Six-station shifting equipment of roller washing machine

Abstract

The utility model discloses a six-station shifting device of a roller washing machine, which comprises a welding frame provided with a connecting rod component and a gripper component. Wherein the gripper assembly comprises a first translation gripper mechanism, a first translation rotating gripper mechanism, a second translation gripper mechanism, a second translation rotating gripper mechanism, a driving translation gripper mechanism and a third translation gripper mechanism. By adopting a six-station gripper structure and matching with a positioning cut-off control system consisting of the travel switch, the angle sensor and the single chip microcomputer, the workpiece carrying and direction adjusting functions of the roller washing machine are automatically realized, workpieces at six different stations can be processed at the same time, the moving time of a single-station gripper between the different stations is shortened, and the working efficiency is improved. Therefore, the overall transferring efficiency is improved, the displacement error generated in the transverse translation process of the gripper assembly is compensated, and the accuracy of clamping the workpieces of the roller washing machine system by the gripper assembly is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to box workpiece automatic transfer technology field, especially a drum washing machine six station transfer equipment. BACKGROUND

[0002] Drum washing machine batch production needs to complete different process assembly in different stations. In addition, drum washing machine often needs to adjust different postures to meet different assembly procedures during the manufacturing process, and the drum washing machine transfer equipment is used to realize the automatic handling and orientation adjustment functions of workpieces.

[0003] At present, the drum washing machine transfer equipment is mostly completed by the conveyor and the handling manipulator, and the handling manipulator can only handle a single workpiece at a time, so the workpiece transfer efficiency is low and the cost is high. In addition, the drum washing machine is installed with different numbers of counterweights, so the total mass of the drum washing machine is large, the wear of the conveyor and the handling manipulator is large during transfer, and the reliability of the equipment is poor.

[0004] Therefore, it is necessary to develop a drum washing machine six station transfer equipment to solve the above problems. INVENTION CONTENTS

[0005] The utility model solves the technical problem in the prior art, and provides a drum washing machine six station transfer equipment, which can realize the automatic transfer of box workpieces such as drum washing machines, including automatic handling and orientation adjustment, can improve the workpiece transfer efficiency, reduce the cost, ensure the reliability of workpiece transfer, and overcome the technical defects of the prior art in the background art.

[0006] To solve the above technical problems, the utility model adopts the technical scheme of:

[0007] A drum washing machine six station transfer equipment, comprising a welded frame, a connecting rod assembly and a gripper assembly are arranged on the welded frame, wherein the gripper assembly comprises a first translation gripper mechanism, a first translation and rotation gripper mechanism, a second translation gripper mechanism, a second translation and rotation gripper mechanism, a driving translation gripper mechanism and a third translation gripper mechanism.

[0008] The connecting rod assembly comprises five groups of tracks, and the five groups of tracks are arranged in a linear array, and a gap is reserved between adjacent two groups of tracks, and six work stations are arranged at the two ends of the connecting rod assembly and below the track gap, the first translation gripper mechanism, the first translation and rotation gripper mechanism, the second translation gripper mechanism, the second translation and rotation gripper mechanism, the driving translation gripper mechanism and the third translation gripper mechanism are arranged along the length direction of the track in sequence, and the combined structure of the connecting rod assembly and the gripper assembly reciprocates by one length unit of the track.

[0009] Preferably, the first translational gripper, the first translational and rotary gripper, the second translational gripper, the second translational and rotary gripper, the driving translational gripper and the third translational gripper all adopt the basic lifting gripper;

[0010] The basic lifting gripper comprises a fixed support and an aluminum profile support, wherein the fixed support is connected with the linear guide rail of the welding machine frame, the aluminum profile support is vertically through the fixed support and is connected with the through hole in a sliding manner, the bottom end of the aluminum profile support is fixedly connected with a jaw support bottom plate, and the bottom of the jaw support bottom plate is connected with two axisymmetric distributed jaws through the linear guide rail.

[0011] A vertical lifting servo motor is installed on the fixed support, the output shaft of the vertical lifting servo motor is connected with a first gear, and the outer wall of the aluminum profile support is fixedly connected with an aluminum profile support rack in meshing transmission with the first gear, so as to drive the vertical lifting of the basic lifting gripper.

