Welding system for a refrigerator door seal and method of controlling the same

Abstract

The present application relates to the technical field of refrigerator door sealing strip welding, and discloses a welding system for refrigerator door sealing strips and a control method thereof, wherein the welding system comprises a conveying module, a plurality of rubber sleeves for conveying sealing strips, and the conveying module is annular; a plurality of positioning modules are arranged on the inner side of the conveying module and used for limiting and fixing the plurality of rubber sleeves on the conveying module. By arranging the welding module at the center of the annular conveying module, the welding system can be highly integrated, and the required area occupied by the welding system is greatly reduced; at the same time, the plurality of transfer modules and the welding module are matched with the synchronous mold entering mode and the synchronous welding mode, which can effectively reduce the rhythm of rubber sleeve welding, i.e. improve the efficiency of rubber sleeve welding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of refrigerator door sealing strip welding, in particular to a refrigerator door sealing strip welding system and a control method thereof. BACKGROUND

[0002] The refrigerator is an essential household appliance in people's life, and the sealing strip is often used at the connection between the refrigerator door and the refrigerator body to seal the cold inside the refrigerator to ensure the refrigeration effect inside. The magnetic strip inside the sealing strip can also assist the closing of the refrigerator door. In the production process of the sealing strip, the PVC injection molding material is often cut into multiple rubber sleeves, and then the multiple rubber sleeves are welded according to the shape of the sealing strip to form the sealing strip.

[0003] The existing sealing strip welding system generally transports the cut multiple rubber sleeves to the vicinity of the mechanical arm in a part turning and part non-turning manner, and then the mechanical arm clamps the rubber sleeves in pairs to the multiple positions of the welding device in sequence and into the mold. After the mechanical arm transports the rubber sleeves required by one sealing strip into the mold, the welding device starts and welds the multiple rubber sleeves, and finally the mechanical arm transports the sealing strip to the stacking area. However, the line of the welding system is relatively long, the line occupies a large area; and the mechanical arm can only grab two rubber sleeves, which leads to long welding rhythm and low welding efficiency. SUMMARY

[0004] The purpose of the present application is to overcome the problems of large area occupied by the welding system and low welding efficiency in the prior art, and to provide a refrigerator door sealing strip welding system and a control method thereof, which has the effect of small line area occupied and high welding efficiency.

[0005] In order to achieve the above purpose, one aspect of the present application provides a refrigerator door sealing strip welding system, comprising:

[0006] A conveying module for conveying multiple rubber sleeves of a sealing strip, the conveying module being annular;

[0007] A plurality of positioning modules arranged on the inner side of the conveying module for limiting and fixing the multiple rubber sleeves on the conveying module;

[0008] A welding module arranged at the center of the annular shape, the welding module comprising a plurality of welding modules, the plurality of welding modules being distributed in a first polygonal shape, the plurality of welding modules being respectively located at the corners of the first polygonal shape, and the plurality of welding modules being used for synchronously welding the opposite corners of adjacent rubber sleeves;

[0009] A plurality of transfer modules are arranged above the plurality of positioning modules, one end of the plurality of transfer modules extends above the plurality of sides of the first polygon, and the plurality of transfer modules are used to transfer the plurality of rubber sleeves from the conveying module to the adjacent welding module and cooperate with the adjacent welding module to synchronize the rubber sleeve into the mold.

[0010] A blanking module is arranged directly above the first polygon, one end of the blanking module extends out of the inside of the ring, and the blanking module is used to move the welded sealing strip out of the blanking.

[0011] Optionally, the conveying module comprises:

[0012] A plurality of straight belt conveying lines are arranged in a second polygon, and the plurality of straight belt conveying lines are respectively located on the plurality of sides of the second polygon.

[0013] A plurality of arc-shaped conveying lines are arranged at both ends of the straight belt conveying line located in the middle.

[0014] Optionally, the positioning module comprises:

[0015] A positioning plate is arranged at the outer top end of the straight belt conveying line.

[0016] A positioning table is arranged on the inner side of the straight belt conveying line.

[0017] Two positioning rods are arranged above the straight belt conveying line and are perpendicular to the positioning plate, and the opposite side of one end of the two positioning rods close to the positioning plate is provided with an inclined surface matched with both ends of the rubber sleeve.

[0018] Two positioning cylinders are arranged on the top of the positioning table, and the output ends of the two positioning cylinders are connected to the other ends of the two positioning rods.

[0019] A guide rod is arranged between the two positioning rods, and one end of the guide rod close to the positioning plate is provided with a guide groove matched with the outer protrusion of the rubber sleeve.

[0020] A guide cylinder is arranged on the top of the positioning table, and the output end of the guide cylinder is connected to the other end of the guide rod.

[0021] Optionally, the positioning module further comprises:

[0022] Two slide rails are arranged on the top of the positioning table and are respectively located on both sides of the guide cylinder.

[0023] Two sliding seats are respectively connected with the two sliding rails, and the two positioning cylinders are arranged on the two sliding seats respectively.

[0024] Two first driving assemblies are arranged on the top of the positioning table and connected with the two sliding seats, and used for driving the two sliding seats to move close to or away from each other.

[0025] Optionally, the welding module further comprises:

[0026] A welding base;

[0027] Two bottom plates are arranged in parallel above the welding base, and two welding modules are arranged on each bottom plate;

[0028] A second driving assembly is arranged on the top of the welding base and connected with the two bottom plates, and used for driving the two bottom plates to move close to or away from each other;

[0029] Two third driving assemblies are arranged on the top of the two bottom plates respectively, and each third driving assembly is connected with the corresponding two welding modules, and used for driving the corresponding two welding modules to move close to or away from each other.

[0030] Optionally, the welding module further comprises:

[0031] A base plate, and the third driving assembly is connected with the base plate;

[0032] Two welding dies are arranged in a vertical distribution, and the intersection of the extension lines of the two welding dies is directed to the center of the first polygon;

[0033] A heating assembly is arranged on the bisector of the included angle between the two welding dies, and used for extending into the two welding dies to heat and melt the rubber sleeves in the two welding dies;

[0034] A fourth driving assembly is arranged on the base plate, and used for driving the included angle ends of the two welding dies to move close to each other to weld the rubber sleeves in the two welding dies;

[0035] Two die opening assemblies are arranged on the two welding dies respectively, and used for opening the corresponding welding dies to separate from the defined rubber sleeves.

