Full-automatic welding apparatus based on sealing strip welding and full-automatic welding method thereof

Abstract

The embodiment of the present application provides a kind of full-automatic welding equipment based on sealing strip welding and its full-automatic welding method, belong to sealing strip automatic welding technical field.The full-automatic welding equipment includes: welding machine, the two welding seats of the welding machine are all opened with multiple groups of mode groove that are up and down distribution, two the mode groove of two welding seats on the same height is used to cooperate and form included angle.The present application is grabbed by two groups of grabbing device respectively multiple groups of sealing strip, then drive multiple groups of sealing strip respectively along two welding seats on multiple groups of mode groove into mode in turn, welding machine carries out synchronous welding to multiple groups of sealing strip, after welding is completed, welding machine opens multiple groups of mode groove, and product is grabbed after taking material device to multiple groups of welding and is synchronously removed, to realize the synchronous full-automatic welding of multiple groups of sealing strip, effectively improve the welding efficiency of sealing strip, and personnel is not needed close, and safety is good.

Description

Technical Field

[0001] This invention relates to the field of automatic welding technology for sealing strips, and more specifically to a fully automatic welding equipment and method for welding sealing strips. Background Technology

[0002] A sealing strip typically refers to a strip-shaped material used to seal, protect, or isolate items. This material often possesses properties such as waterproofing, dustproofing, and gas penetration prevention, playing a protective role during packaging, transportation, or storage. It is widely used in various industries and fields. Common examples include refrigerator sealing strips and door sealing strips.

[0003] A crucial step in refrigerator sealing strip production is welding the strips. Only after welding is complete can the refrigerator be installed with a seal. Currently, this welding is done manually, with workers manually inserting the sealing strip into the cavity of a welding machine. However, manual welding is inefficient, and the high temperature of the heating element during welding, coupled with the safety hazards posed by workers being close to the welding equipment while it's running, further complicates the process.

[0004] In the process of realizing this invention, the inventors of this application discovered that the above-mentioned solutions in the prior art have the defects of low production efficiency and potential safety hazards. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic welding equipment and method based on sealing strip welding, which has high production efficiency and good safety.

[0006] To achieve the above objectives, embodiments of the present invention provide a fully automated welding device based on sealing strip welding, comprising: The welding machine has multiple sets of mold slots distributed vertically on its two welding seats. The two mold slots at the same height on the two welding seats are used to cooperate to form an included angle. Two sets of gripping devices are arranged on the mold entry side of the welding machine and are symmetrically distributed. The gripping devices are used to grip multiple sets of sealing strips and drive the multiple sets of sealing strips to enter the mold along the multiple sets of mold grooves distributed vertically. A material handling device is installed above the welding machine to simultaneously remove and stack multiple sets of products welded by the welding machine.

[0007] Optionally, the gripping device includes: A six-axis robotic arm is installed on the mold entry side of the welding machine; The material placement assembly, located on the side of the six-axis robot, is used to place the sealing strip to be welded and to provide light-assisted illumination. A gripping component, located at the output end of the six-axis robot, is used to identify and grip multiple sets of sealing strips on the material handling component and assist in mold placement.

[0008] Optionally, the material placement assembly includes: Workbench; The first light source assembly is disposed on one side of the worktable adjacent to the side closest to the six-axis robot, and is used to irradiate one end of the sealing strip; The second light source assembly is located on the other side of the worktable adjacent to the side closest to the six-axis robot, and is used to illuminate the other end of the sealing strip. A first adjustment component, connected to the first light source component and / or the second light source component, is used to adjust the illumination position of the first light source component and / or the second light source component on the top of the worktable.

[0009] Optionally, the grasping component includes: A gripping base, wherein the gripping base is in the shape of a square column; Multiple gripper assemblies are arranged in two rows below the gripping base for gripping the sealing strip; Multiple sets of rotating components are symmetrically arranged on two opposite sidewalls of the gripping base. The output end of each rotating component is connected to the corresponding gripper component. The multiple sets of rotating components located on the same side are used to drive the corresponding gripper components to rotate synchronously. The second adjustment component is disposed on the gripping base and connected to the two sets of rotating components located at one end of the gripping base, for driving the two sets of rotating components located at one end of the gripping base to move horizontally; An identification component is disposed on the gripping base for identifying and positioning the sealing strip.

[0010] On the other hand, the present invention also provides a fully automated welding method for a fully automated welding equipment based on sealing strip welding, comprising: Start the first light source component and the second light source component; The six-axis robotic arm drives the gripping assembly to move above the sealing strip; The first adjustment component is activated, and in conjunction with the identification component, the two ends of the sealing strip are identified and positioned. The gripping component is activated to sequentially grip multiple sealing strips; The six-axis robot drives the gripping assembly to move to the mold entry end of the welding seat; The six-axis robotic arm works in conjunction with the gripping assembly to drive the sealing strip into the mold; Determine whether the multiple sealing strips have been successfully molded; Once it is determined that the multiple sealing strips have been successfully molded, the welding machine is started to weld the multiple sealing strips together. Determine whether the welding machine has completed the welding process; Once the welding machine is deemed to have completed welding, the material handling device is activated to simultaneously remove and stack the multiple sets of welded products.

[0011] Through the above technical solution, the fully automatic welding equipment and its fully automatic welding method based on sealing strip welding provided by the present invention use two sets of gripping devices to grip multiple sets of sealing strips respectively, and then drive the multiple sets of sealing strips to enter the mold sequentially along multiple sets of mold grooves on two welding seats. The welding machine performs synchronous welding on multiple sets of sealing strips. After welding is completed, the welding machine opens multiple sets of mold grooves, and the material picking device grips and moves out multiple sets of welded products synchronously, so as to realize synchronous fully automatic welding of multiple sets of sealing strips, effectively improving the welding efficiency of sealing strips, and without the need for personnel to approach, thus ensuring good safety.

[0012] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 2 It is based on Figure 1 Enlarged view of region A in the middle; Figure 3 This is a schematic diagram of the gripping component in a fully automated welding device based on sealing strip welding according to an embodiment of the present invention; Figure 4 It is based on Figure 3 Enlarged view of region B in the middle; Figure 5 This is a schematic diagram of the front side of the welding machine in a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 6 It is based on Figure 5 Enlarged view of region C in the middle; Figure 7 This is a schematic diagram of the auxiliary support device in a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 8This is a schematic diagram of the auxiliary support device in a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of one side of the gripping component in a fully automatic welding device based on sealing strip welding according to an embodiment of the present invention; Figure 10 It is based on Figure 9 Enlarged schematic diagram of region D in the middle; Figure 11 This is a schematic diagram of the structure of the gripping component on the other side in a fully automatic welding device based on sealing strip welding according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the connection between the fixed column and the material handling assembly in a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 13 This is a flowchart of a fully automated welding method based on sealing strip welding according to an embodiment of the present invention; Figure 14 This is a flowchart of the process of grasping the sealing strip in a fully automated welding method based on sealing strip welding according to an embodiment of the present invention; Figure 15 This is a flowchart illustrating the process of driving a sealing strip into a mold in a fully automated welding method based on sealing strip welding according to an embodiment of the present invention.

[0014] Explanation of reference numerals in the attached figures Detailed Implementation

[0015] 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.