[0012] The center of the jaw support bottom plate is rotationally connected with a clamping centering turntable, the opposite side of each of the two jaws is fixedly connected with a synchronous connecting rod, the two synchronous connecting rods are symmetrically distributed on the two sides of the clamping centering turntable, the synchronous connecting rod is in meshing transmission with the clamping centering turntable, a clamping centering cylinder and a jaw buffer hydraulic device 2111 are installed on the bottom of the jaw support bottom plate, the output end of the clamping centering cylinder is connected with one of the jaws, and the jaw buffer hydraulic device 2111 is located at the limit position of the movement of the jaw.

[0013] Preferably, a rotary driving unit is further installed on the first translational and rotary gripper and the second translational and rotary gripper, so as to enable the suction cup to rotate.

[0014] The rotary driving unit comprises a suction cup rotary cylinder installed on the outside of the jaw, the output end of the suction cup rotary cylinder is connected with a suction cup rotary rack, a suction cup rotary frame is rotationally connected to the jaw, the suction cup is installed on one end of the suction cup rotary frame, the other end of the suction cup rotary frame is provided with a suction cup rotary gear in meshing transmission with the suction cup rotary rack, and one suction cup rotary buffer hydraulic device is arranged at each end of the suction cup rotary rack.

[0015] Preferably, a linear reciprocating driving unit is further installed on the driving translational gripper, so as to drive the combined structure of the connecting rod assembly and the gripper assembly.

[0016] The linear reciprocating driving unit comprises a driving servo motor installed on the fixed support, the output shaft of the driving servo motor is connected with a driving gear, and the top center line side of the welding machine frame is provided with a transfer rail rack in meshing transmission with the driving gear.

[0017] Preferably, the number of each group of tracks is set to two, and the two tracks in the same group are distributed in parallel, and the five tracks on the same side are coaxially distributed, and the top of the fixed support is provided with a floating joint, and the fixed support is connected with the end of the track through the floating joint.

[0018] Preferably, the floating joint comprises a fixed block fixedly connected with the fixed support, an L-shaped clamping plate is detachably installed on the fixed block through a screw, a telescopic sleeve is arranged between the L-shaped clamping plate and the top of the track, and the two ends of the telescopic sleeve are fixed with the L-shaped clamping plate and the track respectively, and an elastic pad is further arranged between the fixed support and the track.

[0019] Preferably, the welding rack is provided with a welding bottom plate, and a plurality of evenly distributed ground nails are arranged on the two sides of the welding bottom plate, and the outer side of the welding rack is provided with a positioning support.

[0020] Preferably, the welding rack is provided with a maintenance platform, and the outer side of the maintenance platform is provided with a guardrail, and the outer side of the welding rack and the maintenance platform is provided with a ladder.

[0021] Preferably, the welding rack is provided with a welding rack, and the welding rack is provided with a welding rack.

[0022] Preferably, the welding rack is provided with a welding rack, and the welding rack is provided with a welding rack.

[0023] The utility model has the advantages of:

[0024] By adopting the six-station gripper structure, cooperating with the positioning and stopping control system composed of the travel switch, the angle sensor and the single-chip microcomputer, the workpiece carrying and orientation adjusting functions of the drum washing machine are automatically realized, six workpieces in different stations can be processed at the same time, the time of the single-station gripper moving between different stations is reduced, the overall moving efficiency is improved, the displacement error generated in the horizontal translation process of the gripper assembly is compensated, and the accuracy of the gripper assembly in clamping the workpiece of the drum washing machine system is improved.

[0025] By setting buffer hydraulic pressure and chuck rotation buffer hydraulic pressure, the impact and vibration generated by mutual movement between structures during operation are absorbed, the stable operation of the equipment is ensured, the floating joint is used to effectively slow down the vibration and impact generated during system operation, the service life of the equipment is prolonged, the maintenance cost is reduced, compared with the mechanical hand grabbing heavy workpieces, the equipment can stably grab and transfer heavy workpieces, reduce the risk of workpiece falling or damage, and ensure the reliability and safety of transfer. In addition, the structure of the equipment is simpler, which can reduce the complexity and maintenance difficulty of the traditional mechanical hand and reduce the cost. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The overall structure schematic diagram of the six-station transfer equipment is provided in the utility model;

