning mechanism, and a rear positioning mechanism; wherein the positioning bottom plate mechanism includes a positioning bottom plate.
  • the positioning bottom plate is equipped with a guide mechanism and a guide slider, and the guide slider is equipped with a front positioning
  • the mechanism and the rear positioning mechanism are equipped with a rack under the positioning base plate.
  • the guide mechanism includes a guide bottom plate, a guide seat is installed on the guide bottom plate, and a guide mold is installed on the guide seat.
  • the front positioning mechanism includes a front positioning base plate, and the front positioning base plate is respectively equipped with a front positioning guide rail slider, a front positioning opening and closing cylinder base, a front positioning anti-deflection cylinder base and a front positioning motor base;
  • the front positioning guide slider is equipped with Front positioning opening and closing seat, the front positioning opening and closing seat is equipped with a front positioning opening and closing die;
  • the front positioning opening and closing cylinder seat is equipped with a front positioning opening and closing cylinder, and the front positioning opening and closing cylinder is equipped with a fish-eye connector;
  • the front positioning anti-deflection cylinder seat The front positioning anti-deflection cylinder is equipped with a front positioning anti-deflection block;
  • the front positioning motor seat is equipped with a front positioning drive motor, and the front positioning drive motor is equipped with a front positioning gear.
  • the rear positioning mechanism includes a rear positioning bottom plate, and the rear positioning bottom plate is equipped with a rear positioning rail slider, a rear positioning opening and closing cylinder block, a rear positioning anti-deflection cylinder block, and a rear positioning motor seat;
  • the rear positioning guide slider is installed
  • the rear positioning opening and closing seat, the rear positioning opening and closing seat is equipped with a rear positioning opening and closing die and a rear positioning pressing cylinder, the rear positioning pressing cylinder is equipped with a rear positioning pressing piece, and the rear positioning opening and closing cylinder seat is equipped with a rear positioning opening and closing Cylinder, rear positioning opening and closing cylinder is equipped with fish-eye connector;
  • rear positioning anti-deflection cylinder is equipped with rear positioning anti-deflection cylinder, rear positioning anti-deflection cylinder is equipped with rear positioning anti-deflection block,
  • rear positioning motor seat is equipped with rear positioning drive motor ,
  • the rear positioning drive motor is equipped with a rear positioning gear.
  • the rubber sleeve automatic grasping mechanism includes: an X-axis adjustment mechanism connected to the six-axis robot on the upper layer, and a pair of symmetrical right Y-axis adjustment mechanism and left Y-axis adjustment mechanism installed below the X-axis adjustment mechanism;
  • the right Y-axis adjustment mechanism is connected with the right Y-axis grasping mechanism under the right Y-axis adjustment mechanism, and the left Y-axis grasping mechanism is connected under the left Y-axis adjustment mechanism;
  • the X-axis adjustment mechanism automatically adjusts the left and right Y-axis adjustment mechanisms to the appropriate position according to the parallel distance between the two rubber sleeves, and then the left and right Y-axis adjustment mechanisms drive the left and right Y-axis grasping mechanisms according to the length of the rubber sleeve to simultaneously grasp Take the rubber sleeve.
  • the right Y-axis grasping mechanism includes a pair of symmetrical right Y-axis positive floating grasping mechanism and right Y-axis negative floating grasping mechanism, and cooperates with the right Y-axis intermediate grasping mechanism arranged in the middle to simultaneously grasp Take the three points in the Y-axis direction of the right rubber sleeve;
  • the left Y-axis grasping mechanism includes a pair of symmetrical left Y-axis positive floating grasping mechanism and left Y-axis negative floating grasping mechanism, and the left Y axis is set in the middle.
  • the shaft middle gripping mechanism cooperates to simultaneously grip the three points in the Y-axis direction of the left rubber sleeve.
  • the Y-axis intermediate grasping mechanism includes a connecting rod, the upper end of the connecting rod is connected with the Y-axis sub-beam, the lower end is equipped with a T-shaped adjusting plate, the T-shaped adjusting plate is equipped with a C-shaped adjusting plate, and the C-shaped adjusting plate is equipped with an intermediate clamp.
  • Claw cylinder, the middle clamping claw cylinder is equipped with a middle clamping claw.
  • the X-axis adjustment mechanism includes a main beam connecting block, an X-axis main beam, an X-axis positive adjustment module, an X-axis positive transmission servo motor, an X-axis negative adjustment module, and an X-axis negative transmission servo motor;
  • the upper end of the main beam connecting block is connected to the six-axis robot, and the lower end is connected to the middle position of the X-axis main beam;
  • the X-axis main beam side is the X-axis positive adjustment module, and the X-axis positive adjustment module is connected to the X-axis positive
  • the X-axis negative adjustment module is on the other side of the X-axis main beam, and the X-axis negative adjustment module is connected to the X-axis negative transmission servo motor.
  • the right Y-axis adjustment mechanism includes a right auxiliary beam connecting block, a right Y-axis auxiliary beam, a right Y-axis positive adjustment module, a right Y-axis positive transmission servo motor, a right Y-axis negative adjustment module, and a right Y-axis positive adjustment module.
  • Axis negative transmission servo motor among them, the upper end of the right sub-beam connecting block is connected with the X-axis negative adjustment module, and the lower end is connected to the middle of the right Y-axis sub-beam; the side of the Y-axis sub-beam is the right Y-axis positive adjustment mode Group, the right Y-axis positive adjustment module is connected to the right Y-axis positive transmission servo motor; the other side of the Y-axis sub-beam is the right Y-axis negative adjustment module, and the right Y-axis negative adjustment module is connected to the right Y Axis negative drive servo motor drive connection.
  • the left Y-axis adjustment mechanism includes a left auxiliary beam connecting block, a left Y-axis auxiliary beam, a left Y-axis positive adjustment module, a left Y-axis positive transmission servo motor, a left Y-axis negative adjustment module, and a left Y-axis positive adjustment module.
  • Axis negative transmission servo motor among them, the upper end of the left sub-beam connecting block is connected with the X-axis positive adjustment module, and the lower end is connected to the middle position of the left Y-axis sub-beam; the side of the Y-axis sub-beam is the left Y-axis positive adjustment mode Group, the left Y-axis positive adjustment module is connected to the left Y-axis positive transmission servo motor; the other side of the Y-axis sub-beam is the left Y-axis negative adjustment module, and the left Y-axis negative adjustment module is connected to the left Y Axis negative drive servo motor drive connection.
  • the Y-axis floating gripper mechanism includes a main connecting plate.
  • the upper end of the main connecting plate is connected with the Y-axis adjustment module.
  • the connecting plate is equipped with a longitudinal guide rail, the longitudinal guide rail is connected with a T-shaped plate, the T-shaped plate is equipped with a centering guide rail, a centering cylinder is installed on the centering guide rail, and a rubber sleeve clamping jaw is installed on the centering cylinder.
  • the adjusting base includes: a large bottom plate assembly, a middle bottom plate assembly is symmetrically provided on the large bottom plate assembly, and a matrix welding machine is symmetrically provided on the middle bottom plate assembly; wherein the large bottom plate assembly includes a large bottom plate, and the large bottom plate is provided with a first guide rail
  • the bottom of the middle bottom plate assembly is provided with a lower sliding block that is slidably sleeved on the first guide rail group;
  • the middle bottom plate assembly includes a middle bottom plate, and the middle bottom plate is provided with a second guide rail group and a second rack
  • the middle plate driving motor is provided with a lower gear group matched with the first rack gear group.
  • the matrix welding machine includes a welding frame assembly, the left and right clamping assemblies are arranged on the welding frame assembly, the left and right clamping assemblies are connected to the front and rear clamping assemblies through the opening and closing mold guide rails, and the welding frame assembly is provided with Movable heating components; right-angled mold openings are formed after the left and right clamping components and the front and rear clamping components are closed.
  • the heating components can drive into the middle of the left and right clamping components to glue The end of the sleeve is heated.
  • the heating assembly includes: a rotating cylinder and a swing arm mounted on the rotating cylinder.
  • the end of the swing arm is provided with a heating block that can be driven into the middle of the left and right clamping assembly to heat the end of the rubber sleeve.
  • a cleaning assembly is provided on the front and rear clamping assembly, and a rubber sleeve stopper assembly is provided at the end of the welding frame assembly.
  • the fully automatic pickup system includes an X-axis pickup and lateral movement mechanism arranged parallel to the adjustment base, the X-axis pickup and lateral movement mechanism is provided with a Y-axis pickup adjustment mechanism, and the Y-axis pickup adjustment mechanism is provided with Z Axis fetching and lifting mechanism, under the Z-axis fetching and lifting mechanism is provided with a fetching chuck mechanism.
  • the chuck mechanism includes a Z-axis connection block
  • the Z-axis connection block is equipped with a lifting cylinder
  • two X-axis adjustment rods are connected under the lifting cylinder
  • four Y-axis adjustment rods are connected below the X-axis adjustment rod
  • the Y-axis adjustment rod is lower Both ends are provided with picking jaws.
  • the rubber sleeve is positioned into the mold by the automatic rubber sleeve positioning and inserting system, and then the rubber sleeve is transferred to the automatic welding system for welding by the automatic rubber sleeve grabbing system, and the welding forms a final connection. Rectangular product refrigerator door sealing strips, and finally the welded rectangular product refrigerator door sealing strips are taken out from the automatic welding system through the automatic picking system, and one welding work is completed, thereby realizing the fully automated production of refrigerator door sealing strips.
