Conveying device and method for sealing strips

Abstract

The present application relates to the technical field of sealing strip rubber sleeve conveying, and discloses a sealing strip rubber sleeve conveying device and a conveying method, the conveying device comprising: a rubber sleeve conveying belt, the rubber sleeve conveying belt comprising: a plurality of straight line segments, in polygonal distribution. The present application places a plurality of rubber sleeves on the first straight line segment in sequence, so that the plurality of rubber sleeves are conveyed along the plurality of straight line segments and the plurality of arc-shaped segments, and finally the plurality of rubber sleeves are arranged on the plurality of straight line segments respectively; since the plurality of straight line segments and the plurality of arc-shaped segments form a rotary structure, the corners of the plurality of rubber sleeves can be all directed towards the center of the rotary structure. The rotary structure can change the direction of the corners of the rubber sleeves, and no additional reversing line body is needed; the conveying device is highly integrated, occupies a small area, and greatly reduces the investment cost required by the device.

Description

Technical Field

[0001] This invention relates to the field of conveying technology for sealing strip sleeves, and more specifically to a conveying device and method for conveying sealing strip sleeves. Background Technology

[0002] Due to their excellent sealing properties, sealing strips are commonly used in many products that require them, such as refrigerators and washing machines. Sealing strips are typically made by injection molding rubber or similar materials, then cut into sleeves using a cutting device, and finally welded together from four sleeves. During the cutting process, they are usually cut at a 45° angle.

[0003] The process of forming sealing strips from rubber sleeves generally employs automated production. The four rubber sleeves of the sealing strip are conveyed to a robotic arm, which then grips them and places them on a welding device for welding. Because the chamfers of two adjacent rubber sleeves are symmetrical, it is typically necessary to reverse the orientation of two adjacent sleeves by 180° before conveying them to the robotic arm. Existing sleeve reversing devices place the two sleeves on a straight conveyor line and a 180° turn line to achieve symmetrical chamfers. However, this method requires additional space-consuming turning conveyors and additional robotic arms to grip and place the sleeves on different conveyors, resulting in excessively large conveyor space requirements and high costs. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of large production line area and high investment cost in the prior art, and to provide a conveying device and method for sealing strip sleeves, which reduces the production line area and lowers investment cost.

[0005] To achieve the above objectives, the present invention provides a conveying device for sealing strip sleeves, comprising:

[0006] Rubber-sheathed conveyor belt, the rubber-sheathed conveyor belt comprising:

[0007] Multiple straight line segments are distributed in a polygonal pattern;

[0008] Multiple arc segments, the number of which is one less than the number of straight segments, are respectively arranged between two adjacent straight segments except between the beginning of the first straight segment and the end of the last straight segment. The multiple straight segments and the multiple arc segments form a rotating structure to change the orientation of some of the rubber sleeves so that the inner side of the multiple rubber sleeves faces the center of the rotating structure.

[0009] Multiple positioning components are respectively disposed on the inner side of multiple straight segments for positioning multiple rubber sleeves of the sealing strip;

[0010] Multiple gripper assemblies are respectively disposed above multiple straight segments, for synchronously gripping multiple rubber sleeves and moving them to the welding device for mold placement.

[0011] Optionally, the positioning component includes:

[0012] Positioning station;

[0013] A partition is provided at the top of the straight segment on the side away from the positioning platform;

[0014] Two positioning rods are symmetrically arranged above the straight section, and symmetrical inclined surfaces are opened on opposite sides of the two positioning rods near the partition.

[0015] Two first cylinders are disposed on the top of the positioning platform, and the output ends of the two first cylinders are respectively connected to the other ends of the two positioning rods;

[0016] Two movable components are disposed on the positioning platform, and two first cylinders are slidably connected to the corresponding movable components. The two movable components are used to adjust the positioning distance between the two positioning rods.

[0017] Optionally, the positioning component further includes:

[0018] Multiple auxiliary guide rods are disposed between the two positioning rods, and the ends of the multiple auxiliary guide rods near the partition are provided with grooves that match the shape of the side wall of the rubber sleeve;

[0019] Multiple second cylinders are mounted on the positioning platform, and the output ends of the multiple second cylinders are connected to the other ends of the multiple auxiliary guide rods.

[0020] Optionally, the number of straight segments includes four, and the number of curved segments includes three.

[0021] Optionally, the partition plate has a groove, the height of the partition plate is greater than the height of the rubber sleeve, and the height from the bottom wall of the groove to the top of the rubber sleeve conveyor belt is less than the height of the rubber sleeve.

[0022] Optionally, the gripper assembly includes:

[0023] A support frame is disposed above the rubber sleeve conveyor belt, with one end of the support frame extending above the welding device;

[0024] Multiple support columns are provided at the bottom of the support frame;

[0025] A guide rail is provided at the bottom of the support frame;

[0026] A horizontal plate is disposed at the bottom of the guide rail and is slidably connected to the guide rail;

[0027] A conveying assembly is disposed at the bottom of the support frame and connected to the horizontal plate, for driving the horizontal plate to slide along the guide rail;

[0028] Two clamping seats are located below the horizontal plate.

