CN205674440U - A kind of robot production line for the washing machine door seal demoulding and carrying - Google Patents

Abstract

The utility model discloses a kind of robot production line for the washing machine door seal demoulding and carrying, including movable machine people's system, the clamping jaw device being fixed in robot system, for produce the forming machine of door seal, electronic weighing device, product pipeline, for controlling the robot electric cabinet of robot gripping system and for controlling the forming machine electric cabinet of forming machine；It is arranged on guide rail moveable six-joint robot owing to using and replaces manual work, four injection moulding machine work can be coordinated simultaneously, coordinate automatic weighing device and product pipeline, injection, the demoulding can be completed simultaneously, carry, weigh, transport five job steps, increase substantially production efficiency, improve percent of automatization, simultaneously simple in construction, easy to maintenance, comprehensive use cost is low.

Description

A kind of robot production line for the washing machine door seal demoulding and carrying

Technical field

The utility model belongs to washing machine production field, is specifically related to a kind of machine for the washing machine door seal demoulding and carrying Device people's production line, belongs to automatic field.

Background technology

As roller washing machine is more and more universal, the demand sustainable growth to roller washing machine for the market.As laundry drum The important parts gasket of machine, has the very big market space.Traditional gasket produces mainly by shaping Machine manual operation produces, and production process belongs to high temperature high-risk operations, and inefficiency, and quality cannot ensure simultaneously, with manually The continuous growth of cost, under traditional mode of production, product cost rises violently, and increasingly can not meet the demand in market.Enterprise examines Consider and promote operating efficiency by automatic improving, but owing to manual work step is various and complicated, existing robot exists dynamic As linking have some setbacks, the shortcoming such as inefficiency, maintenance are complicated, it is impossible to real large-scale application.Enterprise considers to be changed by automation Make lifting operating efficiency, owing to substituting the scheme of manual work by expensive automation equipment, due to shortage economy, and effect Rate promotes limited, and enterprise may not adopt.

Utility model content

For solving above-mentioned technical problem, the utility model provides a kind of machine for the washing machine door seal demoulding and carrying People's production line, can simulate artificial injection molding operation under high temperature high-risk environment, and operation process action linking is smooth and easy, efficiency is high, dimension Protect simple, four injection moulding machine work can be coordinated simultaneously, increase substantially production efficiency, reduce use cost.

For reaching above-mentioned purpose, the technical solution of the utility model is as follows: a kind of for the washing machine door seal demoulding and carrying Robot production line, including movable machine people's system, the clamping jaw device being fixed in described robot system, for giving birth to Vaginal orifice envelope forming machine, electronic weighing device, product pipeline, for control described robot gripping system robot automatically controlled Case and for controlling the forming machine electric cabinet of described forming machine；

Described robot system includes six-joint robot, for carrying guide rail that described robot moves, for capturing door The clamping jaw device of envelope, electronic weighing device, described guide rail is provided with the installing plate for mounting robot, described installing plate with Described slide block is fixing to be connected, and described six-joint robot one end is fixed on described installing plate, and the other end is solid with described clamping jaw device Fixed connecting, described installing plate is additionally provided with the 7th spindle motor, and described 7th spindle motor rotor is fixed with gear, described gear with It is fixed on and matches with the tooth bar of described guide rail parallel inside described guide rail, when described 7th spindle motor rotates, can drive described Installing plate moves along a straight line with described six-joint robot；

Described forming machine include transmission track, arrange pedestal on the track, the mould being fixed on described pedestal, Rear end inflatable mouth for the demoulding, the front end inflatable mouth for the demoulding, demoulding clamping device, described track hangs down with described guide rail Directly, described pedestal can move along a straight line along described track, moves to described forming machine dead ahead below described forming machine, described It is relative with described front end inflatable mouth that rear end inflatable mouth is arranged on described forming machine rear end, and opening points to described mould, described front end It is relative with described rear end inflatable mouth that inflatable mouth is arranged on described forming machine front, and opening points to described mould, described mould Both sides are provided with demoulding clamping device, described demoulding clamping device have match with described mold profile can relative open or Two jaws of Guan Bi, the retaining part for clamping material being formed during described jaw phase Guan Bi is outside the edge of described mould Side；

Described product pipeline is arranged between described transmission track and described forming machine, and is close to described electronic weighing Putting, described product pipeline extends to the other end from described production line one end；

Described electronic weighing device is fixed on and arranges parallel with described six-joint robot on described installing plate.

A kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature Be: be provided with on described electronic weighing device be close to described electronic weighing device upper surface push rod, described electronic-weighing Device side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Push away with described What bar was flexibly connected also includes by push rod shaft, and described push rod is provided with the hole of symmetry, described push rod shaft pass through described hole with Described push rod is vertical, and described first telescopic cylinder drives described push rod to move in the horizontal direction, with the described installing plate direction of motion Vertically；

In a preferred embodiment of the present utility model, described product pipeline is radially concave structure, places door seal Drop during transmitting.

In a preferred embodiment of the present utility model, described clamping jaw device includes frame, is fixed in described frame Clip claw mechanism, two grasping mechanisms being symmetricly set in described frame；Described frame include first substrate, second substrate, First gripper shoe, the second gripper shoe, connecting plate；Described first substrate and described first gripper shoe one end are fixing to be connected, and described the The one gripper shoe other end is fixing with described second substrate one end to be connected, and described second substrate passes through described second with described connecting plate Gripper shoe connects；Described clip claw mechanism includes jacking cylinder and jaw cylinder, and described jacking cylinder is fixed on the first cylinder and installs On plate, described first cylinder mounting plate is connected with described second substrate by adjustment plate, and described jaw cylinder is fixed on the second gas On cylinder installing plate, described second cylinder mounting plate is connected with described jacking cylinder by fixed plate, and described jaw cylinder is arranged There is the Y type jaw for gripping gasket of symmetry；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on institute Stating on connecting plate, being correspondingly arranged with described stationary jaw and also include demoulding mat, described demoulding mat is fixed on second and stretches gas On cylinder；Described second telescopic cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, described cylinder Adjustable plate is connected with described connecting plate；

In a preferred embodiment of the present utility model, also include forming machine electric cabinet and robot electric cabinet, described Forming machine electric cabinet is used for controlling described forming machine action, and action completes signal sends described robot electric cabinet to, states Robot electric cabinet is used for receiving the signal of telecommunication that described forming machine electric cabinet transmits, and controls described six-joint robot and described folder Jaw arrangement action.

In the preferred embodiment of the present utility model of place, also include the safe light curtain being oppositely arranged, described safety light Curtain one end is arranged on below described forming machine, and the other end is arranged on below described product conveyor line.

In a preferred embodiment of the present utility model, also including safe fence, described safe fence is around described life Produce line surrounding, and be provided with the safety door of locking.

In a preferred embodiment of the present utility model, described production line is arranged on the ground with ground groove structure On.

In a preferred embodiment of the present utility model, also include cable drag chain and line chain bracket, described cable drag chain Being arranged on described guide rail side, with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, the other end Fixing with described electric cabinet being connected, described line chain bracket at least has two, described line chain bracket include U-shaped support with can be around axle The rotating shaft that the heart rotates freely, described line chain bracket and described electric cabinet homonymy, it is set in qually spaced in described electric cabinet side, and with Described line chain drag chain is on same straight line.

In a preferred embodiment of the present utility model, including a kind of washing machine door seal automatic manufacturing method, described life Produce method step as follows:

1) equipment starts, and robot system resets, and product conveyor line operates, and the control of forming machine electric cabinet is fixed with mould Pedestal moves to forming machine, and after forming machine preheating terminates, demoulding clamping device is opened, and press declines, and starts to produce, terminates After, demoulding clamping device closes, and pushes down gasket, press lifting；

2) pedestal moves to forming machine dead ahead along track, and forming machine electric cabinet will complete signal and forming machine numbering number According to sending to robot electric cabinet, after robot electric cabinet receives data, control robot moves to this one-tenth according to numbering data Type machine dead ahead；

3) robot moves clamping jaw device to mould top position according to setting program, jaw cylinder action, and Y type jaw presss from both sides Live door seal plug, the then jacking of jacking cylinder, after making door seal shift up certain distance, the second telescopic cylinder action, demoulding card Pad coordinates stationary jaw to clamp edge under gasket, by front end inflatable mouth and rear end inflatable mouth, robot upwards lifting, completes door The envelope demoulding；

4) gasket after the demoulding is moved to setting position above electronic weighing device by robot, and demoulding mat is beaten Opening, robot drives clamping jaw device to tilt, and makes door seal depart from stationary jaw；

5) robot is slowly drop down to gasket and touches electronic weighing device, after then slowly declining one end distance again, Jaw cylinder is opened, and is completely placed in door seal on electronic weighing device；

6) electronic weighing device measures the weight data of door seal in real time, requires if meeting, then send data to robot electricity Control case, robot electric cabinet control push rod action, gasket is pushed away electronic weighing device, door seal falls to and electronic scale naturally The product conveyor line being heavily close to；

7) clamping jaw device resets, and completes working cycles, and robot system etc. is to be received new completes instruction.