  • Figure 1 is a schematic diagram of the overall structure of a fully automatic welding production line
  • Figure 2 is a schematic diagram of the overall structure of the automatic rubber sleeve positioning and inserting system
  • Figure 3 is a partial structural diagram of the automatic rubber sleeve positioning and inserting system
  • Figure 4 is a schematic diagram of the structure of the rubber sleeve inserting mechanism
  • Figure 5 is a schematic diagram of the structure of the rubber sleeve positioning mechanism
  • Figure 6 is a schematic diagram of the structure of the rubber sleeve conveying mechanism
  • Figure 7 is a schematic diagram of the structure of the rubber sleeve pushing mechanism
  • Figure 8 is a schematic view of the structure of the guiding mechanism
  • Figure 9 is a schematic view of the structure of the front positioning mechanism
  • Figure 10 is a schematic structural diagram of a rear positioning mechanism
  • Figure 11 is a schematic diagram of the overall structure of the fully automatic rubber sleeve grabbing system
  • Figure 12 is a schematic diagram of the structure of the rubber sleeve automatic grabbing mechanism
  • Figure 13 is a schematic view of the structure of the X-axis adjustment mechanism in the rubber sleeve automatic grabbing mechanism
  • Figure 14 is a schematic diagram of the Y-axis adjustment mechanism in the rubber sleeve automatic grabbing mechanism
  • Figure 15 is a schematic diagram of the structure of the Y-axis positive floating gripper mechanism in the rubber sleeve automatic gripping mechanism
  • Figure 16 is a schematic diagram of the structure of the Y-axis intermediate grasping hand mechanism in the rubber sleeve automatic grasping mechanism
  • Figure 17 is a schematic diagram of the overall structure of the fully automatic welding system
  • Figure 18 is a schematic diagram of the structure of the large bottom plate assembly
  • Figure 19 is a schematic view of the structure of the bottom plate assembly
  • Figure 20 is a schematic diagram of the overall structure of the matrix welding machine
  • Figure 21 is a cross-sectional structural diagram of a matrix welding machine in a state
  • Figure 22 is a schematic cross-sectional structure diagram of the matrix welding machine in another state
  • Figure 23 is a schematic diagram of the assembly structure between the front and rear clamping components and the rubber sleeve;
  • Figure 24 is a schematic diagram of the overall structure of the fully automatic pickup system
  • Figure 25 is a schematic diagram of the overall structure of the reclaiming chuck mechanism.
  • a-Automatic rubber sleeve positioning and inserting system a-Automatic rubber sleeve positioning and inserting system; b-Automatic rubber sleeve grabbing system; c-Automatic welding system; d-Automatic picking system; a1-Sleeve inserting mechanism; a2-Sleeve positioning mechanism A3-plastic sleeve conveying mechanism; a4-plastic sleeve pushing mechanism; a5-guide mechanism a6-front positioning mechanism; a7-rear positioning mechanism; a8-positioning base plate; a9-profile frame; a10-head wheel assembly; a11- Tail wheel assembly a12-belt; a13-synchronous wheel; a14-positioning bottom plate for pushing material; a15-positioning bar; a16-rail; Block; a21-pushing module; a22-guide base plate; a23-guide seat a24-guide die; a25-front positioning base plate; a26-front positioning rail slider;
  • the automatic welding production line of refrigerator door sealing strip including: automatic rubber sleeve positioning and inserting system a, and a fully automatic rubber sleeve grabbing system set at one end of the automatic rubber sleeve positioning and inserting system a b.
  • At least one automatic welding system c arranged on the side of the automatic rubber sleeve grabbing system b, and an automatic picking system d arranged on the side of the automatic welding system c; among them, the automatic rubber sleeve is positioned into the mold System a includes: a rubber sleeve inserting mechanism a1 and a rubber sleeve positioning mechanism a2 installed on the frame platform a51.
  • the rubber sleeve inserting mechanism a1 is composed of a rubber sleeve conveying mechanism a3 and two rubber sleeves that are arranged symmetrically.
  • the rubber sleeve positioning mechanism a2 is composed of the guiding mechanism a5, the front positioning mechanism a6 and the rear positioning mechanism a7, and forms two groups arranged in a symmetrical arrangement;
  • the automatic rubber sleeve grasping system b includes: a six-axis robot b29, 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 rubber sleeve automatic grabbing mechanism can be adjusted;
  • the automatic welding system c includes: Adjusting base, four matrix welding machines c3 are arranged on the adjusting base, and the four matrix welding machines c3 are matrix sections and all extend toward the center of the adjusting base; the inner end of the matrix welding machine c3 facing inward is formed with
  • the automatic rubber sleeve positioning and inserting system a will position the rubber sleeve into the mold and then use the automatic rubber sleeve grabbing system b to transfer the rubber sleeve to the automatic welding system c for welding, and the welding will form a final connection Finally, the welded rectangular finished refrigerator door sealing strip is taken out from the automatic welding system c through the automatic pick-up system d, and the welding work is completed once, thereby realizing the full automation of the refrigerator door sealing strip Production.
  • the rubber sleeve transmission mechanism a3 includes a profile frame a9.
  • the front and rear of the profile frame a9 are respectively provided with a head wheel assembly a10 and a tail wheel assembly a11.
  • the head wheel assembly a10 and the tail wheel assembly a11 are connected by a belt a12.
  • Synchronous wheels a13 are arranged on both sides, and a driving motor is arranged underneath. The driving motor and the synchronous wheels a13 are connected for transmission through a timing belt.
  • the rubber sleeve pushing mechanism a4 includes a pushing positioning base plate a14.
  • the pushing positioning base plate a14 is equipped with a positioning bar a15 and a guide rail a16.
  • the guide rail a16 is equipped with a linear slider, and the linear slider is equipped with a material shifter.
  • the shifting base is equipped with a shifting cylinder a17, and a shifting block a18 is installed on the shifting cylinder a17; a pusher module a21 is installed under the pusher positioning bottom plate a14, and a pusher connecting rod a19 is installed on the pusher module a21.
  • a pushing block a20 is installed on the pushing connecting rod a19.
  • the rubber sleeve positioning mechanism a2 includes a positioning bottom plate a8 mechanism, a guiding mechanism a5, a front positioning mechanism a6, and a rear positioning mechanism a7; among them,
  • the positioning base plate a8 mechanism includes a positioning base plate a8.
  • the positioning base plate a8 is equipped with a guide mechanism a5 and a guide slider.
  • the guide slider is equipped with a front positioning mechanism a6 and a rear positioning mechanism a7.
  • a rack is installed under the positioning base plate a8.
  • the guide mechanism a5 includes a guide bottom plate a22, a guide seat a23 is installed on the guide bottom plate a22, and a guide mold a24 is installed on the guide seat a23.
  • the front positioning mechanism a6 includes a front positioning bottom plate a25.
  • the front positioning bottom plate a25 is equipped with a front positioning rail slider a26, a front positioning opening and closing cylinder block a29, and a front positioning anti-deflection cylinder.
  • Front positioning slide block a26 is equipped with front positioning opening and closing seat a27, front positioning opening and closing seat a27 is equipped with front positioning opening and closing mold a28;
  • front positioning opening and closing cylinder seat a29 is equipped with front positioning Opening and closing cylinder a30, front positioning opening and closing cylinder a30 is equipped with fisheye joints;
  • front positioning anti-deflection cylinder a31 is equipped with front positioning anti-deflection cylinder a32, and front positioning anti-deflection cylinder a32 is equipped with front positioning anti-deflection block a33;
  • front positioning A front positioning drive motor a35 is mounted on the motor seat a34, and a front positioning gear a36 is mounted on the front positioning drive motor a35.
  • the rear positioning mechanism a7 includes a rear positioning base plate a37.
  • the rear positioning base plate a37 is equipped with a rear positioning rail slider a38, a rear positioning opening and closing cylinder block a41, a rear positioning anti-deflection cylinder block a44, and a rear positioning base a37.
  • Positioning motor seat a48 rear positioning guide rail slider a38 is equipped with rear positioning opening and closing seat a39, rear positioning opening and closing seat a39 is equipped with rear positioning opening and closing die a40, rear positioning pressing cylinder a46, and rear positioning pressing cylinder a46 is equipped Rear positioning press piece a47, rear positioning opening/closing cylinder seat a41 is equipped with rear positioning opening/closing cylinder a42, rear positioning opening/closing cylinder a42 is equipped with fish-eye connector; rear positioning anti-deflection cylinder seat a44 is equipped with rear positioning anti-deflection cylinder a43 , The rear positioning anti-deflection cylinder a43 is equipped with a rear positioning anti-deflection block a45, the rear positioning motor seat a48 is equipped with a rear positioning driving motor a49, and the rear positioning driving motor a49 is equipped with a rear positioning gear a50.
  • the operation process of the automatic rubber sleeve positioning and inserting system a is divided into two stages: the first stage, the front positioning mechanism a6 and the rear positioning mechanism a7 in the rubber sleeve positioning mechanism a2 are driven by the drive motor, and the guiding mechanism a5 is carried out at the same time. Merge until contact, ready to enter the mold. At this time, the two door seal rubber sleeves are simultaneously conveyed from the two belts a12 in the rubber sleeve conveying mechanism a3 to the preset position. The preset position is set by the photoelectric switch. When the rubber sleeve reaches the preset position, the rubber sleeve conveying mechanism a3 stops.
  • the three material shifting cylinders a17 in the rubber sleeve inserting mechanism a1 act at the same time to pull the two rubber sleeves to the left and right to the designated positions.
  • the designated positions are preset by the positioning bar a15 for guiding into the mold. .
  • the pushing module a21 pushes forward, driving the pushing connecting rod a19 and the pushing block a20 to push forward at a constant speed, and after running for a certain distance, it contacts the shifting cylinder a17 and moves forward together until it contacts the rubber sleeve.
  • the total length of the front positioning mechanism a6, the rear positioning mechanism a7, and the guiding mechanism a5 is the total length of the combination of the front positioning mechanism a6, the rear positioning mechanism a7, and the guiding mechanism a5, which is the completed rubber sleeve molding.
  • the rear positioning and pressing cylinder a46 in the rear positioning mechanism a7 acts, driving the rear positioning pressing piece a47 to press the rubber sleeve, and then the rear positioning drive motor a49 drives the rear positioning gear a50 It is mutually driven with the rack to move the rear positioning mechanism a7 to a preset position, which is one-half of the distance from the center of the positioning base plate a8 to the current rubber sleeve length, and the rear positioning press piece a47 rises and loosens.
  • the front positioning mechanism a6 lags behind the rear positioning mechanism a7 for two seconds, and starts to move in the same direction to the preset position together, which is the positioning after the distance The total length of the a7 rubber sleeve.
  • the front positioning mechanism a6 and the rear positioning mechanism a7 respectively position the front and rear end faces of the rubber sleeve, and the two ends of the center of the positioning base plate a8 are symmetrical, waiting for the robot to grab.
  • the preset position is specifically set according to the cross-sectional height of the rubber sleeve.
  • the two rear positioning opening and closing cylinders a42 move to open the rear positioning opening and closing mold a40, which is convenient for gluing.
  • the sleeve is grabbed by the manipulator and removed.
  • the front positioning mechanism a6 and the rear positioning mechanism a7 are again combined with the guiding mechanism a5 to contact and enter the mold-in state, and then the rubber sleeve conveying mechanism a3 re-runs to transport the rubber sleeve, and the mold-in and positioning reciprocate.