[0029] Two gripper cylinders are respectively mounted on the two gripping seats for clamping and fixing the top protrusion of the rubber sleeve;

[0030] An adjustment component is located at the bottom of the horizontal plate and connected to the two clamping seats, used to move the two clamping seats closer to or further apart from each other;

[0031] Two lifting components are respectively mounted on the two clamping seats and are used to drive the corresponding gripper cylinders to lift.

[0032] Optionally, the gripper assembly further includes two limiting cylinders, which are respectively disposed on the two gripping seats and located on the side away from each other. The output ends of the two limiting cylinders are provided with two clamping plates that cooperate with the outer protrusion of the rubber sleeve.

[0033] Optionally, the conveying device further includes:

[0034] Three photoelectric sensors are respectively installed on the two first cylinders and the second cylinder, and are used to identify the position of the rubber sleeve and send a position identification signal;

[0035] The controller, electrically connected to the two first cylinders, the second cylinder, the three photoelectric sensors, and the adhesive straight segment, is used for:

[0036] The first cylinder near the end of the straight segment is activated so that the corresponding positioning rod is in contact with the partition.

[0037] Determine whether the position recognition signal of the first photoelectric sensor has been acquired;

[0038] When the position recognition signal of the first photoelectric sensor is obtained, the straight segment is driven to decelerate;

[0039] Determine whether the position recognition signal of the second photoelectric sensor has been acquired;

[0040] When the recognition signal of the second photoelectric sensor is obtained, the straight segment is driven to decelerate further, and multiple second cylinders are driven to start, so that the corresponding auxiliary guide rod pushes the rubber sleeve closer to the partition for limiting and guiding.

[0041] Determine whether the position recognition signal of the third photoelectric sensor has been acquired;

[0042] When the identification signal of the third photoelectric sensor is obtained, the straight segment is driven to stop, and the first cylinder near the beginning of the straight segment is driven to start, so that the corresponding positioning rod is in contact with the partition.

[0043] On the other hand, the present invention also provides a method for conveying a sealing strip sleeve, comprising:

[0044] The rubber sleeves are sequentially numbered, and the position information of the rubber sleeves is positionally numbered, wherein the sequential numbering is from small to large, the position numbering is from large to small, and both are integers;

[0045] Obtain the position number of the rubber sleeve;

[0046] Determine whether the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal;

[0047] When the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal, the rubber sleeve is limited and fixed.

[0048] Determine whether the sequential number of the rubber sleeve is less than a preset value;

[0049] When it is determined that the sequence number of the rubber sleeve is less than a preset value, a new sequence number of the rubber sleeve is calculated according to formula (1).

[0050] x i+1 = i +1, (1)

[0051] Where, x i+1 Assign sequential numbering to the new rubber sleeves;

[0052] Return to obtain the position number of the rubber sleeve;

[0053] When the sequence number of the rubber sleeve is determined to be greater than or equal to a preset value, the conveying is stopped, and multiple rubber sleeves are transferred and simultaneously put into the mold;

[0054] If the sequence number of the rubber sleeve and the position information number of the rubber sleeve are not equal, continue to transport the rubber sleeve and return to obtain the position number of the rubber sleeve.

[0055] Optionally, when the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal, limiting and fixing the rubber sleeve includes:

[0056] Obtain the first position information, second position information, and third position information of the rubber sleeve;

[0057] Determine whether the first position information of the rubber sleeve has been obtained;

[0058] When the first position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is slowed down and the end of the rubber sleeve is limited;

[0059] Determine whether the second position information of the rubber sleeve has been obtained;

[0060] When the second position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is further decelerated and the rubber sleeve is pushed to the side;

[0061] Determine whether the third position information of the rubber sleeve has been obtained;

[0062] When the third position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is stopped and the first end of the rubber sleeve is restricted.

[0063] Through the above technical solution, the conveying device and method for sealing strip sleeves provided by the present invention place multiple sleeves sequentially on a first straight segment, allowing the sleeves to be conveyed along multiple straight segments and multiple arc segments, ultimately positioning the sleeves on the straight segments. Since the multiple straight segments and multiple arc segments form a rotary structure, the chamfers of the sleeves can all face the center of the rotary structure. Multiple gripper assemblies respectively grasp the sleeves and move them to the welding device for mold welding, thus forming the sealing strip. The rotary structure allows for changing the orientation of the sleeve chamfers without requiring an additional reversing line. This conveying device is highly integrated, occupies a small area, and significantly reduces the required investment cost. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the structure of a conveying device for a sealing strip sleeve according to an embodiment of the present invention;

[0065] Figure 2 This is a schematic diagram of the conveyor belt structure of the sealing strip conveyor according to an embodiment of the present invention;

[0066] Figure 3 It is based on Figure 2 Enlarged view of region A in the middle;

[0067] Figure 4 It is based on Figure 2Enlarged view of region B in the middle;

[0068] Figure 5 This is a schematic diagram of the gripper assembly in a conveying device for a sealing strip sleeve according to an embodiment of the present invention;

[0069] Figure 6 This is a schematic diagram showing the positions of the gripper cylinder and the limit cylinder in a conveying device for a sealing strip sleeve according to an embodiment of the present invention.