[0016] Figure 1 This is a schematic diagram of the structure of a fully automatic welding equipment based on sealing strip welding according to an embodiment of the present invention; Figure 2 It is based on Figure 1 An enlarged view of region A in the diagram. Figure 1 and Figure 2 The fully automatic welding equipment may include a welding machine 7, two sets of gripping devices, and a material handling device. Specifically, the welding machine 7 may include two welding seats 8, and the welding seats 8 may include multiple sets of mold slots 9.

[0017] The welding machine 7 has multiple sets of mold grooves 9 arranged vertically on each of its two welding seats 8. The two mold grooves 9 at the same height on the two welding seats 8 are used to cooperate to form an included angle. Two sets of gripping devices are set on the mold entry side of the welding machine 7 and are symmetrically distributed. The gripping devices are used to grip multiple sets of sealing strips 10 and drive the multiple sets of sealing strips 10 to enter the mold along the multiple sets of mold grooves arranged vertically. The material handling device is set above the welding machine 7 and is used to simultaneously remove and stack multiple sets of products welded by the welding machine 7.

[0018] When welding of the sealing strips 10 is required, two sets of gripping devices grip multiple sets of sealing strips 10, and then move these multiple sets of sealing strips 10 to the mold entry points of the two welding seats 8. The two sets of gripping devices drive the multiple sets of sealing strips 10 to sequentially enter the mold along the multiple mold grooves 9 on the two welding seats 8. After entering the mold, the welding machine 7 performs synchronous welding on the multiple sets of sealing strips 10. After welding is completed, the multiple mold grooves 9 of the two welding seats 8 open, and the material handling device synchronously grips the multiple sets of welded products and moves them out and stacks them at the unloading point, thereby realizing the synchronous fully automatic welding of multiple sets of sealing strips 10.

[0019] Traditional welding of sealing strips 10 is generally done manually. However, manual welding is inefficient, and the high temperature of the heating element during welding poses a safety hazard as workers are close to the welding equipment while the welding machine 7 is running. In this embodiment of the invention, a gripping device, welding machine 7, and material handling device are used in combination to achieve simultaneous fully automatic welding of multiple sets of sealing strips 10, effectively improving the welding efficiency of the sealing strips 10, and eliminating the need for personnel to approach, thus ensuring good safety.

[0020] In this embodiment of the invention, such as Figure 1 and Figure 2 As shown, the gripping device may include a six-axis robot 6, a material handling assembly 4, and a gripping assembly 5.

[0021] A six-axis robot 6 is positioned on the mold-entry side of the welding machine 7, and a material handling assembly 4 is positioned on the side of the six-axis robot 6 to place the sealing strips 10 to be welded and to provide light-assisted illumination. A gripping assembly 5 is positioned at the output end of the six-axis robot 6 to identify and grip multiple sets of sealing strips 10 on the material handling assembly 4 and to assist in their placement into the mold.

[0022] When it is necessary to grasp the sealing strip 10, multiple sets of sealing strips 10 are first placed on the material handling assembly 4. The material handling assembly 4 provides lighting assistance to the ends of the sealing strips 10, and the grasping assembly 5 grasps the multiple sets of sealing strips 10 sequentially. After grasping, the six-axis robot 6 moves the grasping assembly 5 and the sealing strips 10 to the mold entry position of the corresponding welding seat 8, and assists in the mold entry of the sealing strips 10.

[0023] In this embodiment of the invention, such as Figure 3 and Figure 4 As shown, the material handling assembly may include a worktable 15, a first light source assembly 14, a second light source assembly 18, and a first adjustment assembly.

[0024] The top of the worktable 15 is used to arrange multiple sealing strips 10 in an array. A first light source assembly 14 is disposed on one side of the worktable 15 adjacent to the six-axis robot 6, for illuminating one end of the sealing strip 10. A second light source assembly 18 is disposed on the other side of the worktable 15 adjacent to the six-axis robot 6, for illuminating the other end of the sealing strip 10. A first adjustment assembly is connected to the first light source assembly 14 and / or the second light source assembly 18, for adjusting the illumination position of the first light source assembly 14 and / or the second light source assembly 18 on the top of the worktable 15.

[0025] When it is necessary to grasp the sealing strip 10 on the workbench 15, the first light source assembly 14 and the second light source assembly 18 are activated to illuminate the sealing strip 10. Specifically, considering the stability and reliability of the grasping device in grasping the sealing strip 10, the grasping device generally grasps the area near both ends of the sealing strip 10. Therefore, the first light source assembly 14 and the second light source assembly 18 illuminate both ends of the sealing strip 10 respectively, so that the recognition camera on the grasping device can accurately and efficiently identify both ends of the sealing strip 10. When it is necessary to illuminate and recognize sealing strips 10 of different sizes, the first adjustment assembly is activated to adjust the illumination position of the first light source assembly 14 and the second light source assembly 18, so as to achieve illumination of both ends of sealing strips 10 of different sizes on the workbench 15, thereby ensuring the recognition effect of the recognition camera on the area near the ends of the sealing strip 10. It can also reliably grasp sealing strips of different sizes, has stronger versatility, and higher grasping efficiency.

[0026] In this embodiment of the invention, such as Figure 3 As shown, the first light source assembly 14 may include a first bracket 13 and a first illumination lamp 12.

[0027] The first support 13 is door-shaped, and the first illumination lamp 12 is located on the top of the first support 13 for illuminating the top of one side of the opposite sides of the workbench 15.

[0028] When it is necessary to irradiate one end of the sealing strip 10, simply turn on the first irradiation lamp 12.

[0029] In this embodiment of the invention, such as Figure 3 As shown, the second light source assembly 18 may include a second bracket 17 and a second illumination lamp 16.

[0030] The second bracket 17 is door-shaped, and the second illumination lamp 16 is located on the top of the second bracket 17 for illuminating the other side of the opposite sides of the workbench 15.

[0031] When it is necessary to irradiate the other end of the sealing strip 10, simply turn on the second irradiation lamp 16.

[0032] In this embodiment of the invention, such as Figure 3 and Figure 4 As shown, the first adjustment component may include two sets of slide rails 20, two sets of slide plates 19, and a drive cylinder (not shown in the figure).

[0033] Two sets of slide rails 20 are symmetrically arranged on the other two sides of the worktable 15 and are perpendicular to the second support 17. Two sets of slide plates 19 are slidably connected to the two sets of slide rails 20 respectively, with one end of the slide plate 19 extending toward the second support 17 and fixedly connected to the second support 17. A drive cylinder is located at the bottom of the worktable 15 and connected to the two sets of slide plates 19, used to drive the two sets of slide plates 19 to move along the corresponding slide rails 20.

[0034] When the sealing strip 10 is placed on the worktable 15, the first illumination lamp 12 and the second illumination lamp 16 illuminate both ends of the sealing strip 10, respectively, so that the recognition camera on the gripping device can accurately and efficiently identify both ends of the sealing strip 10. When the size of the sealing strip 10 on the worktable 15 changes, that is, when gripping sealing strips 10 of different sizes, one end of the sealing strip 10 is placed within the illumination range of the first illumination lamp 12, and the drive cylinder is activated. The drive cylinder drives the two sets of sliding plates 19 to move along the corresponding slide rails 20, so that the second bracket 17 moves closer to or further away from the worktable 15. As the second bracket 17 moves closer to or further away from the worktable 15, the illumination range of the second illumination lamp 16 on the worktable 15 also moves continuously until it is directly illuminating the other end of the sealing strip 10. Therefore, the drive cylinder can adjust the illumination position of the second illumination lamp 16 according to the size of the sealing strip 10 to adapt to the illumination and recognition needs of sealing strips 10 of different sizes, thus providing wider adaptability.

