FULLY AUTOMATIC WELDING PRODUCTION LINE FOR REFRIGERATOR DOOR SEALING STRIPS.

Abstract

A fully automatic welding production line for refrigerator door sealing strips is disclosed. The fully automatic welding production line comprises a fully automatic rubber sleeve mold feeding and positioning system (a), a fully automatic rubber sleeve clamping system (b), at least one fully automatic welding system (c), and a fully automatic parts collection system (d). A rubber sleeve mold feeding mechanism (a1) consists of a rubber sleeve transport mechanism (a3) ​​and a rubber sleeve transport mechanism (a4), and two sets of rubber sleeve positioning mechanisms (a2), each consisting of a guide mechanism (a5), a front positioning mechanism (a6), and a rear positioning mechanism (a7), are arranged symmetrically from left to right.An automatic rubber sleeve clamping mechanism is arranged on a six-axis robot; four die-welding machines (c3) are arranged on an adjustable base; right-angle mold openings are provided at the inward-facing ends of the die-welding machines (c3), and each die-welding machine has a heating assembly capable of extending inwards or outwards from the center of a mold opening; and at least six material pickup clamping clamps (b29), the positions of which are adjustable, are arranged in the fully automatic parts pickup system and are used to clamp the finished refrigerator door sealing strips.