[0070] Figure 7 This is a flowchart of a control method for a sealing strip sleeve conveying device according to an embodiment of the present invention;

[0071] Figure 8 This is a flowchart of a method for conveying a sealing strip sleeve according to an embodiment of the present invention;

[0072] Figure 9 This is a flowchart of the method for limiting and fixing the rubber sleeve in the conveying method of the sealing strip rubber sleeve according to an embodiment of the present invention.

[0073] Explanation of reference numerals in the attached figures

[0074] 1. Rubber-sheathed conveyor belt 2. Positioning table

[0075] 3. Support frame 4. Welding device

[0076] 5. Straight line segment 6. Curved segment

[0077] 7. Rubber sleeve 8. First cylinder

[0078] 9. Positioning rod; 10. Moving component

[0079] 11. Partition plate 12. Photoelectric sensor

[0080] 13. Auxiliary guide rod 14. Second cylinder

[0081] 15. Groove; 16. Support column

[0082] 17. Horizontal plate 18. Guide rail

[0083] 19. Clamping seat 20. Clamping claw cylinder

[0084] 21. Limit cylinder 22. Clamping plate

[0085] 23. Lifting cylinder 24. Conveying assembly Detailed Implementation

[0086] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0087] Figure 1 This is a schematic diagram of the structure of a conveying device for a sealing strip sleeve according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the conveyor belt structure of the sealing strip conveyor according to an embodiment of the present invention; Figure 3 It is based on Figure 2 An enlarged view of region A in the diagram. Figure 1 , Figure 2 and Figure 3 The conveying device may include a rubber-sheathed conveyor belt 1, multiple positioning components, and multiple gripper assemblies. Specifically, the rubber-sheathed conveyor belt 1 may include multiple straight segments 5 and multiple curved segments 6.

[0088] Multiple straight segments 5 are distributed in a polygonal pattern. The number of arc segments 6 is one less than the number of straight segments 5, and the arc segments 6 are respectively positioned between adjacent straight segments 5, excluding the beginning of the first straight segment 5 and the end of the last straight segment 5. The multiple straight segments 5 and the multiple arc segments 6 form a rotating structure to interchange the orientation of some of the rubber sleeves 7, so that the inner sides of the multiple rubber sleeves 7 face the center of the rotating structure. Multiple positioning components are respectively positioned inside the multiple straight segments 5 to position the multiple rubber sleeves 7 of the sealing strip. Multiple gripper assemblies are respectively positioned above the multiple straight segments 5 to synchronously grip the multiple rubber sleeves 7 and move them to the welding device 4 in the middle of the rotating structure for synchronous mold insertion.

[0089] When multiple rubber sleeves need to be conveyed to the welding device 4, the multiple rubber sleeves 7 are placed sequentially at the entrance of the first straight segment 5, with all multiple rubber sleeves 7 facing the same direction. The multiple rubber sleeves 7 are then conveyed sequentially along the multiple straight segments 5 and multiple curved segments 6, so that the multiple rubber sleeves 7 move onto the multiple straight segments 5 respectively. Multiple positioning components position the rubber sleeves 7 on the multiple straight segments 5, and multiple gripper components clamp the multiple rubber sleeves 7 and move them onto the welding device 4 for synchronous mold insertion. Because the multiple straight segments 5 and multiple curved segments 6 form a rotating structure, the chamfers of the multiple rubber sleeves 7 all face the center of the rotating structure during the conveying process, meaning that the chamfers of adjacent rubber sleeves 7 can cooperate for welding.

[0090] Traditional rubber sleeve conveying devices typically place two rubber sleeves on a straight conveyor and a 180° bend conveyor respectively. This structure requires an additional 180° bend conveyor, increasing the footprint of the conveying device, and necessitates a robotic arm to grip the rubber sleeves onto different conveyors, increasing costs. In this embodiment of the invention, multiple straight segments 5 and multiple curved segments 6 are used in conjunction with a rotating structure. This allows for simultaneous reversal of some rubber sleeves 7 during conveying, enabling the chamfers of adjacent rubber sleeves 7 to align. This eliminates the need for separate conveyors and robotic arm allocation, reducing costs and improving the ease of conveying the rubber sleeves 7. Simultaneously, the welding device 4 is located at the center of the rotating structure, optimizing the overall structure for conveying and welding the rubber sleeves 7, resulting in high equipment integration and further reducing the footprint. Furthermore, the simultaneous gripping of multiple rubber sleeves 7 by multiple gripper assemblies and their simultaneous placement into the mold by the welding device 4 improves the welding efficiency of the rubber sleeves 7.

[0091] In this embodiment of the invention, such as Figure 2 and Figure 3 As shown, the positioning assembly may include a positioning platform 2, a partition 11, two positioning rods 9, two first cylinders 8, two moving components 10, multiple auxiliary guide rods 13, and multiple second cylinders 14. Specifically, the positioning rod 9 may include an inclined surface; the auxiliary guide rod 13 may include a slot.