[0035] In this embodiment of the invention, a five-star handle 21 is provided on the outer side of the slide plate 19. The five-star handle 21 allows the staff to manually adjust the position of the second bracket 17, thereby facilitating the storage and unfolding of the illumination lamp.

[0036] In this embodiment of the invention, in order to further improve the stability and reliability of the second support 17 during movement, a fuma wheel 22 is provided at the bottom of the second support 17.

[0037] In this embodiment of the invention, the first adjustment component may further include two sets of drive motors (not shown in the figure). Specifically, the two sets of drive motors are respectively disposed on the top of the first bracket 13 and the second bracket 17, and the output ends of the two sets of drive motors are respectively connected to the ends of the first illumination lamp 12 and the second illumination lamp 16. Specifically, the two sets of drive motors can adjust the illumination angle of the first illumination lamp 12 and the second illumination lamp 16 respectively, so that even when the sealing strip 10 is not fixed in position on the worktable 15, both ends of the sealing strip 10 can be reliably illuminated, further improving the reliability and convenience of illumination identification of both ends of the sealing strip 10.

[0038] In this embodiment of the invention, considering that the light intensity / illuminance of the first light source assembly 14 and the second light source assembly 18 alone may not be sufficient to meet the recognition requirements of the recognition camera in the grasping device, it is necessary to synchronously adjust the camera's exposure value to achieve accurate recognition of the end of the positioning sealing strip 10. Specifically, this adjustment method may include: In step one, the dimensions of the sealing strip 10 on the workbench 15 are obtained. During production, sealing strips 10 of the same model are typically welded in batches, and their models and dimensions are consistent. Therefore, the dimensions can be obtained directly based on the model during production changeover. Alternatively, direct measurement can be achieved using devices including, but not limited to, distance measuring devices.

[0039] In step two, it is determined whether the camera working in conjunction with the first illumination lamp 12 has detected one end of the sealing strip 10. The illumination angle of the first illumination lamp 12 and the exposure value of the camera working in conjunction with it are corresponding; that is, at this illumination angle and exposure value, the camera can detect the end of the sealing strip 10 for positioning.

[0040] In step three, if it is determined that the camera cooperating with the first illumination lamp 12 has detected one end of the sealing strip 10, the tilt angle of the first illumination lamp 12 is obtained.

[0041] In step four, the illumination position of the second illumination lamp 16 is adjusted according to the tilt angle of the first illumination lamp 12 and the size of the sealing strip 10. The illumination position of the first illumination lamp 12 can be determined based on its tilt angle, which is also the position of one end of the sealing strip 10. Combined with the size of the sealing strip 10, the illumination position of the second illumination lamp 16 can be obtained.

[0042] In step five, it is determined whether the camera, which works in conjunction with the second illumination lamp 16, has detected the other end of the sealing strip 10.

[0043] In step six, if the camera, in conjunction with the second illumination lamp 16, detects the other end of the sealing strip 10, the gripping device is activated to grip the sealing strip 10. Specifically, if the first illumination lamp 12 and the second illumination lamp 16 can respectively illuminate both ends of the sealing strip 10, the camera can be adjusted to the corresponding exposure value to accurately identify and locate both ends of the sealing strip 10.

[0044] In step seven, if it is determined that the camera working with the first illumination lamp 12 has not detected one end of the sealing strip 10, the drive motor corresponding to the first illumination lamp 12 is activated, and the tilt angle of the first illumination lamp 12 and the exposure value of the camera working with it are adjusted. Specifically, if the camera working with the first illumination lamp 12 has not detected one end of the sealing strip 10, it means that the first illumination lamp 12 is not illuminating one end of the sealing strip 10, and the tilt angle of the first illumination lamp 12 needs to be adjusted. Specifically, the tilt angle of the first illumination lamp 12 can be adjusted according to a preset value.

[0045] In step eight, the system returns to determine whether the camera, which works in conjunction with the first illumination lamp 12, has detected one end of the sealing strip 10.

[0046] In steps one through eight, the dimensions of the sealing strip 10 on the workbench 15 are first obtained, and it is determined whether one end of the sealing strip 10 is recognized by the camera. If one end of the sealing strip 10 is recognized by the camera, it is further determined whether the other end of the sealing strip 10 is recognized by the camera. If both ends of the sealing strip 10 are recognized and positioned, a reliable gripping operation is performed on the sealing strip 10. If the other end of the sealing strip 10 is not recognized and positioned, the illumination position of the second illumination lamp 16 is adjusted; if one end of the sealing strip 10 is not recognized and positioned, the illumination position of the first illumination lamp 12 is adjusted.

[0047] In this embodiment of the invention, after determining the position of one end of the sealing strip 10, the illumination position of the second illumination lamp 16 needs to be adjusted so that it illuminates the other end of the sealing strip 10. Specifically, the adjustment method may further include: In step nine, the vertical height between the first illumination lamp 12 and one edge of the worktable 15 is obtained. This vertical height is a fixed value, which is the height difference between the top of the first support 13 and the top of the worktable 15.

[0048] In step ten, the horizontal distance between one end of the sealing strip 10 and one edge of the worktable 15 is obtained according to Formula 1. Formula 1 in, The horizontal distance between one end of the sealing strip 10 and one edge of the worktable 15. The vertical height between the first illumination lamp 12 and one edge of the worktable 15. The tilt angle of the first illumination lamp 12. Specifically, one of the edges is also the edge of one of the opposite sides of the worktable 15.

[0049] In step eleven, the horizontal distance between the other end of the sealing strip 10 and the other edge of the workbench 15 is obtained according to formula two. Formula 2 in, The horizontal distance between the other end of the sealing strip 10 and the other edge of the worktable 15. The distance between one edge and another of the workbench 15. The length of the sealing strip 10.

[0050] In step twelf, the tilt angle of the second illumination lamp 16 and the exposure value of the corresponding camera are preset. The tilt angle is the illumination distance between the second illumination lamp 16 and the top of the worktable 15. This illumination distance corresponds to a corresponding exposure value. That is, under the above conditions, if the end of the sealing strip 10 is located at the center of the illumination distance, it will be identified and located by the camera.

[0051] In step thirteen, the horizontal distance between the illumination center of the second illumination lamp 16 on the workbench 15 and the second support 17 is obtained according to formula three. Formula 3 in, The horizontal distance between the center of the second illumination lamp 16 on the workbench 15 and the second support 17. The vertical height between the second illumination lamp 16 and the other edge of the worktable 15. The tilt angle of the second illumination lamp 16.

[0052] In step fourteen, the horizontal movement distance of the second support 17 is obtained according to formula four. Formula 4 in, This is the horizontal movement distance of the second support 17.

[0053] In step fifteen, the second support 17 is moved according to the moving distance of the second support 17.

[0054] In steps nine through fifteen, the horizontal distance between one end of the sealing strip 10 and one edge of the worktable 15 is first calculated based on the vertical height of the first illumination lamp 12 and one edge of the worktable 15. Then, the horizontal distance between the other end of the sealing strip 10 and another edge is calculated based on the dimensions of the sealing strip 10. Next, the position of the illumination center of the second illumination lamp 16 is calculated and subtracted from the horizontal distance between the other end of the sealing strip 10 and the other edge of the worktable 15 to obtain the horizontal distance between them. Finally, the illumination center of the second illumination lamp 16 is moved to the other end of the sealing strip 10 according to this horizontal distance, so that the other end of the sealing strip 10 can be identified and positioned by the camera.