[0027] Figure 2 The overall structure front view of the six-station transfer equipment is provided in the utility model;

[0028] Figure 3 The combined structure of the gripper assembly and the connecting rod assembly and the transfer direction effect diagram thereof in the utility model are provided;

[0029] Figure 4 The three-dimensional structure display diagram of the translation gripper mechanism in the utility model is provided;

[0030] Figure 5 The three-dimensional structure display diagram of the translation-rotation gripper mechanism in the utility model is provided;

[0031] Figure 6 The three-dimensional structure display diagram of the driving translation gripper mechanism in the utility model is provided;

[0032] Figure 7 The system control flow chart of the positioning cut-off control system in the utility model is provided.

[0033] In the drawings:

[0034] 1-welding frame; 2-gripper assembly; 3-welding bottom plate; 4-inspection platform; 5-positioning support; 6-guardrail; 7-crawling ladder; 8-travel switch; 9-angle sensor; 10-single-chip microcomputer; 11-transfer rail rack;

[0035] 21-first translation gripper mechanism; 22-first translation-rotation gripper mechanism; 23-second translation gripper mechanism; 24-second translation-rotation gripper mechanism; 25-driving translation gripper mechanism; 26-third translation gripper mechanism; 27-connecting rod assembly;

[0036] 211-Fixed bracket; 212-Aluminum profile bracket; 213-Gripper support base plate; 214-Gripper; 215-Suction cup; 216-Vertical lifting servo motor; 217-Aluminum profile bracket rack; 218-Clamping and centering cylinder; 219-Clamping and centering turntable; 2110-Synchronous linkage; 2111-Gripper buffer pressure regulator;

[0037] 221 - Suction cup rotary cylinder; 222 - Suction cup rotary rack; 223 - Suction cup rotary gear; 224 - Rotary suction cup; 225 - Suction cup rotary buffer pressure device;

[0038] 251 - Transfer track drive servo motor; 252 - Drive gear;

[0039] 271-Floating joint;

[0040] 2711-Fixing block; 2712-L-shaped clamping plate; 2713-Telescopic sleeve; 2714-Elastic pad. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0042] In the description of this utility model, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this utility model. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the protection scope of this utility model.

[0043] like Figures 1-3 The six-workshop displacement device for a drum washing machine shown includes a welding frame 1, on which a connecting rod assembly 27 and a gripper assembly 2 are provided. The gripper assembly 2 includes a first translation gripper mechanism 21, a first translation and rotation gripper mechanism 22, a second translation gripper mechanism 23, a second translation and rotation gripper mechanism 24, a drive translation gripper mechanism 25, and a third translation gripper mechanism 26.

[0044] The connecting rod assembly 27 comprises five groups of tracks, and the five groups of tracks are arranged in a linear array, gaps are reserved between adjacent two groups of tracks, six work stations, work station I, work station II, work station III, work station IV, work station V and work station VI, are arranged at the two ends of the connecting rod assembly 27 and below the track gaps, the first translation gripper mechanism 21, the first translation and rotation gripper mechanism 22, the second translation gripper mechanism 23, the second translation and rotation gripper mechanism 24, the driving translation gripper mechanism 25 and the third translation gripper mechanism 26 are sequentially arranged along the length direction of the track, and the combined structure of the connecting rod assembly 27 and the gripper assembly 2 reciprocates by one length unit of the track.

[0045] In the above technical scheme, the number of tracks in each group is two, and the two tracks in the same group are arranged in parallel, and the five tracks on the same side are coaxially arranged, and the top four corners of the fixed support 211 are provided with floating joints 271, and the fixed support 211 is connected with the end of the track by the floating joints 271. The use of floating joints 271 can effectively reduce the vibration and impact generated during system operation, prolong the service life of the equipment, and reduce the maintenance cost. Specifically, as a preferred embodiment of the floating joint 271 in the utility model, it comprises a fixed block 2711 fixedly connected with the fixed support 211, an L-shaped clamping plate 2712 detachably mounted on the fixed block 2711 by screws, a telescopic sleeve 2713 arranged between the L-shaped clamping plate 2712 and the top of the track, and the two ends of the telescopic sleeve 2713 are fixed with the L-shaped clamping plate 2712 and the track respectively, and an elastic pad 2714 is further arranged between the fixed support 211 and the track.