[0092] A partition 11 is positioned at the top of the straight segment 5 on the side away from the positioning platform 2. Two positioning rods 9 are symmetrically positioned above the straight segment 5, with symmetrical inclined surfaces on opposite sides of the ends of the two positioning rods 9 near the partition 11. Two first cylinders 8 are positioned at the top of the positioning platform 2, with their output ends connected to the other ends of the two positioning rods 9, respectively. Two moving components 10 are positioned on the positioning platform 2, with the two first cylinders 8 slidably connected to their corresponding moving components 10. The two moving components 10 are used to adjust the positioning distance between the two positioning rods 9. Multiple auxiliary guide rods 13 are positioned between the two positioning rods 9, with grooves on the ends of the multiple auxiliary guide rods 13 near the partition 11 that fit the shape of the sidewall of the rubber sleeve 7. Multiple second cylinders 14 are positioned on the positioning platform 2, with their output ends connected to the other ends of the multiple auxiliary guide rods 13.

[0093] When positioning of the rubber sleeve 7 on the straight segment 5 is required, the first cylinder 8, located away from the rubber sleeve 7, is activated, driving the corresponding positioning rod 9 to move along the side wall near the partition 11 and to engage with the side wall of the partition 11. When the rubber sleeve 7 moves to the vicinity of the multiple auxiliary guide rods 13, multiple second cylinders 14 are activated, driving the corresponding auxiliary guide rods 13 to move along the side wall near the partition 11 until the rubber sleeve 7 is pushed to engage with the side wall of the partition 11. Because the slots of the auxiliary guide rods 13 engage with the outer side of the rubber sleeve 7, the rubber sleeve 7 continues to move under the influence of the straight segment 5 until one of the chamfered corners of the rubber sleeve 7 engages with the inclined surface of the positioning rod 9, which is already engaged with the side wall of the partition 11. At this point, another first cylinder 8 drives the corresponding positioning rod 9 to move, causing the inclined surface of the positioning rod 9 to engage with another chamfered corner of the rubber sleeve 7, thus achieving reliable fixing of the rubber sleeve 7. By employing multiple auxiliary guide rods 13 to push and guide the rubber sleeve 7, reliable positioning of the rubber sleeve can be achieved, and deformation of the rubber sleeve 7 during the positioning process can be avoided, thus facilitating the subsequent gripper assembly to grasp the rubber sleeve 7 with greater accuracy. In addition, the moving component 10 can adjust the distance between the two positioning rods 9, thereby meeting the positioning requirements of rubber sleeves 7 of different sizes.

[0094] In this embodiment of the invention, in order to further improve the gripper assembly’s gripping accuracy of the rubber sleeve 7, two auxiliary guide rods 13 are respectively disposed near the two positioning rods 9.

[0095] In this embodiment of the invention, the specific structure of the moving component 10 can be of various forms known to those skilled in the art, such as a cylinder, a linear motor, etc. However, in a preferred example of the invention, considering the precision and accuracy of adjusting the distance between the two positioning rods 9, the specific structure of the moving component 10 can include a servo motor driving the screw to rotate.

[0096] In this embodiment of the invention, the number of corresponding straight segments 5 can be adjusted according to the number of rubber sleeves 7 required for the actual forming of the sealing strip. In this embodiment of the invention, as... Figure 2 As shown, considering that conventional products such as refrigerator door seals generally have four rubber sleeves, four are provided for the straight segment 5 and three are provided for the curved segment 6.

[0097] In this embodiment of the invention, such as Figure 3 and Figure 4As shown, the partition 11 may include a groove 15. Specifically, the groove 15 is formed on the partition 11, the height of the partition 11 is greater than the height of the rubber sleeve 7, and the height from the bottom wall of the groove 15 to the top of the rubber sleeve conveyor belt 1 is less than the height of the rubber sleeve 7. Specifically, when the gripper assembly grips and holds the rubber sleeve 7, the groove 15 can make way for the gripper assembly so that the gripper assembly can reliably grip the top protrusion of the rubber sleeve 7. At the same time, the height of the partition 11 is greater than the height of the rubber sleeve 7, which can limit and separate the rubber sleeve 7 to avoid the risk of the rubber sleeve 7 falling off during the conveying process.

[0098] In this embodiment of the invention, such as Figure 5 and Figure 6 As shown, the gripper assembly may include a support frame 3, multiple support columns 16, a guide rail 18, a horizontal plate 17, a conveying assembly 24, two gripping seats 19, two gripper cylinders 20, an adjusting assembly, two lifting assemblies, and two limiting cylinders 21. Specifically, the figure only shows the structure of one gripping seat 19, gripper cylinder 20, lifting assembly, and limiting cylinder 21. Specifically, the limiting cylinder 21 may include two clamping plates 22.

[0099] A support frame 3 is positioned above the rubber sleeve conveyor belt 1, with one end extending above the welding device 4. Multiple support columns 16 are positioned at the bottom of the support frame 3, a guide rail 18 is positioned at the bottom of the support frame 3, and a horizontal plate 17 is positioned at the bottom of the guide rail 18 and slidably connected to the guide rail 18. Two clamping blocks 19 are positioned below the horizontal plate 17, and two gripper cylinders 20 are respectively positioned on the two clamping blocks 19 for clamping and fixing the top protrusion of the rubber sleeve 7. An adjusting assembly is positioned at the bottom of the horizontal plate 17 and connected to the two clamping blocks 19 for moving the two clamping blocks 19 closer together or further apart. Two lifting assemblies are respectively positioned on the two clamping blocks 19 for driving the corresponding gripper cylinders 20 to lift or lower. Two limiting cylinders 21 are respectively positioned on the two clamping blocks 19, located on the side of the two gripper cylinders 20 that are further apart, and the output ends of the two limiting cylinders 21 are provided with two clamping plates 22 that cooperate with the outer protrusion of the rubber sleeve 7. The conveying assembly is located at the bottom of the support frame 3 and is connected to the horizontal plate 17 to drive the horizontal plate 17 to slide along the guide rail 18.