  • the front positioning anti-deflection cylinder a32 in the front positioning mechanism a6 drives the front positioning anti-deflection block a33, and the left and right sides are closed symmetrically to prevent the rubber sleeve from shifting or even falling off during the entire moving and positioning process.
  • the rear positioning mechanism The functions of the same components in a7 are the same, so I won’t repeat them here.
  • the rubber sleeve automatic grasping mechanism includes: an X-axis adjustment mechanism connected to the six-axis robot b29 on the upper level, and a pair of symmetrical right Y-axis adjustment mechanism and left Y-axis adjustment mechanism installed below the X-axis adjustment mechanism ;
  • the right Y-axis adjustment mechanism is connected to the right Y-axis grasping mechanism, and the left Y-axis adjustment mechanism is connected to the left Y-axis grasping mechanism; when the six-axis robot b29 runs to the position of the rubber sleeve and drops to the material waiting position ,
  • the left and right Y-axis adjustment mechanisms are automatically adjusted to the appropriate positions by the X-axis adjustment mechanism according to the parallel distance between the two rubber sleeves, and then the left and right Y-axis adjustment mechanisms drive the left and right Y
  • the right Y-axis grasping mechanism includes a pair of symmetrical right Y-axis positive floating grasping mechanism and right Y-axis negative floating grasping mechanism, and is arranged in the middle of the right Y-axis intermediate grasping mechanism.
  • the hand mechanism cooperates to simultaneously grasp the three points in the Y axis direction of the right rubber sleeve b28;
  • the left Y axis grasping mechanism includes a pair of symmetrical left Y axis positive floating grasping mechanism and left Y axis negative floating grasping mechanism, And it cooperates with the left Y-axis middle gripping mechanism provided in the middle to simultaneously grab the three points in the Y-axis direction of the left rubber sleeve b27.
  • the Y-axis intermediate grasping mechanism includes a connecting rod b22, the upper end of the connecting rod b22 is connected with the Y-axis sub-beam, the lower end is equipped with a T-shaped adjusting plate b23, and the T-shaped adjusting plate b23 is equipped with a C-shaped adjusting plate.
  • Plate b24, C-shaped adjusting plate b24 is equipped with an intermediate gripper cylinder b25, and the intermediate gripper cylinder b25 is equipped with an intermediate gripper b26.
  • the X-axis adjustment mechanism includes a main beam connecting block b1, an X-axis main beam b1, an X-axis positive adjustment module b4, an X-axis positive transmission servo motor b3, and an X-axis negative adjustment module.
  • Group b5 and X-axis negative transmission servo motor b6 among them, the upper end of the main beam connecting block b1 is connected to the six-axis robot b29, and the lower end is connected to the middle position of the X-axis main beam b1; the X-axis main beam b1 side is the X-axis positive X-axis positive adjustment module b4, X-axis positive adjustment module b4 and X-axis positive transmission servo motor b3 drive connection; the other side of X-axis main beam b1 is X-axis negative adjustment module b5, X-axis negative adjustment module The group b5 is drivingly connected with the X-axis negative transmission servo motor b6.
  • the right Y-axis adjustment mechanism includes a right auxiliary beam connecting block b7, a right Y-axis auxiliary beam b8, a right Y-axis positive adjustment module b10, a right Y-axis positive drive servo motor b9, and a right Y-axis positive adjustment module b9.
  • Y-axis negative adjustment module b11, right Y-axis negative transmission servo motor b12 among them, the upper end of the right auxiliary beam connecting block b7 is connected to the X-axis negative adjustment module b5, and the lower end is connected to the middle position of the right Y-axis auxiliary beam b8 ;
  • One side of the Y-axis sub-beam is the right Y-axis positive adjustment module b10, and the right Y-axis positive adjustment module b10 is drivingly connected with the right Y-axis positive transmission servo motor b9; the other side of the Y-axis sub-beam is right Y
  • the axis negative adjustment module b11, the right Y axis negative adjustment module b11 and the right Y axis negative transmission servo motor b12 are drivingly connected.
  • the left Y-axis adjustment mechanism includes a left auxiliary beam connecting block, a left Y-axis auxiliary beam, a left Y-axis positive adjustment module, a left Y-axis positive transmission servo motor, and a left Y-axis negative Adjustment module, left Y-axis negative transmission servo motor; among them, the upper end of the left auxiliary beam connecting block is connected to the X-axis positive adjustment module b4, and the lower end is connected to the middle position of the left Y-axis auxiliary beam; the side of the Y-axis auxiliary beam is The left Y-axis positive adjustment module, the left Y-axis positive adjustment module is connected to the left Y-axis positive drive servo motor; the other side of the Y-axis sub-beam is the left Y-axis negative adjustment module, and the left Y-axis is negative The direction adjustment module is connected to the left Y-axis negative transmission servo motor.
  • the Y-axis floating gripping mechanism includes a main connecting plate b13, the upper end of the main connecting plate b13 is connected with the Y-axis adjustment module, and the lower end is installed with a horizontal guide b15, which is driven by a horizontal cylinder b14 and a horizontal guide b15.
  • the horizontal rail b15 is connected to the floating connecting plate b16
  • the floating connecting plate b16 is equipped with a longitudinal rail b17
  • the longitudinal rail b17 is connected to a T-shaped plate b16
  • the T-shaped plate b16 is equipped with a centering rail b19
  • the centering rail b19 is equipped with a centering rail b19.
  • the middle cylinder b20 is equipped with a rubber sleeve clamping claw b21 on the centering cylinder b20.
  • the upper end of the main beam connecting block b1 is connected to the six-axis robot b29.
  • the robot first runs to the position of the rubber sleeve and drops to the level to be picked.
  • the X-axis adjustment mechanism is based on The parallel spacing between the two rubber sleeves automatically adjusts the left and right Y-axis adjustment mechanism to the appropriate position, and the left and right Y-axis adjustment mechanism automatically adjusts the positive and negative floating gripper mechanism of the axis to the appropriate position according to the length of the rubber sleeve.
  • the middle gripper mechanism is in the middle position, which constitutes one side of the rubber sleeve to grab three points in the Y-axis direction.
  • the deviation is eliminated by the centering guide b19 in the floating gripper mechanism.
  • the robot continues to descend based on the height of the middle gripper mechanism.
  • the positive and negative floating gripper mechanism automatically adjusts its height according to the lowering position, which is consistent with the middle gripper.
  • the centering cylinder b20 in the positive and negative floating gripper drives the rubber sleeve gripper b21 and
  • the middle gripper cylinder b25 in the middle gripper drives the middle gripper b26 to move at the same time to grab the rubber sleeve.
  • the action on both sides is the same, the start and stop time are the same, and the other side will not be repeated.
  • the two rubber sleeves are grabbed at the same time, and the robot is lifted and moved to the feeding station, and cooperates with the welding equipment to carry out automatic feeding.
  • the height direction is automatically adjusted.
  • the rubber sleeve clamping jaw b21 is restricted by the external vertical direction, the T-shaped plate b16 is automatically pushed, and the longitudinal guide rail b17 is raised and adjusted, and the horizontal direction is automatically adjusted.
  • the middle gripper mechanism When the middle gripper mechanism is in operation, it is the benchmark for the left and right and up and down adjustments of the floating gripper. After the first manual adjustment according to the actual situation, the screw is locked and fixed. The details are as follows. The horizontal direction is adjusted by the upper waist hole of the C-shaped adjustment plate b24. , The vertical direction is achieved by adjusting the height of the T-shaped adjusting plate b23 through the waist-shaped hole on the connecting rod b22, and the middle position is adjusted by the protrusion on the T-shaped adjusting plate b23 and the groove of the C-shaped adjusting plate b24.
  • the X-axis and Y-axis adjustment mechanisms are driven by servo motors and screw modules to achieve linear motion adjustment.
  • the present invention notes Obviously, a solution that replaces the X-axis and Y-axis linear drive modes with the same mechanism also belongs to the protection scope of the present invention.
  • the upper end of the main beam connecting block b1 is connected to the standardized six-axis robot b29. In view of the large number of robot brands and types, any change in the robot brand or type to use the solution of the present invention also belongs to the protection scope of the present invention.
  • the adjustment base includes: a large bottom plate assembly c1, a middle bottom plate assembly c2 is symmetrically provided on the large bottom plate assembly c1, and a matrix welding machine c3 is symmetrically provided on the middle bottom plate assembly c2; wherein, the large bottom plate assembly c1 It includes a large bottom plate c6.
  • the large bottom plate c6 is provided with a first guide rail group c4 and a first rack group c5.
  • the bottom of the middle bottom plate assembly c2 is provided with a lower sliding block slidingly sleeved on the first guide rail group c4; the middle bottom plate assembly c2 includes a middle bottom plate c7.
  • the middle bottom plate c7 is provided with a second guide rail group c8, a second rack group c9 and a middle plate drive motor c10.
  • the middle plate drive motor c10 is provided with a lower gear that cooperates with the first rack group c5 Group.
  • the matrix welding machine c3 includes a welding frame assembly c11, the driving motor of the welding machine is provided with an upper gear group cooperating with the second rack group (c9), and the welding frame assembly c11 is provided with
  • the left and right mold clamping components c12, the left and right mold clamping components c12 are connected to the front and rear mold clamping components c13 through the mold opening and closing rails, and the welding frame assembly c11 is provided with movable heating components; the left and right mold clamping components c12 and the front and rear mold clamping After the component c13 is closed, a right-angled mold opening is formed.
  • the heating component can be driven into the middle of the left and right clamping components c12 to heat the ends of the rubber sleeve.
  • the heating assembly includes: a rotating cylinder c16 and a swing arm c17 mounted on the rotating cylinder c16, the end of the swing arm c17 is provided with a heating block c18, and the heating block c18 can be driven into the left and right combination modules
  • the middle part of c12 heats the end of the rubber sleeve.
  • a cleaning assembly c14 is provided on the front and rear mold clamping assembly c13, and a rubber sleeve stopper assembly c15 is provided at the tail of the welding frame assembly c11.
  • the fully automatic pickup system d includes an X-axis pickup and lateral movement mechanism d1 arranged parallel to the adjustment base, and the X-axis pickup and lateral movement mechanism d1 is provided with a Y-axis pickup adjustment mechanism d2,
  • the Y-axis fetching adjustment mechanism d2 is provided with a Z-axis fetching and lifting mechanism d3, and the Z-axis fetching and lifting mechanism d3 is provided with a fetching chuck mechanism d4.