[0036] Optionally, the transfer module further comprises:

[0037] A transfer frame is arranged above the corresponding straight belt conveying line, and one end of the transfer frame extends above the four sides of the first polygon;

[0038] A transfer guide rail is arranged at the bottom of the transfer frame;

[0039] A transfer cross plate is slidingly arranged at the bottom end of the rotating guide rail and is perpendicular to the rotating guide rail;

[0040] A fifth driving assembly is arranged on the transfer frame and is connected with the transfer cross plate, and is used for driving the transfer cross plate to move along the rotating guide rail.

[0041] Two transfer fixing plates are symmetrically arranged below the transfer cross plate;

[0042] Two transfer clamping jaws are respectively arranged at the bottom of the two transfer fixing plates;

[0043] Two limiting clamping jaws are respectively arranged at the bottom of the two transfer fixing plates and are respectively located at the sides away from each other of the two transfer clamping jaws;

[0044] Two first lifting assemblies are arranged on the two transfer fixing plates and are connected with the two transfer clamping jaws, and are used for driving the corresponding transfer clamping jaws to lift;

[0045] A sixth driving assembly is arranged at the bottom of the transfer cross plate, and is used for driving the two transfer fixing plates to move close to or away from each other.

[0046] Optionally, the blanking module comprises:

[0047] A blanking frame is arranged directly above the first polygon, and one end of the blanking module extends out of the inside of the ring;

[0048] A blanking guide rail is arranged at the bottom of the blanking frame;

[0049] A blanking cross plate is arranged below the blanking guide rail;

[0050] A second lifting assembly is slidingly connected with the blanking guide rail, an output end of the second lifting assembly is connected with the top of the blanking cross plate, and the second lifting assembly is used for driving the blanking cross plate to lift;

[0051] A seventh driving assembly is arranged on the blanking frame and is connected with the second lifting assembly, and is used for driving the second lifting assembly to slide along the blanking guide rail;

[0052] Two first cross bars are symmetrically arranged at the bottom of the blanking cross plate, a plurality of clamping cylinder are arranged on each first cross bar, and the first cross bar is perpendicular to the blanking cross plate;

[0053] An eighth driving assembly is arranged at the bottom of the blanking cross plate, and is used for driving the two first cross bars to move close to or away from each other;

[0054] A second crossbar is arranged at the bottom center of the blanking cross plate, is located between the two first crossbars and is arranged in parallel with the two first crossbars, and the bottom of the second crossbar is provided with a plurality of jaw air cylinders.

[0055] In another aspect, the present application also provides a control method of a welding system of a refrigerator door sealing strip, comprising:

[0056] Obtaining position information of the rubber sleeve;

[0057] Judging whether the rubber sleeve reaches the vicinity of the corresponding positioning module;

[0058] When it is judged that the rubber sleeve reaches the vicinity of the corresponding positioning module, driving the positioning module to start to position the rubber sleeve;

[0059] The transfer module starts to transfer the rubber sleeve to the welding module and cooperates with the welding module to perform mold entry of the rubber sleeve;

[0060] Judging whether the rubber sleeve is in place after mold entry;

[0061] When it is judged that the rubber sleeve is in place after mold entry, the welding module starts to weld the rubber sleeve;

[0062] The blanking module starts to take out the welded sealing strip from the welding module;

[0063] When it is judged that the rubber sleeve is not in place after mold entry, the transfer module and the welding module continue to cooperate to perform mold entry of the rubber sleeve;

[0064] When it is judged that the rubber sleeve does not reach the vicinity of the corresponding positioning module, the conveying module continues to convey the rubber sleeve.

[0065] In still another aspect, the present application also provides a computer readable storage medium, which stores instructions for being read by a controller to make the controller execute the control method as described above.

[0066] By the technical scheme, the welding system of the refrigerator door sealing strip and the control method thereof can sequentially place multiple rubber sleeves on the conveying module, convey the multiple rubber sleeves to corresponding positions respectively, and relatively arrange the cut corner positions of the multiple rubber sleeves due to the ring shape of the conveying module; then the positioning module positions the multiple rubber sleeves respectively, the multiple transfer modules transfer the multiple rubber sleeves to the vicinity of the welding module and synchronously enter the mold, the welding module can synchronously weld the multiple rubber sleeves, and after the welding is completed, the discharging module can move the sealing strip out of the welding system to wait for the next welding; the welding module is arranged at the center of the ring-shaped conveying module, which can make the welding system highly integrated and greatly reduce the required area occupied by the welding system; meanwhile, the multiple transfer modules and the welding module are matched with the synchronous mold entering and synchronous welding mode, which can effectively reduce the rhythm of rubber sleeve welding, that is, improve the efficiency of rubber sleeve welding. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 is a structural schematic diagram of a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0068] Figure 2 is a top view of a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0069] Figure 3 is a structural schematic diagram of a conveying module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0070] Figure 4 is a structural schematic diagram of a positioning module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0071] Figure 5 is Figure 4 is an enlarged schematic diagram of area A in FIG. 8;

[0072] Figure 6 is a structural schematic diagram of a transfer module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0073] Figure 7 is a position schematic diagram of a transfer clamp in a transfer module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0074] Figure 8 is a structural schematic diagram of a welding module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0075] Figure 9 is a structural schematic diagram of a welding module in a welding system of a refrigerator door sealing strip according to an embodiment of the application;

[0076] Figure 10 is a structure diagram of a blanking module in a welding system of a refrigerator door sealing strip according to an embodiment of the present application;

[0077] Figure 11 is Figure 10 is an enlarged schematic view of the B area in

[0078] Figure 12 is a flow chart of a control method of a welding system of a refrigerator door sealing strip according to an embodiment of the present application.