[0100] When multiple rubber sleeves 7 need to be molded, two lifting components are activated, controlling two gripper cylinders 20 to descend to the top of the positioned rubber sleeve 7. The two gripper cylinders 20 then clamp the top protrusions near both ends of the rubber sleeve 7. The two lifting components then drive the two gripper cylinders 20 to reset the rubber sleeve 7. Simultaneously, two limiting cylinders 21 are activated, opening the corresponding clamping plates 22. The rubber sleeve enters the interior of the clamping plates 22, and the two limiting cylinders 21 drive the corresponding clamping plates 22 to close. Since the inner walls of the clamping plates 22 engage with the outer protrusions of the rubber sleeve 7, the rubber sleeve 7 is reliably contained. The conveying component 24 is then activated, moving the horizontal plate 17 and the rubber sleeve 7 along the guide rail 18. Specifically, one end of the guide rail 18 is located above the rubber sleeve conveying line 1, and the other end of the guide rail 18 is located above the welding device 4. The conveying assembly 24 transports the rubber sleeve 7 to the top of the welding device 4, and then lowers it to the mold entry point via the lifting assembly. Two gripper cylinders 20 and two limit cylinders 21 cooperate with the welding device 4 to insert the sleeve into the mold. This gripping method allows for the simultaneous insertion of multiple rubber sleeves 7, and its simple structure ensures no interference between them, resulting in greater stability and reliability. Furthermore, the adjusting assembly can adjust the distance between the two clamping seats 19, thus accommodating the gripping and movement of rubber sleeves 7 of different lengths, broadening its applicability.

[0101] In this embodiment of the invention, the specific structure of the conveying component 24 can be of various forms known to those skilled in the art, such as a cylinder, a linear motor, etc. However, in a preferred example of the invention, considering the precision and accuracy of moving the rubber sleeve 7, the specific structure of the conveying component 24 may include a servo motor driving the screw rotation.

[0102] In this embodiment of the invention, the specific structure of the adjustment component can be of various forms known to those skilled in the art, such as cylinders, linear motors, etc. However, in a preferred example of the invention, considering the precision and accuracy of moving the clamping seats 19 closer or further apart, the specific structure of the adjustment component may include a servo motor driving the screw to rotate.

[0103] In this embodiment of the invention, the specific structure of the lifting assembly is as follows: Figure 6 As shown, this includes, but is not limited to, a lifting plate and a lifting cylinder 23. Specifically, a gripper cylinder 20 is mounted on the lifting plate, and the output end of the lifting cylinder 23 is connected to the lifting plate.

[0104] In this embodiment of the invention, the limiting cylinder 21 can be mounted on the lifting plate and move up and down synchronously with the gripper cylinder 20.

[0105] In this embodiment of the invention, such as Figure 3 As shown, the conveying device may also include three photoelectric sensors 12 and a controller.

[0106] Three photoelectric sensors 12 are respectively installed on the two first cylinders 8 and the second cylinder 14 to identify the position of the rubber sleeve 7 and send a position identification signal. The controller is electrically connected to the two first cylinders 8, the second cylinder 14, the three photoelectric sensors 12, and the linear segment 5. Specifically, taking four linear segments 5 as an example, the controller is used to execute... Figure 7 The steps are shown. Specifically, in Figure 7 In this process, this step may include:

[0107] In step S10, the first cylinder 8, located near the end of the straight segment 5, is activated to bring the corresponding positioning rod 9 into contact with the partition 11. The end of the straight segment 5 is the end of the conveying direction of the rubber sleeve 7. Activating the first cylinder 8 near the end of the straight segment 5 is to limit the conveying end of the rubber sleeve 7, preventing it from continuing to be conveyed along the straight segment 5.

[0108] In step S11, it is determined whether the position recognition signal of the first photoelectric sensor 12 has been obtained. Specifically, regarding the sequence of the photoelectric sensors 12, the first photoelectric sensor 12 is located near the first cylinder 8 at the beginning of the straight segment 5, the third photoelectric sensor 12 is located near the first cylinder 8 at the end of the straight segment 5, and the second photoelectric sensor is located near the second cylinder 14.

[0109] In step S12, when the position recognition signal of the first photoelectric sensor 12 is obtained, the straight segment 5 is driven to decelerate. Obtaining the position recognition signal of the first photoelectric sensor 12 means that the rubber sleeve 7 has entered the straight segment 5, thus the straight segment 5 can be driven to decelerate to assist the rubber sleeve 7 in entering the positioning state.

[0110] In step S13, it is determined whether the position recognition signal of the second photoelectric sensor 12 has been obtained.

[0111] In step S14, upon receiving the recognition signal from the second photoelectric sensor 12, the drive line segment 5 is further decelerated, and multiple second cylinders 14 are activated, causing the corresponding auxiliary guide rod 13 to push the rubber sleeve 7 closer to the partition 11 for limiting and guiding. Receiving the position recognition signal from the second photoelectric sensor 12 indicates that the rubber sleeve 7 has moved to the position to be guided and pushed. At this time, the second cylinder 14 is activated and pushes the rubber sleeve 7 against the side wall of the partition 11, guiding it.