[0046] As shown in Figures 3-6 The first translation gripper mechanism 21, the first translation and rotation gripper mechanism 22, the second translation gripper mechanism 23, the second translation and rotation gripper mechanism 24, the driving translation gripper mechanism 25 and the third translation gripper mechanism 26 all adopt a basic lifting gripper.

[0047] The basic lifting gripper comprises a fixed support 211 and an aluminum profile support 212, wherein the fixed support 211 is connected with the linear guide rail of the welding machine frame 1, the aluminum profile support 212 penetrates the fixed support 211 in a vertical manner and is connected with the penetrating hole in a sliding manner, the aluminum profile support 212 is fixedly connected with a clamping jaw supporting bottom plate 213 at the bottom end, the clamping jaw supporting bottom plate 213 is connected with two axially symmetric distributed clamping jaws 214 at the bottom through the linear guide rail, and the suction cups 215 are arranged at the bottom end positions of the opposite sides of the two clamping jaws 214.

[0048] The fixed support 211 is provided with a vertical lifting servo motor 216, the output shaft of which is connected with a first gear, and the outer wall of the aluminum profile support 212 is fixedly connected with an aluminum profile support rack 217 which is in meshing transmission with the first gear, for driving the vertical lifting of the base lifting gripper;

[0049] The center of the clamping jaw support base plate 213 is rotatably connected with a clamping centering turntable 219, and the opposite sides of the two clamping jaws 214 are fixedly connected with synchronous connecting rods 2110 which are symmetrically distributed on the two sides of the clamping centering turntable 219 and are in meshing transmission with the clamping centering turntable 219. The bottom of the clamping jaw support base plate 213 is provided with a clamping centering cylinder 218 and a clamping jaw buffer hydraulic device 2111, and the output end of the clamping centering cylinder 218 is connected with one of the clamping jaws 214. The clamping jaw buffer hydraulic device 2111 is located at the limit position of the movement of the clamping jaw 214. The clamping centering cylinder 218 drives the single clamping jaw 214, and drives the synchronous connecting rods 2110 and the clamping centering turntable 219, so that the two clamping jaws 214 realize synchronous centering and clamping movement.

[0050] Considering that the transfer object is a drum washing machine, which belongs to a thin-walled workpiece, the buffer hydraulic device 2111 is used to absorb the impact vibration generated by the clamping movement of the clamping jaw 214, and the suction cup 215 directly contacts the clamping part of the drum washing machine, which can effectively protect the safety of the drum washing machine during the transfer process and improve the transfer efficiency of the equipment.

[0051] Specifically, in the above technical solution, the first translational and rotational gripper mechanism 22 and the second translational and rotational gripper mechanism 24 are also provided with a rotary driving unit, which is used to enable the suction cup 215 to rotate;

[0052] That is, the first translational and rotational gripper mechanism 22 and the second translational and rotational gripper mechanism 24 realize the functions of vertical lifting and centering and clamping movement of the base lifting gripper, and can also freely rotate the suction cup 215, so that the workpiece can be turned over;

[0053] The rotary driving unit includes a suction cup rotary cylinder 221 installed on the outside of the clamping jaw 214, the output end of which is connected with a suction cup rotary rack 222, the clamping jaw 214 is rotatably connected with a suction cup rotary frame 224, the suction cup 215 is installed on one end of the suction cup rotary frame 224, and the other end of the suction cup rotary frame 224 is provided with a suction cup rotary gear 223 which is in meshing transmission with the suction cup rotary rack 222, and the suction cup rotary cylinder 221 drives the suction cup rotary rack 222 and the suction cup rotary gear 223, so as to realize the free rotary movement of the suction cup rotary frame 224. One suction cup rotary buffer hydraulic device 225 is arranged at each end of the suction cup rotary rack 222. It is used to absorb the impact and vibration generated by the rotary movement of the suction cup 215 after clamping the drum washing machine, so as to ensure the stable operation of the equipment.