[0079] BRIEF DESCRIPTION OF DRAWINGS

[0080] 1, conveying module 2, positioning table

[0081] 3, transfer frame 4, welding base

[0082] 5, blanking frame 6, guardrail

[0083] 7, blanking conveying belt 8, arc-shaped conveying line

[0084] 9, straight belt conveying line 10, inclined surface

[0085] 11, positioning plate 12, guide groove

[0086] 13, positioning cylinder 14, guide cylinder

[0087] 15, positioning rod 16, slide rail

[0088] 17, first driving assembly 18, guide rod

[0089] 19, photoelectric sensor 20, first servo motor

[0090] 21, first screw rod 22, transfer cross plate

[0091] 23, first lifting assembly 24, transfer fixed plate

[0092] 25, transfer clamping jaw 26, limiting clamping jaw

[0093] 27, first guide rail 28, second driving assembly

[0094] 29, second guide rail 30, third driving assembly

[0095] 31, base plate 32, bottom plate

[0096] 33, pressing assembly 34, heating assembly

[0097] 35, welding mold 36, blanking guide rail

[0098] 37, blanking cross plate 38, first cross bar

[0099] 39, clamping jaw cylinder 40, second cylinder

[0100] 41, fourth driving assembly 42, second lifting assembly DETAILED DESCRIPTION

[0101] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the embodiments of the present application, and are not intended to limit the embodiments of the present application.

[0102] Figure 1 is a structural schematic diagram of a welding system of a refrigerator door sealing strip according to an embodiment of the present application; Figure 2 is a top view of a welding system of a refrigerator door sealing strip according to an embodiment of the present application. In Figure 1 and Figure 2 The welding system can include a conveying module 1, a plurality of positioning modules, a welding module, a plurality of transfer modules, and a blanking module. Specifically, the welding module can include a plurality of welding modules.

[0103] The conveying module 1 is used to convey a plurality of rubber sleeves of the sealing strip, and the conveying module 1 is annular. The plurality of positioning modules are arranged on the inner side of the conveying module 1 and are used to fix the plurality of rubber sleeves on the conveying module 1. The welding module is arranged at the center of the annular, and the plurality of welding modules are distributed in a first polygonal shape, with the plurality of welding modules being respectively located at a plurality of corners of the first polygonal shape. The plurality of welding modules are used to synchronously weld opposite corners of adjacent rubber sleeves. The plurality of transfer modules are respectively arranged above the plurality of positioning modules, one end of the plurality of transfer modules extends above a plurality of sides of the first polygonal shape, and the plurality of transfer modules are used to transfer the plurality of rubber sleeves from the conveying module 1 to between adjacent welding modules and synchronously enter the mold with the adjacent welding modules. The blanking module is arranged directly above the first polygonal shape, one end of the blanking module extends out of the inside of the annular, and the blanking module is used to move the welded sealing strip out of the blanking.

[0104] When multiple rubber sleeves need to be transported and welded, the multiple rubber sleeves are placed in the conveying module 1 in sequence, and the conveying module 1 transports the multiple rubber sleeves to the vicinity of multiple positioning modules respectively, and the multiple positioning modules limit and fix the corresponding rubber sleeves. Since the conveying module 1 is arranged in a ring shape, the conveying module 1 can reverse the multiple rubber sleeves synchronously during transportation, so that the cut angles of the multiple rubber sleeves are all directed to the center of the ring, that is, the cut angles of adjacent two rubber sleeves cooperate with each other. After the positioning module completes the fixation of the rubber sleeve, multiple transfer devices transfer the corresponding rubber sleeves to the vicinity of multiple welding modules respectively. Specifically, the multiple rubber sleeves are moved to the multiple sides of a first polygon formed by the multiple welding modules, then the multiple rubber sleeves are synchronously inserted into the multiple welding modules, and finally the multiple rubber sleeves are synchronously welded. After welding, the sealing strip is driven by the discharging module to move out, so that the welding module waits for the next welding.

[0105] In the conventional sealing strip welding system, the multiple rubber sleeves after cutting are transported to the vicinity of a mechanical arm in a mode of partial reversing and partial non-reversing, and the mechanical arm clamps the rubber sleeves in pairs in sequence to multiple positions of a welding device and inserts them into the welding device. After the mechanical arm transfers the rubber sleeves required by one sealing strip into the welding device, the welding device starts and welds the multiple rubber sleeves, and finally the mechanical arm transfers the sealing strip to a stacking area. However, the line of the welding system is relatively long, and the line occupies a large area. In addition, multiple mechanical arms are required to cooperate to grasp and transport. Moreover, the mechanical arm can only grasp two rubber sleeves at a time, so the insertion of the multiple rubber sleeves of one sealing strip into the welding device needs to be performed in multiple steps, which leads to a long beat of the rubber sleeve welding and affects the welding efficiency. In the embodiment of the present application, the welding module is arranged at the center of the ring-shaped conveying module, which can make the welding system highly integrated, cancel the long line structure, and greatly reduce the floor area occupied by the welding system. Meanwhile, the mechanical arm is replaced by multiple transfer modules, which can realize the synchronous insertion of the multiple rubber sleeves into the welding device, and thus the rubber sleeves can be synchronously welded, the beat of the rubber sleeve insertion and welding is shortened, and the efficiency of the rubber sleeve welding is improved.

[0106] In the embodiment of the present application, as shown in Figure 3 the conveying module 1 can include multiple straight belt conveying lines 9 and multiple arc conveying lines 8.

[0107] The multiple straight belt conveying lines 9 are arranged in a second polygon, and the multiple straight belt conveying lines 9 are respectively located on the multiple sides of the second polygon. The multiple arc conveying lines 8 are respectively arranged at the two ends of the straight belt conveying lines 9 located in the middle, and the number of the arc conveying lines 8 is one less than the number of the straight belt conveying lines 9, that is, the adjacent ends of the first straight belt conveying line 9 and the last straight belt conveying line 9 are arranged in an open mode.

[0108] The plurality of rubber sleeves are placed on the first straight belt conveying line 9 in sequence and conveyed along the plurality of straight belt conveying lines 9 and the plurality of arc conveying lines 8 until the plurality of rubber sleeves are conveyed on the plurality of straight belt conveying lines 9 respectively. The plurality of straight belt conveying lines 9 are independent of each other, which facilitates the plurality of positioning modules to reliably position the corresponding rubber sleeves, thereby improving the reliability and accuracy of positioning the plurality of rubber sleeves.

[0109] In this embodiment of the present application, considering that the sealing strip generally consists of four rubber sleeves in practice, the number of straight belt conveying lines 9 is four and the number of arc conveying lines 8 is three.