[0112] In step S15, it is determined whether the position recognition signal of the third photoelectric sensor 12 has been obtained.

[0113] In step S16, upon receiving the recognition signal from the third photoelectric sensor 12, the straight segment 5 is stopped, and the first cylinder 8 near the beginning of the straight segment 5 is activated, causing the corresponding positioning rod 9 to engage with the partition 11. Receiving the recognition signal from the third photoelectric sensor 12 means that one end of the rubber sleeve 7 is engaged with the positioning rod 9 at the end. Then, by engaging the positioning rod 9 at the beginning with the other end of the rubber sleeve 7, reliable positioning of the rubber sleeve 7 can be achieved.

[0114] In steps S10 to S16, three photoelectric sensors 12 are used to identify three positional information of the rubber sleeve 7 on the straight segment 5. Based on the identified position signals, the straight segment 5 is controlled to decelerate, further decelerate, and then stop sequentially. This is combined with two positioning rods 9 and multiple auxiliary guide rods 13 to precisely position the rubber sleeve 7. This control method enables transient positioning of the rubber sleeve 7, i.e., stable and reliable positioning. Furthermore, the use of photoelectric sensors 12 ensures high control precision and accuracy.

[0115] On the other hand, the present invention also provides a method for conveying a sealing strip sleeve. Specifically, the conveying method may include, for example, Figure 8 The steps are shown. Specifically, in Figure 8 In this process, the conveying method may include the following steps:

[0116] In step S20, the rubber sleeves are sequentially numbered, and their position information is also numbered. The sequential numbers are from smallest to largest, and the position numbers are from largest to smallest, both being integers. That is, the sequential numbers are 1, 2...m, where m is a positive integer greater than 2; the position numbers are 1, 2...n, where n is a positive integer greater than 2, and the values ​​of m and n are equal. The position numbers are numbered counterclockwise along the rotating structure.

[0117] In step S21, the position number of the rubber sleeve 7 is obtained.

[0118] In step S22, it is determined whether the sequential number of the rubber sleeve 7 and the position information number of the rubber sleeve 7 are equal.

[0119] In step S23, when the sequential number of the rubber sleeve 7 and the position information number of the rubber sleeve 7 are equal, the rubber sleeve 7 is limited and fixed. Specifically, if the sequential number of the rubber sleeve 7 and the position information number of the rubber sleeve 7 are equal, it means that the rubber sleeve 7 has reached the designated position, that is, the first rubber sleeve 7 has reached the last straight line segment 5 clockwise, the second rubber sleeve 7 has reached the second-to-last straight line segment 5 clockwise, and so on, thereby limiting and fixing the rubber sleeve 7.

[0120] In step S24, it is determined whether the sequential number of the rubber sleeve 7 is less than a preset value.

[0121] In step S25, when it is determined that the sequence number of the rubber sleeve 7 is less than a preset value, the new sequence number of the rubber sleeve is calculated according to formula (1).

[0122] x i+1 = i +1, (1)

[0123] Where, x i+1 The new sequence number of the rubber sleeve is determined. If the sequence number of the rubber sleeve 7 is less than a preset value, the sequence number of the next rubber sleeve 7 is incremented by 1, forming a new sequence number. That is, when the first rubber sleeve 7 reaches the corresponding straight line segment 5, the sequence number of the second rubber sleeve 7 becomes 2.

[0124] In step S26, the position number of the obtained rubber sleeve 7 is returned.

[0125] In step S27, when the sequential number of the rubber sleeve 7 is greater than or equal to a preset value, the conveying is stopped, and multiple rubber sleeves are transferred and simultaneously put into the mold. The preset value is m. If the sequential number of the rubber sleeve 7 is greater than or equal to the preset value, it means that all rubber sleeves 7 have reached the corresponding straight line segment 5, and each rubber sleeve 7 can be picked up, transferred, and put into the mold.

[0126] In step S28, if the sequential number of the rubber sleeve 7 and the position information number of the rubber sleeve 7 are not equal, the rubber sleeve 7 continues to be conveyed and the process returns to obtain the position number of the rubber sleeve 7. Specifically, if the sequential number of the rubber sleeve 7 and the position information number of the rubber sleeve 7 are not equal, it means that the rubber sleeve 7 has not reached the corresponding straight line segment 5, therefore, the rubber sleeve 7 needs to continue to be conveyed until it reaches the corresponding straight line segment 5.

[0127] In steps S20 to S28, by assigning position information numbers to the straight segments 5 on the rotating structure and sequential numbers to the rubber sleeves 7, and then comparing whether the position information numbers of the straight segments 5 and the sequential numbers of the rubber sleeves 7 are equal, it can be determined whether the rubber sleeve 7 has reached the corresponding straight segment 5, so as to facilitate subsequent synchronous transfer into the mold. This method has high control precision and is more flexible.

