Automatic riveting equipment and method for lower connecting plate of drum washing machine

Abstract

The application provides a kind of automatic riveting equipment and method for the lower connecting plate of drum washing machine, the equipment includes feeding conveying line, feeding transfer machine, intermediate positioning mechanism, secondary transfer mechanism, riveting table mechanism, lifting positioning mechanism, rivet clamp transfer mechanism; feeding transfer mechanism quickly grabs the lower connecting plate and moves to intermediate positioning mechanism by magnetic attraction, intermediate positioning mechanism completes the initial positioning of lower connecting plate by centering and side positioning, secondary transfer mechanism quickly moves the lower connecting plate to riveting table station, when riveting table mechanism completes fixed box, lifting positioning mechanism repositions by conical pin, ensures the relative position of lower connecting plate, rivet clamp transfer mechanism starts to rivet clamp, connects drum washing machine box and lower connecting plate in place, and rivets into an integrated body. The application integrates feeding, transfer and riveting, greatly improves assembly production efficiency and realizes automatic production of lower connecting plate of drum washing machine.

Description

Technical Field

[0001] This invention relates to the field of washing machine assembly, and in particular to an automated riveting device and method for the lower connecting plate of a drum washing machine. Background Technology

[0002] Currently, washing machines have become an indispensable part of the home appliance industry, almost a necessity for every household. To meet the diverse needs of customers, the domestic market mainly offers front-loading and top-loading washing machines. The washing machine body is a crucial component, and its quality directly affects the overall product quality. Therefore, manufacturers typically increase the body's strength by adding thickness and reinforcing plates.

[0003] In existing technologies, manual riveting is generally used. However, the box-shaped workpiece is relatively large, and the work is complex and labor-intensive for workers during transportation and operation. Especially during riveting, it takes a long time to manually adjust the relative position of the riveting fixture and the box, resulting in low work efficiency and easy deviations in the riveting position, leading to inconsistent product quality. Summary of the Invention

[0004] To address the limitations of existing technologies and areas for improvement, this invention provides an automated riveting device and method for the lower connecting plate of a drum washing machine. Specifically, it addresses the needs and characteristics of existing automated production lines by designing an automated riveting device and method for the lower connecting plate of a drum washing machine. The invention also researches and designs the main transfer positioning mechanism and transfer riveting mechanism, along with their matching components, to solve problems such as low production efficiency and inconsistent product quality in traditional drum washing machine production lines, thus realizing an automated riveting device and method for the lower connecting plate of a drum washing machine.

[0005] To achieve the above objectives, the present invention provides an automated riveting device and method for the lower connecting plate of a drum washing machine. The device includes a feeding conveyor line 10, a feeding transfer mechanism 20, an intermediate positioning mechanism 30, a secondary transfer mechanism 40, a riveting table mechanism 50, a lifting positioning mechanism 60, and a riveting clamp transfer mechanism 70 arranged in the working sequence.

[0006] The feeding conveyor line 10 is used to feed the lower connecting plate, providing support and transportation for the lower connecting plate;

[0007] The feeding conveyor line adopts a double-station chain conveyor line to transport the lower connecting plate, thereby improving the conveying efficiency. Its conveying fixture is designed as a single-sided ramp, which allows the lower connecting plate to be positioned on one side by gravity, and also greatly improves the transportation stability.

[0008] The loading and transfer mechanism 20 cooperates with the conveying end of the loading conveyor line 10. It is used to load the lower connecting plate, grab the lower connecting plate on the loading conveyor line 10, and transfer it to the intermediate positioning mechanism 30 for loading.

[0009] The loading and transfer mechanism works in conjunction with the loading conveyor line. The lifting device drives the loading gripping mechanism, and the magnetic claws quickly pick up the material from the lower connecting plate and transfer it to the next process.

[0010] The intermediate positioning mechanism 30 is located on the other side below the loading and transfer mechanism 20. It completes the initial positioning of the lower connecting plate through center positioning and side positioning.