[0055] In this embodiment of the invention, after determining the position of one end of the sealing strip 10, the illumination position of the second illumination lamp 16 needs to be adjusted so that it illuminates the other end of the sealing strip 10. Specifically, the adjustment method may further include: In step sixteen, the tilt angle of the second illumination lamp 16 is obtained according to formula five. Formula 5 in, The tilt angle of the second illumination lamp 16 This refers to the vertical distance between the second illumination lamp 16 and the other edge of the worktable 15. Specifically, the horizontal distance between the second illumination lamp 16 and the other end of the sealing strip 10 is the same as the horizontal distance between the other end of the sealing strip 10 and the other edge of the worktable 15.

[0056] In step seventeen, the exposure value of the camera used in conjunction with the second illumination lamp 16 is obtained according to formula six. Formula Six in, This refers to the camera's exposure value. Specifically, the relationship between the illumination distance of the illumination lamp and the camera's exposure value can be obtained based on the camera's recognition status. Specifically, by obtaining the relevant parameters of the ends of sealing strips 10 of different models / sizes when facing the illumination, taking an example with an edge distance of 1200mm between the opposite sides of the workbench 15 and a vertical distance of 450mm between the first illumination lamp 12 and the second illumination lamp 16 and the top of the workbench 15, the data is shown in Table 1. Table 1. Relationship between the distance between the end of the sealing strip 10 and the edge of the worktable 15 and the camera exposure value.

[0057] The data shown in Table 1 indicates that the end of the sealing strip 10 can be identified and positioned by the camera under the above conditions. Since the luminous flux of the illumination lamps is fixed, the illumination distance between the first illumination lamp 12 and the second illumination lamp 16 increases with the increase of distance, which in turn leads to a decrease in illuminance, thus requiring a larger exposure value. Specifically, Formula 6 is derived by fitting the discrete data of the white sealing strip 10 shown in Table 1, and the fitting degree can reach 99.1%. Since the required exposure value differs for sealing strips 10 of different colors, this adjustment method can also include: Step A: Determine whether the sealing strip 10 is white. The color of the sealing strip 10 can be determined based on the grayscale values ​​of the image.

[0058] Step B: If the sealing strip 10 is determined to be white, calculate the required exposure value for the camera based on the distance between the end of the sealing strip 10 and the edge of the worktable 15 according to Formula 6.

[0059] Step C: If the sealing strip 10 is not white, determine whether the color of the sealing strip 10 is gray.

[0060] Step D: If the color of the sealing strip 10 is determined to be gray, obtain the required exposure value for the camera according to Formula 8. Formula 8 in, The required exposure value for the camera when the sealing strip 10 is gray.

[0061] Step E: If the color of the sealing strip 10 is not gray, obtain the required exposure value for the camera according to Formula Nine. Formula Nine in, This is the required exposure value for the camera when the sealing strip 10 is black.

[0062] In step eighteen, the drive motor corresponding to the second illumination lamp 16 is started and adjusted according to the tilt angle of the second illumination lamp 16.

[0063] In step nineteen, the camera's exposure value is adjusted according to the exposure value of the camera that is used in conjunction with the second illumination lamp 16.

[0064] In steps sixteen to nineteen, the present invention can also directly adjust the tilt angle of the second illumination lamp 16 and simultaneously adjust the camera's exposure value, so that the camera can accurately and reliably identify the other end of the sealing strip 10, which is simple and convenient. Furthermore, the present invention has corresponding methods for obtaining exposure values ​​for different colors of the sealing strip 10, further improving the versatility and identification reliability of the present invention.

[0065] In this embodiment of the invention, if the camera cooperating with the first illumination lamp 12 fails to detect one end of the sealing strip 10, it indicates that one end of the sealing strip 10 is not in the illumination center of the first illumination lamp 12, and therefore the illumination center of the first illumination lamp 12 needs to be adjusted. Specifically, the adjustment method may further include: In step 20, the preset angle value change interval is used.

[0066] In step twenty-one, the angle to be adjusted for the first illumination lamp 12 is obtained according to formula seven. Formula 7 in, For the first illumination lamp 12th The angle to be adjusted in this adjustment. The initial tilt angle of the first illumination lamp 12 is... The interval for the change in angle value. This represents the current number of angle adjustments for the first illumination lamp 12, and is an integer. Specifically, the addition or subtraction in Formula 7 can be determined based on the current tilt angle of the first illumination lamp 12. If the current tilt angle of the first illumination lamp 12 is large, a subtraction sign is used; otherwise, an addition sign is used.

[0067] In step twenty-two, the current angle adjustment count of the first illumination lamp 12 is incremented by one.

[0068] In step twenty-three, the horizontal distance between one end of the current sealing strip 10 and one edge of the worktable 15 is obtained according to Formula 1.

[0069] In step twenty-four, the exposure value of the camera currently engaged with the first illumination lamp 12 is obtained based on the horizontal distance between one end of the current sealing strip 10 and one edge of the worktable 15 and Formula Six.

[0070] In steps 20 to 24, a preset angle change value for the first illumination lamp 12 is established. As the angle change value of the first illumination lamp 12 changes, the exposure value of the corresponding camera is simultaneously adjusted. Then, it is determined whether the corresponding camera has detected one end of the sealing strip 10. If the corresponding camera still has not detected it, the angle is adjusted further until the corresponding camera can detect one end of the sealing strip 10. Using this method, one end of the sealing strip 10 can be accurately and reliably identified and positioned.

[0071] In this embodiment of the invention, such as Figures 5 to 8 As shown, the welding machine 7 includes two sets of auxiliary support devices 11, which are respectively installed at the mold inlet ends of the two welding seats 8. Specifically, the auxiliary support device 11 may include a base 23, two sets of first support plates 32, two sets of second support plates 28, and a flipping assembly.

[0072] The base 23 is located on the mold inlet side of the welding machine 7. Two sets of first support plates 32 are symmetrically arranged on two opposite side walls of the base 23, with the tops of the two sets of first support plates 32 higher than the top of the base 23. Two sets of second support plates 28 are symmetrically arranged on the other two opposite side walls of the base 23. A flipping assembly is connected to the two sets of second support plates 28 and is used to drive the two sets of second support plates 28 to rotate and move closer together to form a support plane with a height higher than the tops of the two sets of first support plates 32.

[0073] When the six-axis robot 6 grasps the lower sealing strip 10 and inserts it into the mold, the tops of the two sets of first support plates 32 form a lower support plane, supporting the insertion section of the lower sealing strip 10 to ensure stable insertion. When the six-axis robot 6 grasps the upper sealing strip 10 and inserts it into the mold, the flipping assembly is activated, driving the two sets of second support plates 28 to rotate synchronously and move closer to each other until the sidewalls are in contact. At this time, the two sets of second support plates 28 cooperate to form an upper support plane, supporting the insertion section of the upper sealing strip 10 to ensure stable insertion. While waiting for the next insertion of the lower sealing strip 10, the flipping assembly drives the two sets of second support plates 28 to rotate in the opposite direction and reset, effectively improving the insertion effect and efficiency of the upper and lower sealing strips 10.