The beneficial effects of the utility model are:

1., owing to employing is arranged on guide rail moveable six-joint robot and replaces manual work, four can be coordinated simultaneously Platform injection moulding machine works, and coordinates automatic weighing device and product pipeline, can complete simultaneously injection, the demoulding, carry, weigh, Transport five job steps, increase substantially production efficiency, improve percent of automatization.

2. owing to using the clamping jaw device of the artificial demoulding of simulation, action is simple, is connected smooth and easy, and demoulding effect can be greatly improved Rate, simultaneously simple in construction, easy to maintenance, comprehensive use cost is low.

3. owing to whole production line is made up of modularization, can simply change module therein, different size can be met and produce The automated production of product needs, and further reduces enterprise's use cost.

Brief description

For the technical scheme being illustrated more clearly that in the utility model embodiment technology, embodiment technology will be retouched below In stating, the accompanying drawing of required use is briefly described, it should be apparent that, the accompanying drawing in describing below is only the utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis These accompanying drawings obtain other accompanying drawing.

Fig. 1 is production line schematic diagram

Fig. 2 is robot system architecture's schematic diagram

Fig. 3 is electronic weighing device structure chart

Fig. 4 is jaw general assembly structural representation

Wherein, 1 is safe light curtain, and 2 is door seal, and 3 is six-joint robot, and 4 is forming machine, and 5 is rear end inflatable mouth, and 6 is mould Tool, 7 is demoulding clamping device, and 8 is front end inflatable mouth, and 9 is product pipeline, and 11 is the 7th spindle motor, and 12 is electronic weighing Putting, 13 is forming machine electric cabinet, and 14 is safety door, and 15 is safety door latch, and 16 is transmission track, and 17 is pedestal, and 18 enclose for safety Hurdle, 20 is rotating shaft, and 21 is guide rail, and 22 is line chain support, and 23 for adjusting base, and 24 is robot electric cabinet, and 25 is cable drag chain, 26 is installing plate, and 27 is the 7th spindle motor, and 29 is limited block, and 211 is clamping jaw device, and 213 is the one the first telescopic cylinders, 214 For push rod shaft, 215 is push rod, and 216 is electronic scale, and 217 is linear bearing, and 219 is tooth bar, and 31 is adpting flange, and 32 is first Gripper shoe, 33 is the second telescopic cylinder, and 34 is hinge handle, and 35 is jaw cylinder, and 36 is the second brace rod, and 37 is hinge, 38 For cylinder adjustable plate, 39 is demoulding mat, and 310 is stationary jaw, and 311 is jaw protective pad, and 312 is connecting plate, and 313 is Y type Jaw, 316 is the first brace rod, and 317 is second substrate, and 318 is first substrate, and 319 is fixed plate, and 320 is the second cylinder peace Dress plate, 321 is jacking cylinder, and 322 is the first cylinder mounting plate；

Detailed description of the invention

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of making creative work The every other embodiment being obtained, broadly falls into the scope of the utility model protection.

Embodiment

As Figure 1-4, the present embodiment discloses a kind of robot for the washing machine door seal demoulding and carrying to produce Line, including movable machine people's system, the clamping jaw device that is fixed in robot system are the 211st, for producing the shaping of door seal The 9th, machine the 4th, electronic weighing device the 12nd, product pipeline grips the robot electric cabinet 24 of system and for controlling for controlling robot The forming machine electric cabinet of forming machine processed；

Robot system includes six-joint robot the 3rd, for carrying the guide rail that described robot moves the 21st, for capturing door seal Clamping jaw device the 211st, electronic weighing device 12, guide rail 211 is provided with the installing plate 26 for mounting robot, installing plate 26 Fixing with the slide block on guide rail 21 and being connected, six-joint robot 3 one end is fixed on installing plate 26, and the other end is fixed with clamping jaw device Connecting, on installing plate, 26 are additionally provided with the 7th spindle motor 27, and the 7th spindle motor 27 rotor is fixed with gear, gear be fixed on Tooth bar 219 parallel with guide rail 21 inside guide rail 21 matches, when the 7th spindle motor 27 rotates, and can drive installation plate 26 and six axles Robot 27 moves along a straight line, and guide rail 21 is matrix mechanism, and it is big that matrix guide rail 21 has Area of bearing, the high advantage of bearing capacity, The structure that wheel and rack 219 matches, can make the 7th spindle motor 27 Bit andits control more accurate, reduce cumulative errors.