[0011] The intermediate positioning mechanism is located on the other side below the feeding and transfer mechanism. The pusher mechanism pushes the base plate to move the centering positioning and side positioning mechanisms within a suitable feeding range. The centering grippers on both sides of the centering positioning begin to move towards each other, clamping the lower connecting plate and determining the left and right position. The side pusher positioning mechanism lifts the side plate and holds the side of the lower connecting plate to determine the position along the front and back direction, thus completing the initial positioning.

[0012] All of the above-mentioned motion mechanisms can operate simultaneously. After the position is determined, each mechanism is released, ready for the next process to begin.

[0013] The secondary transfer mechanism 40 transfers the lower connecting plate, which has completed its initial positioning on the intermediate positioning mechanism 30, to the riveting table mechanism 50 station.

[0014] The secondary transfer mechanism uses a linear module to quickly transfer the suction cup mechanism, which then transfers the lower connecting plate, which has been positioned by the intermediate positioning mechanism, to the next process.

[0015] The riveting table mechanism 50 is used to fix the box body and ensure its relative position with the lower connecting plate;

[0016] The lifting and positioning mechanism 60 uses a conical pin to lift and pass through the hole in the lower connecting plate, and repositions the lower connecting plate on the riveting table mechanism 50 to ensure its relative position with the box body. Then, the lifting and positioning mechanism 60 continues to lift to move the repositioned lower connecting plate into the box body. At this time, the lower connecting plate is still on the positioning mechanism. After the riveting action is completed, it is connected to the box body as one piece, and the lifting and positioning mechanism retracts.

[0017] Once the box is transported to the workstation, the side mechanism of the box positioning mechanism moves to the center and presses the left and right sides of the box. Under the control of the transmission mechanism, the clamping claws at the four corners rotate to press the edge grooves of the box, fix the box, and ensure the relative position with the lower connecting plate. After the riveting action is completed, the above mechanisms open, the push mechanism in the box positioning mechanism pushes out the box, and the robot unloads the box.

[0018] The lifting and positioning mechanism uses a positioning cone pin that passes through the slot hole of the lower plate to position the lower connecting plate and transfer it into the box. The required riveting slot holes of the lower connecting plate and the box are aligned to ensure the relative positional accuracy with the box.

[0019] The riveting pliers transfer mechanism 70 is used to complete the riveting action after the relative positions of the housing and the lower connecting plate are determined, and to rivet the housing and the lower connecting plate into one piece.

[0020] The riveting pliers transfer mechanism, under the control of three sets of servo transmission mechanisms and one set of pneumatic mechanism control system, performs relative movement. When the riveting mechanism enters the corresponding riveting range, it begins riveting operation, and the hydraulic booster device is activated to rivet the washing machine body and the lower connecting plate.

[0021] After riveting is completed, the riveting mechanism returns to its original standby position. After the robot removes the riveted box, the riveting table is ready to fix a new box and begin the next box operation. This process is repeated.

[0022] Preferably, the feeding conveyor line 10 includes a frame 11 and a dual-station chain conveyor line 12; the tooling plate 13 conveyed by the dual-station chain conveyor line 12 is inclined to facilitate the transfer and conveying of the lower connecting plate.

[0023] Preferably, the loading and transfer mechanism 20 includes a transfer frame 21 and a loading gripping mechanism 22;

[0024] The transfer frame 21 is welded from a profile frame and is used to support the No. 1 linear module.

[0025] The feeding and gripping mechanism 22 is connected to the transfer frame 21 via a linear module and moves horizontally on it.

[0026] The feeding gripping mechanism 22 can move vertically to pick up and place the lower connecting plate on the feeding conveyor line 10;

[0027] The feeding and gripping mechanism 22 is a magnetic suction structure.

[0028] Preferably, the feeding and gripping mechanism 22 includes:

[0029] The gripper 221 is connected to the mobile end of the first linear module;

[0030] A gripping cylinder 222 is fixed to the gripping frame 221, and its cylinder rod extends downward in the vertical direction and is fixed to the gripping plate 223;

[0031] Electromagnet 224 is used to attract the lower connecting plate, which is fixed to the gripping plate and is set in the direction of the feeding conveyor line 10.