[0074] In this embodiment of the invention, such as Figure 7 and Figure 8 As shown, the first support plate 32 is L-shaped. Specifically, the vertical section 31 of the first support plate 32 is connected to the side wall of the base 23, and the horizontal section 30 of the first support plate 32 extends in a direction away from the base 23. The two sets of horizontal sections 30 of the first support plate 32 cooperate to form the lower support plane.

[0075] In this embodiment of the invention, such as Figure 7 and Figure 8 As shown, the first support plate 32 includes a first waist hole 33 and a first fastening bolt 34.

[0076] The first waist hole 33 is opened on the vertical section 31 of the first support plate 32, and the first fastening bolt 34 passes through the first waist hole 33 and cooperates with the first waist hole 33 to fix the first support plate 32 and the base 23.

[0077] When it is necessary to adjust the height of the two sets of horizontal sections 30 according to the height of the welding machine 7 mold inlet, it can be achieved by loosening the first fastening bolt 34, adjusting the position of the first fastening bolt 34 in the first waist hole 33 and tightening it. The operation is simple and convenient.

[0078] In this embodiment of the invention, such as Figure 7 and Figure 8As shown, the second support plate 28 may include a support rod 27 and a strip plate 26.

[0079] One end of the support rod 27 is connected to the output end of the flipping assembly, and the strip plate 26 is set at the other end of the support rod 27 and is distributed perpendicularly to the support rod 27.

[0080] When an upper support platform needs to be constructed, the flipping assembly is activated, causing the corresponding strip plates 26 to rotate in opposite directions via two sets of support rods 27. This brings the two sets of strip plates 26 closer together until their sidewalls are in contact, thus forming a stable upper support platform. The two sets of vertical sections 31 can provide clearance for the support rods 27 to ensure the stability and reliability of the rotation of the support rods 27.

[0081] In this embodiment of the invention, such as Figure 7 and Figure 8 As shown, the base 23 may include a groove. Specifically, the top of the base 23 has a groove, and the flipping assembly is disposed inside the groove. Specifically, the flipping assembly may include a gripper cylinder 29 (i.e., a finger cylinder), the output end of which is connected to one end of each of the two sets of support rods 27. The gripper cylinder 29 can effectively activate the two sets of support rods 27 to rotate in opposite directions, thereby driving the two sets of strip plates 26 to rotate closer and fit together.

[0082] In this embodiment of the invention, such as Figure 7 and Figure 8 As shown, the base 23 may also include a second waist hole 37 and a second fastening bolt 36.

[0083] The side wall of the base 23 is provided with a second waist hole 37, which communicates with the groove. A second fastening bolt 36 is provided inside the second waist hole 37, which is used to cooperate with the second waist hole 37 to fasten the flip assembly.

[0084] When it is necessary to adjust the height of the two sets of strip plates 26 according to the height of the welding machine 7 mold inlet, it can be achieved by loosening the second fastening bolt 36, adjusting the position of the second fastening bolt 36 in the second waist hole 37 and tightening it. The operation is simple and convenient.

[0085] In this embodiment of the invention, such as Figure 6 , Figure 7 and Figure 8 As shown, the auxiliary support device 11 may also include a fixing plate 24, which may include a third waist hole 35 and a third fastening bolt 25.

[0086] The bottom of the base 23 is provided with a fixing plate 24, and the fixing plate 24 has a third waist hole 35, which is used to cooperate with the third fastening bolt 25 to fix the fixing plate 24 and the base 23.

[0087] When it is necessary to adjust the position of the base 23, it can be done by loosening the third fastening bolt 25, adjusting the position of the third fastening bolt 25 in the third waist hole 35, and then tightening it. The operation is simple and convenient.

[0088] In this embodiment of the invention, such as Figure 9 , Figure 10 as well as Figure 11 As shown, the gripping assembly may include a gripping base 38, multiple sets of gripper assemblies 51, multiple sets of rotating assemblies, two sets of second adjustment assemblies, and an identification assembly.

[0089] The gripping base 38 is rectangular in shape, with multiple sets of gripper assemblies 51 symmetrically arranged in two rows below it for gripping the sealing strip 10. Multiple sets of rotating assemblies are symmetrically arranged on two opposite sidewalls of the gripping base 38, with their output ends connected to the corresponding gripper assemblies 51. The multiple sets of rotating assemblies on the same side drive the corresponding gripper assemblies 51 to rotate synchronously. Two sets of second adjusting assemblies are symmetrically arranged on two opposite sidewalls of the gripping base 38, connected to the rotating assembly located at one end of the gripping base 38, for driving the rotating assembly at one end of the gripping base 38 to move horizontally. An identification component is located on the gripping base 38 for identifying and positioning the sealing strip 10.

[0090] Before the sealing strip 10 needs to be gripped, the rotating components and gripper components 51 located on both sides of the gripping base 38 can be in the following states: Figure 9As shown. Specifically, one set of gripper assemblies 51 faces downwards, while the other set of gripper assemblies 51 tilts upwards under the drive of the corresponding rotating assembly. When it is necessary to grasp the sealing strip 10, the recognition assembly positions the first sealing strip 10, and the six-axis robot 6 drives the gripping base 38 to move to the corresponding position and descend. When the gripping base 38 reaches a certain height, the multiple sets of gripper assemblies 51 on the downward-facing side (i.e., one side) are activated to grasp the near ends and the middle part of the first sealing strip 10. After the first sealing strip 10 is grasped, the six-axis robot 6 drives the gripping base 38 to rise to a certain height, and the multiple sets of rotating assemblies on one side are activated to drive the corresponding gripper assemblies 51 to rotate to tilt upwards. Simultaneously, another set of multiple rotating components is activated to drive the corresponding gripper components 51 to rotate downwards. The identification component positions the second sealing strip 10, and the six-axis robot 6 drives the gripping base 38 to move to the corresponding position and descend. On the other side, multiple gripper components 51 are activated to grip the two ends and the middle portion of the second sealing strip 10. After both sealing strips 10 are gripped, this state is maintained, and the two sealing strips 10 are transferred and sequentially driven into the mold for welding. By setting rotating components and gripper components 51 on both sides of the gripping base 38, sequential gripping and synchronous transfer of the two sealing strips 10 can be achieved, effectively improving the welding efficiency of two / multiple sets of synchronous welding machines. Furthermore, by sequentially switching the orientation of the gripper components 51 on both sides of the gripping base 38, interference during the gripping process of the two sealing strips 10 can be effectively avoided. Specifically, if two rows of parallel gripper assemblies 51 are used, when one row of gripper assemblies 51 grips one of the sealing strips 10, the other row of gripper assemblies 51 will interfere, thus affecting the gripping efficiency and effect of the sealing strip 10. In addition, the second adjustment assembly can, on the one hand, move the rotating assembly and gripper assembly 51 located at one end of the gripping base 38 according to the model / size of the sealing strip 10, so as to grip the vicinity of the end of the sealing strip 10, improving the versatility and stability of gripping; on the other hand, it can also adjust the gripping position of the gripper assembly 51 corresponding to one end of the gripping base 38 on the sealing strip 10, so as to ensure the stable and reliable entry of the sealing strip 10 into the mold.

[0091] In this embodiment of the invention, such as Figure 9 As shown, the gripping base 38 may include an aluminum profile.

[0092] In this embodiment of the invention, such as Figure 9 , Figure 10 as well as Figure 11 As shown, the rotating assembly may include a rotary cylinder 45 and a connecting rod 47.