Description

FULLY AUTOMATIC WELDING PRODUCTION LINE FOR SEALING REFRIGERATOR DOOR STRIPS Field of Invention The present invention relates to a fully automatic welding production line for sealing refrigerator door strips. Background of the Invention As refrigerators become increasingly common in people's lives, the demand for refrigerator door sealing strips has grown steadily. A refrigerator door sealing strip consists primarily of a rubber sleeve and a magnetic strip. A preliminary semi-finished product of the door sealing strip is formed by inserting the magnetic strip into the rubber sleeve. Applying such door sealing strips to refrigerators requires a significant welding process. Currently, manual door welding is the most common method used. However, manual door welding not only places high demands on the operator but also results in low efficiency and poor product consistency. Therefore, manual door welding is likely to be replaced by automatic door welding.For this purpose, it is necessary to provide a production line of. Ref. 328135 Fully automatic welding for sealing refrigerator door strips to replace manual welding. Brief Description of the Invention The object of the present invention is to provide a fully automatic welding production line for sealing refrigerator door strips, which performs fully automatic production of refrigerator door sealing strips from semi-finished product to finished product through some automation procedures such as automatic mold feeding, automatic positioning, automatic transport, automatic welding, and automatic parts collection, etc. To achieve the foregoing object, the present invention provides a fully automatic welding production line for sealing refrigerator door strips, comprising: a fully automatic mold loading and rubber sleeve placement system, a fully automatic rubber sleeve clamping system arranged at one end of the fully automatic mold loading and rubber sleeve placement system, at least one fully automatic welding system arranged on one side of the fully automatic rubber sleeve clamping system, and a fully automatic parts collection system arranged on one side of the fully automatic welding system;wherein the fully automatic rubber sleeve mold loading and positioning system comprises: a rubber sleeve mold loading mechanism and a rubber sleeve positioning mechanism mounted on a frame platform, wherein the rubber sleeve mold loading mechanism comprises a rubber sleeve transport mechanism and two rubber sleeve pushing mechanisms arranged in bilateral symmetry, and the rubber sleeve positioning mechanism comprises a guiding mechanism, a front positioning mechanism and a rear positioning mechanism and is formed in two assemblies and arranged in bilateral symmetry;The fully automatic rubber sleeve clamping system comprises: a six-axis manipulator, wherein the movable end of the six-axis manipulator is provided with an automatic rubber sleeve clamping mechanism capable of clamping two rubber sleeves that are parallel to each other, and wherein the clamping position of the automatic rubber sleeve clamping mechanism is adjustable; the fully automatic welding system comprises: an adjustment base provided with four die welding machines thereon, wherein the four die welding machines are arranged in a matrix and all of them extend towards the center of the adjustment base;A right-angled mold opening is formed at one end inward of the die welding machine and supports the opening / closing of the mold in the left-to-right and front-to-back directions; a heating assembly that can extend or travel out of the middle part of the mold opening is arranged on the die welding machine; the fully automatic parts collection system is provided with at least six position-adjustable material collection jaws, among which are arranged at least two material collection jaws corresponding to each edge of a finished refrigerator door sealing strip. Preferably, the rubber sleeve transport mechanism comprises a profiled frame, with a head pulley assembly and a tail pulley assembly arranged in front of and behind the profiled frame respectively, wherein the head pulley assembly is connected to the tail pulley assembly via a belt between them, synchronous pulleys are provided on both sides of the pulleys, a drive motor is provided below the pulleys and is connected to the synchronous pulleys via synchronous belts for drive. Preferably, the rubber sleeve push mechanism comprises a push positioning base plate, which is provided with a positioning bar and a guide rail thereon; a linear sliding block is mounted on the guide rail; a displacement base is mounted on the linear sliding block; a change cylinder is mounted on the change base; and a change block is mounted on the change cylinder. A push module is mounted under the push positioning base plate; a push link is mounted on the push module; and a push block is mounted on the push link. Preferably, the rubber sleeve positioning mechanism comprises a positioning base plate mechanism, a guide mechanism, a front positioning mechanism, and a rear positioning mechanism; wherein the positioning base plate mechanism comprises a positioning base plate, wherein the guide mechanism and a guide slide block are mounted on the positioning base plate, the front positioning mechanism and the rear positioning mechanism are mounted on the guide slide block, and a toothed rack is mounted under the positioning base plate. Preferably, the guide mechanism comprises a guide base plate, a guide base is mounted on the guide base plate, and a guide matrix is ​​mounted on the guide base. Preferably, the front positioning mechanism comprises a front positioning base plate, wherein a front positioning guide rail sliding block, a front positioning opening / closing cylinder block, an anti-deflection front positioning cylinder block, and a front positioning motor base are mounted on the front positioning base plate; a front positioning opening / closing base is mounted on the front positioning guide rail sliding block, and a front positioning opening / closing die is mounted on the front positioning opening / closing base; a front positioning opening / closing cylinder is mounted on the front positioning opening / closing cylinder block, and a fisheye-shaped connector is mounted on the front positioning opening / closing cylinder;A front positioning anti-deviation cylinder is mounted on the front positioning anti-deviation cylinder block, and a front positioning anti-deviation block is mounted on the front positioning anti-deviation cylinder; a front positioning drive motor is mounted on the front positioning motor base, and a front positioning gear is mounted on the front positioning drive motor. Preferably, the rear positioning mechanism comprises a rear positioning base plate, wherein a rear positioning guide rail sliding block, a rear positioning opening / closing cylinder block, a rear anti-deviation positioning cylinder block, and a rear positioning motor base are mounted on the rear positioning base plate;A rear positioning open / close base is mounted on the rear positioning guide rail slide block, a rear positioning open / close die and a rear positioning pressure cylinder are mounted on the rear positioning open / close base, a rear positioning pressure plate is mounted on the rear positioning pressure cylinder, a rear positioning open / close cylinder is mounted on the rear positioning open / close cylinder block, and a fisheye-shaped connector is mounted on the rear positioning open / close cylinder;A rear positioning anti-deviation cylinder is mounted on the rear positioning anti-deviation cylinder block, a rear positioning anti-deviation block is mounted on the rear positioning anti-deviation cylinder, a rear positioning drive motor is mounted on the rear positioning motor base, and a rear positioning gear is mounted on the rear positioning drive motor. Preferably, the automatic clamping mechanism of the rubber sleeve comprises: an upper X-axis adjustment mechanism connected to the six-axis manipulator, and a pair of mechanisms, a symmetrical right Y-axis adjustment mechanism and a left Y-axis adjustment mechanism that are mounted below the X-axis adjustment mechanism; a right Y-axis clamping mechanism is connected below the right Y-axis adjustment mechanism, and a left Y-axis clamping mechanism is connected below the left Y-axis adjustment mechanism;After the six-axis manipulator moves to a rubber sleeve positioning point and descends to a material pickup position, the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism are automatically adjusted by the X-axis adjustment mechanism to the appropriate positions according to the space between two parallel rubber sleeves. Then, the left Y-axis clamping mechanism and the right Y-axis clamping mechanism are driven by the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism to clamp the rubber sleeves simultaneously according to the length of the rubber sleeves. Preferably, the right Y-axis clamping mechanism comprises a pair of mechanisms, a positive float clamping mechanism, symmetrical to the right Y-axis and a negative float clamping mechanism of the right Y-axis, which cooperate with a central clamping mechanism of the right Y-axis arranged in the middle to clamp a right rubber sleeve at three points in the direction of the Y-axis simultaneously; the left Y-axis clamping mechanism comprises a pair of mechanisms, a positive float clamping mechanism, symmetrical to the left Y-axis and a negative float clamping mechanism of the left Y-axis, which cooperate with a central clamping mechanism of the left Y-axis arranged in the middle to clamp a left rubber sleeve at three points in the direction of the Y-axis simultaneously. Preferably, the middle clamping mechanism of the Y-axis comprises a connecting rod, the upper end of the connecting rod is connected to a secondary beam of the Y-axis, a T-shaped adjusting plate is mounted on the lower end of the connecting rod, a C-shaped adjusting plate is mounted on the T-shaped adjusting plate, an intermediate clamping jaw cylinder is mounted on the C-shaped adjusting plate, and an intermediate clamping jaw is mounted on the intermediate clamping jaw cylinder. Preferably, the X-axis adjustment mechanism comprises a main beam connecting block, an X-axis main beam, an X-axis positive adjustment module, an X-axis positive drive servomotor, an X-axis negative adjustment module, and an X-axis negative drive servomotor; wherein the upper end of the main beam connecting block is connected to the six-axis manipulator, and the lower end of the main beam connecting block is connected to the center of the X-axis main beam; the X-axis positive adjustment module is on one side of the X-axis main beam and is in drive connection with the X-axis positive drive servomotor; the X-axis negative adjustment module is on the other side of the X-axis main beam and is in drive connection with the X-axis negative drive servomotor. Preferably, the right Y-axis adjustment mechanism comprises a right sub-beam connecting block, a right Y-axis sub-beam, a right Y-axis positive adjustment module, a right Y-axis positive drive servomotor, a right Y-axis negative adjustment module, and a right Y-axis negative drive servomotor; wherein the upper end of the right sub-beam connecting block is connected to the X-axis negative adjustment module, and the lower end of the right sub-beam connecting block is connected to the center of the right Y-axis sub-beam; the right Y-axis positive adjustment module is on one side of the Y-axis sub-beam and is in drive connection with the right Y-axis positive drive servomotor;The right Y-axis negative adjustment module is on the