[0032] Preferably, the intermediate positioning mechanism 30 includes:

[0033] The push-seat mechanism 31 receives the centering positioning mechanism 32 and the side-pushing positioning mechanism 33, and moves them below the feeding gripping mechanism 22. It includes:

[0034] The cylinder 311 has a fixed cylinder body and its output end is connected to the connecting plate 312. The connecting plate 312 can move along the base of the pusher mechanism 31.

[0035] The first lifting cylinder 313 is used to lift the upper connecting plate to below the secondary transfer mechanism 40. Its output end is fixed to the lower end face of the positioning platform 315, and its cylinder body is fixed to the first connecting plate 312.

[0036] The centering positioning mechanism 32 and the side-pushing positioning mechanism 33 are used to determine the absolute position of the lower connecting plate in two directions;

[0037] The side-push positioning mechanism 33 is fixed at one end and can push one side of the lower connecting plate at the other end until it is clamped between the side-push plate 332 and the side of the positioning platform 315 to determine the front and rear position along the X direction. It includes: cylinder No. 2 331 and side-push plate 332.

[0038] The second cylinder 331 is used to push the side push plate 332 so that the side push plate abuts against one side of the upper connecting plate. Its cylinder body is fixed to the second connecting plate 314, and its output end is fixed to the side push plate 332.

[0039] The positioning platform is fixed to the upper end face of the second connecting plate 314. The left and right ends of the platform along the X direction are provided with protrusions 324 to support the upper connecting plate. The upper end face of the platform is provided with a centering moving unit in the centering positioning mechanism 32. The centering moving unit is located below the upper connecting plate.

[0040] The centering and positioning mechanism 32 determines the left and right positions by simultaneously moving and clamping the lower plate at both ends of the centering and moving the centering and positioning unit. It also includes a third cylinder 321.

[0041] The centering movement unit includes:

[0042] The rotating plate 322 is rotatably mounted on the positioning platform, and the tightening rod 323 is symmetrically hinged to the rotating plate 322.

[0043] The boss 324 and the centering baffle 325 are provided. One side of the boss 324 is connected to the tensioning rod 323, and the other side is connected to the centering baffle 325. The centering baffle 325 is lower than the boss 324.

[0044] The boss 324 is correspondingly provided with the tensioning rod 323 and can move along the positioning platform;

[0045] The third cylinder 321 is used to drive the boss 324 to move in the front-back direction. Its cylinder body is fixedly set, and its output end is connected to the outer section of the driving boss 324 that extends out of the positioning platform.

[0046] Preferably, the secondary transfer mechanism 40 includes a transfer module 41 and a secondary pick-and-place mechanism 42;

[0047] The secondary pick-and-place mechanism 42 is connected to the transfer module 41 via a second linear module. It moves rapidly in the horizontal direction, transferring the lower connecting plate, after it has been positioned, from the intermediate positioning mechanism 30 to the next process via magnetic attraction. This includes:

[0048] The secondary pick-and-place platform 420 is connected to the transfer module 41 and is located above the positioning platform 315;

[0049] The transplanting suction cup 421 is fixed to the secondary pick-up and drop platform 420 and is positioned towards the positioning platform 315.

[0050] Preferably, the riveting table mechanism 50 includes:

[0051] Frame 2 51 is welded from profiles and supports the housing and housing positioning mechanism 52;

[0052] The four corner grippers of the box positioning mechanism 52 clamp the edges of the box, and the left and right sides move to press against the edges of the box, thus fixing the box. This mechanism includes:

[0053] Box positioning base;

[0054] The gripper unit 520 is used to position the box along the X direction. It includes a fourth cylinder 5201, whose cylinder body is fixed to the box positioning base and whose output end is fixed to the lower connector. The lower rotating shaft is installed in the groove of the lower connector. The lower rotating shaft is located in the lower mounting groove opened in the lower section of the cylinder gripper and can move along the lower mounting groove.