  • the chuck mechanism includes a Z-axis connecting block d5, the Z-axis connecting block d5 is equipped with a lifting cylinder d6, the lifting cylinder d6 is connected to two X-axis adjusting rods d7, and the X-axis adjusting rod d7 is below the lifting cylinder d6.
  • Four Y-axis adjusting rods d8 are connected, and the lower ends of the Y-axis adjusting rod d8 are respectively provided with picking jaws d9.
  • the welding stage process is: when the fully automatic rubber sleeve grabbing system b transports the taken out rubber sleeve to the preset position above the fully automatic welding system c, the preset position is a reasonable height and not above the fully automatic welding system c.
  • the middle bottom plate assembly c2 is driven by a motor to adjust the preset position.
  • the preset position is the same as the distance between the rubber sleeves grabbed by the automatic rubber sleeve grabbing system b, which is the same as the matrix welding machine c3 through the motor
  • the drive is adjusted to the preset position.
  • the preset position is the same position as the length of the rubber sleeve grabbed by the rubber sleeve automatic grabbing mechanism.
  • the six-axis robot b29 drives the rubber sleeve automatic grabbing mechanism down to the preset position.
  • the position varies according to The section height of the rubber sleeve is set.
  • the two matrix welding machines c3 on the same side of the middle bottom plate assembly c2 are driven to move toward each other by the motor, and the rubber sleeve is suspended on the floating grab mechanism.
  • the preset position is the distance from the automatic welding system c There is a reasonable height directly above and no collision.
  • the six-axis robot b29 drives the rubber sleeve automatic grabbing mechanism to rotate 90°, and then descends to the preset position. The position is set according to the height of the rubber sleeve section, and the rubber sleeve automatically grabs the mechanism.
  • the two matrix welding machines c3 on the same side of the bottom plate assembly c2 are driven by motors to move towards each other, and the rubber sleeves suspended on the floating gripper mechanism are inserted into the mold mouth of the matrix welding machine c3.
  • This process In order to complete the packaging and loading of the other two doors, so far, the entire four rubber sleeves are loaded, and they are in a rectangular shape to be welded.
  • the four matrix welding machines c3 move to weld the rubber sleeves.
  • the specific actions are as follows: heating block in the matrix welding machine c3
  • the c18 is rotated by the rotating cylinder c16 to the mold mouth for radiant heating of the end of the rubber sleeve.
  • the cylinder pushes the left and right clamping components c12 to collide with the other half of the clamping components, and the delay reaches the set process time After that, the front and rear clamping assembly c13 is pushed by the cylinder to separate the molds from the front and back. After the four matrix welding machines c3 are completed, the welding of a door seal product is completed.
  • the clamping assembly c12 is pushed to open by the cylinder, the front and rear clamping assemblies c13 are pushed and merged by the cylinder, the cleaning assembly c14 drives the brush to clean the welding slag through the rotation of the cleaning cylinder, and then the rubber sleeve stop assembly c15 is pushed into the front and rear assembly by the cylinder.
  • the rubber sleeve stop assembly c15 is pushed into the front and rear assembly by the cylinder.
  • the pickup process is: this stage is mainly operated by the fully automatic pickup system d.
  • the motor drives the Y-axis pickup adjustment mechanism d2 to take the The parts mechanism and the chuck mechanism move to the preset position directly above the fully automatic welding system c on the X-axis picking and transversal mechanism d1.
  • the Z-axis picking mechanism sends the picking chuck mechanism d4 to the lifting cylinder d6.
  • the rubber sleeve grabbing position is specifically set according to the height of the rubber sleeve.
  • the eight picking clamp grippers grab the welded product according to the state of holding one side each, and then the Z-axis picking mechanism is controlled by The air cylinder drives it to a safe position, and then is transported to the finished product stack by the X-axis fetching and transversal mechanism d1. At this time, the eight picking clamp grippers are released at the same time, and the finished product is placed in the area to be inspected. After that, the chuck mechanism rises to a safe position, waiting for the next picking action, and so on.
  • FIG. 1 is a double station structure diagram of the present invention.