Additionally, have four forming machines 4 in robot system side, forming machine 4 is parallel with guide rail 21 and spaced set, Robot system completes the demoulding and the weighing operation of the door seal that four forming machines 4 produce simultaneously, and forming machine 4 includes transmission track 16th, be arranged on the mould that the 17th, the pedestal on track 16 be fixed on pedestal 17 the 6th, for the rear end inflatable mouth of the demoulding the 5th, for taking off The front end inflatable mouth of mould the 8th, demoulding clamping device 7, track 16 is vertical with guide rail 21, and pedestal 17 can move along a straight line along track 16, Can move at forming ends and demoulding end, move to forming machine 4 dead ahead below forming machine 4, rear end inflatable mouth 5 is arranged on shaping Machine 4 rear end is relative with front end inflatable mouth 8, and opening points to mould 6, and front end inflatable mouth 8 is arranged on forming machine 4 front and blows with rear end Relatively, opening points to mould 6 to mouth 5, and mould 6 both sides are provided with demoulding clamping device 7, and demoulding clamping device 7 has and mould Have 6 match profiles and close two jaws that can relatively open or close, the folder for clamping material being formed during jaw phase Guan Bi The portion of holding is positioned at outside the edge of mould 6；

Product pipeline 9 is arranged between transmission track 16 and forming machine 4, and is close to electronic weighing device 12, and product is defeated Line sending 9 extends to the other end from production line one end, and product pipeline 9 is radially concave structure, prevents door seal 2 during transmitting Drop.

Electronic weighing device 12 is fixed on and arranges parallel with six-joint robot 3 on installing plate 26.

Additionally, be provided with on electronic weighing device 12 be close to electronic weighing device 12 upper surface push rod 215, electronic scale Refitting is put 12 sides and is provided with the first telescopic cylinder 213, and push rod 215 is fixing with the first telescopic cylinder 213 expansion link to be connected；With push away What bar 215 was flexibly connected also includes by push rod shaft 214, and push rod 215 is provided with the hole of symmetry, push rod shaft 214 pass through hole with Push rod 215 is vertical, and the first telescopic cylinder 213 drives push rod 215 to move in the horizontal direction, vertical with installing plate 26 direction of motion；

As shown in Figure 4, clamping jaw device 211 includes frame, the clip claw mechanism being fixed in frame, is symmetricly set in frame Two grasping mechanisms；Frame includes first substrate the 318th, second substrate the 317th, the first gripper shoe the 32nd, the second gripper shoe the 322nd, even Fishplate bar 312；First substrate 318 is fixing with first gripper shoe 32 one end to be connected, first gripper shoe 32 other end and second substrate 317 One end is fixing to be connected, and second substrate 317 is connected by the second gripper shoe 317 with connecting plate 312；Clip claw mechanism includes jacking cylinder 321 and jaw cylinder 35, jacking cylinder 321 is fixed on the first cylinder mounting plate 322, and the first cylinder mounting plate 322 is by adjusting Whole plate is connected with second substrate 317, and jaw cylinder 35 is fixed on the second cylinder mounting plate 320, and the second cylinder mounting plate 320 leads to Cross fixed plate 319 to be connected with jacking cylinder 321, jaw cylinder 35 is provided with the Y type jaw for gripping gasket of symmetry； Grasping mechanism includes stationary jaw 310, and stationary jaw 310 is fixed on connecting plate 312, is correspondingly arranged also with stationary jaw 310 Including demoulding mat 39, demoulding mat 39 is fixed on the second telescopic cylinder 33；Second telescopic cylinder 33 is fixed on hinge 37； Hinge 37 other end is connected with cylinder adjustable plate 38, and cylinder adjustable plate 38 is connected with connecting plate 312；Connecting plate 312 is curved, and Matching with injection moulding machine mould 6 outline, grasping mechanism is symmetricly set on arc both sides, and more conducively grasping mechanism connects completely Touch and clamping door seal 2.