[0128] In this embodiment of the invention, it is also necessary to position and fix the rubber sleeve 7 on each straight segment 5. Specifically, the conveying method may further include, for example... Figure 9 The steps are shown. Specifically, in Figure 9 The conveying method may further include:

[0129] In step S30, the first position information, second position information, and third position information of the rubber sleeve are obtained. The first position information is located near the beginning of the straight line segment 5, the third position information is located near the end of the straight line segment 5, and the second position information is located near the middle of the straight line segment 5.

[0130] In step S31, it is determined whether the first position information of the rubber sleeve 7 has been obtained.

[0131] In step S32, when the first position information of the rubber sleeve 7 is obtained, the conveying of the rubber sleeve 7 is decelerated and the end of the rubber sleeve 7 is restricted. Obtaining the first position information means that the rubber sleeve 7 has entered the straight segment 5, which can then drive the straight segment 5 to decelerate to assist the rubber sleeve 7 in entering the positioning state.

[0132] In step S33, it is determined whether the second position information of the rubber sleeve 7 has been obtained.

[0133] In step S34, when the second position information of the rubber sleeve 7 is obtained, the conveying of the rubber sleeve 7 is further decelerated and the rubber sleeve 7 is pushed to the side. Obtaining the second position information means that the rubber sleeve 7 has moved to the position to be guided and pushed to the side. At this time, the second cylinder 14 is activated and pushes the rubber sleeve 7 to fit against the side wall of the partition 11, guiding it.

[0134] In step S35, it is determined whether the third position information of the rubber sleeve 7 has been obtained.

[0135] In step S36, when the third position information of the rubber sleeve 7 is obtained, the conveying of the rubber sleeve 7 is stopped and the first end of the rubber sleeve 7 is defined. Obtaining the third position information means that one end of the rubber sleeve 7 is in contact with the positioning rod 9 located at the end. Then, the positioning rod 9 located at the first end is driven to contact the other end of the rubber sleeve 7, thus achieving reliable positioning of the rubber sleeve 7.

[0136] In steps S30 to S36, the first, second, and third position information of the rubber sleeve are used to identify the three position information of the rubber sleeve 7 on the straight segment 5. Based on the identified position signals, the straight segment 5 is controlled to decelerate, further decelerate, and stop sequentially. This is achieved in conjunction with two positioning rods 9 and multiple auxiliary guide rods 13 to precisely position the rubber sleeve 7. This control method enables transient positioning of the rubber sleeve 7, i.e., stable and reliable positioning. Furthermore, the use of photoelectric sensor 12 ensures high control precision and accuracy.

[0137] Through the above technical solution, the conveying device and method for sealing strip sleeves provided by the present invention place multiple sleeves 7 sequentially on the first straight segment 5, so that the multiple sleeves 7 are conveyed along the multiple straight segments 5 and multiple arc segments 6, and finally the multiple sleeves 7 are respectively positioned on the multiple straight segments 5; since the multiple straight segments 5 and multiple arc segments 6 form a rotary structure, the chamfers of the multiple sleeves 7 can be made to face the center of the rotary structure. Multiple gripper assemblies respectively grasp the multiple sleeves 7 and move them to the welding device for synchronous mold welding, thereby realizing the forming of the sealing strip. The rotary structure can realize the change of the chamfer orientation of the sleeves 7 without the need for additional reversing lines; in addition, the welding device is located at the center of the rotary structure. This conveying device is highly integrated, occupies a small area, and greatly reduces the investment cost required for the device.

[0138] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0139] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A conveying device for a sealing strip sleeve, characterized in that, include: A rubber-sheathed conveyor belt (1), the rubber-sheathed conveyor belt (1) comprising: Multiple straight line segments (5) are distributed in a polygonal pattern; Multiple arc segments (6) are provided, the number of which is one less than the number of straight segments (5). The multiple arc segments (6) are respectively provided between two adjacent straight segments (5), except between the beginning of the first straight segment (5) and the end of the last straight segment (5). The multiple straight segments (5) and the multiple arc segments (6) form a rotating structure to change the orientation of some of the rubber sleeves (7) so that the inner side of the multiple rubber sleeves (7) faces the center of the rotating structure. Multiple positioning components are respectively disposed on the inner side of multiple straight segments (5) for positioning multiple rubber sleeves (7) of the sealing strip respectively. Multiple gripper assemblies are respectively arranged above multiple straight segments (5) for synchronously gripping multiple rubber sleeves (7) and moving them to the welding device (4) for mold placement.

2. The conveying device according to claim 1, characterized in that, The positioning component includes: Positioning station (2); A partition (11) is disposed on the top of the straight segment (5) on the side away from the positioning platform (2); Two positioning rods (9) are symmetrically arranged above the straight segment (5), and symmetrical inclined surfaces are provided on opposite sides of one end of the two positioning rods (9) near the partition (11); Two first cylinders (8) are disposed on the top of the positioning platform (2), and the output ends of the two first cylinders (8) are respectively connected to the other ends of the two positioning rods (9); Two moving components (10) are set on the positioning platform (2), and two first cylinders (8) are slidably connected to the corresponding moving components (10). The two moving components (10) are used to adjust the positioning distance between the two positioning rods (9).