other side of the Y-axis secondary beam, and is in drive connection with the right Y-axis negative drive servomotor. Preferably, the left Y-axis adjustment mechanism comprises a left secondary beam connecting block, a left Y-axis secondary beam, a left Y-axis positive adjustment module, a left Y-axis positive drive servomotor, a left Y-axis negative adjustment module, and a left Y-axis negative drive servomotor; wherein the upper end of the left secondary beam connecting block is connected to the X-axis positive adjustment module, and the lower end of the left secondary beam connecting block is connected to the center of the left Y-axis secondary beam; the left Y-axis positive adjustment module is on one side of the Y-axis secondary beam and is in drive connection with the left Y-axis positive drive servomotor;The left Y-axis negative adjustment module is on the other side of the Y-axis secondary beam, and is in drive connection with the left Y-axis negative drive servomotor. Preferably, the Y-axis floating clamping mechanism comprises a main connecting plate, the upper end of the main connecting plate is connected to a Y-axis adjustment module, a transverse guide rail is mounted on the lower end of the main connecting plate, a transverse pneumatic cylinder is in drive connection with the transverse guide rail, a floating connecting plate is connected to the transverse guide rail, a longitudinal guide rail is mounted to the floating connecting plate, a T-shaped plate is connected to the longitudinal guide rail, a centering guide rail is mounted to the T-shaped plate, a centering cylinder is mounted to the centering guide rail, and a rubber sleeve clamping jaw is mounted to the centering cylinder. Preferably, the adjustment base comprises: a large base plate assembly, provided with medium-sized base plate assemblies symmetrically thereon, with die welding machines arranged on the medium-sized base plate assemblies; wherein the large base plate assembly comprises a large base plate provided with a first set of guide rails and a first set of toothed racks thereon, and a lower sliding block is arranged slidingly in the first set of guide rails on the underside of the intermediate base plate assembly;The medium-sized base plate assembly comprises a medium-sized base plate provided with a second set of guide rails, a second set of toothed racks and a medium-sized base plate drive motor thereon, and a lower gear assembly equipped with the first set of toothed racks is provided on the medium-sized base plate drive motor. Preferably, the die welding machine comprises a welding frame assembly provided with a left-to-right mold closing assembly thereon; the left-to-right mold closing assembly is connected to a front-to-back mold closing assembly via a mold opening / closing guide rail, and a movable heating assembly is provided within the welding frame assembly; right-angle mold openings are formed when the left-to-right mold closing assembly and the front-to-back mold closing assembly are closed; the heating assembly can travel to the middle part of the left-to-right mold closing assembly to heat the extreme parts of the rubber sleeves when the left-to-right mold closing assembly is opened. Preferably, the heating assembly comprises: a rotating cylinder and a swing arm mounted on the rotating cylinder, wherein a heating block is provided at one end of the swing arm, and the heating block can travel to the middle mold closing assembly from left to right to heat the ends of the rubber sleeve. Preferably, a cleaning assembly is provided on the front-to-back mold closing assembly, and a rubber sleeve plug assembly is provided on the rear of the welding frame assembly. Preferably, the fully automatic parts picking system comprises an X-axis picking translation mechanism arranged parallel to the adjustment base, a Y-axis picking adjustment mechanism is provided on the X-axis picking translation mechanism, a Z-axis picking lifting mechanism is provided on the Y-axis picking adjustment mechanism, and a picking chuck mechanism is provided below the Z-axis picking lifting mechanism. Preferably, the chuck mechanism comprises a Z-axis connecting block, a lifting cylinder is provided in the Z-axis connecting block, two X-axis adjusting rods are connected below the lifting cylinder, four Y-axis adjusting rods are connected below the X-axis adjusting rods, and the two ends of each Y-axis adjusting rod are provided with a material-picking jaw, respectively. According to the above technical scheme, in the present invention, the rubber sleeves are placed and loaded into the mold by a fully automatic mold positioning and loading system, and then transferred by the fully automatic rubber sleeve clamping system to the fully automatic welding system for welding to form finished rectangular refrigerator door sealing strips, which are connected end to end. Finally, the finished welded rectangular refrigerator door sealing strips are collected from the fully automatic welding system by the fully automatic parts collection system for welding operations. In this way, the fully automatic production of the refrigerator door sealing strips is achieved. Other features and advantages of the present invention will be detailed further in the embodiments below. Brief Description of the Figures The accompanying figures are provided here to facilitate a further understanding of the present invention and form a part of this document. They are used in conjunction with the following embodiments to explain the present invention, but shall not be construed as constituting any limitation of the present invention. In the figures: Figure 1 is a schematic diagram of the overall structure of the fully automatic welding production line; Figure 2 is a schematic diagram of the overall structure of the fully automatic rubber sleeve and mold loading system; Figure 3 is a partial schematic structural diagram of the fully automatic rubber sleeve loading and positioning system; Figure 4 is a schematic structural diagram of the rubber sleeve mold loading mechanism; Figure 5 is a schematic structural diagram of the rubber sleeve positioning mechanism; Figure 6 is a schematic structural diagram of the rubber sleeve transport mechanism; Figure 7 is a schematic structural diagram of the rubber sleeve push mechanism. Figure 8 is a schematic structural diagram of the guide mechanism. Figure 9 is a schematic structural diagram of the front positioning mechanism; Figure 10 is a schematic structural diagram of the rear positioning mechanism; Figure 11 is a schematic diagram of the overall structure of the fully automatic rubber sleeve clamping system. Figure 12 is a schematic structural diagram of the automatic rubber sleeve clamping mechanism; Figure 13 is a schematic structural diagram of the X-axis adjustment mechanism in the automatic rubber sleeve clamping mechanism; Figure 14 is a schematic structural diagram of the Y-axis adjustment mechanism in the automatic rubber sleeve clamping mechanism; Figure 15 is a schematic structural diagram of the Y-axis positive float clamping mechanism in the automatic rubber sleeve clamping mechanism. Figure 16 is a schematic structural diagram of the Y-axis center floating clamping mechanism in the automatic rubber sleeve clamping mechanism. Figure 17 is a schematic diagram of the overall structure of the fully automatic welding system. Figure 18 is a schematic structural diagram of the large motherboard assembly; Figure 19 is a schematic structural diagram of the medium-sized motherboard assembly; Figure 20 is a schematic diagram of the general structure of the die welding machine. Figure 21 is a schematic sectional structural diagram of the die welding machine in one state; Figure 22 is a schematic sectional structural diagram of the die welding machine in another state; Figure 23 is a schematic diagram of the assembly structure between the front-to-back mold closing assembly and the rubber sleeves. Figure 24 is a schematic diagram of the overall structure of the fully automatic parts picking system. Figure 25 is a schematic diagram of the overall structure of the pickup chuck mechanism. Reference numbers: a - fully automatic mold loading and rubber sleeve positioning system; b - fully automatic rubber sleeve clamping system; c - fully automatic welding system; d - fully automatic parts collection system; a1 - mold loading mechanism with rubber sleeve; a2 - rubber sleeve positioning mechanism; a3 - rubber sleeve transport mechanism; a4 - pushing mechanism MA / a / ZUZ 1 rear positioning opening / closing; a41 - rear positioning opening / closing cylinder block; a42 rear positioning opening / closing cylinder; a43 rear positioning anti-deviation cylinder; a44 rear positioning anti-deviation cylinder block; a45 - rear positioning anti-deviation block; a46 - rear positioning pressure cylinder; a47 - rear positioning pressure plate; a48 - rear positioning motor base; a49 - rear positioning drive motor; a50 - rear positioning gear; a51 - frame platform; b1 - main beam connecting block; b2 - X-axis main beam; b3 - X-axis positive drive servomotor; b4 - X-axis positive adjustment module; b5 - X-axis negative adjustment module; b6 - X-axis negative drive servomotor; b7 - right secondary beam connecting block;b8 - right Y-axis secondary beam; b9 - right Y-axis positive drive servomotor; blO - right Y-axis positive adjustment module; bll - right Y-axis negative adjustment module; bl2 - right Y-axis negative drive servomotor; bl3 - main connection plate; bl4 - transverse pneumatic cylinder; bl5 - transverse guide rail; bl6 - floating connection plate; bl7 - longitudinal guide rail; bl8 - T-shaped plate; bl9 - centering guide rail; b20 - centering cylinder; b21; - rubber sleeve clamping jaw; b22 - connecting rod; b23 - T-shaped adjustment plate; b24 - C-shaped adjustment plate; b25 - center clamping jaw cylinder; b26 middle clamping jaw; b27 - left rubber sleeve; b28 - right rubber sleeve; b29 - six-axis manipulator; c1 - large base plate assembly; c2 - medium base plate assembly; c3 - die welding machine; c4 - first guide rail assembly; c5 - first rack assembly; c6 - large base plate; c7 - medium base plate; c8 - second guide rail assembly; c9 - second toothed rack assembly; c10 - intermediate plate drive motor; c11 - welding frame assembly; c12 - left-to-right mold closing assembly; c13 - front-to-back mold closing assembly; c14 - cleaning assembly; cl5 - rubber sleeve plug assembly; cl6 - rotating cylinder; cl7 - swing arm;c!8 - heating block; di - X-axis pickup translation mechanism; d2 - Y-axis pickup adjustment mechanism; d3 - Z-axis pickup lifting mechanism; d4 - pickup chuck mechanism; d5 - Z-axis connecting block; d6 - lifting cylinder; d7 - X-axis adjusting rod; d8 - Y-axis adjusting rod; d9 - material pickup jaw. Detailed Description of the Invention The following are some embodiments of the present invention, with reference to the accompanying figures. It should be understood that the embodiments described herein are provided only to describe and explain the present invention and do not constitute a limitation thereof. In the present invention, unless otherwise indicated, orientation words such as up, down, left, right, front, back, inside, and outside, etc., merely represent the orientations of the terms in the normal state of use, or are common expressions as understood by those skilled in the art, and shall not be deemed to constitute any limitation of the terms. As shown in Figures 1-25, the fully automatic welding production line for sealing refrigerator door strips comprises: a fully automatic rubber sleeve loading and positioning mold system a, a fully automatic rubber sleeve clamping system b