Forming machine 4 periphery is provided with forming machine electric cabinet 13, and forming machine electric cabinet 13 is used for controlling forming machine action, and will Action completes signal and sends robot electric cabinet 24 to, and then robot electric cabinet 24 receives the electricity that forming machine electric cabinet 13 transmits Signal, and control six-joint robot 3 and clamping jaw device 211 action.It is relatively set with peace between forming machine 3 and product pipeline 9 Full light curtain 1, safe light curtain 1 one end is arranged on below forming machine 4, and the other end is arranged on below product conveyor line 9.Production line surrounding Being surrounded with safe fence 18, preventing personnel to be strayed into production line and occur unexpected, safe fence 18 is provided with the safety door 14 of locking, peace Air cock 14 is provided with safety door latch 15, enters production line region for attendant and safeguards.Whole production line is arranged on tool Have on the ground of ground groove structure, periodically can guarantee production line levelness by adjustably groove.

Another side at robot electric cabinet 24 is additionally provided with the line chain bracket 22 for carrying cable drag chain 25, line chain torr Frame 22 at least has two, and line chain bracket 22 includes U-shaped support and the rotating shaft 20 that can rotate freely around axle center, line chain bracket 22 with Robot electric cabinet 24 homonymy, is set in qually spaced in robot electric cabinet 24 side, and with line chain drag chain 25 at same straight line On.When installing plate 26 moves to guide rail 21 opposite side, cable drag chain 25, due to gravity, can produce drag to installing plate 26, After warp chain bracket 22 supports, this drag can be reduced, owing to line chain bracket 22 has the rotating shaft 20 that can rotate around axle center, maximum Change the resistance reducing cable drag chain 25 horizontal movement.

Washing machine door seal automatic manufacturing method step is as follows:

1) equipment starts, and robot system resets, and product conveyor line 9 operates, and forming machine electric cabinet 13 control is fixed with mould The pedestal 17 of tool 6 moves to forming machine 4, and after forming machine 4 preheating terminates, demoulding clamping device 7 is opened, and press declines, and opens Beginning to produce, after terminating, demoulding clamping device 7 closes, and pushes down gasket 2, press lifting；

2) pedestal 17 moves to forming machine 4 dead ahead along track 16, and forming machine electric cabinet 13 will complete signal and shaping Machine 4 numbering data send to robot electric cabinet 24, and after robot electric cabinet 24 receives data, control robot is according to numbering number According to mobile to this forming machine 4 dead ahead；

3) robot moves clamping jaw device 211 to mould 6 top position, jaw cylinder 35 action, Y type according to setting program Jaw 313 clamps door seal 2 plug, then jacking cylinder 321 jacking, and after making door seal shift up certain distance, second stretches gas Cylinder 33 action, demoulding mat 39 coordinates stationary jaw 310 to clamp edge under door seal 2, by front end inflatable mouth 8 and rear end inflatable mouth 5, robot upwards lifting, complete the door seal demoulding；

4) gasket after the demoulding is moved to setting position above electronic weighing device 12 by robot, demoulding mat 39 Opening, robot drives clamping jaw device 211 to tilt, and makes door seal depart from stationary jaw 310；

5) robot is slowly drop down to gasket and touches electronic weighing device 12, then slowly declines one end distance again After, jaw cylinder 35 is opened, and is completely placed in door seal on electronic weighing device 12；

6) electronic weighing device 12 measures the weight data of door seal in real time, requires if meeting, then sends data to robot Electric cabinet 24, robot electric cabinet 24 controls push rod 215 action, gasket pushes away electronic weighing device 12, and door seal is fallen naturally Drop down onto the product conveyor line 9 being close to electronic weighing device 12；

7) clamping jaw device 211 resets, and completes working cycles, and robot system etc. is to be received new completes instruction.

It is arranged on guide rail moveable six-joint robot owing to using and replaces manual work, four can be coordinated simultaneously Injection moulding machine works, and coordinates automatic weighing device and product pipeline, can complete injection, the demoulding simultaneously, carry, weighs, transports Defeated five job steps, increase substantially production efficiency, improve percent of automatization.

Owing to using the clamping jaw device of the artificial demoulding of simulation, action is simple, is connected smooth and easy, demoulding efficiency can be greatly improved, Simple in construction simultaneously, easy to maintenance, comprehensive use cost is low.

Owing to whole production line is made up of modularization, can simply change module therein, products of different specifications can be met Automated production need, further reduce enterprise use cost.

Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this practicality new Type.Multiple modifications to these embodiments will be apparent from for those skilled in the art, is determined herein The General Principle of justice can realize in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The wide scope consistent with features of novelty.