  • the action flow is carried out alternately in two stations according to the above four stages.
  • the linear motion is realized by linear modules, racks and pinions, ball screws, etc.
  • the present invention indicates that The linear drive mode and the scheme that the mechanism does not make innovative changes also belong to the protection scope of the present invention.
  • the mechanism of the present invention involves the use of the six-axis robot b29.
  • any use of the solution of the present invention by changing the brand or type of the robot also falls within the protection scope of the present invention.
  • the present invention provides a dual-station embodiment, and the scheme of increasing or decreasing the number of stations or changing the equipment layout belongs to the protection scope of the present invention.
  • the production requirements of refrigerator sealing strips of different lengths and different cross-sections can be realized, and the adaptability is wide.
  • it has greatly promoted the development of refrigerator sealing strips and innovated the existing technology of the traditional refrigerator sealing strip production industry.

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  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

冰箱门密封条的全自动焊接生产线，包括全自动胶套定位入模系统(a)，全自动胶套抓取系统(b)，至少一个全自动焊接系统(c)，以及全自动取件系统(d)；胶套入模机构(a1)由胶套传送机构(a3)和胶套推料机构(a4)组成，胶套定位机构(a2)由导向机构(a5)、前定位机构(a6)和后定位机构(a7)组成且形成两组并呈左右对称状排布设置；六轴机器人上设置有胶套自动抓取机构；调节底座上设置有四个矩阵焊接机(c3)；矩阵焊接机(c3)朝内的一端内部形成有直角形的模具口，矩阵焊接机内设置有能够伸入或驶出模具口中部的加热组件；全自动取件系统上设置有至少六个位置可调的取料夹爪(b29)用于抓取成品冰箱门密封条。

Description

一种冰箱门密封条的全自动焊接生产线 技术领域
本发明涉及一种冰箱门密封条的全自动焊接生产线。
背景技术
随着冰箱在人们生活中的使用范围日益广泛，冰箱门密封组件门封条的需求量也越来越高。冰箱门封条主要由胶套和磁条组成，将磁条穿入胶套就形成一个初步的门封条半成品，这种门封条要应用到电冰箱中还需一个重要的焊接环节，目前在该领域普遍采用门人工焊接的方式，其不仅对操作人员要求高，且效率低下、产品一致性不高，取而代之的必将是自动化作业，为此，提供一种冰箱门密封条的全自动焊接生产线，用以取代人工焊接，就显得十分必要。
发明内容
本发明的目的是提供一种冰箱门密封条的全自动焊接生产线，该全自动焊接生产线通过自动入模、自动定位、自动转运、自动焊接、自动取件等一些自动化工序，实现冰箱门密封条，从半成品到成品的全自动化生产。
为了实现上述目的，本发明提供了一种冰箱门密封条的全自动焊接生产线，包括：全自动胶套定位入模系统，设置于全自动胶套定位入模系统一端的全自动胶套抓取系统，设置于全自动胶套抓取系统一侧的至少一个全自动焊接系统，以及设置于全自动焊接系统一侧的全自动取件系统；其中，全自动胶套定位入模系统包括：安装在机架平台上的胶套入模机构和胶套定位机构，胶套入模机构由胶套传送机构和呈左右对称状设置的两个胶套推料机构组成，胶套定位机构由导向机构、前定位机构和后定位机构组成且形成两组并呈左右对称状排布设置；全自动胶套抓取系统包括：六轴机器人，六轴机器人的活动端设置有能够抓取相互平行的两根胶套的胶套自动抓取机构，且胶套自动抓取机构的抓取位置可调节；全自动焊接系统包括：调节底座，调节底座上设置有四个矩阵焊接机，四个矩阵焊接机呈矩阵分部且均朝向调节底座的中心方向延伸设置；矩阵焊接机朝内的一端内部形成有直角形的模具口，且模具口能够实现左右和前后开合模，矩阵焊接机内设置有能够伸入或驶出模具口中部的加热组件；全自动取件系统上设置有至少六个位置可调的取料夹爪，且成品冰箱门密封条的每个边上至少对应设置有两个取料夹爪。
优选地，胶套传送机构包括型材框架，型材框架前后分别设有头轮组件和尾轮组件，头轮组件和尾轮组件之间通过皮带连接，轮两侧配有同步轮，下方设有驱动电机，驱动电机与同步轮通过同步带连接传动。
优选地，胶套推料机构包括推料定位底板，推料定位底板上装有定位条和导轨，导轨上装有直线滑块，直线滑块上装有拨料底座，拨料底座上装有拨料气缸，拨料气缸上装有拨料块；推料定位底 板下装有推料模组，推料模组上装有推料连杆，推料连杆上装有推料块。
优选地，胶套定位机构包括定位底板机构、导向机构、前定位机构和后定位机构；其中，定位底板机构包括定位底板，定位底板上装有导向机构和导向滑块，导向滑块上装有前定位机构和后定位机构，定位底板下方装有齿条。
优选地，导向机构包括导向底板，导向底板上装有导向座，导向座上装有导向模。
优选地，前定位机构包括前定位底板，前定位底板上分别装有前定位导轨滑块、前定位开合气缸座、前定位防偏气缸座和前定位电机座；前定位导轨滑块上装有前定位开合座，前定位开合座上装有前定位开合模；前定位开合气缸座上装有前定位开合气缸，前定位开合气缸上装有鱼眼接头；前定位防偏气缸座上装有前定位防偏气缸，前定位防偏气缸上装有前定位防偏块；前定位电机座上装有前定位驱动电机，前定位驱动电机上装有前定位齿轮。
优选地，后定位机构包括后定位底板，后定位底板上分别装有后定位导轨滑块、后定位开合气缸座、后定位防偏气缸座和后定位电机座；后定位导轨滑块上装有后定位开合座，后定位开合座上装有后定位开合模、后定位压料气缸，后定位压料气缸上装有后定位压料片，后定位开合气缸座上装有后定位开合气缸，后定位开合气缸上装有鱼眼接头；后定位防偏气缸座上装有后定位防偏气缸，后定位防偏气缸上装有后定位防偏块，后定位电机座上装有后定位驱动电机，后定位驱动电机上装有后定位齿轮。
优选地，胶套自动抓取机构包括：位于上层的与六轴机器人相连接的X轴调整机构，安装在X轴调整机构下方的一对对称的右Y轴调整机构和左Y轴调整机构；右Y轴调整机构下方连接有右Y轴抓取机构，左Y轴调整机构下方连接有左Y轴抓取机构；当六轴机器人运转到胶套定位处并下降至待取料位后，通过X轴调整机构根据两个胶套平行间距自动将左、右Y轴调整机构调整到合适的位置，再由左、右Y轴调整机构根据胶套长度驱动左、右Y轴抓取机构同时抓取胶套。
优选地，右Y轴抓取机构包括一对对称的右Y轴正向浮动抓手机构和右Y轴负向浮动抓手机构，并与中间设置的右Y轴中间抓手机构配合以同时抓取右胶套的Y轴方向的三点；左Y轴抓取机构包括一对对称的左Y轴正向浮动抓手机构和左Y轴负向浮动抓手机构，并与中间设置的左Y轴中间抓手机构配合以同时抓取左胶套的Y轴方向的三点。
优选地，Y轴中间抓机构包括连接杆，连接杆上端与Y轴副梁连接，下端上安装有T型调节板，T型调节板上装有C型调节板，C型调节板上装有中间夹爪气缸，中间夹爪气缸上装有中间夹爪。
优选地，X轴调整机构包括总梁连接块、X轴总梁、X轴正向调整模组、X轴正向传动伺服电机、X轴负向调整模组和X轴负向传动伺服电机；其中，总梁连接块上端与六轴机器人相连接，下端连接在X轴总梁中间位置；X轴总梁一侧为X轴正向调整模组，X轴正向调整模组与X轴正向传动伺服电机驱动连接；X轴总梁另一侧为X轴负向调整模组，X轴负向调整模组与X轴负向传动伺服 电机驱动连接。
优选地，右Y轴调整机构包括右副梁连接块、右Y轴副梁、右Y轴正向调整模组、右Y轴正向传动伺服电机、右Y轴负向调整模组、右Y轴负向传动伺服电机；其中，右副梁连接块上端与X轴负向调整模组连接，下端连接在右Y轴副梁中间位置；Y轴副梁一侧为右Y轴正向调整模组，右Y轴正向调整模组与右Y轴正向传动伺服电机驱动连接；Y轴副梁另一侧为右Y轴负向调整模组，右Y轴负向调整模组与右Y轴负向传动伺服电机驱动连接。
优选地，左Y轴调整机构包括左副梁连接块、左Y轴副梁、左Y轴正向调整模组、左Y轴正向传动伺服电机、左Y轴负向调整模组、左Y轴负向传动伺服电机；其中，左副梁连接块上端与X轴正向调整模组连接，下端连接在左Y轴副梁中间位置；Y轴副梁一侧为左Y轴正向调整模组，左Y轴正向调整模组与左Y轴正向传动伺服电机驱动连接；Y轴副梁另一侧为左Y轴负向调整模组，左Y轴负向调整模组与左Y轴负向传动伺服电机驱动连接。
优选地，Y轴浮动抓手机构包括主连接板，主连接板上端与Y轴调整模组连接，下端上安装有横向导轨，横向气缸与横向导轨驱动连接，横向导轨上连接浮动连板，浮动连板上装有纵向导轨，纵向导轨上连接T型板，T型板上装有对中导轨，对中导轨上装有对中气缸，对中气缸上装有胶套夹爪。
优选地，调节底座包括：大底板组件，大底板组件上对称设有中底板组件，中底板组件上对称设有矩阵焊接机；其中，大底板组件包括大底板，大底板上设有第一导轨组和第一齿条组，中底板组件的底部设置有滑动套设于第一导轨组上的下滑块；中底板组件包括中底板，中底板上设有第二导轨组、第二齿条组和中板驱动电机，中板驱动电机上设置有与第一齿条组配合的下齿轮组。
优选地，矩阵焊接机包括焊接机架组件，焊接机架组件上设置有左右合模组件，左右合模组件上通过开合模导轨连接前后合模组件，焊接机架组件内部设有活动的加热组件；左右合模组件和前后合模组件合模后形成有直角形的模具口，当左右合模组件开模后，加热组件能够驶入左右合模组件中部对胶套端部进行加热。
优选地，加热组件包括：旋转气缸和安装于旋转气缸上的摆臂，摆臂的端部设置有加热块，加热块能够驶入左右合模组件中部对胶套端部进行加热。
优选地，前后合模组件上设有清理组件，焊接机架组件尾部设有胶套挡块组件。