disposed at one end of the automatic rubber sleeve loading and positioning mold system a, at least one fully automatic welding system c disposed on one side of the fully automatic rubber sleeve clamping system b, and a fully automatic parts collection system d disposed on one side of the fully automatic welding system c;wherein the fully automatic rubber sleeve loading and mold positioning system a comprises: a rubber sleeve mold loading mechanism a1 and a rubber sleeve positioning mechanism a2 mounted on a frame platform a51, wherein the rubber sleeve mold loading mechanism a1 comprises a rubber sleeve transport mechanism a3 and two rubber sleeve pushing mechanisms a4 arranged in bilateral symmetry, and the rubber sleeve positioning mechanism a2 comprises a guiding mechanism a5, a front positioning mechanism a6 and a rear positioning mechanism a7 and is formed in two assemblies and arranged in bilateral symmetry;The fully automatic rubber sleeve clamping system b comprises: a six-axis manipulator b29, wherein the movable end of the six-axis manipulator b29 is provided with an automatic rubber sleeve clamping mechanism capable of clamping two rubber sleeves that are parallel to each other, and the clamping position of the automatic rubber sleeve clamping mechanism is adjustable; the fully automatic welding system c comprises: an adjustment base provided with four die welding machines c3 thereon, wherein the four die welding machines c3 are arranged in a matrix and all of them extend towards the center of the adjustment base;A right-angled mold opening is formed at one end of the die welding machine c3 and supports the opening / closing of the mold in the left-to-right and front-to-back directions; a heating assembly that can extend or travel outside the central part of the mold opening is arranged on the die welding machine c3; the fully automatic parts collection system d is provided with at least six position-adjustable material collection jaws d9, among which are arranged at least two material collection jaws d9 corresponding to each edge of a finished refrigerator door sealing strip. By implementing the above technical scheme, the rubber sleeves are placed and loaded into the mold by the fully automatic rubber sleeve loading and mold-loading system (a), and then transferred by the fully automatic rubber sleeve clamping system (b) to the fully automatic welding system (c) for welding, forming finished rectangular refrigerator door sealing strips, which are connected end to end. Finally, the finished welded rectangular refrigerator door sealing strips are collected from the fully automatic welding system (c) by the fully automatic parts collection system (d) for welding operations. In this way, the fully automatic production of the refrigerator door sealing strips is achieved. In this mode, in order to improve the mold loading accuracy, greatly reduce the product requirements of the door sealing rubber sleeve to control the processing capacity of the previous process, effectively reduce the manufacturing cost of the door sealing product, improve efficiency and improve consistency and improve the overall competitiveness of the product while improving production and processing stability, as shown in Figure 6, the conveying mechanism of the rubber sleeves a3 comprises a profiled frame a9, with a head pulley assembly alO and a tail pulley assembly all arranged in front and behind the profiled frame a9 respectively, in which the head pulley assembly alO is connected to the tail pulley assembly all through a belt al2 between them, synchronous pulleys al3 are provided on both sides of the pulleys,A drive motor is provided below the pulleys and is connected to the synchronous pulleys AL3 via synchronous belts for drive. Furthermore, as shown in figure 7, the rubber sleeve transport mechanism a4 comprises a push positioning base plate al4, which is provided with a positioning bar al5 and a guide rail al6 thereon; a linear sliding block is mounted on the guide rail al6, a change base is mounted on the linear sliding block, a change cylinder al7 is mounted on the change base, and a change block al8 is mounted on the change cylinder al7; a push module a21 is mounted under the push positioning base plate al4, a push link al9 is mounted on the push module a21, and a push block a20 is mounted on the push link al9. Furthermore, as shown in Figure 5, the rubber sleeve positioning mechanism a2 comprises a positioning base plate mechanism a8, a guide mechanism a5, a front positioning mechanism a6, and a rear positioning mechanism a7; wherein the positioning base plate mechanism a8 comprises a positioning base plate a8, in which the guide mechanism a5 and a guide sliding block are mounted on the positioning base plate a8, the front positioning mechanism a6 and the rear positioning mechanism a7 are mounted on the guide sliding block, and a rack is mounted under the positioning base plate a8. Furthermore, as shown in Figure 8, the guide mechanism a5 comprises a guide base plate a22, wherein a guide base a23 is mounted on the guide base plate a22, and a guide array a24 is mounted on the guide base a23. In this embodiment, as shown in Figure 9, the front positioning mechanism a6 comprises a front positioning base plate a25, wherein a front positioning guide rail sliding block a26, a front positioning opening / closing cylinder block a29, a front positioning anti-deviation cylinder block a31, and a front positioning motor base a34 are mounted on the front positioning base plate a25; a front positioning opening / closing base a27 is mounted on the front positioning guide rail sliding block a26, and a front positioning opening / closing die a28 is mounted on the front positioning opening / closing base a27;A front positioning opening / closing cylinder a30 is mounted on the front positioning opening / closing cylinder block a29, and a fisheye connector is mounted on the front positioning opening / closing cylinder a30; a front positioning anti-deviation cylinder a32 is mounted on the front positioning anti-deviation cylinder block a31, and a front positioning anti-deviation block a33 is mounted on the front positioning anti-deviation cylinder a32; a front positioning drive motor a35 is mounted on the front positioning motor base a34, and a front positioning gear a36 is mounted on the front positioning drive motor a35. Also, as shown in Figure 10, the rear positioning mechanism a7 comprises a rear positioning base plate a37, wherein a rear positioning guide rail sliding block a38, a rear positioning opening / closing cylinder block a41, a rear positioning anti-deviation cylinder block a44, and a rear positioning motor base a48 are mounted on the rear positioning base plate a37;A rear positioning open / close base a39 is mounted on the rear positioning guide rail slide block a38, a rear positioning open / close die a40 and a rear positioning pressure cylinder a46 are mounted on the rear positioning open / close base a39, a rear positioning pressure plate a47 is mounted on the rear positioning pressure cylinder a46, a rear positioning open / close cylinder a42 is mounted on the rear positioning open / close cylinder block a41, and a fisheye-shaped connector is mounted on the rear positioning open / close cylinder a42;A rear positioning anti-deviation cylinder a43 is mounted on the rear positioning anti-deviation cylinder block a44, a rear positioning anti-deviation block a45 is mounted on the rear positioning anti-deviation cylinder a43, a rear positioning drive motor a49 is mounted on the base of the rear positioning motor a48, and a rear positioning gear a50 is mounted on the rear positioning drive motor a49. Specifically, the operating process of the fully automatic mold loading and rubber sleeve placement system is divided into two stages: In the first stage, the front positioning mechanism a6 and the rear positioning mechanism a7 are driven by a drive motor to simultaneously approach the guiding mechanism a5 until they make contact, in preparation for mold loading. At this point, two door sealing rubber sleeves are simultaneously conveyed from two belts al2 in the rubber sleeve transport mechanism a3 to predetermined positions, which are set by photoelectric switches; the rubber sleeve transport mechanism a3 stops when the rubber sleeves reach their predetermined positions.Now, the three shift cylinders al7 in the rubber sleeve mold loading mechanism al operate simultaneously to pull the two rubber sleeves to the left and right respectively to the preset positions set by the positioning bar al5 to guide the mold loading. Then, the push module a21 pushes forward and drives the push link al9 and the push block a20 to push forward at a constant speed; after traveling a certain distance, the shift cylinders al7 make contact with each other and advance together until they make contact with the rubber sleeves.At this point, the front mold loading distance is controlled by the servo motor to be equal to the total length of the front positioning mechanism a6, the rear positioning mechanism a7, and the guiding mechanism a5 after they are combined; therefore, the rubber sleeves are loaded into the mold.In the second stage, after the rubber sleeves are fully loaded into the mold, the rear positioning pressure cylinder a46 in the rear positioning mechanism a7 acts to drive the rear positioning pressure plate a47 to press down against the rubber sleeves, then the rear positioning drive motor a49 drives the rear positioning gear a50 meshed with the toothed rack to move the rear positioning mechanism a7 to a preset position, which is at a distance equal to half the length of the rubber sleeves from the center of the positioning base plate a8, then the rear positioning pressure plate a47 is lifted.In this process, to prevent the front positioning mechanism a6 and the rear positioning mechanism a7 from colliding, the front positioning mechanism a6 is controlled to lag behind the rear positioning mechanism a7 by two seconds. The front positioning mechanism a6 and the rear positioning mechanism a7 then move together in the same direction to a preset position, which is at a distance equal to the total length of the rubber sleeves from the rear positioning mechanism a7. Now, the front positioning mechanism a6 and the rear positioning mechanism a7 position the front end face and the rear end face of the rubber sleeves respectively, and the rubber sleeves are symmetrical with respect to the center of the positioning base plate a8 and await the manipulator's gripping.When the manipulator descends to a preset position, specifically determined by the cross-sectional height of the rubber sleeves, the two rear positioning opening / closing cylinders a42 in the rear positioning mechanism a7 move to open the rear positioning opening / closing die a40, enabling the manipulator to grasp and remove the rubber sleeves. Once the rubber sleeves have been removed, the front positioning mechanism a6 and the rear positioning mechanism a7 move back towards the guide mechanism a5 until they make contact, preparing for mold loading. The rubber sleeve transport mechanism then carries the rubber sleeves a3 back into position, and mold loading and positioning are repeated, thus repeating the process. Throughout the process, the front positioning anti-deviation cylinder a32 in the front positioning mechanism a6 actuates the front positioning anti-deviation block a33 to ensure symmetrical closure on the left and right sides and prevent the rubber covers from deviating or even falling off during the movement and positioning process. The corresponding components in the rear positioning mechanism a7 have the same function and will not be detailed