[0093] A rotary cylinder 45 is mounted on the side wall of the gripping base 38. One end of the connecting rod 47 is connected to the output end of the rotary cylinder 45, and the other end of the connecting rod 47 is connected to the gripper assembly 51.

[0094] When it is necessary to drive the gripper assembly 51 to rotate, the rotary cylinder 45 is activated, which drives the gripper assembly 51 to rotate downwards or tilt upwards via the connecting rod 47. The operation is simple and convenient by using the rotary cylinder 45 in conjunction with the connecting rod 47.

[0095] In this embodiment of the invention, the shape of the connecting rod 47 may include a Z-shape or a stepped shape. Specifically, as shown... Figure 9 and Figure 11 As shown, the output end of the rotary cylinder 45 is connected to one end of the connecting rod 47 via a flat key and a set screw. The other ends of the two symmetrical sets of connecting rods 47 are close to each other, so that the distance between the corresponding two sets of gripper assemblies 51 is small. This structure of the connecting rod 47 facilitates the storage of the corresponding two rows of gripper assemblies 51, improving the integration of the sealing strip 10 gripping device; on the other hand, it also reduces the movement path of the robotic arm when gripping two sealing strips 10, improving gripping efficiency.

[0096] In this embodiment of the invention, such as Figure 9 , Figure 10 and Figure 11 As shown, the rotating assembly may also include a first fixed plate 46, a second fixed plate 55, a first slide rail 56, and a first slider 54.

[0097] A first fixing plate 46 is disposed below the gripping base 38, a second fixing plate 55 is fixedly disposed at the bottom of the gripping base 38, and a first slide rail 56 is fixedly disposed at the bottom of the second fixing plate 55. A first slider 54 is disposed on top of the first fixing plate 46 located at one end of the gripping base 38, and the first slider 54 is slidably connected to the first slide rail 56.

[0098] The first fixing plate 46 located at one end of the gripping base 38, except for one end of the gripping base 38, is fixedly connected to the bottom of the gripping base 38. The first fixing plate 46 located at one end of the gripping base 38 is slidably connected to the gripping base 38 through the first slider 54 and the first slide rail 56. Thus, by adjusting the position of the first fixing plate 46 located at one end of the gripping base 38, it can be adapted to gripping different sizes / models of sealing strips 10, and the gripping position of the sealing strip 10 can also be adjusted when driving the sealing strip 10 into the mold.

[0099] In this embodiment of the invention, such as Figure 9 and Figure 10 As shown, the rotating assembly may also include a third fixing plate 52 and a buffer screw 53.

[0100] The third fixing plate 52 is disposed on top of the corresponding first fixing plate 46 and is located on the output end side of the rotary cylinder 45. The buffer screw 53 is fixedly connected to the third fixing plate 52 and is used to limit the rotation angle of the connecting rod 47.

[0101] When the rotary cylinder 45 drives the gripper assembly 51 to rotate to an upward tilted position via the connecting rod 47, the connecting rod 47 gradually contacts and abuts against the buffer screw 53 to limit the rotation angle of the connecting rod 47. This method effectively limits the rotation angle of the connecting rod 47, preventing excessive rotation angle from affecting the normal operation of the sealing strip 10 gripping device.

[0102] In this embodiment of the invention, such as Figure 9 and Figure 10 As shown, the gripper assembly 51 may include a finger cylinder 48 and two sets of grippers 50.

[0103] The finger cylinder 48 is located at the other end of the connecting rod 47, and two sets of grippers 50 are located at the output end of the finger cylinder 48. The two sets of grippers 50 cooperate to clamp the sealing strip 10.

[0104] When the rotary cylinder 45 rotates the finger cylinder 48 downwards via the connecting rod 47 and the finger cylinder 48 reaches the preset height, the finger cylinder 48 is activated, driving the two sets of grippers 50 to grasp and hold the sealing strip 10.

[0105] In this embodiment of the invention, such as Figure 9 and Figure 10 As shown, the gripper assembly 51 may also include a limiting plate 49. Specifically, the limiting plate 49 is disposed on the side wall of the finger cylinder 48, and the lower end of the limiting plate 49 extends downward to limit the opening and closing angle of the grippers 50. Specifically, when the finger cylinder 48 drives the two sets of grippers 50 to open and close, they will be blocked by the limiting plate 49, so that the opening angle of the two sets of grippers 50 is limited to a certain range, avoiding interference with other sealing strips 10 when gripping the sealing strip 10.

[0106] In this embodiment of the invention, such as Figure 9 and Figure 11 As shown, the second adjustment assembly may include a fourth fixing plate 57 and a pen-shaped cylinder 39. Specifically, Figure 9 and Figure 11 These are schematic diagrams of the structures on opposite sides of the gripping base 38.

[0107] The fourth fixing plate 57 is fixedly installed on the top of the corresponding first fixing plate 46 located at one end of the gripping base 38, and the pen-shaped cylinder 39 is fixedly installed on the side wall of the gripping base 38. The output end of the pen-shaped cylinder 39 is fixedly connected to the corresponding fourth fixing plate 57.

[0108] When it is necessary to drive the first fixed plate 46 located at one end of the gripping base 38 to slide, the pen-shaped cylinder 39 is activated. Specifically, the pen-shaped cylinder 39 drives the first slider 54 to slide along the first slide rail 56 via the fourth fixed plate 57 and the first fixed plate 46 to accommodate the gripping of sealing strips 10 of different sizes. In addition, when multiple sets of finger cylinders 48 located on the same side drive the sealing strip 10 into the mold, the six-axis robot 6 first drives the sealing strip 10 to move a certain position along the mold inlet of the mold groove 9 of the welding machine 7. Then, the finger cylinder 48 located at one end of the gripping base 38 is released, the pen-shaped cylinder 39 is activated, and the fourth fixed plate 57 drives the finger cylinder 48 located at one end of the gripping base 38 away from the mold inlet by a certain distance. Finally, the finger cylinder 48 located at one end of the gripping base 38 is activated again to grip the sealing strip 10. The six-axis robot 6 completes the insertion of the sealing strip 10 into the mold by moving multiple sets of finger cylinders 48.

[0109] In this embodiment of the invention, such as Figure 9 , Figure 10 and Figure 11 As shown, the identification component may include a second slide rail 43, a second slider 42, a fifth fixing plate 41, a camera 40, and a guide rail clamp 44.

[0110] The second slide rail 43 is disposed on the side wall of the gripping base 38, and the second slider 42 is slidably connected to the second slide rail 43. One end of the fifth fixing plate 41 is connected to the second slider 42, and the camera 40 is fixedly disposed on the other end of the fifth fixing plate 41 for capturing and identifying the area below the gripping base 38. The guide rail clamp 44 is disposed on the second slider 42 for clamping and fixing the position of the second slider 42 on the second slide rail 43.

[0111] When it is necessary to move the camera 40, simply close the guide rail clamp 44 and drive the second slider 42 to slide along the second slide rail 43. When the camera 40 reaches the position to be adjusted, simply activate the guide rail clamp 44 to clamp and fix the second slider 42, which is convenient and quick.

[0112] In this embodiment of the invention, further considering the accuracy of the camera 40 in recognizing the end of the sealing strip 10, the second adjustment assembly may be provided in two sets, respectively located near both ends of the gripping base 38, specifically as follows: Figure 9 As shown.

[0113] In this embodiment of the invention, such as Figure 1 and Figure 12 As shown, the material handling device may include a support base 1, a first moving module 2, a second moving module 3, a third moving module 61, a connecting plate 58, two sets of fixed columns 59, and multiple sets of material handling components 60.