优选地，全自动取件系统包括平行于调节底座设置的X轴取件横移机构，X轴取件横移机构上设有Y轴取件调节机构，Y轴取件调节机构上设有Z轴取件提升机构，Z轴取件提升机构下方设有取料夹盘机构。
优选地，夹盘机构包括，Z轴连接块，Z轴连接块上装有提升气缸，提升气缸下连接两条X轴调整杆，X轴调整杆下方连接四条Y轴调整杆，Y轴调整杆下两端各设有取料夹爪。
根据上述技术方案，本发明中通过全自动胶套定位入模系统将胶套定位入模后采用全自动胶套 抓取系统将胶套移送至全自动焊接系统中进行焊接，焊接形成收尾相连的矩形成品冰箱门密封条，最后通过全自动取件系统将焊接好的矩形成品冰箱门密封条从全自动焊接系统中取出，完成一次焊接工作，进而实现了冰箱门密封条的全自动化生产。
本发明的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1是全自动焊接生产线的整体结构示意图；
图2是全自动胶套定位入模系统的整体结构示意图；
图3是全自动胶套定位入模系统的局部结构示意图；
图4是胶套入模机构的结构示意图；
图5是胶套定位机构的结构示意图；
图6是胶套传送机构的结构示意图；
图7是胶套推料机构的结构示意图；
图8是导向机构的结构示意图；
图9是前定位机构的结构示意图；
图10是后定位机构的结构示意图；
图11是全自动胶套抓取系统的整体结构示意图；
图12是胶套自动抓取机构的结构示意图；
图13是胶套自动抓取机构中X轴调整机构的结构示意图；
图14是胶套自动抓取机构中Y轴调整机构的结构示意图；
图15是胶套自动抓取机构中Y轴正向浮动抓手机构的结构示意图；
图16是胶套自动抓取机构中Y轴中间抓抓手机构的结构示意图；
图17是全自动焊接系统的整体结构示意图；
图18是大底板组件的结构示意图；
图19是中底板组件的结构示意图；
图20是矩阵焊接机的整体结构示意图；
图21是矩阵焊接机一种状态的剖视结构示意图；
图22是矩阵焊接机另一种状态的剖视结构示意图；
图23是前后合模组件与胶套之间的装配结构示意图；
图24是全自动取件系统的整体结构示意图；
图25是取料夹盘机构的整体结构示意图。
附图标记说明
a-全自动胶套定位入模系统；b-全自动胶套抓取系统；c-全自动焊接系统；d-全自动取件系统；a1-胶套入模机构；a2-胶套定位机构；a3-胶套传送机构；a4-胶套推料机构；a5-导向机构a6-前定位机构；a7-后定位机构；a8-定位底板；a9-型材框架；a10-头轮组件；a11-尾轮组件a12-皮带；a13-同步轮；a14-推料定位底板；a15-定位条；a16-导轨；a17-拨料气缸a18-拨料块；a19-推料连杆；a20-推料块；a21-推料模组；a22-导向底板；a23-导向座a24-导向模；a25-前定位底板；a26-前定位导轨滑块；a27-前定位开合座；a28-前定位开合模；a29-前定位开合气缸座；a30-前定位开合气缸；a31-前定位防偏气缸座；a32-前定位防偏气缸；a33-前定位防偏块；a34-前定位电机座；a35-前定位驱动电机；a36-前定位齿轮；a37-后定位底板a38-后定位导轨滑块；a39-后定位开合座；a40-后定位开合模；a41-后定位开合气缸座；a42-后定位开合气缸；a43-后定位防偏气缸；a44-后定位防偏气缸座；a45-后定位防偏块；a46-后定位压料气缸；a47-后定位压料片；a48-后定位电机座；a49-后定位驱动电机；a50-后定位齿轮；a51-机架平台b1-总梁连接块；b2-X轴总梁；b3-X轴正向传动伺服电机；b4-X轴正向调整模组；b5-X轴负向调整模组；b6-X轴负向传动伺服电机；b7-右副梁连接块；b8-右Y轴副梁；b9-右Y轴正向传动伺服电机；b10-右Y轴正向调整模组；b11-右Y轴负向调整模组；b12-右Y轴负向传动伺服电机；b13-主连接板；b14-横向气缸；b15-横向导轨；b16-浮动连板；b17-纵向导轨；b18-T型板b19-对中导轨；b20-对中气缸；b21-胶套夹爪；b22-连接杆；b23-T型调节板；b24-C型调节板b25-中间夹爪气缸；b26-中间夹爪；b27-左胶套；b28-右胶套；b29-六轴机器人；c1-大底板组件c2-中底板组件；c3-矩阵焊接机；c4-第一导轨组；c5-第一齿条组；c6-大底板；c7-中底板c8-第二导轨组；c9-第二齿条组；c10-中板驱动电机；c11-焊接机架组件；c12-左右合模组件；c13-前后合模组件；c14-清理组件；c15-胶套挡块组件c16-旋转气缸；c17-摆臂；c18-加热块；d1-X轴取件横移机构；d2-Y轴取件调节机构；d3-Z轴取件提升机构；d4-取料夹盘机构；d5-Z轴连接块d6-提升气缸；d7-X轴调整杆；d8-Y轴调整杆；d9-取料夹爪。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
在本发明中，在未作相反说明的情况下，“上下左右、前后内外”等包含在术语中的方位词仅代表该术语在常规使用状态下的方位，或为本领域技术人员理解的俗称，而不应视为对该术语的限制。
参见图1-25所示的冰箱门密封条的全自动焊接生产线，包括：全自动胶套定位入模系统a，设 置于全自动胶套定位入模系统a一端的全自动胶套抓取系统b，设置于全自动胶套抓取系统b一侧的至少一个全自动焊接系统c，以及设置于全自动焊接系统c一侧的全自动取件系统d；其中，全自动胶套定位入模系统a包括：安装在机架平台a51上的胶套入模机构a1和胶套定位机构a2，胶套入模机构a1由胶套传送机构a3和呈左右对称状设置的两个胶套推料机构a4组成，胶套定位机构a2由导向机构a5、前定位机构a6和后定位机构a7组成且形成两组并呈左右对称状排布设置；全自动胶套抓取系统b包括：六轴机器人b29，六轴机器人b29的活动端设置有能够抓取相互平行的两根胶套的胶套自动抓取机构，且胶套自动抓取机构的抓取位置可调节；全自动焊接系统c包括：调节底座，调节底座上设置有四个矩阵焊接机c3，四个矩阵焊接机c3呈矩阵分部且均朝向调节底座的中心方向延伸设置；矩阵焊接机c3朝内的一端内部形成有直角形的模具口，且模具口能够实现左右和前后开合模，矩阵焊接机c3内设置有能够伸入或驶出模具口中部的加热组件；全自动取件系统d上设置有至少六个位置可调的取料夹爪d9，且成品冰箱门密封条的每个边上至少对应设置有两个取料夹爪d9。
通过上述技术方案的实施，全自动胶套定位入模系统a将胶套定位入模后采用全自动胶套抓取系统b将胶套移送至全自动焊接系统c中进行焊接，焊接形成收尾相连的矩形成品冰箱门密封条，最后通过全自动取件系统d将焊接好的矩形成品冰箱门密封条从全自动焊接系统c中取出，完成一次焊接工作，进而实现了冰箱门密封条的全自动化生产。
在该实施方式中，为了提高入模精度，极大程度地降低对门封胶套产品上游工序能力控制的要求，有效缩减门封产品的制造成本，提高效率和一致性，提升产品的综合竞争力，同时，提高生产加工的稳定性。如图6所示，胶套传送机构a3包括型材框架a9，型材框架a9前后分别设有头轮组件a10和尾轮组件a11，头轮组件a10和尾轮组件a11之间通过皮带a12连接，轮两侧配有同步轮a13，下方设有驱动电机，驱动电机与同步轮a13通过同步带连接传动。
此外，如图7所示，胶套推料机构a4包括推料定位底板a14，推料定位底板a14上装有定位条a15和导轨a16，导轨a16上装有直线滑块，直线滑块上装有拨料底座，拨料底座上装有拨料气缸a17，拨料气缸a17上装有拨料块a18；推料定位底板a14下装有推料模组a21，推料模组a21上装有推料连杆a19，推料连杆a19上装有推料块a20。
进一步的，在图5中，胶套定位机构a2包括定位底板a8机构、导向机构a5、前定位机构a6和后定位机构a7；其中，
定位底板a8机构包括定位底板a8，定位底板a8上装有导向机构a5和导向滑块，导向滑块上装有前定位机构a6和后定位机构a7，定位底板a8下方装有齿条。
另外，如图8所示，导向机构a5包括导向底板a22，导向底板a22上装有导向座a23，导向座a23上装有导向模a24。
在本实施方式中，如图9所示，前定位机构a6包括前定位底板a25，前定位底板a25上分别装 有前定位导轨滑块a26、前定位开合气缸座a29、前定位防偏气缸座a31和前定位电机座a34；前定位导轨滑块a26上装有前定位开合座a27，前定位开合座a27上装有前定位开合模a28；前定位开合气缸座a29上装有前定位开合气缸a30，前定位开合气缸a30上装有鱼眼接头；前定位防偏气缸座a31上装有前定位防偏气缸a32，前定位防偏气缸a32上装有前定位防偏块a33；前定位电机座a34上装有前定位驱动电机a35，前定位驱动电机a35上装有前定位齿轮a36。
同样的，在图10中，后定位机构a7包括后定位底板a37，后定位底板a37上分别装有后定位导轨滑块a38、后定位开合气缸座a41、后定位防偏气缸座a44和后定位电机座a48；后定位导轨滑块a38上装有后定位开合座a39，后定位开合座a39上装有后定位开合模a40、后定位压料气缸a46，后定位压料气缸a46上装有后定位压料片a47，后定位开合气缸座a41上装有后定位开合气缸a42，后定位开合气缸a42上装有鱼眼接头；后定位防偏气缸座a44上装有后定位防偏气缸a43，后定位防偏气缸a43上装有后定位防偏块a45，后定位电机座a48上装有后定位驱动电机a49，后定位驱动电机a49上装有后定位齿轮a50。
具体地，全自动胶套定位入模系统a的运行过程分两段：第一段，胶套定位机构a2中的前定位机构a6、后定位机构a7通过驱动电机带动，同时向导向机构a5进行合并直至接触，做好入模准备。此时，两根门封胶套同时从胶套传送机构a3中的两根皮带a12传送到预设位置，该预设位置通过光电开关设置，当胶套到达预设位置后，胶套传送机构a3停止。此时，胶套入模机构a1中三个拨料气缸a17同时动作，将两根胶套分别向左、向右拉至定指定位置，该指定位置通过定位条a15预设置，以便导向入模。然后，推料模组a21向前推动，带动推料连杆a19与推料块a20一起向前匀速推动，运行一段距离后与拨料气缸a17接触并一起联动向前直至接触胶套。此时，再通过伺服电机控制向前的入模距离等于前定位机构a6、后定位机构a7、导向机构a5合并后的总长度即为完成胶套入模。第二段，待胶套完全入模后，后定位机构a7中的后定位压料气缸a46动作，带动后定位压料片a47下压住胶套，随后后定位驱动电机a49驱动后定位齿轮a50与齿条相互传动，将后定位机构a7移动到预设位置，该预设位置为距离定位底板a8中心当前胶套长度二分之一距离后，后定位压料片a47上升松开。此过程中，为防止前定位机构a6和后定位机构a7相碰撞，前定位机构a6滞后后定位机构a7两秒，并开始一起向同方向移动到预设位置，该预设位置为距离后定位机构a7胶套总长度距离。此时，前定位机构a6和后定位机构a7分别定位住胶套的前后两个端面，并以定位底板a8中心两端对称，等待机械手抓取。当机械手下行到预设位置，该预设位置根据胶套横截面高度具体设定后，后定位机构a7中，两个后定位开合气缸a42运动，将后定位开合模a40打开，便于胶套被机械手抓取并移出。待胶套移出后，前定位机构a6和后定位机构a7一起再次向导向机构a5合并至接触进入待入模状态，随后胶套传送机构a3重新运行输送胶套，入模、定位如此往复。