further here. In this modality, to completely eliminate the variability factors incurred by manual clamping, improve efficiency and consistency, and radically prevent the occurrence of welding safety accidents, preferably, the automatic rubber sleeve clamping mechanism comprises: an upper X-axis adjustment mechanism b29 connected to the six-axis manipulator, and a pair of mechanisms, a right Y-axis symmetrical adjustment mechanism and a left Y-axis adjustment mechanism that are mounted below the X-axis adjustment mechanism; a right Y-axis clamping mechanism is connected below the right Y-axis adjustment mechanism, and a left Y-axis clamping mechanism is connected below the left Y-axis adjustment mechanism;After the b29 six-axis manipulator moves to a rubber sleeve positioning point and descends to a material pickup position, the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism are automatically adjusted by the X-axis adjustment mechanism to the appropriate positions according to the space between two parallel rubber sleeves. Then, the left Y-axis clamping mechanism and the right Y-axis clamping mechanism are driven by the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism to clamp the rubber sleeves simultaneously according to the length of the rubber sleeves. In this embodiment, preferably, the right Y-axis clamping mechanism comprises a pair of mechanisms, a symmetrical positive float clamping mechanism of the right Y-axis and a negative float clamping mechanism of the right Y-axis, which cooperate with a central clamping mechanism of the right Y-axis arranged in the middle part to clamp a right rubber sleeve b28 at three points in the direction of the Y-axis simultaneously; the left Y-axis clamping mechanism comprises a pair of mechanisms, a symmetrical positive float clamping mechanism of the left Y-axis and a negative float clamping mechanism of the left Y-axis, which cooperate with a central clamping mechanism of the left Y-axis arranged in the middle part to clamp a left rubber sleeve b27 at three points in the direction of the Y-axis simultaneously. In this embodiment, preferably, the intermediate clamping mechanism of the Y-axis comprises a connecting rod b22, the upper end of the connecting rod b22 being connected to a secondary beam of the Y-axis, a T-shaped adjusting plate b23 being mounted on the lower end of the connecting rod b22, a C-shaped adjusting plate b24 being mounted on the T-shaped adjusting plate b23, a central clamping jaw cylinder b25 being mounted on the C-shaped adjusting plate b24, and a central clamping jaw b26 being mounted on the central clamping jaw cylinder b25. In this embodiment, preferably, the X-axis adjustment mechanism comprises a main beam connecting block bl, an X-axis main beam bl, a positive X-axis adjustment module b4, a positive X-axis drive servomotor b3, a negative X-axis adjustment module b5, and a negative X-axis drive servomotor b6; wherein the upper end of the main beam connecting block bl is connected to the six-axis manipulator b29, and the lower end of the main beam connecting block bl is connected to the center of the X-axis main beam bl; the positive X-axis adjustment module b4 is on one side of the X-axis main beam bl and is in drive connection with the positive X-axis drive servomotor b3; the negative X-axis adjustment module b5 is on the other side of the X-axis main beam bl and is in drive connection with the negative X-axis drive servomotor b6.In this embodiment, preferably, the right Y-axis adjustment mechanism comprises a right secondary beam connecting block b7, a right Y-axis secondary beam b8, a right Y-axis positive adjustment module blO, a right Y-axis positive drive servomotor b9, a right Y-axis negative adjustment module b11, and a right Y-axis negative drive servomotor bl2; wherein the upper end of the right secondary beam connecting block b7 is connected to the X-axis negative adjustment module b5, and the lower end of the right secondary beam connecting block b7 is connected to the center of the right Y-axis secondary beam b8; the right Y-axis positive adjustment module blO is on one side of the Y-axis secondary beam, and is in drive connection with the right Y-axis positive drive servomotor b9;The right Y-axis negative adjustment module bll is on the other side of the Y-axis secondary beam, and is in drive connection with the right Y-axis negative drive servomotor bl2.; In this embodiment, preferably, the left Y-axis adjustment mechanism comprises a left secondary beam connecting block, a left Y-axis secondary beam, a left Y-axis positive adjustment module, a left Y-axis positive drive servomotor, a Y-axis negative adjustment module, and a left Y-axis negative drive servomotor; wherein the upper end of the left secondary beam connecting block is connected to the X-axis positive adjustment module b4, and the lower end of the left secondary beam connecting block is connected to the center of the left Y-axis secondary beam; the left Y-axis positive adjustment module is on one side of the Y-axis secondary beam and is in drive connection with the left Y-axis positive drive servomotor;The negative adjustment module of the left Y-axis is on the other side of the secondary Y-axis beam, and is in drive connection with the negative drive servomotor of the left Y-axis. In this embodiment, preferably, the floating clamping mechanism of the Y-axis comprises a main connecting plate bl3, the upper end of the main connecting plate bl3 is connected to a Y-axis adjustment module, a transverse guide rail bl5 is mounted on the lower end of the main connecting plate bl3, a transverse pneumatic cylinder bl4 is in drive connection with the transverse guide rail bl5, a floating connecting plate bl6 is connected to the transverse guide rail bl5, a longitudinal guide rail bl7 is mounted to the floating connecting plate bl6, a T-shaped plate bl6 is connected to the longitudinal guide rail bl7, a centering guide rail bl9 is mounted to the T-shaped plate bl6, a centering cylinder b20 is mounted to the centering guide rail bl9, and a rubber sleeve clamping jaw b21 is mounted to the centering cylinder b20. Specifically, when the fully automatic rubber sleeve clamping system b is operating, the upper end of the main beam connecting block bl is connected to the six-axis manipulator b29; the manipulator travels to a rubber sleeve positioning point and descends first to a material pickup position, then the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism are automatically adjusted by the X-axis adjustment mechanism to the appropriate positions according to the space between the two parallel rubber sleeves, the left Y-axis adjustment mechanism and the Y-axis adjustment mechanism automatically adjust the Y-axis positive float clamping mechanism and the Y-axis negative float clamping mechanism to the appropriate positions according to the length of the rubber sleeves;At this point, the central clamping mechanism is in a central position, so three clamping points of the rubber sleeve are formed in the direction of the Y axis on one side, and any deviation is eliminated by the centering guide rail bl9 in the floating clamping mechanisms; now the manipulators lower further to a material picking position on the basis of the lifting of the central clamping mechanism, the positive floating clamping mechanism and the negative floating clamping mechanism adjust their liftings according to the lowering position automatically and remain in line with the intermediate clamp;At this point, the centering cylinders b20 in the positive float clamping mechanism and the negative float clamping mechanism actuate the rubber sleeve clamping jaws b21 so that they act simultaneously with the intermediate clamping jaw b26, which is actuated by the central clamping jaw cylinder b25 in the central clamping mechanism, for clamping the rubber sleeves. The actions and start and end times on both sides are the same. Two rubber sleeves are clamped simultaneously, the manipulator rises to a material feeding position, and cooperates with the welding equipment for automatic material feeding. The floating clamping mechanisms adjust themselves in the height direction automatically when operated; when the clamping jaws of the rubber sleeve b21 are subjected to an external limiting action in the vertical direction, they automatically push the T-shaped plate bl6 and are thus lifted and adjusted by the longitudinal guide rail bl7 and automatically adjusted in the horizontal direction; when the clamping jaws of the rubber sleeve b21 are subjected to an external limiting action in the horizontal direction, they automatically push the centering guide rail bl9 to move horizontally for adjustment. When the intermediate clamping mechanism is operated, it serves as a reference for adjusting the floating clamps in both the horizontal and vertical directions. After the intermediate clamping mechanism is initially adjusted manually to the appropriate position according to the actual requirements, it is secured with screws. Specifically, the horizontal adjustment is achieved using a kidney-shaped groove in the C-shaped adjustment plate b24, the vertical adjustment is achieved by adjusting the elevation of the T-shaped adjustment plate b23 using a kidney-shaped groove in the connecting rod b22, and the center position adjustment is achieved using a protrusion on the T-shaped adjustment plate b23 and a groove in the C-shaped adjustment plate b24 in combination. Although some preferred embodiments of the present invention were described above with reference to the accompanying figures, the present invention is not limited to the details of these embodiments. Those skilled in the art may make modifications and variations to the technical scheme of the present invention, without departing from the spirit of the present invention. However, all such modifications and variations shall be deemed to fall within the scope of protection of the present invention. For example, a servomotor and a lead screw module are used to drive the X-axis and Y-axis adjustment mechanisms, respectively, to perform linear motion adjustment. Since numerous standard drive products are available for linear motion adjustment, such as a linear motor, a synchronous belt mechanism, a rack and pinion mechanism, etc., any scheme implemented to replace the linear drive means for the X and Y axes without modifying the mechanism should be considered as falling within the scope of protection of the present invention. Similarly, the upper end of the main beam connecting block bl is connected to a standard six-axis manipulator b29.Given that there are many brands and types of manipulators, it is observed that any scheme implemented to replace the manipulator with a different brand or type of manipulator should be considered to be within the scope of protection of the present invention. In this embodiment, preferably, the adjustment base comprises: a large base plate assembly l, provided with medium-sized base plate assemblies c2 symmetrically thereon, with die welding machines c3 arranged on the medium-sized base plate assemblies c2; wherein the large base plate assembly l comprises a large base plate c6 provided thereon with a first set of guide rails c4 and a first set of toothed racks c5, and a lower sliding block that is slidably sleeved in the first set of guide rails c4 arranged on the lower part of the central base plate assembly c2;The medium-sized base plate assembly c2 comprises a medium-sized base plate c7 provided with a second set of guide rails c8, a second set of racks c9 and a medium-sized base plate drive motor clO thereon, and a lower gear assembly equipped with the first set of racks