[0110] In this embodiment of the present application, as shown in Figure 4 and Figure 5 , the positioning module can include a positioning plate 11, a positioning table 2, two positioning rods 15, two positioning cylinders 13, a guide cylinder 14, a guide rod 18, two sliding rails 16, two sliding seats and a first driving assembly 17. Specifically, the positioning rod 15 can include an inclined surface 10, and the guide rod 18 can include a guide groove 12.

[0111] The positioning plate 11 is arranged at the outer top end of the straight belt conveying line 9, and the positioning table 2 is arranged at the inner side of the straight belt conveying line 9. The two positioning rods 15 are arranged above the straight belt conveying line 9 and are perpendicular to the positioning plate 11. The opposite side of the end of the two positioning rods 15 close to the positioning plate 11 is provided with an inclined surface 10 matched with the two ends of the rubber sleeve. The two positioning cylinders 13 are arranged on the top of the positioning table 2, and the output ends of the two positioning cylinders 13 are connected with the other ends of the two positioning rods 15. The guide rod 18 is arranged between the two positioning rods 15, and the end of the guide rod 18 close to the positioning plate 11 is provided with a guide groove 12 matched with the outer protrusion of the rubber sleeve. The guide cylinder 14 is arranged on the top of the positioning table 2, and the output end of the guide cylinder 14 is connected with the other end of the guide rod 18. The two sliding rails 16 are arranged on the top of the positioning table 2 and are respectively located on the two sides of the guide cylinder 14. The two sliding seats are respectively connected with the two sliding rails 16, and the two positioning cylinders 13 are respectively arranged on the two sliding seats. The first driving assembly 17 is arranged on the positioning table 2 and is connected with the two sliding seats, and is used to drive the two sliding seats to move close to or away from each other.

[0112] When the rubber sleeve on the straight belt conveying line 9 needs to be positioned and fixed, the positioning cylinder 13 close to the end of the straight belt conveying line 9 is started, and the corresponding positioning rod 15 is extended and attached to the side wall of the positioning plate 11; as the rubber sleeve moves gradually, the guide cylinder 14 drives the guide rod 18 to extend and push the rubber sleeve to attach to the side wall of the positioning plate 11. At the same time, the guide groove 12 of the guide rod 18 can guide the rubber sleeve, cooperate with the straight belt conveying line 9 to drive the rubber sleeve to continue to advance, until one end of the rubber sleeve is attached to the inclined surface 10 of the extended positioning rod 15. The positioning cylinder 13 close to the first end of the straight belt conveying line 9 is started, and the corresponding positioning rod 15 is extended and makes the inclined surface 10 thereof attached to the other end of the rubber sleeve, thereby realizing accurate positioning of the rubber sleeve. By using this step-by-step positioning method, the positioning of the rubber sleeve is more reliable, simple and convenient. When positioning rubber sleeves of different sizes, the first driving assembly 17 can be controlled to start, thereby driving the two sliding seats and the two positioning cylinders 13 to slide on the sliding rail 16, thereby achieving the purpose of adjusting the distance between the two positioning rods 15. This method of adjusting the distance between the two positioning rods 15 makes the positioning module capable of positioning rubber sleeves of different sizes, has higher universality and wider applicability.

[0113] In this embodiment of the present application, the specific structure of the first driving assembly 17 can be various forms as indicated by those skilled in the art, such as a cylinder, a linear motor, etc. However, in a preferred example of the present application, considering the accuracy of adjusting the distance between the two positioning rods 15, the specific structure of the first driving assembly 17 can be as shown in Figure 4 and Figure 5 Specifically, in Figure 4 and Figure 5 , the first driving assembly 17 can include a servo motor and a screw rod in cooperation.

[0114] In this embodiment of the present application, the positioning module can further include a plurality of photoelectric sensors 19 for monitoring the position of the rubber sleeve on the straight belt conveying line 9.

[0115] In this embodiment of the present application, considering that the two ends of the rubber sleeve are prone to bending and deforming, the guide cylinder 14 and the guide rod 18 can be provided with a plurality of guide cylinders 14 and guide rods 18, respectively, close to the two positioning rods 15.

[0116] In this embodiment of the present application, as shown in Figure 6 and Figure 7 , the transfer module can include a transfer frame 3, a transfer rail, a transfer cross plate 22, two transfer fixing plates 24, two transfer clamping jaws 25, two limiting clamping jaws 26, two first lifting assemblies 23, a fifth driving assembly and a sixth driving assembly.

[0117] The transfer frame 3 is arranged above the corresponding straight belt conveying line 9, and one end of the transfer frame 3 extends above four sides of the first polygon. The transfer guide rail is arranged at the bottom of the transfer frame 3, the transfer cross plate 22 is slidingly arranged at the bottom end of the transfer guide rail, and is vertically distributed with the transfer guide rail. Two transfer fixed plates 24 are symmetrically arranged below the transfer cross plate 22, and two transfer clamps 25 are respectively arranged at the bottom of the two transfer fixed plates 24. Two limiting clamps 26 are respectively arranged at the bottom of the two transfer fixed plates 24 and are respectively located on the sides away from each other of the two transfer clamps 25. Two first lifting assemblies 23 are arranged on the two transfer fixed plates 24 and are connected with the two transfer clamps 25 for driving the corresponding transfer clamps 25 to lift. The sixth driving assembly is arranged at the bottom of the transfer cross plate 22 for driving the two transfer fixed plates 24 to move close to or away from each other. The fifth driving assembly is arranged on the transfer frame 3 and is connected with the transfer cross plate 22 for driving the transfer cross plate 22 to move along the transfer guide rail.

[0118] When the rubber sleeve needs to be transferred, the fifth driving assembly is started, and the transfer cross plate 22 is driven to move above the positioning table 2. The two first lifting assemblies 23 are started, and the two transfer clamps 25 are lowered. The two transfer clamps 25 are started and grab and hold the protrusions on the top of the rubber sleeve. The first lifting assembly 23 resets the transfer clamp 25, and at the same time, the two limiting clamps 26 are opened and set around the rubber sleeve. Specifically, the inner wall of the output end of the limiting clamp 26 cooperates with the inner wall of the rubber sleeve. And the two limiting clamps 26 are respectively arranged on the sides away from each other of the two transfer clamps 25, thereby reliably fixing the two ends of the rubber sleeve. Finally, the fifth driving assembly is started to transfer the rubber sleeve between the two adjacent welding modules, and cooperate with the two welding modules to enter the mold. Specifically, the sixth driving assembly is started to make the two transfer fixed plates 24 close to each other, so that the rubber sleeve forms a certain arc, and when the two ends of the rubber sleeve correspond to the two welding modules, the sixth driving assembly is started to make the two transfer fixed plates 23 move away from each other, that is, the arc-shaped rubber sleeve gradually opens, and the two ends of the rubber sleeve enter along the two welding modules to realize the rubber sleeve into the mold. In addition, the sixth driving assembly can adjust the distance between the two transfer clamps 25 according to the size of the rubber sleeve, so as to improve the applicability of the transfer module.