[0054] Specifically, in the above technical scheme, the linear reciprocating driving unit is further installed on the translational gripper mechanism 25, and is used for driving the combined structure of the connecting rod assembly 27 and the gripper assembly 2.

[0055] The linear reciprocating driving unit comprises a driving servo motor 251 installed on the fixed support 211, an output shaft of the driving servo motor 251 is in transmission connection with a driving gear 252, and a transfer rail rack 11 is arranged on one side of the center line of the top of the welding rack 1 and is in meshing transmission with the driving gear 252. By starting the driving servo motor 251, the driving gear 252 is in meshing transmission with the transfer rail rack 11, so as to drive the whole gripper assembly 2 to move laterally on the welding rack 1.

[0056] Specifically, in the above technical scheme, the welding rack 1 is provided with a welding base plate 3 at the bottom, a plurality of evenly distributed ground nails are arranged on both sides of the welding base plate 3, and a positioning support 5 is arranged on the outer side of the welding rack 1.

[0057] Specifically, in the above technical scheme, the welding rack 1 is provided with a maintenance platform 4 at the top, a guardrail 6 is arranged on the outer side of the maintenance platform 4, and a ladder 7 is arranged on the outer side of the welding rack 1 and the maintenance platform 4.

[0058] Specifically, in the above technical scheme, a travel switch 8 is arranged on the welding rack 1 and corresponds to the positions of the six work stations, is used for positioning the positions of the six work stations, and is used for switching the gripper assembly 2 between the initial position and the transferred position. The rotary driving unit further comprises an angle sensor 9, which is used for sensing the rotation angle of the suction cup rotating frame 224.

[0059] As shown in Figure 7 , the transfer device further comprises a single-chip microcomputer 10, an A / D converter and a D / A converter are electrically connected to the input end and the output end of the single-chip microcomputer 10 respectively, the travel switch 8 and the angle sensor 9 are electrically connected to the A / D converter, and the vertical lifting servo motor 216, the transfer rail driving servo motor 251, and the pneumatic driving device connected with the clamping centering cylinder 218 and the suction cup rotating cylinder 221 are electrically connected to the D / A converter.

[0060] When the device works, as shown in Figure 3 , the arrow direction is the transfer conveying direction of the drum washing machine, when the drum washing machine reaches the work station I of the transfer device, the drum washing machine presents a horizontal posture, the first translational gripper mechanism 21 clamps and tightly holds the drum washing machine in the horizontal posture, and vertically lifts the workpiece to a predetermined position. The transfer rail driving servo motor 251 drives the gripper assembly 2 to move one work station forward (i.e. the transfer direction). The first translational gripper mechanism 21 vertically descends and releases the clamping jaw 214, and releases the drum washing machine workpiece in the horizontal posture to the work station II.

[0061] When the workpiece is at the station II, the transfer track driving servo motor 251 drives the gripper assembly 2 to move backward by one station. The first translational and rotary gripper mechanism 22 vertically descends and clamps the workpiece, and the first translational and rotary gripper mechanism 22 vertically ascends, while the suction disc rotating frame 224 rotates counterclockwise by 90°, so that the workpiece is in an upright posture. The transfer track driving servo motor 251 drives the gripper assembly 2 to move forward by one station. The translational gripper 22 vertically descends and releases the clamping jaw 214, and releases the workpiece in the upright posture to the station III.

[0062] When the workpiece is at the station III, the riveting lower reinforcing plate process of the drum washing machine is first completed. The transfer track driving servo motor 251 drives the gripper assembly 2 to move backward by one station. The second translational gripper mechanism 23 repeats the vertical descending, clamping and ascending movements. The transfer track driving servo motor 251 drives the gripper assembly 2 to move forward by one station. The second translational gripper mechanism 23 vertically descends and releases the clamping jaw, and releases the workpiece in the upright posture to the station IV.

[0063] When the workpiece is at the station IV, the transfer track driving servo motor 251 drives the gripper assembly 2 to move backward by one station. The second translational and rotary gripper mechanism 24 repeats the descending, clamping, ascending movements, and the suction disc rotating frame 224 rotates counterclockwise by 180°, so that the workpiece is in an inverted posture. The transfer track driving servo motor 251 drives the gripper assembly 2 to move forward by one station. The second translational and rotary gripper mechanism 24 vertically descends and releases the clamping jaw, and releases the workpiece in the inverted posture to the station V.