c5 is provided on the medium-sized base plate drive motor clO. In this embodiment, preferably, the die welding machine c3 comprises a welding frame assembly cll, an upper gear assembly equipped with a second set of toothed racks (c9) is arranged on the drive motor of the welding machine, the welding frame assembly cll is provided with a left-to-right mold closing assembly cl2 thereon, the left-to-right mold closing assembly cl2 is connected to a front-to-back mold closing assembly cl3 via a mold opening / closing guide rail, and a movable heating assembly is provided within the welding frame assembly cll; right-angle mold openings are formed when the left-to-right mold closing assembly cl2 and the front-to-back mold closing assembly cl3 are closed;The heating element can travel to the middle part of the cl2 mold closing assembly from left to right to heat the extreme parts of the rubber sleeve when the cl2 mold closing assembly is opened from left to right. In this embodiment, preferably, the heating assembly comprises: a rotating cylinder cl6 and a tilting arm cl7 mounted on the rotating cylinder cl6, wherein a heating block cl8 is provided at one end of the tilting arm cl7, and the heating block cl8 can be moved to the central part of the mold closing assembly cl2 from left to right to heat the end parts of the rubber sleeve. In this embodiment, preferably, the front-to-back mold closing assembly cl3 is provided with a cleaning assembly cl4, and the rear of the welding frame assembly cll is provided with a rubber sleeve plug assembly cl5. In this embodiment, preferably, the fully automatic parts picking system d comprises an X-axis picking translation mechanism di arranged parallel to the adjustment base, a Y-axis picking adjustment mechanism d2 is provided on the X-axis picking mechanism di, a Z-axis picking lifting mechanism d3 is provided on the Y-axis picking adjustment mechanism d2, and a picking chuck mechanism d4 is provided under the Z-axis picking lifting mechanism d3. In this embodiment, preferably, the chuck mechanism comprises a Z-axis connecting block d5, a lifting cylinder d6 is provided in the Z-axis connecting block d5, two X-axis adjusting rods d7 are connected under the lifting cylinder d6, four Y-axis adjusting rods d8 are connected under the X-axis adjusting rods d7, and the two ends of each Y-axis adjusting rod d8 are provided with a material-picking jaw d9, respectively. Specifically, the process at the welding stage is as follows: when the fully automatic rubber sleeve clamping system b transports the collected rubber sleeves to a preset position where the rubber sleeves are at an appropriate elevation just above the fully automatic welding system c and no collision occurs above the fully automatic welding system c, the medium-sized base plate assembly c2 in the fully automatic welding system c is driven by a motor to adjust to a preset position at a distance equal to the spacing between the rubber sleeves clamped by the fully automatic rubber sleeve clamping system b,The C3 die welding machines are driven by motors to adjust to a preset position at a distance equal to the length of the rubber sleeves held by the automatic rubber sleeve clamping mechanism. At this point, the B29 six-axis manipulator drives the automatic rubber sleeve clamping mechanism to lower it to a preset position, which is set according to the specific cross-sectional height of the rubber sleeves. After the automatic rubber sleeve clamping mechanism reaches the preset position, two C3 die welding machines on the same side of the medium-sized C2 base plate assembly move towards each other via motors. The clamped rubber sleeves, floating in the floating clamping mechanisms, are inserted into the mold openings of the C3 die welding machines, thus loading two door seals. Then,The fully automatic rubber sleeve clamping system b repeats the previous action to a preset position where the rubber sleeves are at a suitable elevation just above the fully automatic welding system c and no collision occurs. The six-axis manipulator b29 drives the fully automatic rubber sleeve clamping mechanism to rotate 90°. Then the automatic rubber sleeve clamping mechanism is lowered to a preset position that is set according to the specific cross-section height of the rubber sleeves. After the automatic rubber sleeve clamping mechanism reaches the preset position, two die welding machines c3 on the same side of the medium-sized base plate assembly c2 are driven by motors to move towards each other.The rubber sleeves, held in place and floating on the floating clamping mechanisms, are inserted into the mold openings of the C3 die welding machines, thus loading two additional door seals. The fully automatic rubber sleeve clamping system B then repeats the above action until a preset position is reached where the rubber sleeves are at a suitable elevation just above the fully automatic welding system C. If no collision occurs, the six-axis manipulator B29 drives the automatic rubber sleeve clamping mechanism to rotate 90°. The automatic rubber sleeve clamping mechanism then lowers to a preset position, which is set according to the specific cross-sectional height of the rubber sleeves. After the automatic rubber sleeve clamping mechanism reaches the preset position,Two C3 die welding machines on the same side of the medium-sized C2 base plate assembly are driven by motors to move towards each other. The rubber seals, held in place by floating clamping mechanisms, are inserted into the mold openings of the C3 die welding machines, loading two more door seals. Now, the loading of four rubber sleeves is complete, and the four rubber sleeves form a rectangular shape, ready for welding. At this point, the four C3 die welding machines operate to weld the rubber sleeves as follows: the CL8 heating block in the C3 die welding machine is rotated by the rotating cylinder C16 towards the mold opening for radiant heating of the end portions of the rubber sleeve; after a preset process time is reached,The left-to-right half of the mold closing assembly cl2 is driven by a pneumatic cylinder to approach the other left-to-right half of the mold closing assembly c2. After a preset delay time, the front-to-back mold closing assembly cl3 is driven by a pneumatic cylinder to separate the mold in the front-to-back direction. Welding of a finished door seal is completed once all four die welding machines c3 have finished their operations. Then, after the finished product is collected by the fully automatic parts collection system d, the left-to-right mold closing assembly cl2 is pushed to an open state by a pneumatic cylinder, while the front-to-back mold closing assembly cl3 is pushed to a closed state by a pneumatic cylinder.The cleaning assembly cl4 is rotated by a cleaning cylinder to actuate a brush for removing slag; then, the rubber sleeve plug assembly cl5 is pushed by a pneumatic cylinder into a position between the two halves of the mold closing assembly cl3 from front to back for the next rubber sleeve loading and positioning cycle. The above actions are repeated after the rubber sleeves are loaded. Specifically, the picking process is as follows: In this stage, the fully automatic parts picking system d mainly operates. After the entire die welding machine c3 in the fully automatic welding system c completes its welding actions in the previous stage, the Y-axis picking adjustment mechanism d2 is driven by a movement to move the Y-axis picking mechanism and the chuck mechanism in the X-axis picking translation mechanism di to a preset position just above the fully automatic welding system c; at this point, the Z-axis picking mechanism is driven by the lifting cylinder d6 to move the picking chuck mechanism d4 to a rubber sleeve clamping position that is set according to the specific height of the rubber sleeves;Now, the eight clamps hold the finished product, with each edge of the finished product held by two clamps; then, the pneumatic cylinder raises the Z-axis pick-up mechanism to a safe position, and the X-axis pick-up translation mechanism transports the finished product to a finished product stacking location. At this point, the eight clamps simultaneously release the finished product into an inspection area; then, the chuck mechanism raises to a safe position and awaits the next pick-up cycle, and so on. The four preceding steps constitute the entire automated production process of the present invention. This document describes only the process at one processing station. The general schematic structural diagram in Figure 1 of the present invention is a structural diagram of two processing stations. However, the actual process is carried out through the four preceding steps at two processing stations alternately. In the technical scheme of the present invention, linear motion can be achieved by means of a linear module, rack and pinion mechanism, ball screw, etc. Given the numerous standard drive products available for linear motion control, such as a linear motor, a synchronous belt mechanism, etc.It is observed in the present invention that any scheme implemented by means of linear drive without any innovative modification of the mechanism will be considered to be within the scope of protection of the present invention. The use of a six-axis manipulator b29 is involved in the mechanism of the present invention. Since there are many brands and types of manipulators, it is noted that any scheme implemented by replacing the brand or type of manipulator based on the technical scheme of the present invention will be considered to be within the scope of protection of the present invention. Although the present invention provides a modality that uses two processing stations, any scheme implemented by increasing or decreasing the number of stations or changing the equipment arrangement will be considered to be within the scope of protection of the present invention. Furthermore, the requirements for producing refrigerator sealing strips of different lengths and cross-sections can be met by changing the mold and modifying the software parameters. Therefore, the present invention has high adaptability and applicability. Moreover, the present invention greatly promotes the development of refrigerator sealing strips and improves upon existing traditional techniques for producing refrigerator sealing strips in the art. Although some preferred embodiments of the present invention were described above with reference to the accompanying figures, the present invention is not limited to the details of these embodiments. Those skilled in the art may make modifications and variations to the technical scheme of the present invention, without departing from the spirit of the present invention. However, all such modifications and variations shall be deemed to fall within the scope of protection of the present invention. Furthermore, it should be noted that the specific technical features described in the preceding specific embodiments may be combined in any appropriate manner, provided there is no conflict between them. To avoid unnecessary repetition, several possible combinations are not specifically described in the present invention. Furthermore, different embodiments of the present invention may also be freely combined as required, provided that the combinations do not deviate from the ideal and spirit of the present invention. However, such combinations shall also be deemed to be within the scope described herein. It is hereby stated that, as of this date, the best method known to the applicant for putting the aforementioned invention into practice is the one that is clear from the present description of the invention.