[0119] In this embodiment of the present application, the specific structure of the first lifting assembly 23 includes but is not limited to a cylinder drive and the like.

[0120] In this embodiment of the present application, the specific structure of the transfer clamp 25 includes but is not limited to a clamp cylinder and a two-clamp plate cooperation mode and the like.

[0121] In this embodiment of the present application, the specific structure of the limiting clamp 26 includes but is not limited to a clamp cylinder and a two-clamp plate cooperation mode and the like.

[0122] In this embodiment of the present application, the specific structure of the fifth driving assembly can be various forms known to those skilled in the art, such as a pneumatic cylinder, a linear motor, etc. However, in a preferred example of the present application, in view of the accuracy of the rubber sleeve conveying, the specific structure of the fifth driving assembly can be as shown in Figure 5 , specifically, in Figure 5 , the fifth driving assembly can include a first servo motor 20 and a first screw rod 21 in cooperation. Specifically, the first servo motor 20 is connected with the end of the first screw rod 21.

[0123] In this embodiment of the present application, the specific structure of the sixth driving assembly can be various forms known to those skilled in the art, such as a pneumatic cylinder, a linear motor, etc. However, in a preferred example of the present application, in view of the accuracy of the distance adjustment between the two transfer clamps 25, the specific structure of the sixth driving assembly can include a servo motor and a screw rod in cooperation.

[0124] In this embodiment of the present application, as shown in Figure 8 and Figure 9 , the welding module can further include a welding base 4, two bottom plates 32, a second driving assembly 28, two third driving assemblies 30. Specifically, the welding module can include a base plate 31, two welding dies 35, a heating assembly 34, a fourth driving assembly 41, two die releasing assemblies, and two material pressing assemblies 33.

[0125] The two bottom plates 32 are arranged in parallel above the welding base 4, and each bottom plate 32 is provided with two welding modules. The second driving assembly 28 is arranged on the top of the welding base 4 and connected with the two bottom plates 32, for driving the two bottom plates 32 to move closer to or away from each other. The two third driving assemblies 30 are respectively arranged on the top of the two bottom plates 32, and each third driving assembly 30 is connected with the corresponding two welding modules, for driving the corresponding two welding modules to move closer to or away from each other. The third driving assembly 30 is connected with the base plate 31, the two welding dies 35 are distributed vertically, and the intersection of the extension lines of the two welding dies 35 is directed towards the center of the first polygon. The heating assembly 34 is arranged on the bisector of the included angle between the two welding dies 35, for extending into the space between the two welding dies 35 to heat and melt the rubber sleeve inside the two welding dies 35. The fourth driving assembly 41 is arranged on the base plate 31, for driving the included angle ends of the two welding dies 35 to move closer to each other to weld the rubber sleeve inside the two welding dies 35. The two die releasing assemblies are respectively arranged on the two welding dies 35, for opening the corresponding welding die 35 to release the limitation on the welded rubber sleeve. The two material pressing assemblies 33 are respectively arranged on the two welding dies 35, for pressing and limiting the rubber sleeve inside the two welding dies 35.

[0126] When the rubber sleeve needs to be inserted into the mold, the pressing assembly 33 is started and the end of the rubber sleeve is pressed and limited. The driving heating assembly 34 is started, the heating assembly 34 is inserted into the two welding molds 35 and the rubber sleeve inside the two welding molds 35 is heated and melted, and then the driving heating assembly 34 is driven to exit between the two welding molds 35, the fourth driving assembly 41 is started and the included angle of the two welding molds 35 is driven to approach each other and abut the opposite ends of the two rubber sleeves. Finally, the mold opening assembly is started, the corresponding welding mold 35 is opened, and the sealing strip can be grabbed and discharged in cooperation with the discharging module. When the distance between the two opposite welding molds 35 on the adjacent two welding mold groups needs to be adjusted according to the size of the rubber sleeve, the distance between the two bottom plates 32, that is, the transverse distance, can be adjusted by the second driving assembly 28; the distance between the two welding mold groups, that is, the longitudinal distance, can be adjusted by the two third driving assemblies 30. In addition, the second driving assembly 28 and the two third driving assemblies 30 can also be used to assist the rubber sleeve to be inserted into the mold.

[0127] In this embodiment of the present application, in order to further improve the stability and reliability of the movement of the bottom plate 32 and the welding mold group, the welding module can further include two first guide rails 27 and a second guide rail 29. Specifically, the first guide rail 27 is arranged on the bottom plate 32 and is in sliding connection with the two corresponding welding mold groups; the second guide rail 29 is arranged on the welding base 4 and is in sliding connection with the two bottom plates.

[0128] In this embodiment of the present application, the specific structure of the second driving assembly 28 can be various forms known to those skilled in the art, such as a pneumatic cylinder, a linear motor, etc. However, in a preferred example of the present application, considering the accuracy of adjusting the distance between the two bottom plates 32, the specific structure of the second driving assembly 28 can be as shown in Figure 8 Specifically, in Figure 8 , the specific structure of the second driving assembly 28 can include a second servo motor and a second screw in cooperation.

[0129] In this embodiment of the present application, the specific structure of the third driving assembly 30 can be various forms known to those skilled in the art, such as a pneumatic cylinder, a linear motor, etc. However, in a preferred example of the present application, considering the accuracy of adjusting the distance between the two welding mold groups, the specific structure of the third driving assembly 30 can be as shown in Figure 8 Specifically, in Figure 8 , the specific structure of the third driving assembly 30 can include a third servo motor and a third screw in cooperation.

[0130] In this embodiment of the present application, the specific structure of the heating assembly 34 includes but is not limited to a servo motor cooperating with a screw to drive the heating plate to move.

[0131] In this embodiment of the present application, the specific structure of the material pressing assembly 33 can include but is not limited to the way of cylinder cooperating with pressing plate, etc.