整个过程中，前定位机构a6中前定位防偏气缸a32带动前定位防偏块a33，左右两边对称动作 闭合，避免在整个移动定位过程中，胶套发生偏移甚至脱落的情况，后定位机构a7中相同部件功能相同，此处不赘述。
在该实施方式中，为了完美解决人工抓取带来的不稳定因素，效率高，一致性好，更从根本上杜绝了焊接安全事故的发生。优选地，胶套自动抓取机构包括：位于上层的与六轴机器人b29相连接的X轴调整机构，安装在X轴调整机构下方的一对对称的右Y轴调整机构和左Y轴调整机构；右Y轴调整机构下方连接有右Y轴抓取机构，左Y轴调整机构下方连接有左Y轴抓取机构；当六轴机器人b29运转到胶套定位处并下降至待取料位后，通过X轴调整机构根据两个胶套平行间距自动将左、右Y轴调整机构调整到合适的位置，再由左、右Y轴调整机构根据胶套长度驱动左、右Y轴抓取机构同时抓取胶套。
在本实施方式中，优选地，右Y轴抓取机构包括一对对称的右Y轴正向浮动抓手机构和右Y轴负向浮动抓手机构，并与中间设置的右Y轴中间抓手机构配合以同时抓取右胶套b28的Y轴方向的三点；左Y轴抓取机构包括一对对称的左Y轴正向浮动抓手机构和左Y轴负向浮动抓手机构，并与中间设置的左Y轴中间抓手机构配合以同时抓取左胶套b27的Y轴方向的三点。
在该实施方式中，优选地，Y轴中间抓机构包括连接杆b22，连接杆b22上端与Y轴副梁连接，下端上安装有T型调节板b23，T型调节板b23上装有C型调节板b24，C型调节板b24上装有中间夹爪气缸b25，中间夹爪气缸b25上装有中间夹爪b26。
在该实施方式中，优选地，X轴调整机构包括总梁连接块b1、X轴总梁b1、X轴正向调整模组b4、X轴正向传动伺服电机b3、X轴负向调整模组b5和X轴负向传动伺服电机b6；其中，总梁连接块b1上端与六轴机器人b29相连接，下端连接在X轴总梁b1中间位置；X轴总梁b1一侧为X轴正向调整模组b4，X轴正向调整模组b4与X轴正向传动伺服电机b3驱动连接；X轴总梁b1另一侧为X轴负向调整模组b5，X轴负向调整模组b5与X轴负向传动伺服电机b6驱动连接。
在该实施方式中，优选地，右Y轴调整机构包括右副梁连接块b7、右Y轴副梁b8、右Y轴正向调整模组b10、右Y轴正向传动伺服电机b9、右Y轴负向调整模组b11、右Y轴负向传动伺服电机b12；其中，右副梁连接块b7上端与X轴负向调整模组b5连接，下端连接在右Y轴副梁b8中间位置；Y轴副梁一侧为右Y轴正向调整模组b10，右Y轴正向调整模组b10与右Y轴正向传动伺服电机b9驱动连接；Y轴副梁另一侧为右Y轴负向调整模组b11，右Y轴负向调整模组b11与右Y轴负向传动伺服电机b12驱动连接。
在该实施方式中，优选地，左Y轴调整机构包括左副梁连接块、左Y轴副梁、左Y轴正向调整模组、左Y轴正向传动伺服电机、左Y轴负向调整模组、左Y轴负向传动伺服电机；其中，左副梁连接块上端与X轴正向调整模组b4连接，下端连接在左Y轴副梁中间位置；Y轴副梁一侧为左Y轴正向调整模组，左Y轴正向调整模组与左Y轴正向传动伺服电机驱动连接；Y轴副梁另一侧为左Y 轴负向调整模组，左Y轴负向调整模组与左Y轴负向传动伺服电机驱动连接。
在该实施方式中，优选地，Y轴浮动抓手机构包括主连接板b13，主连接板b13上端与Y轴调整模组连接，下端上安装有横向导轨b15，横向气缸b14与横向导轨b15驱动连接，横向导轨b15上连接浮动连板b16，浮动连板b16上装有纵向导轨b17，纵向导轨b17上连接T型板b16，T型板b16上装有对中导轨b19，对中导轨b19上装有对中气缸b20，对中气缸b20上装有胶套夹爪b21。
具体地，当全自动胶套抓取系统b运行时，总梁连接块b1上端与六轴机器人b29相连接，机器人先运转到胶套定位处，下降至待取料位，X轴调整机构根据两个胶套平行间距自动将左、右Y轴调整机构调整到合适位置，左右Y轴调整机构再根据胶套长度，自动将该轴正、负向浮动抓手机构调整到合适位置，此时中间抓手机构处于中间位置，构成一侧胶套抓取Y轴方向的三点，偏差由浮动抓手机构中的对中导轨b19消除，此时机器人根据中间抓手机构高度为基准，继续下降至取料位，正、负方向浮动抓手机构根据下降位置自动调整自身高度，与中间抓手保持一致，此时正、负向浮动抓手中的对中气缸b20带动胶套夹爪b21与中间抓手中的中间夹爪气缸b25带动中间夹爪b26同时动作，抓取胶套，两侧动作相同、起止时间相同，另侧不做赘述。此时两根胶套同时抓取，机器人提升运转至入料工位，与焊接设备协同，进行自动入料。
上述浮动抓手机构工作时，高度方向自动调整，胶套夹爪b21受到外部垂直方向限位作用时，自动推动T型板b16，由纵向导轨b17上升调节，水平方向自动调整，胶套夹爪b21受到外部水平方向限位作用时，自动推动对中导轨b19水平移动调节。
而中间抓手机构运行时，为浮动抓手左右和上下调整的基准，初次根据实际情况手动调节到位后，螺丝锁紧固定，具体如下，水平方向通过C型调节板b24上腰型孔位调节，垂直方向通过连接杆b22上腰型孔调整T型调节板b23高度实现，居中位置通过T型调节板b23上的凸起与C型调节板b24凹槽配合调节。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
例如，X轴和Y轴调整机构驱动采取伺服电机加丝杆模组方式来实现直线运动调整，鉴于实现直线运动调整的标准驱动产品较多如直线电机、同步带、齿轮齿条，本发明注明，采取替换X轴和Y轴直线驱动方式，机构不变的方案，亦属于本发明保护范围。同样的，总梁连接块b1上端与标准化六轴机器人b29相连接，鉴于机器人品牌和种类较多，凡通过更换机器人品牌或种类，使用本发明方案的，亦属于本发明保护范围。
在该实施方式中，优选地，调节底座包括：大底板组件c1，大底板组件c1上对称设有中底板组件c2，中底板组件c2上对称设有矩阵焊接机c3；其中，大底板组件c1包括大底板c6，大底板c6上 设有第一导轨组c4和第一齿条组c5，中底板组件c2的底部设置有滑动套设于第一导轨组c4上的下滑块；中底板组件c2包括中底板c7，中底板c7上设有第二导轨组c8、第二齿条组c9和中板驱动电机c10，中板驱动电机c10上设置有与第一齿条组c5配合的下齿轮组。
在该实施方式中，优选地，矩阵焊接机c3包括焊接机架组件c11，焊接机驱动电机上设置有与第二齿条组(c9)配合的上齿轮组，焊接机架组件c11上设置有左右合模组件c12，左右合模组件c12上通过开合模导轨连接前后合模组件c13，焊接机架组件c11内部设有活动的加热组件；左右合模组件c12和前后合模组件c13合模后形成有直角形的模具口，当左右合模组件c12开模后，加热组件能够驶入左右合模组件c12中部对胶套端部进行加热。
在该实施方式中，优选地，加热组件包括：旋转气缸c16和安装于旋转气缸c16上的摆臂c17，摆臂c17的端部设置有加热块c18，加热块c18能够驶入左右合模组件c12中部对胶套端部进行加热。
在该实施方式中，优选地，前后合模组件c13上设有清理组件c14，焊接机架组件c11尾部设有胶套挡块组件c15。
在该实施方式中，优选地，全自动取件系统d包括平行于调节底座设置的X轴取件横移机构d1，X轴取件横移机构d1上设有Y轴取件调节机构d2，Y轴取件调节机构d2上设有Z轴取件提升机构d3，Z轴取件提升机构d3下方设有取料夹盘机构d4。
在该实施方式中，优选地，夹盘机构包括，Z轴连接块d5，Z轴连接块d5上装有提升气缸d6，提升气缸d6下连接两条X轴调整杆d7，X轴调整杆d7下方连接四条Y轴调整杆d8，Y轴调整杆d8下两端各设有取料夹爪d9。
具体的，焊接阶段过程为：全自动胶套抓取系统b将取出的胶套搬运至全自动焊接系统c上方预设位置时，预设位置为距全自动焊接系统c正上方合理高度且不发生碰撞，全自动焊接系统c中，中底板组件c2通过电机驱动调整预设位置，预设位置与全自动胶套抓取系统b所抓取的胶套间距相同，同矩阵焊接机c3通过电机驱动调整到预设位置，预设位置为与胶套自动抓取机构所抓取胶套长度相同位置，此时，六轴机器人b29带动胶套自动抓取机构下行至预设位置，位置根据不同胶套截面高度设置，待胶套自动抓取机构到达预设位置之后，中底板组件c2同一侧两台矩阵焊接机c3通过电机驱动相向运动，将悬空在浮动抓手机构上夹取的胶套，穿入矩阵焊接机c3中的模具口当中，此过程为完成两条门封装载，然后全自动胶套抓取系统b重复以上动作至预设位置，预设位置为距全自动焊接系统c正上方合理高度且不发生碰撞，此时，六轴机器人b29带动胶套自动抓取机构旋转90°后，下行至预设位置，位置根据不同胶套截面高度设置，待胶套自动抓取机构到达预设位置之后，中底板组件c2同一侧两台矩阵焊接机c3通过电机驱动相向运动，将悬空在浮动抓手机构上夹取的胶套，穿入矩阵焊接机c3模具口当中，此过程为完成另外两条门封装载，至此，整体四条胶套装载完毕，相互呈矩形待焊接状态，此时四个矩阵焊接机c3动作焊接胶套，具体动作如下：矩阵焊接机c3中的加 热块c18由旋转气缸c16旋转至模具口进行胶套端部的辐射加热，达到设定工艺时间后，气缸推动左右合模组件c12向另一半合模组件碰撞合并，延时达到工艺设定时间后，再由气缸推动前后合模组件c13前后分离模具，四台矩阵焊接机c3均完成后，即为完成一门封成品焊接，此时等待全自动取件系统d取走成品后，左右合模组件c12通过气缸推动打开，前后合模组件c13通过气缸推动合并，清理组件c14通过清洁气缸旋转带动毛刷进行焊渣清理，随后胶套挡块组件c15通过气缸推动进入两前后合模组件c13之间，用于下一次胶套装载定位，待胶套装载后重复以上动作。
具体的，取件过程为：此阶段主要由全自动取件系统d运作，把上一阶段全自动焊接系统c所有矩阵焊接机c3完成焊接动作后，电机带动Y轴取件调节机构d2轴取件机构、夹盘机构在X轴取件横移机构d1上移动到全自动焊接系统c正上方预设位置，此时Z轴取件机构通过提升气缸d6，将取料夹盘机构d4送至胶套抓取位，胶套抓取位根据胶套高度具体设置，此时8个取料夹抓手分别按每两个夹持一条边的状态抓取焊接成品，随后Z轴取件机构由气缸带动提升至安全位置，再由X轴取件横移机构d1传送至成品堆叠处。此时8个取料夹抓手同时松开，将成品放置待检区，之后夹盘机构上升至安全位，等待下一次取件动作，如此往复。
以上四个阶段，合并为本发明的整套个自动化生产流程，此专利只描述一个工位流程，为提高设备效率，本发明提供的总结构图示意图图1为本发明双工位结构图，实际工作动作流程按以上四阶段，分别在两个工位交替进行。本发明技术方案中，直线运动的方式通过直线模组、齿轮齿条、滚珠丝杆等方式实现，鉴于实现直线运动调整的标准驱动产品较多如直线电机、同步带，本发明注明，采取直线驱动方式，机构不做出创新改变的方案，亦属于本发明的保护范围。
本发明中机构中涉及到六轴机器人b29的使用，鉴于机器人品牌和种类较多，凡通过更换机器人品牌或种类，使用本发明方案的，亦属于本发明的保护范围。
本发明提供了双工位实施例，通过增减工位数量或者改变设备布局的方案，属于本发明的保护范围。此外，通过切换模具和修改软件参数，可实现不同长度、不同截面冰箱密封条的生产需求，适应性广。同时极大的推动了冰箱密封条的发展，革新了传统冰箱密封条生产行业的现有技术。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (19)