Claims

Having described the invention as above, the following claims are claimed as property:

1. A fully automatic welding production line for sealing refrigerator door strips, comprising: a fully automatic mold loading and rubber sleeve placement system, a fully automatic rubber sleeve clamping system arranged at one end of the fully automatic mold loading and rubber sleeve placement system, at least one fully automatic welding system arranged on one side of the fully automatic rubber sleeve clamping system, and a fully automatic parts collection system arranged on one side of the fully automatic welding system;characterized in that the fully automatic mold loading and rubber sleeve placement system comprises: a rubber sleeve mold loading mechanism and a rubber sleeve positioning mechanism mounted on a frame platform, wherein the rubber sleeve mold loading mechanism comprises a rubber sleeve transport mechanism and two rubber sleeve pushing mechanisms arranged in bilateral symmetry, and the rubber sleeve positioning mechanism comprises a guiding mechanism, a front positioning mechanism and a rear positioning mechanism and is formed in two assemblies and arranged in bilateral symmetry;The fully automatic rubber sleeve clamping system comprises: a six-axis manipulator, wherein the movable end of the six-axis manipulator is provided with an automatic rubber sleeve clamping mechanism capable of clamping two rubber sleeves that are parallel to each other, and the clamping position of the automatic rubber sleeve clamping mechanism is adjustable; the fully automatic welding system comprises: an adjustment base provided with four die welding machines thereon, wherein the four die welding machines are arranged in a matrix and all of them extend towards the center of the adjustment base;A mold opening is formed at a right angle at one end into the die welding machine and supports the opening / closing of the mold in the left-to-right and front-to-back directions; a heating assembly that can extend or travel outside the middle of the mold opening is arranged in the die welding machine; the fully automatic parts collection system is provided with at least six position-adjustable material collection jaws, among which at least two material collection jaws are arranged corresponding to each edge of a finished refrigerator door sealing strip.

2. The fully automatic welding production line for sealing refrigerator door strips according to claim 1, characterized in that the rubber sleeve transport mechanism comprises a profiled frame, with a head pulley assembly and a tail pulley assembly arranged in front of and behind the profiled frame respectively, wherein the head pulley assembly is connected to the tail pulley assembly via a belt between them, synchronous pulleys are provided on both sides of the pulleys, a drive motor is provided below the pulleys and connected to the synchronous pulleys via synchronous belts for transmission.

3. The fully automatic welding production line for sealing refrigerator door strips according to claim 1, characterized in that the rubber sleeve push mechanism comprises a push positioning base plate, which is provided with a positioning bar and a guide rail thereon, a linear sliding block is mounted on the guide rail, a change base is mounted on the linear sliding block, a change cylinder is mounted on the change base and a change block is mounted on the change cylinder; a push module is mounted under the push positioning base plate, a push link is mounted on the push module and a push block is mounted on the push link.

4. The fully automatic welding production line for sealing refrigerator door strips according to claim 1, characterized in that the rubber sleeve positioning mechanism comprises a positioning base plate mechanism, a guide mechanism, a front positioning mechanism, and a rear positioning mechanism; wherein the positioning base plate mechanism comprises a positioning base plate, in which the guide mechanism and a guide sliding block are mounted on the positioning base plate, the front positioning mechanism and the rear positioning mechanism are mounted on the guide sliding block, and a toothed rack is mounted under the positioning base plate; the guide mechanism comprises a guide base plate, in which a guide base is mounted on the guide base plate and a guide die is mounted on the guide base.

5. The fully automatic welding production line for sealing refrigerator door strips according to claim 4, characterized in that the front positioning mechanism comprises a front positioning base plate, wherein a front positioning guide rail sliding block, a front positioning opening / closing cylinder block, a front positioning anti-deviation cylinder block, and a front positioning motor base are mounted on the front positioning base plate; a front positioning opening / closing base is mounted on the front positioning guide rail sliding block, and a front positioning opening / closing die is mounted on the front positioning opening / closing base;A front-positioning opening / closing cylinder is mounted on the front-positioning opening / closing cylinder block, and a fisheye connector is mounted on the front-positioning opening / closing cylinder; a front-positioning anti-deviation cylinder is mounted on the front-positioning anti-deviation cylinder block, and a front-positioning anti-deviation block is mounted on the front-positioning anti-deviation cylinder; a front-positioning drive motor is mounted on the front-positioning motor base, and a front-positioning gear is mounted on the front-positioning drive motor.

6. The fully automatic welding production line for sealing refrigerator door strips according to claim 4, characterized in that the rear positioning mechanism comprises a rear positioning base plate, in which a rear positioning guide rail sliding block, an opening / closing rear positioning cylinder block, a rear positioning anti-deviation cylinder block, and a rear positioning motor base are mounted on the rear positioning base plate;A rear positioning open / close base is mounted on the rear positioning guide rail sliding block, a rear positioning open / close die and a rear positioning pressure cylinder are mounted on the rear positioning open / close base, a rear positioning pressure plate is mounted on the rear positioning pressure cylinder, a rear positioning open / close cylinder is mounted on the rear positioning open / close cylinder block, and a fisheye shaped connector is mounted on the rear positioning open / close cylinder;A rear positioning anti-deviation cylinder is mounted on the rear positioning anti-deviation cylinder block, a rear positioning anti-deviation block is mounted on the rear positioning anti-deviation cylinder, a rear positioning drive motor is mounted on the rear positioning motor base, and a rear positioning gear is mounted on the rear positioning drive motor.