[0132] In this embodiment of the present application, the specific structure of the fourth driving assembly can be various forms known by those skilled in the art, such as two cylinders, two linear motors, etc. However, in a preferred example of the present application, considering the precision of the same substrate 31 adhering to the two welding molds 35, the specific structure of the fourth driving assembly can include a second servo motor, two threaded rods, two first bevel gears and a second bevel gear. Specifically, the two threaded rods are respectively threadedly connected with the two welding molds 35, and the two first bevel gears are respectively arranged at the ends of the two threaded rods close to each other. The two first bevel gears are connected with the second bevel gear, and the second servo motor is connected with the second bevel gear.

[0133] In this embodiment of the present application, the specific structure of the mold withdrawing assembly can include but is not limited to the way of cylinder connecting with one of the mold blocks cooperating to form the mold groove, etc.

[0134] In one embodiment of the present application, as shown in Figure 10 and Figure 11 The blanking module can include a blanking frame 5, a blanking guide rail 36, a blanking cross plate 37, a second lifting assembly 42, two first cross rods 38, a seventh driving assembly, a second cross rod 40 and a plurality of clamping cylinder 39.

[0135] The blanking frame 5 is arranged directly above the first polygon, and one end of the blanking module extends out of the annular interior. The blanking guide rail 36 is arranged at the bottom of the blanking frame 5, and the blanking cross plate 37 is arranged below the blanking guide rail 36. The second lifting assembly 42 is slidingly connected with the blanking guide rail 36, and the output end of the second lifting assembly 42 is connected with the top of the blanking cross plate 37 for driving the blanking cross plate 37 to lift. The two first cross rods 38 are symmetrically arranged at the bottom of the blanking cross plate 37, and a plurality of clamping cylinder 39 are arranged on each first cross rod 38. The first cross rod 38 is perpendicular to the blanking cross plate 37. The eighth driving assembly is arranged at the bottom of the blanking cross plate 37 for driving the two first cross rods 38 to move close to or away from each other. The second cross rod 40 is arranged at the center of the bottom of the blanking cross plate 37 and located between the two first cross rods 38, and the second cross rod 40 is arranged in parallel with the two first cross rods 38. The bottom of the second cross rod 40 is provided with a plurality of clamping cylinder 39. The seventh driving assembly is arranged on the blanking frame 5 and connected with the second lifting assembly 42 for driving the second lifting assembly 42 to slide along the blanking guide rail 36.

[0136] After the welding of the sealing strip is completed, the seventh driving assembly controls the blanking plate 37 to move to the upper side of the first polygon, the second lifting assembly 42 is started, and the plurality of gripper cylinders 39 are controlled to move downward and grab the plurality of edges of the sealing strip, and then the plurality of gripper cylinders 39 are driven to reset. The seventh driving assembly controls the sealing strip to move to the upper side of the blanking conveyor 7, and the sealing strip is conveyed and blanked through the blanking conveyor 7. The eighth driving assembly can adjust the distance between the two first cross bars according to the length of the short side of the sealing strip, so as to improve the stability of the sealing strip. Specifically, the gripper cylinder 39 is detachably connected with the first cross bar 38 or the second cross bar 40, and the second cross bar 40 can grab the short side of the sealing strip, further improving the flexibility and reliability of the blanking of the rubber sleeve.

[0137] In this embodiment of the application, the specific structure of the seventh driving assembly can be various forms known to those skilled in the art, such as a cylinder, a linear motor, etc. However, in a preferred example of the application, considering the accuracy of the adjustment of the blanking, the specific structure of the seventh driving assembly can include a servo motor and a screw rod in cooperation.

[0138] In this embodiment of the application, the specific structure of the eighth driving assembly can be various forms known to those skilled in the art, such as a cylinder, a linear motor, etc. However, in a preferred example of the application, considering the accuracy of the adjustment of the distance between the two first cross bars 38, the specific structure of the eighth driving assembly can include a servo motor and a screw rod in cooperation.

[0139] In this embodiment of the application, the specific structure of the second lifting assembly 42 includes but is not limited to a cylinder drive, etc.

[0140] In this embodiment of the application, the welding system can further include a protective fence 6. Specifically, the protective fence 6 is arranged on the outer side of the conveying module 1.

[0141] On the other hand, the application also provides a control method of the welding system of the refrigerator door sealing strip, and the specific steps can be as shown in Figure 12 Figure 12 The control method can include the following steps:

[0142] In step S10, the position information of the rubber sleeve is obtained. Specifically, a plurality of photoelectric sensors can be arranged on the conveying module 1 to obtain the position information of the rubber sleeve. Specifically, the photoelectric sensors can be arranged near the positioning module, so that the positioning module can timely act and position and fix the rubber sleeve.

[0143] ​In step S11, it is judged whether the rubber sleeve reaches the vicinity of the corresponding positioning module. Wherein, whether the rubber sleeve reaches the vicinity of the corresponding positioning module means whether the corresponding positioning module should act. Specifically, since there are multiple rubber sleeves on one sealing strip, the conveying module 1 will transport the multiple rubber sleeves in turn. When multiple rubber sleeves are conveyed, the positioning module near the input end will not act in advance, and the rubber sleeve positioned in front will be conveyed to the vicinity of the corresponding positioning module along with the conveying module 1. Specifically, taking four rubber sleeves and four positioning modules as an example, the first rubber sleeve passes through the first three positioning modules, and the first three positioning modules do not act until the first rubber sleeve reaches the vicinity of the fourth positioning module, and the fourth positioning module acts and positions it. Specifically, the first positioning module is the positioning module near the input end of the conveying module 1, and the fourth positioning module is the positioning module near the output end of the conveying module 1; the first rubber sleeve is the first rubber sleeve entering the conveying module 1.