[0114] Support base 1 is located on the side of welding machine 7, and first moving module 2 is located on top of support base 1. Second moving module 3 is located at the output end of first moving module 2 and is perpendicular to first moving module 2. Third moving module 61 is located at the output end of second moving module 3 and is arranged vertically. One end of connecting plate 58 is connected to the output end of third moving module 61, and one end of two sets of fixing posts 59 is connected to the other end of connecting plate 58. The two sets of fixing posts 59 are arranged at an angle. Multiple sets of material picking components 60 are symmetrically arranged at the bottom of the two sets of fixing posts 59 for picking up the welded sealing strip.

[0115] After welding is completed, the mold slots 9 of the two welding seats 8 open, and the first moving module 2 and the second moving module 3 cooperate to move the two sets of fixed columns 59 directly above the two welding seats 8. The third moving module 61 drives the two sets of fixed columns 59 to descend via the connecting plate 58. When they descend to a certain height, multiple sets of material-grabbing components 60 clamp the welded product. Finally, the third moving module 61 lifts the product, and the first moving module 2 and the second moving module 3 drive the product to the unloading area for stacking. This structure makes operation simple and convenient.

[0116] In this embodiment of the present invention, the first moving module 2, the second moving module 3, and the third moving module 61 include, but are not limited to, ball screws, cable chain assemblies, etc.

[0117] In this embodiment of the invention, the material handling component 60 specifically includes, but is not limited to, the combination of a finger cylinder and two long grippers. Specifically, the two long grippers are capable of gripping multiple sets of welded sealing strips.

[0118] On the other hand, the present invention also provides a fully automated welding method based on the welding of the sealing strip 10. Specifically, as Figure 13 As shown, the fully automated welding method may include: In step S10, the first light source assembly 14 and the second light source assembly 18 are activated.

[0119] In step S11, the six-axis robot 6 drives the gripping assembly 5 to move above the sealing strip 10.

[0120] In step S12, the first adjustment component is activated, and the identification component is used to identify and position both ends of the sealing strip 10.

[0121] In step S13, the gripping component 5 is activated to sequentially grip multiple sealing strips 10.

[0122] In step S14, the six-axis robot 6 drives the gripping assembly 5 to move to the mold entry end of the welding seat 8.

[0123] In step S15, the six-axis robot 6 cooperates with the gripping component 5 to drive the sealing strip 10 into the mold.

[0124] In step S16, it is determined whether the multiple sealing strips 10 have been successfully molded. The determination of whether the sealing strips 10 have been successfully molded includes, but is not limited to, setting position sensors, displacement sensors, etc.

[0125] In step S17, after determining that the multiple sealing strips 10 have been inserted into the mold, the welding machine 7 is started to weld the multiple sealing strips 10 together.

[0126] In step S18, it is determined whether the welding machine 7 has completed welding. The welding process of the welding machine 7 is generally a preset welding time, so it is sufficient to wait for the preset welding time.

[0127] In step S19, when it is determined that the welding machine 7 has completed welding, the material handling device is activated to simultaneously remove and stack the multiple sets of welded products.

[0128] In steps S10 to S19, the first light source assembly 14 and the second light source assembly 18 are first activated, and then the six-axis robot 6 drives the gripping assembly 5 to move above the sealing strip 10. The first adjustment assembly is activated so that the first light source assembly 14 and the second light source assembly 18 illuminate both ends of the sealing strip 10 respectively, and the recognition assembly identifies and positions the two ends of the sealing strip 10. After identification and positioning, the six-axis robot 6, in conjunction with the gripping assembly 5, sequentially grips multiple sealing strips 10. After gripping, the six-axis robot 6 drives multiple sealing strips 10 to the mold entry end of the welding seat 8, and in conjunction with the gripping assembly 5, drives multiple sealing strips 10 into the mold sequentially. After determining that multiple sealing strips 10 have entered the mold, the welding machine 7 is activated to simultaneously weld multiple sets of sealing strips 10. After welding, the material handling device clamps and removes the welded products to facilitate the next welding. This welding method is more intelligent and convenient, and has high welding efficiency.

[0129] In this embodiment of the invention, in order to sequentially grasp multiple sealing strips 10, it is also necessary to adjust the state of the gripper assembly 51 in the gripping assembly 5. Specific steps can be as follows: Figure 14 As shown. Specifically, in Figure 14 In addition, the fully automated welding method may also include: In step S20, it is determined whether the identification component has identified both ends of the sealing strip 10.

[0130] In step S21, when it is determined that the identification component has identified both ends of the sealing strip 10, the multiple sets of rotating components on one side of the gripping base 38 are driven to rotate, so as to drive the corresponding multiple sets of gripper components 51 to rotate to tilt upward.

[0131] In step S22, the six-axis robot arm 6 is driven to descend, and multiple sets of gripper assemblies 51 on the other side of the gripping base 38 are activated to grip the sealing strip 10.

[0132] In step S23, the six-axis robot arm 6 is driven to rise, multiple sets of rotating components on one side of the gripping base 38 are driven to reset, and multiple sets of gripper assemblies 51 on the other side of the gripping base 38 are driven to rotate, so as to drive the corresponding multiple sets of gripper assemblies 51 to rotate to tilt upward.

[0133] In step S24, the six-axis robot arm 6 is driven to descend, and multiple sets of gripper assemblies 51 on one side of the gripping base 38 are activated to grip the sealing strip 10.

[0134] In steps S20 to S24, when gripping the sealing strip 10, the multiple gripper assemblies 51 on one side of the gripping base 38 are first driven to rotate upwards, while the multiple gripper assemblies 51 on the other side of the gripping base 38 grip the first sealing strip 10. After gripping the first sealing strip 10, the multiple gripper assemblies 51 on the other side of the gripping base 38 are driven to rotate upwards, while the multiple gripper assemblies 51 on one side of the gripping base 38 rotate downwards to grip the second sealing strip 10. This gripping method allows for the simultaneous gripping of multiple sealing strips 10 while avoiding mutual interference during gripping, thus improving the reliability of the gripping process.

[0135] In this embodiment of the invention, when multiple sealing strips 10 are grasped, the multiple sealing strips 10 also need to be inserted into the mold along the corresponding mold grooves 9. The specific steps can be as follows: Figure 15 As shown. Specifically, in Figure 15 In addition, the fully automated welding method may also include: In step S30, the six-axis robot 6 drives the sealing strip 10 to move a certain distance along the inlet of the mold groove 9. This distance can be a predicted distance.

[0136] In step S31, the gripper assembly 51 near the inlet of the mold groove 9 is driven to close, thereby releasing the sealing strip 10.

[0137] In step S32, the second adjustment component is activated to drive the rotating component near the inlet of the mold groove 9 and the gripper component 51 away from the inlet of the mold groove 9.

[0138] In step S33, the gripper assembly 51 near the inlet of the mold groove 9 is activated to clamp the sealing strip 10.

[0139] In step S34, the six-axis robot 6 drives the sealing strip 10 to continue entering the mold until the mold entry is completed.