7. The fully automatic welding production line for sealing refrigerator door strips according to any of claims 1-6, characterized in that the automatic rubber sleeve clamping mechanism comprises: an upper X-axis adjustment mechanism connected to the six-axis manipulator and a pair of mechanisms, a right Y-axis symmetrical adjustment mechanism and a left Y-axis adjustment mechanism mounted below the X-axis adjustment mechanism; a right Y-axis clamping mechanism connected below the right Y-axis adjustment mechanism, and a left Y-axis clamping mechanism connected below the left Y-axis adjustment mechanism;After the six-axis manipulator moves to a rubber sleeve positioning point and descends to a material pickup position, the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism are automatically adjusted by the X-axis adjustment mechanism to the appropriate positions according to the space between two parallel rubber sleeves. Then, the left Y-axis clamping mechanism and the right Y-axis clamping mechanism are actuated by the left Y-axis adjustment mechanism and the right Y-axis adjustment mechanism to clamp the rubber sleeves simultaneously according to the length of the rubber sleeves.

8. The fully automatic welding production line for sealing refrigerator door strips according to claim 7, characterized in that the right Y-axis clamping mechanism comprises a pair of mechanisms, a symmetrical positive floating clamping mechanism of the right Y-axis and a negative floating clamping mechanism of the right Y-axis, cooperating with a central clamping mechanism of the right Y-axis arranged in the middle part to clamp a right rubber sleeve at three points in the direction of the Y-axis simultaneously;The left Y-axis clamping mechanism comprises a pair of mechanisms, a symmetrical positive float clamping mechanism of the left Y-axis and a negative float clamping mechanism of the left Y-axis, which cooperate with a central clamping mechanism of the left Y-axis arranged in the middle part for clamping a left rubber sleeve at three points in the direction of the Y-axis simultaneously.

9. The fully automatic welding production line for sealing refrigerator door strips according to claim 8, characterized in that the central clamping mechanism of the Y-axis comprises a connecting rod, the upper end of the connecting rod being connected to a secondary beam of the Y-axis, a T-shaped adjusting plate being mounted on the lower end of the connecting rod, a C-shaped adjusting plate being mounted on the T-shaped adjusting plate, a central clamping jaw cylinder being mounted on the C-shaped adjusting plate, and an intermediate clamping jaw being mounted on the central clamping jaw cylinder.

10. The fully automatic welding production line for sealing refrigerator door strips according to claim 7, characterized in that the X-axis adjustment mechanism comprises a main beam connecting block, an X-axis main beam, an X-axis positive adjustment module, an X-axis positive drive servomotor, an X-axis negative adjustment module, and an X-axis negative drive servomotor; wherein the upper end of the main beam connecting block is connected to the six-axis manipulator, and the lower end of the main beam connecting block is connected to the center of the X-axis main beam; the X-axis positive adjustment module is on one side of the X-axis main beam and is in drive connection with the X-axis positive drive servomotor;The negative adjustment module of the X-axis is on the other side of the main X-axis beam and is in drive connection with the negative drive servomotor of the X-axis.

11. The fully automatic welding production line for sealing refrigerator door strips according to claim 10, characterized in that the right Y-axis adjustment mechanism comprises a right secondary beam connecting block, a right Y-axis secondary beam, a right Y-axis positive adjustment module, a right Y-axis positive drive servomotor, a right Y-axis negative adjustment module, and a right Y-axis negative drive servomotor; wherein the upper end of the right secondary beam connecting block is connected to the X-axis negative adjustment module, and the lower end of the right secondary beam connecting block is connected to the middle part of the right Y-axis secondary beam;The right Y-axis positive adjustment module is on one side of the Y-axis secondary beam, and is in drive connection with the right Y-axis positive drive servomotor; the right Y-axis negative adjustment module is on the other side of the Y-axis secondary beam, and is in drive connection with the right Y-axis negative drive servomotor.

12. The fully automatic welding production line for sealing refrigerator door strips according to claim 10, characterized in that the left Y-axis adjustment mechanism comprises a left secondary beam connecting block, a left Y-axis secondary beam, a left positive Y-axis adjustment module, a left Y-axis positive drive servomotor, a left Y-axis negative adjustment module, and a left Y-axis negative drive servomotor; wherein the upper end of the left secondary beam connecting block is connected to the X-axis positive adjustment module, and the lower end of the left secondary beam connecting block is connected to the center of the left Y-axis secondary beam;The left Y-axis positive adjustment module is located on one side of the Y-axis secondary beam and is connected to the left Y-axis positive drive servomotor; the left Y-axis negative adjustment module is located on the other side of the Y-axis secondary beam and is connected to the left Y-axis negative drive servomotor.

13. The fully automatic welding production line for sealing refrigerator door strips according to claim 11 or 12, characterized in that the Y-axis floating clamping mechanism comprises a main connecting plate, the upper end of the main connecting plate is connected to a Y-axis adjustment module, a transverse guide rail is mounted on the lower end of the main connecting plate, a transverse pneumatic cylinder is in drive connection with the transverse guide rail, a floating connecting plate is connected to the transverse guide rail, a longitudinal guide rail is mounted to the floating connecting plate, a T-shaped plate is connected to the longitudinal guide rail, and a centering guide rail is mounted to the T-shaped plate.A centering cylinder is mounted on the centering guide rail, and a rubber sleeve clamping jaw is mounted on the centering cylinder.

14. The fully automatic welding production line for sealing refrigerator door strips according to any of claims 1-6 or 812, characterized in that the adjustment base comprises: a large base plate assembly, provided with medium-sized base plate assemblies symmetrically thereon, with die welding machines arranged on the medium-sized base plate assemblies; wherein the large base plate assembly comprises a large base plate provided with a first set of guide rails and a first set of toothed racks thereon, and a lower sliding block that is slidably sleeved in the first set of guide rails is arranged on the underside of the central base plate assembly;The medium-sized base plate assembly comprises a medium-sized base plate provided with a second set of guide rails, a second set of toothed racks and a medium-sized base plate drive motor thereon, and a lower gear assembly equipped with the first set of toothed racks is provided on the medium-sized base plate drive motor.

15. The fully automatic welding production line for sealing refrigerator door strips according to claim 14, characterized in that the die welding machine comprises a welding frame assembly provided therewith a left-to-right mold closing assembly, the left-to-right mold closing assembly being connected to a front-to-back mold closing assembly via a mold opening / closing guide rail, and a movable heating assembly is provided within the welding frame assembly; right-angle mold openings are formed when the left-to-right mold closing assembly and the front-to-back mold closing assembly are closed;The heating element can travel to the middle of the mold closing assembly from left to right to heat the extreme parts of the rubber sleeve when the mold closing assembly is opened from left to right.

16. The fully automatic welding production line for sealing refrigerator door strips according to claim 15, characterized in that the heating assembly comprises: a rotating cylinder and a swing arm mounted on the rotating cylinder, wherein a heating block is provided at one end of the swing arm, and the heating block can travel to the middle part of the mold closing assembly from left to right to heat the end parts of the rubber sleeve.

17. The fully automatic welding production line for sealing refrigerator door strips according to claim 15, characterized in that a cleaning assembly is provided in the front-to-back mold closing assembly and a rubber sleeve plug assembly is provided at the tail of the welding frame assembly.

18. The fully automatic welding production line for sealing refrigerator door strips according to any of claims 1-6, 812 or 15-17, characterized in that the fully automatic parts collection system comprises an X-axis collection translation mechanism arranged parallel to the adjustment base, a Y-axis collection adjustment mechanism is provided on the X-axis collection translation mechanism, a Z-axis collection lifting mechanism is provided on the Y-axis collection adjustment mechanism, and a collection mandrel mechanism is provided below the Z-axis collection lifting mechanism.

19. The fully automatic welding production line for sealing refrigerator door strips according to claim 18, characterized in that the chuck mechanism comprises a Z-axis connecting block, a lifting cylinder is provided in the Z-axis connecting block, two X-axis adjusting rods are connected below the lifting cylinder, four Y-axis adjusting rods are connected below the X-axis adjusting rods, and the two ends of each Y-axis adjusting rod are provided with a material picking jaw, respectively.

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