[0144] In step S12, when it is judged that the rubber sleeve reaches the vicinity of the corresponding positioning module, the positioning module is driven to start to position the rubber sleeve. Wherein, if the rubber sleeve reaches the vicinity of the corresponding positioning module, it means that the rubber sleeve reaches the designated position to be transferred, and at this time the positioning module can position the rubber sleeve. Specifically, three photoelectric sensors are arranged near one positioning module, and the three photoelectric sensors are distributed along the conveying direction of the conveying module 1. When the rubber sleeve reaches the first photoelectric sensor of the corresponding positioning module, the straight-line belt conveying line corresponding to the positioning module slows down, and the positioning rod at the conveying end of the straight-line belt conveying line extends. When the rubber sleeve reaches the second photoelectric sensor of the corresponding positioning module, the straight-line belt conveying line corresponding to the positioning module further slows down, the guide rod extends and pushes the rubber sleeve to adhere to the positioning plate, so as to limit the movement of the rubber sleeve to only along the side wall of the positioning plate. When the rubber sleeve reaches the third photoelectric sensor of the corresponding positioning module, the straight-line belt conveying line corresponding to the positioning module stops, and the positioning rod at the conveying start end of the straight-line belt conveying line extends, so as to realize reliable positioning of the rubber sleeve.

[0145] In step S13, the transfer module starts to transfer the rubber sleeve to the welding module, and cooperates with the welding module to perform mold entry of the rubber sleeve. Wherein, after positioning the rubber sleeve, the transfer module starts to grab the rubber sleeve and moves it to the vicinity of the welding module. Specifically, the transfer module moves the rubber sleeve between two adjacent welding modules, and the two adjacent welding dies on the two welding modules are opened by the die withdrawing assembly to cooperate with the transfer module to extend the two ends of the rubber sleeve along the two welding dies. Specifically, multiple rubber sleeves of one sealing strip can be synchronously molded.

[0146] In step S14, it is judged whether the rubber sleeve is in place. Two photoelectric sensors are arranged on each welding mold, which are used to monitor the extension amount of the rubber sleeve in the two welding molds. When the rubber sleeve is in place, the photoelectric sensor monitors and stops the extension of the rubber sleeve, and then the rubber sleeve is pressed and fixed by the pressing assembly, so that the rubber sleeve is in place.

[0147] In step S15, when the rubber sleeve is in place, the welding module is started and the rubber sleeve is welded. If the rubber sleeve is in place, the heating assembly is driven to start, and the ends of the two rubber sleeves between the two welding molds of each welding mold are hot melted. After a period of hot melting, the heating assembly is withdrawn, the fourth driving assembly is started and the ends of the two rubber sleeves are bonded and welded, so that the welding of the adjacent two rubber sleeves is realized. Specifically, the multiple rubber sleeves of one sealing strip can be synchronously welded.

[0148] In step S16, the blanking module is started to take out the welded sealing strip from the welding module. After the welding of the rubber sleeve is completed, a completed sealing strip is formed, the pressing assembly and the ejection assembly are started and the welding mold is opened, and then the blanking module is used to move the welded sealing strip out of the welding module, so that the welding module can be used for the next welding.

[0149] In step S17, when the rubber sleeve is not in place, the transfer module and the welding module continue to insert the rubber sleeve. If the rubber sleeve is not in place, the transfer module continues to push the rubber sleeve to the welding module or the welding module continues to approach the rubber sleeve, so as to continue to insert the rubber sleeve.

[0150] In step S18, when the rubber sleeve does not reach the corresponding positioning module, the conveying module 1 continues to convey the rubber sleeve. If the rubber sleeve does not reach the corresponding positioning module, it means that the rubber sleeve is still being conveyed. Generally, the multiple rubber sleeves of one sealing strip reach the corresponding straight belt conveying line at about the same time, so the conveying module 1 needs to continue to convey the rubber sleeve.

[0151] In steps S10 to S18, when the multiple rubber sleeves are welded, the positions of the multiple rubber sleeves on the conveying module 1 are determined, and it is judged whether the multiple rubber sleeves are near the corresponding positioning modules. If the multiple rubber sleeves are near the corresponding positioning modules, the corresponding positioning modules position the rubber sleeves, the transfer module moves the defined rubber sleeves to the welding module and synchronously inserts the rubber sleeves, the welding device synchronously welds the multiple rubber sleeves, and finally the blanking module moves the rubber sleeves out of the line, so that the production of the sealing strip is completed. The control method is simple and flexible, which is helpful to realize the accurate welding of the sealing strip.

[0152] Through the technical scheme, the welding system of the refrigerator door sealing strip and the control method thereof can sequentially place multiple rubber sleeves on the conveying module 1, convey the multiple rubber sleeves to corresponding positions respectively, and relatively arrange the cut corner positions of the multiple rubber sleeves due to the ring shape of the conveying module 1; then the positioning module positions the multiple rubber sleeves respectively, the multiple transfer modules transfer the multiple rubber sleeves to the vicinity of the welding module and synchronously enter the mold, the welding module can synchronously weld the multiple rubber sleeves, after the welding is completed, the discharging module can move the sealing strip out of the welding system to wait for the next welding; the welding module is arranged at the center of the ring-shaped conveying module, which can make the welding system highly integrated, greatly reducing the required occupation area of the welding system; meanwhile, the multiple transfer modules and the welding module are matched with the synchronous mold entering and synchronous welding mode, which can effectively reduce the beat of the rubber sleeve welding, that is, improve the efficiency of the rubber sleeve welding.

[0153] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0154] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A welding system for a refrigerator door sealing strip, characterized in that, include: A conveying module (1) is used to convey multiple rubber sleeves of the sealing strip, and the conveying module (1) is annular; Multiple positioning modules are disposed inside the conveying module (1) for limiting and fixing the multiple rubber sleeves on the conveying module (1); A welding module is located at the center of the ring. The welding module includes multiple welding modules distributed in a first polygon. The multiple welding modules are located at multiple corners of the first polygon. The multiple welding modules are used to cooperate in synchronously welding the diagonals of adjacent rubber sleeves. Multiple transfer modules are respectively disposed above multiple positioning modules. One end of each of the multiple transfer modules extends above multiple sides of the first polygon. The multiple transfer modules are used to transfer multiple rubber sleeves from the conveying module (1) to the adjacent welding modules and cooperate with the adjacent welding modules to synchronously insert the rubber sleeves into the mold. The unloading module is located directly above the first polygon, with one end extending out of the interior of the annulus. The unloading module is used to remove and unload the welded sealing strip.

2. The welding system according to claim 1, characterized in that, The conveying module (1) includes: Multiple straight belt conveyor lines (9) are arranged in a second polygon, and the multiple straight belt conveyor lines (9) are respectively located on multiple sides of the second polygon; Multiple arc-shaped conveyor lines (8) are respectively arranged at both ends of the straight belt conveyor line (9) located in the middle.