[0064] When the workpiece is at the station V, the riveting upper reinforcing plate process of the drum washing machine is first completed. The transfer track driving servo motor 251 drives the gripper assembly 2 to move backward by one station. The driving translational gripper mechanism 25 repeats the vertical descending, clamping and ascending movements. The transfer track driving servo motor 251 drives the gripper assembly 2 to move forward by one station. The driving translational gripper mechanism 25 vertically descends and releases the clamping jaw, and releases the workpiece in the inverted posture to the station VI.

[0065] When the workpiece is at the station VI, the transfer track driving servo motor 251 drives the gripper assembly 2 to move backward by one station. The third translational gripper mechanism 26 repeats the vertical descending, clamping and ascending movements. The transfer track driving servo motor 251 drives the gripper assembly 2 to move forward by one station. The third translational gripper mechanism 26 vertically descends and releases the clamping jaw, and releases the workpiece in the inverted posture to complete the complete workpiece transfer movement.

[0066] The above-mentioned actions are repeated, and the positioning and stopping control system composed of the travel switch 8, the angle sensor 9 and the single-chip microcomputer 10 is combined to complete the automatic handling and orientation adjustment functions of the drum washing machine workpiece, and improve the automatic transfer efficiency.

[0067] The embodiments of the present application are described in detail in combination with the drawings, but the present application is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirits of the present application, and still fall within the protection scope of the present application.

Claims

1. A six-station transfer apparatus for a drum washing machine, comprising a welded frame (1), characterized in that: The welding frame (1) is provided with a connecting rod assembly (27) and a gripper assembly (2), wherein the gripper assembly (2) comprises a first translation gripper mechanism (21), a first translation and rotation gripper mechanism (22), a second translation gripper mechanism (23), a second translation and rotation gripper mechanism (24), a driving translation gripper mechanism (25) and a third translation gripper mechanism (26); The connecting rod assembly (27) comprises five groups of tracks, and the five groups of tracks are arranged in a linear array, and a gap is reserved between adjacent two groups of tracks, six operation stations are arranged at the two ends of the connecting rod assembly (27) and below the track gaps, the first translation gripper mechanism (21), the first translation and rotation gripper mechanism (22), the second translation gripper mechanism (23), the second translation and rotation gripper mechanism (24), the driving translation gripper mechanism (25) and the third translation gripper mechanism (26) are sequentially arranged along the length direction of the track, and the combined structure of the connecting rod assembly (27) and the gripper assembly (2) reciprocates by a length unit of the track.

2. A six station transfer device for a drum washing machine according to claim 1, characterised in that: The first translation gripper mechanism (21), the first translation and rotation gripper mechanism (22), the second translation gripper mechanism (23), the second translation and rotation gripper mechanism (24), the driving translation gripper mechanism (25) and the third translation gripper mechanism (26) all adopt a basic lifting gripper; The basic lifting gripper comprises a fixed support (211) and an aluminum profile support (212), wherein the fixed support (211) is connected with the welding frame (1) through a linear guide rail, the aluminum profile support (212) penetrates through the fixed support (211) in a vertical manner and is connected with the penetration hole through sliding connection, and the bottom end of the aluminum profile support (212) is fixedly connected with a jaw supporting bottom plate (213), two axisymmetrically distributed jaws (214) are connected with the bottom of the jaw supporting bottom plate (213) through linear guide rails, and a suction cup (215) is arranged at the bottom end position of the opposite side of the two jaws (214). A vertical lifting servo motor (216) is mounted on the fixed support (211), the output shaft of the vertical lifting servo motor (216) is drivingly connected with a first gear, an aluminum profile support rack (217) is fixedly connected with the outer wall of the aluminum profile support (212) and is in meshing transmission with the first gear, and the aluminum profile support rack (217) is used to drive the vertical lifting of the basic lifting gripper; The jaw supporting bottom plate (213) is rotatably connected with a clamping centering turntable (219) at the center, the opposite sides of the two jaws (214) are fixedly connected with synchronous connecting rods (2110), the two synchronous connecting rods (2110) are symmetrically distributed on the two sides of the clamping centering turntable (219), the synchronous connecting rods (2110) are in meshing transmission with the clamping centering turntable (219), a clamping centering cylinder (218) and a jaw buffer hydraulic device (2111) are mounted on the bottom of the jaw supporting bottom plate (213), the output end of the clamping centering cylinder (218) is drivingly connected with one of the jaws (214), and the jaw buffer hydraulic device (2111) is located at the limit position of the movement of the jaw (214).