3. The conveying device according to claim 2, characterized in that, The positioning component also includes: Multiple auxiliary guide rods (13) are arranged between the two positioning rods (9), and the multiple auxiliary guide rods (13) have a groove at one end near the partition (11) that matches the shape of the side wall of the rubber sleeve (7); Multiple second cylinders (14) are disposed on the positioning platform (2), and the output ends of the multiple second cylinders (14) are connected to the other ends of the multiple auxiliary guide rods (13).

4. The conveying device according to claim 3, characterized in that, The number of straight segments (5) includes four, and the number of arc segments (6) includes three.

5. The conveying device according to claim 2, characterized in that, The partition (11) has a groove (15) and the height of the partition (11) is greater than the height of the rubber sleeve (7). The height from the bottom wall of the groove (15) to the top of the rubber sleeve conveyor belt (1) is less than the height of the rubber sleeve (7).

6. The conveying device according to claim 1, characterized in that, The gripper assembly includes: A support frame (3) is disposed above the rubber sleeve conveyor belt (1), and one end of the support frame (3) extends above the welding device (4); Multiple support columns (16) are provided at the bottom of the support frame (3); A guide rail (18) is provided at the bottom of the support frame (3); A horizontal plate (17) is disposed at the bottom of the guide rail (18) and is slidably connected to the guide rail (18); A conveying assembly (24) is disposed at the bottom of the support frame (3) and connected to the horizontal plate (17) for driving the horizontal plate (17) to slide along the guide rail (18); Two clamping seats (19) are located below the horizontal plate (17). Two gripper cylinders (20) are respectively set on the two gripping seats (19) for clamping and fixing the top protrusion of the rubber sleeve (7); An adjustment component is provided at the bottom of the horizontal plate (17) and connected to the two clamping seats (19) for driving the two clamping seats (19) to move closer or further apart from each other; Two lifting components are respectively installed on the two clamping seats (19) for driving the corresponding gripper cylinders (20) to lift.

7. The conveying device according to claim 6, characterized in that, The gripper assembly also includes two limiting cylinders (21), which are respectively disposed on the two gripping seats (19) and located on the side away from each other of the two gripper cylinders (20). The output ends of the two limiting cylinders (21) are provided with two clamping plates (22) that cooperate with the outer protrusion of the rubber sleeve (7).

8. The conveying device according to claim 3, characterized in that, The conveying device further includes: Three photoelectric sensors (12) are respectively installed on the two first cylinders (8) and the second cylinder (14) to identify the position of the rubber sleeve (7) and send a position identification signal; The controller, electrically connected to the two first cylinders (8), the second cylinder (14), the three photoelectric sensors (12), and the linear segment (5), is used for: The first cylinder (8) near the end of the straight segment (5) is activated so that the corresponding positioning rod (9) fits against the partition (11); Determine whether the position recognition signal of the first photoelectric sensor (12) has been obtained; When the position recognition signal of the first photoelectric sensor (12) is obtained, the straight line segment (5) is driven to decelerate; Determine whether the position recognition signal of the second photoelectric sensor (12) has been obtained; When the recognition signal of the second photoelectric sensor (12) is obtained, the straight segment (5) is driven to decelerate further, and multiple second cylinders (14) are driven to start, so that the corresponding auxiliary guide rod (13) pushes the rubber sleeve (7) closer to the partition (11) for limiting and guiding. Determine whether the position recognition signal of the third photoelectric sensor (12) has been obtained; When the recognition signal of the third photoelectric sensor (12) is obtained, the straight segment (5) is driven to stop, and the first cylinder (8) near the beginning of the straight segment (5) is driven to start, so that the corresponding positioning rod (9) is in contact with the partition (11).

9. A method for conveying a sealing strip sleeve using a conveying device as described in any one of claims 1-8, characterized in that, include: The rubber sleeves are sequentially numbered, and the position information of the rubber sleeves is positionally numbered, wherein the sequential numbering is from small to large, the position numbering is from large to small, and both are integers; Obtain the position number of the rubber sleeve; Determine whether the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal; When the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal, the rubber sleeve is limited and fixed. Determine whether the sequential number of the rubber sleeve is less than a preset value; When it is determined that the sequence number of the rubber sleeve is less than a preset value, a new sequence number of the rubber sleeve is calculated according to formula (1). ，（1） in, Assign sequential numbering to the new rubber sleeves; Return to obtain the position number of the rubber sleeve; When the sequence number of the rubber sleeve is determined to be greater than or equal to a preset value, the conveying is stopped, and multiple rubber sleeves are transferred and simultaneously put into the mold; If the sequence number of the rubber sleeve and the position information number of the rubber sleeve are not equal, continue to transport the rubber sleeve and return to obtain the position number of the rubber sleeve.

10. The conveying method according to claim 9, characterized in that, When the sequential number of the rubber sleeve and the position information number of the rubber sleeve are equal, the rubber sleeve is limited and fixed, including: Obtain the first position information, second position information, and third position information of the rubber sleeve; Determine whether the first position information of the rubber sleeve has been obtained; When the first position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is slowed down and the end of the rubber sleeve is limited; Determine whether the second position information of the rubber sleeve has been obtained; When the second position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is further decelerated and the rubber sleeve is pushed to the side; Determine whether the third position information of the rubber sleeve has been obtained; When the third position information of the rubber sleeve is obtained, the conveying of the rubber sleeve is stopped and the first end of the rubber sleeve is restricted.

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