3. The welding system according to claim 2, characterized in that, The positioning module includes: Positioning plate (11) is set at the top outer side of the linear belt conveyor (9); Positioning platform (2) is located inside the linear belt conveyor line (9); Two positioning rods (15) are positioned above the linear belt conveyor (9) and perpendicular to the positioning plate (11). The two positioning rods (15) have inclined surfaces (10) on opposite sides of one end near the positioning plate (11) that cooperate with the two ends of the rubber sleeve. Two positioning cylinders (13) are disposed on the top of the positioning platform (2), and the output ends of the two positioning cylinders (13) are connected to the other ends of the two positioning rods (15); A guide rod (18) is provided between the two positioning rods (15). The end of the guide rod (18) near the positioning plate (11) is provided with a guide groove (12) that cooperates with the outer protrusion of the rubber sleeve. A guide cylinder (14) is disposed on the top of the positioning platform (2), and the output end of the guide cylinder (14) is connected to the other end of the guide rod (18).

4. The welding system according to claim 3, characterized in that, The positioning module further includes: Two slide rails (16) are provided on the top of the positioning platform (2) and are located on both sides of the guide cylinder (14); Two slide blocks are slidably connected to two slide rails (16) respectively, and two positioning cylinders (13) are respectively mounted on the two slide blocks; Two first drive components (17) are disposed on the top of the positioning platform (2) and connected to the two slides for driving the two slides to move closer or further apart from each other.

5. The welding system according to claim 1, characterized in that, The welding module also includes: Welding base (4); Two base plates (32) are arranged in parallel above the welding base (4), and two welding modules are provided on each base plate (32); The second drive assembly (28) is disposed on the top of the welding base (4) and connected to the two base plates (32) for driving the two base plates (32) to move closer or further apart from each other; Two third drive components (30) are respectively disposed on the top of the two base plates (32), and each third drive component (30) is connected to the corresponding two welding modules to drive the corresponding two welding modules to move closer or further apart.

6. The welding system according to claim 5, characterized in that, The welding module includes: The substrate (31) is connected to the third driving component (30); Two welding molds (35) are vertically distributed, and the intersection of the extensions of the two welding molds (35) faces the center of the first polygon; A heating assembly (34) is disposed on the bisector of the included angle between the two welding molds (35) for extending between the two welding molds (35) to heat melt the rubber sleeve inside the two welding molds (35); The fourth drive assembly (41) is disposed on the substrate (31) and is used to drive the included ends of the two welding molds (35) to come close to each other to weld the rubber sleeve inside the two welding molds (35); Two ejection assemblies are respectively disposed on the two welding molds (35) for opening the corresponding welding molds (35) to release the welded rubber sleeve from its confinement.

7. The welding system according to claim 2, characterized in that, The transfer module includes: The transfer frame (3) is set above the corresponding straight belt conveyor line (9), with one end extending above the four sides of the first polygon; A transfer guide rail is provided at the bottom of the transfer frame (3); The transfer plate (22) is slidably disposed at the bottom end of the transfer guide rail and is distributed perpendicularly to the transfer guide rail; The fifth drive component is disposed on the transfer frame (3) and connected to the transfer cross plate (22) for driving the transfer cross plate (22) to move along the transfer guide rail; Two transfer fixing plates (24) are symmetrically arranged below the transfer cross plate (22); Two transfer grippers (25) are respectively set at the bottom of the two transfer fixing plates (24); Two limiting grippers (26) are respectively disposed at the bottom of the two transfer fixing plates (24) and are respectively located on the mutually distant sides of the two transfer grippers (25); Two first lifting components (23) are disposed on the two transfer fixing plates (24) and connected to the two transfer grippers (25) for driving the corresponding transfer grippers (25) to lift. The sixth drive assembly is located at the bottom of the transfer cross plate (22) and is used to drive the two transfer fixing plates (24) to move closer or further apart from each other.

8. The welding system according to claim 1, characterized in that, The feeding module includes: The unloading rack (5) is located directly above the first polygon, and one end of the unloading module extends out of the interior of the ring; The feeding guide rail (36) is located at the bottom of the feeding rack (5); The feeding horizontal plate (37) is located below the feeding guide rail (36); The second lifting component (42) is slidably connected to the unloading guide rail (36), and the output end of the second lifting component (42) is connected to the top of the unloading horizontal plate (37) to drive the unloading horizontal plate (37) to lift. The seventh drive assembly is disposed on the unloading rack (5) and connected to the second lifting assembly (42), and is used to drive the second lifting assembly (42) to slide along the unloading guide rail (36); Two first crossbars (38) are symmetrically arranged at the bottom of the feeding crossbar (37), and each first crossbar (38) is provided with multiple gripper cylinders (39). The first crossbar (38) is perpendicular to the feeding crossbar (37). The eighth drive assembly is located at the bottom of the feeding cross plate (37) and is used to drive the two first cross bars (38) to move closer or further apart from each other; The second crossbar (40) is located at the bottom center of the feeding crossbar (37) and between the two first crossbars (38), and is arranged parallel to the two first crossbars (38). The bottom of the second crossbar (40) is provided with a plurality of gripper cylinders (39).

9. A method for controlling welding using a welding system for refrigerator door sealing strips as described in any one of claims 1-8, characterized in that, include: Obtain the position information of the rubber sleeve; Determine whether the rubber sleeve has reached the vicinity of the corresponding positioning module; When it is determined that the rubber sleeve has reached the vicinity of the corresponding positioning module, the positioning module is activated to position the rubber sleeve. The transfer module is activated to transfer the rubber sleeve to the welding module, and works with the welding module to insert multiple rubber sleeves into the mold; Determine whether the rubber sleeve is properly inserted into the mold; When the molded sleeve is determined to be in place, the welding module is activated and the sleeve is welded. The unloading module is activated, and the welded sealing strip is removed from the welding module. If it is determined that the rubber sleeve has not been properly inserted into the mold, the transfer module and the welding module cooperate to continue inserting the rubber sleeve into the mold. When it is determined that the rubber sleeve has not reached the vicinity of the corresponding positioning module, the conveying module continues to convey the rubber sleeve.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that are read by a controller to cause the controller to perform the control method as described in claim 9.

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