[0140] In steps S30 to S34, the sealing strip 10 is first moved a preset distance, and then the gripper assembly 51 near the mold groove 9 inlet is controlled to release the sealing strip 10. Simultaneously, the second adjusting component drives the gripper assembly 51 near the mold groove 9 inlet to move a preset distance away from the mold groove 9 inlet, and finally drives the gripper assembly 51 to continue clamping the sealing strip 10, continuing the mold insertion operation of the sealing strip 10. By driving the gripper assembly 51 near the mold groove 9 inlet to move, the mold insertion of the sealing strip 10 can be facilitated, and the stability and reliability of clamping the sealing strip 10 can be further improved.

[0141] Through the above technical solution, the fully automatic welding equipment and its fully automatic welding method based on the welding of sealing strips 10 provided by the present invention uses two sets of gripping devices to grip multiple sets of sealing strips 10 respectively, and then drives multiple sets of sealing strips 10 to enter the mold sequentially along multiple sets of mold grooves 9 on two welding seats 8. The welding machine 7 performs synchronous welding on multiple sets of sealing strips 10. After welding is completed, the welding machine 7 opens multiple sets of mold grooves 9, and the material picking device grips and moves out multiple sets of welded products synchronously, so as to realize the synchronous fully automatic welding of multiple sets of sealing strips 10, which effectively improves the welding efficiency of sealing strips 10, and does not require personnel to approach, thus ensuring good safety.

[0142] 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.

[0143] 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 fully automatic welding equipment based on sealing strip welding, characterized in that, include: The welding machine has multiple sets of mold slots distributed vertically on its two welding seats. The two mold slots at the same height on the two welding seats are used to cooperate to form an included angle. Two sets of gripping devices are arranged on the mold entry side of the welding machine and are symmetrically distributed. The gripping devices are used to grip multiple sets of sealing strips and drive the multiple sets of sealing strips to enter the mold along the multiple sets of mold grooves distributed vertically. A material handling device is installed above the welding machine to simultaneously remove and stack multiple sets of products welded by the welding machine. The grasping device includes: A six-axis robotic arm is installed on the mold entry side of the welding machine; The material placement assembly, located on the side of the six-axis robot, is used to place the sealing strip to be welded and to provide light-assisted illumination. A gripping component, located at the output end of the six-axis robot, is used to identify and grip multiple sets of sealing strips on the material handling component and assist in mold insertion. The material handling assembly includes: Workbench; The first light source assembly is disposed on one side of the worktable adjacent to the side closest to the six-axis robot, and is used to irradiate one end of the sealing strip; The second light source assembly is located on the other side of the worktable adjacent to the side closest to the six-axis robot, and is used to illuminate the other end of the sealing strip. A first adjustment component, connected to the first light source component and / or the second light source component, is used to adjust the illumination position of the first light source component and / or the second light source component on the top of the worktable; The crawling component includes: A gripping base, wherein the gripping base is in the shape of a square column; Multiple gripper assemblies are arranged in two rows below the gripping base for gripping the sealing strip; Multiple sets of rotating components are symmetrically arranged on two opposite sidewalls of the gripping base. The output end of each rotating component is connected to the corresponding gripper component. The multiple sets of rotating components located on the same side are used to drive the corresponding gripper components to rotate synchronously. Two sets of second adjustment components are symmetrically arranged on two opposite sidewalls of the gripping base. The second adjustment components are connected to the rotating component located at one end of the gripping base, and are used to drive the rotating component located at one end of the gripping base to move horizontally. An identification component is disposed on the gripping base for identifying and positioning the sealing strip.

2. The fully automatic welding equipment according to claim 1, characterized in that, The rotating component includes: A rotary cylinder is disposed on the side wall of the gripping base; The connecting rod is connected at one end to the output end of the rotary cylinder and at the other end to the gripper assembly; The first fixing plate is disposed below the gripping base; The second fixing plate is fixedly installed at the bottom of the gripping base; The first slide rail is fixedly installed at the bottom of the second fixing plate; A first slider is disposed on top of the first fixed plate located at one end of the gripping base, and the first slider is slidably connected to the first slide rail.

3. The fully automatic welding equipment according to claim 1, characterized in that, The welding machine includes two sets of auxiliary support devices, which are respectively disposed at the mold inlet ends of the two welding seats. Each auxiliary support device includes: Base; Two sets of first support plates are symmetrically arranged on two opposite side walls of the base, and the tops of the two sets of first support plates are higher than the top of the base. Two sets of second support plates are symmetrically arranged on the other two opposite side walls of the base; A flipping assembly, connected to two sets of second support plates, is used to drive the two sets of second support plates to rotate closer together and cooperate to form a support plane with a height higher than the top of the two sets of first support plates.

4. The fully automatic welding equipment according to claim 1, characterized in that, The material handling device includes: A support base is provided on the side of the welding machine; The first movable module is disposed on top of the support base; The second mobile module is disposed at the output end of the first mobile module and is distributed perpendicularly to the first mobile module; The third moving module is located at the output end of the second moving module and is oriented vertically. A connecting plate, one end of which is connected to the output end of the third mobile module; Two sets of fixing columns, one end of each set of fixing columns is connected to the other end of the connecting plate, and the two sets of fixing columns are distributed at an angle. Multiple sets of material-grabbing components are symmetrically arranged at the bottom of the two sets of fixed columns to clamp the welded sealing strip.

5. A fully automatic welding method using the fully automatic welding equipment described in claim 1, characterized in that, include: Start the first light source component and the second light source component; The six-axis robotic arm drives the gripping assembly to move above the sealing strip; The first adjustment component is activated, and in conjunction with the identification component, the two ends of the sealing strip are identified and positioned. The gripping component is activated to sequentially grip multiple sealing strips; The six-axis robot drives the gripping assembly to move to the mold entry end of the welding seat; The six-axis robotic arm works in conjunction with the gripping assembly to drive the sealing strip into the mold; Determine whether the multiple sealing strips have been successfully molded; Once it is determined that the multiple sealing strips have been successfully molded, the welding machine is started to weld the multiple sealing strips together. Determine whether the welding machine has completed the welding process; Once the welding machine is deemed to have completed welding, the material handling device is activated to simultaneously remove and stack the multiple sets of welded products.

6. The fully automatic welding method according to claim 5, characterized in that, The process of sequentially grabbing multiple sealing strips by activating the grabbing component includes: Determine whether the identification component has detected both ends of the sealing strip; When the identification component detects both ends of the sealing strip, it drives multiple sets of rotating components on one side of the gripping base to rotate, thereby causing the corresponding multiple sets of gripper components to rotate to an upward tilt. The six-axis robotic arm is driven to descend, and multiple sets of gripper assemblies on the other side of the gripping base are activated to grasp the sealing strip; Drive the six-axis robot arm to rise, drive multiple sets of rotating components on one side of the gripping base to reset, and drive multiple sets of gripper components on the other side of the gripping base to rotate, so as to drive the corresponding multiple sets of gripper components to rotate to tilt upwards; The six-axis robotic arm is driven to descend, and multiple sets of gripper assemblies on one side of the gripping base are activated to grasp the sealing strip.

7. The fully automatic welding method according to claim 5, characterized in that, The six-axis robotic arm, in conjunction with the gripping assembly, drives the sealing strip into the mold, including: The six-axis robotic arm drives the sealing strip to move a certain distance along the mold groove inlet; The gripper assembly near the mold groove inlet is driven to close, thereby releasing the sealing strip; The second adjustment component is activated to drive the rotating component and the gripper component near the mold groove inlet away from the mold groove inlet; The gripper assembly near the mold groove inlet is activated to clamp the sealing strip; The six-axis robot drives the sealing strip to continue entering the mold until the mold entry is complete.

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