  1. 一种冰箱门密封条的全自动焊接生产线，其特征在于，包括：全自动胶套定位入模系统(a)，设置于全自动胶套定位入模系统(a)一端的全自动胶套抓取系统(b)，设置于全自动胶套抓取系统(b)一侧的至少一个全自动焊接系统(c)，以及设置于全自动焊接系统(c)一侧的全自动取件系统(d)；其中，
    全自动胶套定位入模系统(a)包括：安装在机架平台(a51)上的胶套入模机构(a1)和胶套定位机构(a2)，胶套入模机构(a1)由胶套传送机构(a3)和呈左右对称状设置的两个胶套推料机构(a4)组成，胶套定位机构(a2)由导向机构(a5)、前定位机构(a6)和后定位机构(a7)组成且形成两组并呈左右对称状排布设置；
    全自动胶套抓取系统(b)包括：六轴机器人(b29)，六轴机器人(b29)的活动端设置有能够抓取相互平行的两根胶套的胶套自动抓取机构，且胶套自动抓取机构的抓取位置可调节；
    全自动焊接系统(c)包括：调节底座，调节底座上设置有四个矩阵焊接机(c3)，四个矩阵焊接机(c3)呈矩阵分部且均朝向调节底座的中心方向延伸设置；
    矩阵焊接机(c3)朝内的一端内部形成有直角形的模具口，且模具口能够实现左右和前后开合模，矩阵焊接机(c3)内设置有能够伸入或驶出模具口中部的加热组件；
    全自动取件系统(d)上设置有至少六个位置可调的取料夹爪(d9)，且成品冰箱门密封条的每个边上至少对应设置有两个取料夹爪(d9)。
  2. 根据权利要求1所述的冰箱门密封条的全自动焊接生产线，其特征在于，胶套传送机构(a3)包括型材框架(a9)，型材框架(a9)前后分别设有头轮组件(a10)和尾轮组件(a11)，头轮组件(a10)和尾轮组件(a11)之间通过皮带(a12)连接，轮两侧配有同步轮(a13)，下方设有驱动电机，驱动电机与同步轮(a13)通过同步带连接传动。
  3. 根据权利要求1所述的冰箱门密封条的全自动焊接生产线，其特征在于，胶套推料机构(a4)包括推料定位底板(a14)，推料定位底板(a14)上装有定位条(a15)和导轨(a16)，导轨(a16)上装有直线滑块，直线滑块上装有拨料底座，拨料底座上装有拨料气缸(a17)，拨料气缸(a17)上装有拨料块(a18)；推料定位底板(a14)下装有推料模组(a21)，推料模组(a21)上装有推料连杆(a19)，推料连杆(a19)上装有推料块(a20)。
  4. 根据权利要求1所述的冰箱门密封条的全自动焊接生产线，其特征在于，胶套定位机构(a2)包括定位底板(a8)机构、导向机构(a5)、前定位机构(a6)和后定位机构(a7)；其中，
    定位底板(a8)机构包括定位底板(a8)，定位底板(a8)上装有导向机构(a5)和导向滑块，导向滑块上装有前定位机构(a6)和后定位机构(a7)，定位底板(a8)下方装有齿条；
    导向机构(a5)包括导向底板(a22)，导向底板(a22)上装有导向座(a23)，导向座(a23)上装有导向模(a24)。
  5. 根据权利要求4所述的冰箱门密封条的全自动焊接生产线，其特征在于，前定位机构(a6)包括前定位底板(a25)，前定位底板(a25)上分别装有前定位导轨滑块(a26)、前定位开合气缸座(a29)、前定位防偏气缸座(a31)和前定位电机座(a34)；前定位导轨滑块(a26)上装有前定位开合座(a27)，前定位开合座(a27)上装有前定位开合模(a28)；前定位开合气缸座(a29)上装有前定位开合气缸(a30)，前定位开合气缸(a30)上装有鱼眼接头；前定位防偏气缸座(a31)上装有前定位防偏气缸(a32)，前定位防偏气缸(a32)上装有前定位防偏块(a33)；前定位电机座(a34)上装有前定位驱动电机(a35)，前定位驱动电机(a35)上装有前定位齿轮(a36)。
  6. 根据权利要求4所述的冰箱门密封条的全自动焊接生产线，其特征在于，后定位机构(a7)包括后定位底板(a37)，后定位底板(a37)上分别装有后定位导轨滑块(a38)、后定位开合气缸座(a41)、后定位防偏气缸座(a44)和后定位电机座(a48)；后定位导轨滑块(a38)上装有后定位开合座(a39)，后定位开合座(a39)上装有后定位开合模(a40)、后定位压料气缸(a46)，后定位压料气缸(a46)上装有后定位压料片(a47)，后定位开合气缸座(a41)上装有后定位开合气缸(a42)，后定位开合气缸(a42)上装有鱼眼接头；后定位防偏气缸座(a44)上装有后定位防偏气缸(a43)，后定位防偏气缸(a43)上装有后定位防偏块(a45)，后定位电机座(a48)上装有后定位驱动电机(a49)，后定位驱动电机(a49)上装有后定位齿轮(a50)。
  7. 根据权利要求1-6中的任意一项所述的冰箱门密封条的全自动焊接生产线，其特征在于，胶套自动抓取机构包括：位于上层的与六轴机器人(b29)相连接的X轴调整机构，安装在X轴调整机构下方的一对对称的右Y轴调整机构和左Y轴调整机构；右Y轴调整机构下方连接有右Y轴抓取机构，左Y轴调整机构下方连接有左Y轴抓取机构；
    当六轴机器人(b29)运转到胶套定位处并下降至待取料位后，通过X轴调整机构根据两个胶套平行间距自动将左、右Y轴调整机构调整到合适的位置，再由左、右Y轴调整机构根据胶套长度驱动左、右Y轴抓取机构同时抓取胶套。
  8. 根据权利要求7所述的冰箱门密封条的全自动焊接生产线，其特征在于，右Y轴抓取机构包括一对对称的右Y轴正向浮动抓手机构和右Y轴负向浮动抓手机构，并与中间设置的右Y轴中间抓手机构配合以同时抓取右胶套(b28)的Y轴方向的三点；
    左Y轴抓取机构包括一对对称的左Y轴正向浮动抓手机构和左Y轴负向浮动抓手机构，并与中间设置的左Y轴中间抓手机构配合以同时抓取左胶套(b27)的Y轴方向的三点。
  9. 根据权利要求8所述的冰箱门密封条的全自动焊接生产线，其特征在于，Y轴中间抓机构包括连接杆(b22)，连接杆(b22)上端与Y轴副梁连接，下端上安装有T型调节板(b23)，T型调节 板(b23)上装有C型调节板(b24)，C型调节板(b24)上装有中间夹爪气缸(b25)，中间夹爪气缸(b25)上装有中间夹爪(b26)。
  10. 根据权利要求7所述的冰箱门密封条的全自动焊接生产线，其特征在于，X轴调整机构包括总梁连接块(b1)、X轴总梁(b1)、X轴正向调整模组(b4)、X轴正向传动伺服电机(b3)、X轴负向调整模组(b5)和X轴负向传动伺服电机(b6)；其中，
    总梁连接块(b1)上端与六轴机器人(b29)相连接，下端连接在X轴总梁(b1)中间位置；X轴总梁(b1)一侧为X轴正向调整模组(b4)，X轴正向调整模组(b4)与X轴正向传动伺服电机(b3)驱动连接；X轴总梁(b1)另一侧为X轴负向调整模组(b5)，X轴负向调整模组(b5)与X轴负向传动伺服电机(b6)驱动连接。
  11. 根据权利要求10所述的冰箱门密封条的全自动焊接生产线，其特征在于，右Y轴调整机构包括右副梁连接块(b7)、右Y轴副梁(b8)、右Y轴正向调整模组(b10)、右Y轴正向传动伺服电机(b9)、右Y轴负向调整模组(b11)、右Y轴负向传动伺服电机(b12)；其中，
    右副梁连接块(b7)上端与X轴负向调整模组(b5)连接，下端连接在右Y轴副梁(b8)中间位置；Y轴副梁一侧为右Y轴正向调整模组(b10)，右Y轴正向调整模组(b10)与右Y轴正向传动伺服电机(b9)驱动连接；Y轴副梁另一侧为右Y轴负向调整模组(b11)，右Y轴负向调整模组(b11)与右Y轴负向传动伺服电机(b12)驱动连接。
  12. 根据权利要求10所述的冰箱门密封条的全自动焊接生产线，其特征在于，左Y轴调整机构包括左副梁连接块、左Y轴副梁、左Y轴正向调整模组、左Y轴正向传动伺服电机、左Y轴负向调整模组、左Y轴负向传动伺服电机；其中，
    左副梁连接块上端与X轴正向调整模组(b4)连接，下端连接在左Y轴副梁中间位置；Y轴副梁一侧为左Y轴正向调整模组，左Y轴正向调整模组与左Y轴正向传动伺服电机驱动连接；Y轴副梁另一侧为左Y轴负向调整模组，左Y轴负向调整模组与左Y轴负向传动伺服电机驱动连接。
  13. 根据权利要求11或12所述的冰箱门密封条的全自动焊接生产线，其特征在于，Y轴浮动抓手机构包括主连接板(b13)，主连接板(b13)上端与Y轴调整模组连接，下端上安装有横向导轨(b15)，横向气缸(b14)与横向导轨(b15)驱动连接，横向导轨(b15)上连接浮动连板(b16)，浮动连板(b16)上装有纵向导轨(b17)，纵向导轨(b17)上连接T型板(b16)，T型板(b16)上装有对中导轨(b19)，对中导轨(b19)上装有对中气缸(b20)，对中气缸(b20)上装有胶套夹爪(b21)。
  14. 根据权利要求1-6或8-12中的任意一项所述的冰箱门密封条的全自动焊接生产线，其特征在于，调节底座包括：大底板组件(c1)，大底板组件(c1)上对称设有中底板组件(c2)，中底板组件(c2)上对称设有矩阵焊接机(c3)；其中，
    大底板组件(c1)包括大底板(c6)，大底板(c6)上设有第一导轨组(c4)和第一齿条组(c5)， 中底板组件(c2)的底部设置有滑动套设于第一导轨组(c4)上的下滑块；
    中底板组件(c2)包括中底板(c7)，中底板(c7)上设有第二导轨组(c8)、第二齿条组(c9)和中板驱动电机(c10)，中板驱动电机(c10)上设置有与第一齿条组(c5)配合的下齿轮组。
  15. 根据权利要求14所述的冰箱门密封条的全自动焊接生产线，其特征在于，矩阵焊接机(c3)包括焊接机架组件(c11)，焊接机架组件(c11)上设置有左右合模组件(c12)，左右合模组件(c12)上通过开合模导轨连接前后合模组件(c13)，焊接机架组件(c11)内部设有活动的加热组件；
    左右合模组件(c12)和前后合模组件(c13)合模后形成有直角形的模具口，当左右合模组件(c12)开模后，加热组件能够驶入左右合模组件(c12)中部对胶套端部进行加热。
  16. 根据权利要求15所述的冰箱门密封条的全自动焊接生产线，其特征在于，加热组件包括：旋转气缸(c16)和安装于旋转气缸(c16)上的摆臂(c17)，摆臂(c17)的端部设置有加热块(c18)，加热块(c18)能够驶入左右合模组件(c12)中部对胶套端部进行加热。
  17. 根据权利要求15所述的冰箱门密封条的全自动焊接生产线，其特征在于，前后合模组件(c13)上设有清理组件(c14)，焊接机架组件(c11)尾部设有胶套挡块组件(c15)。
  18. 根据权利要求1-6、8-12或15-17中的任意一项所述的冰箱门密封条的全自动焊接生产线，其特征在于，全自动取件系统(d)包括平行于调节底座设置的X轴取件横移机构(d1)，X轴取件横移机构(d1)上设有Y轴取件调节机构(d2)，Y轴取件调节机构(d2)上设有Z轴取件提升机构(d3)，Z轴取件提升机构(d3)下方设有取料夹盘机构(d4)。
  19. 根据权利要求18所述的冰箱门密封条的全自动焊接生产线，其特征在于，夹盘机构包括，Z轴连接块(d5)，Z轴连接块(d5)上装有提升气缸(d6)，提升气缸(d6)下连接两条X轴调整杆(d7)，X轴调整杆(d7)下方连接四条Y轴调整杆(d8)，Y轴调整杆(d8)下两端各设有取料夹爪(d9)。
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