Claims (9)

1. the robot production line being used for the washing machine door seal demoulding and carrying, it is characterised in that: include movable machine People's system, the clamping jaw device being fixed in described robot system, for producing the forming machine of door seal, electronic weighing device, product Product pipeline, for control described robot gripping system robot electric cabinet and for controlling the forming machine of described forming machine Electric cabinet；

Described robot system includes six-joint robot, for carrying guide rail, the electronic weighing device that described robot moves, institute Stating the installing plate being provided with on guide rail for mounting robot, described installing plate is fixed on the slide block matching with described guide rail On, described six-joint robot one end is fixed on described installing plate, and the other end is fixing with described clamping jaw device to be connected, described installation Plate is additionally provided with the 7th spindle motor, and described 7th spindle motor rotor is fixed with gear, described gear be fixed on described guide rail Matching with the tooth bar of described guide rail parallel in inner side, when described 7th spindle motor rotates, can drive described installing plate and described six Axle robot moves along a straight line；

Described forming machine include transmission track, arrange pedestal on the track, the mould being fixed on described pedestal, for The rear end inflatable mouth of the demoulding, the front end inflatable mouth for the demoulding, demoulding clamping device, described track is vertical with described guide rail, institute State pedestal to move along a straight line along described track, move to described forming machine dead ahead, described rear end below described forming machine It is relative with described front end inflatable mouth that inflatable mouth is arranged on described forming machine rear end, and opening points to described mould, blows in described front end It is relative with described rear end inflatable mouth that mouth is arranged on described forming machine front, and opening points to described mould, described mould both sides Being provided with demoulding clamping device, described demoulding clamping device has and matches relative can open or close with described mold profile Two jaws, formed during described jaw phase Guan Bi for clamping the retaining part of material outside the edge of described mould；

Described electronic weighing device is fixed on and arranges parallel with described six-joint robot on described installing plate；

Described product pipeline is arranged between described transmission track and described forming machine, and is close to described electronic weighing device, Described product pipeline extends to the other end from described production line one end.

2. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: it is provided with the push rod being close to described electronic weighing device upper surface, described electronic weighing device on described electronic weighing device Side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Live with described push rod Be dynamically connected also includes by push rod shaft, and described push rod is provided with the hole of symmetry, described push rod shaft pass through described hole with described Push rod is vertical, and described first telescopic cylinder drives described push rod to move in the horizontal direction, vertical with the described installing plate direction of motion.

3. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 2, its feature exists In: described product pipeline is radially concave structure.

4. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: described clamping jaw device include frame, the clip claw mechanism being fixed in described frame, be symmetricly set in described frame two Grasping mechanism；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described first Substrate is fixing with described first gripper shoe one end to be connected, and the described first gripper shoe other end is fixing with described second substrate one end even Connecing, described second substrate is connected by described second gripper shoe with described connecting plate；Described clip claw mechanism include jacking cylinder and Jaw cylinder, described jacking cylinder is fixed on the first cylinder mounting plate, and described first cylinder mounting plate passes through adjustment plate and institute Stating second substrate to connect, described jaw cylinder is fixed on the second cylinder mounting plate, and described second cylinder mounting plate is by fixing Plate is connected with described jacking cylinder, and described jaw cylinder is provided with the Y type jaw for gripping gasket of symmetry；Described grab Taking mechanism and including stationary jaw, described stationary jaw is fixed on described connecting plate, is correspondingly arranged with described stationary jaw and also wraps Including demoulding mat, described demoulding mat is fixed on the second telescopic cylinder；Described second telescopic cylinder is fixed on hinge；Described The hinge other end is connected with described cylinder adjustable plate, and described cylinder adjustable plate is connected with described connecting plate.

5. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: also including forming machine electric cabinet and robot electric cabinet, described forming machine electric cabinet is used for controlling described forming machine action, and Action completing signal and sending described robot electric cabinet to, described robot electric cabinet is used for receiving described forming machine electric cabinet The signal of telecommunication transmitting, and control described six-joint robot and described clamping jaw device action.

6. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: also including the safe light curtain being oppositely arranged, described safe light curtain one end is arranged on below described forming machine, and the other end is arranged on Below described product conveyor line.

7. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: also including safe fence, described safe fence is around described production line surrounding, and is provided with the safety door of locking.

8. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: described production line is arranged on the ground with ground groove structure.

9. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1, its feature exists In: also including cable drag chain and line chain bracket, described cable drag chain is arranged on described guide rail side, with described guide rail parallel, institute Stating that cable drag chain one end and described installing plate are fixing to be connected, the other end is fixed with described electric cabinet and is connected, and described line chain bracket is extremely Having two less, described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket with described Electric cabinet homonymy, is set in qually spaced in described electric cabinet side, and with described line chain drag chain on same straight line.