3. A six station transfer device for a drum washing machine according to claim 2, characterised in that: The first translational and rotary gripper (22) and the second translational and rotary gripper (24) are further provided with a rotary driving unit for enabling the suction cup (215) to rotate; The rotary driving unit comprises a suction cup rotary cylinder (221) mounted outside the gripper (214), the output end of the suction cup rotary cylinder (221) is in transmission connection with a suction cup rotary rack (222), the gripper (214) is in rotation connection with a suction cup rotary frame (224), the suction cup (215) is mounted at one end of the suction cup rotary frame (224), the other end of the suction cup rotary frame (224) is provided with a suction cup rotary gear (223) in meshing transmission with the suction cup rotary rack (222), and one suction cup rotary buffer hydraulic device (225) is arranged at each end of the suction cup rotary rack (222).

4. A six station transfer device for a drum washing machine according to claim 2, characterised in that: The driving translational gripper (25) is further provided with a linear reciprocating driving unit for driving the combined structure of the connecting rod assembly (27) and the gripper assembly (2); The linear reciprocating driving unit comprises a driving servo motor (251) mounted on the fixed support (211), the output shaft of the driving servo motor (251) is in transmission connection with a driving gear (252), and the top center line of the welding rack (1) is provided with a transfer rail rack (11) in meshing transmission with the driving gear (252).

5. A six station transfer device for a drum washing machine as claimed in claim 2, characterised in that: The number of tracks in each group is two, the two tracks in the same group are parallelly distributed, the five tracks on the same side are coaxially distributed, the top four corners of the fixed support (211) are provided with floating joints (271), and the fixed support (211) is connected with the track end through the floating joints (271).

6. A six station transfer device for a drum washing machine according to claim 5 wherein: The floating joint (271) comprises a fixed block (2711) fixedly connected with the fixed support (211), an L-shaped clamping plate (2712) is detachably mounted on the fixed block (2711) through screws, an expansion sleeve (2713) is arranged between the L-shaped clamping plate (2712) and the top of the track, and the two ends of the expansion sleeve (2713) are fixed with the L-shaped clamping plate (2712) and the track, respectively, and an elastic pad (2714) is further arranged between the fixed support (211) and the track.

7. A six station transfer device for a drum washing machine as claimed in claim 1, characterized in that: The welding rack (1) is provided with a welding bottom plate (3) at the bottom, a plurality of evenly distributed ground nails are arranged on the two sides of the welding bottom plate (3), and a positioning support (5) is arranged on the outer side of the welding rack (1).

8. A six station transfer device for a drum washing machine according to claim 1, characterized in that: The welding rack (1) is provided with a maintenance platform (4) at the top, a guardrail (6) is arranged on the outer side of the maintenance platform (4), and a crawling ladder (7) is arranged on the outer side of the welding rack (1) and the maintenance platform (4).

9. A six station transfer device for a drum washing machine as claimed in claim 3, characterised in that: The welding rack (1) is provided with a travel switch (8) at a position corresponding to six work stations, for positioning the positions of the six work stations, switching the gripper assembly (2) between the initial position and the transferred position, and the rotary driving unit further comprises an angle sensor (9) for sensing the rotation angle of the suction cup rotary frame (224).

10. A six station transfer device for a drum washing machine according to claim 9, characterised in that: The single-chip microcomputer (10) is electrically connected with an A / D converter and a D / A converter at the input end and the output end respectively, the travel switch (8) and the angle sensor (9) are electrically connected with the A / D converter, and the vertical lifting servo motor (216), the transfer track driving servo motor (251), and the pneumatic driving device connected with the clamping centering cylinder (218) and the suction disc rotating cylinder (221) are electrically connected with the D / A converter.

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