[0055] The cylinder gripper is hinged to the housing positioning base via an upper connector;

[0056] Left and right positioning unit 521, used for positioning the housing along the Y direction, includes:

[0057] The first limiting frame 5210 is fixed to one end of the box positioning base along the Y direction;

[0058] The pusher frame 5212 and the fifth cylinder 5211 are installed at the other end of the housing positioning base along the Y direction. The cylinder body of the fifth cylinder 5211 is fixedly installed, and its output end is fixed to the pusher frame 5212. The pusher frame 5212 extends along the X direction.

[0059] Once the lower connecting plate is lifted into place by the lifting and positioning mechanism 60, the box positioning base will receive the lower connecting plate and rivet it on it.

[0060] After riveting is completed, the box positioning mechanism 52 and the riveting pliers transfer mechanism 70 are reset, and the pusher frame 5212 pushes the box out of the workstation, waiting for the robot to unload the box.

[0061] Preferably, the lifting and positioning mechanism 60 is liftable, and the lower connecting plate is lifted and positioned by the positioning cone pin 61 on the support plate. After it is raised to the position relative to the box body, it is retracted for the next process of riveting.

[0062] Preferably, the rivet transfer mechanism 70 includes: a base transfer mechanism 71 and a rivet mechanism 72;

[0063] The pedestal transfer mechanism 71 is used to transfer the position of the rivet clamp mechanism 72.

[0064] The riveting mechanism 72 begins riveting after the lower connecting plate and the housing are in the correct relative positions.

[0065] This invention provides an automated riveting device and method for the lower connecting plate of a drum washing machine, characterized by comprising the following steps:

[0066] Step S100: The feeding conveyor line transports the lower connecting plate through a double-station chain line, improving the conveying efficiency. Its tooling structure is designed as an inclined plane, so that the tooling plate tilts to one side due to gravity, which facilitates positioning and conveying.

[0067] Step S200: The loading and transfer mechanism moves the loading and gripping mechanism above the lower connecting plate, lowers the gripping mechanism, and uses magnetic attraction to grip the lower connecting plate. Then, the electric drive module transfer mechanism moves to the next station to realize the gripping and transfer of the lower connecting plate.

[0068] In step S300, the intermediate positioning mechanism clamps the lower connecting plate using the centering positioning mechanism and the side-pushing positioning mechanism, and then releases it after determining the relative position. The secondary transfer mechanism magnetically grasps the lower connecting plate and transfers it to the riveting table station.

[0069] Step S400: The riveting table is opened. After the housing is placed in the housing positioning mechanism, the two side pushing mechanisms move to the top position to support the housing. The four cylinder jaw grooves tighten the edges of the housing to determine its position. Then, the lifting and positioning device lifts up, and the lower connecting plate is positioned by the positioning cone pin passing through the slot hole of the lower plate and transferred into the housing, so that the lower connecting plate and the required riveting slot of the housing correspond. Under the control of the three servo transmission mechanisms and one set of pneumatic mechanism control system of the transfer riveting mechanism, relative movement is performed. When the riveting mechanism enters the corresponding riveting range, the riveting operation begins.

[0070] Step S500: When the riveting operation begins, the control system moves the riveting clamp mechanism. The hydraulic riveting equipment is activated to begin riveting the washing machine casing and the lower connecting plate.

[0071] After riveting is completed, the riveting pliers transfer mechanism returns to its original standby position. After the robot unloads the riveted box, the riveting table of the riveting pliers mechanism is ready to fix a new box and start the next box operation. This process is repeated.

[0072] Beneficial effects: Through the above technical solution, the automated riveting equipment for the lower connecting plate of the drum washing machine body described in this invention is suitable for riveting bodies of different sizes. It replaces the original manual riveting with an automated system, and uses module transfer and hydraulic riveting methods to work, which speeds up the production and assembly cycle, improves the production quality and efficiency of the products, and realizes the automated production of the lower connecting plate of the drum washing machine body. Attached Figure Description

[0073] Figure 1 This is an overall layout diagram of the automated riveting equipment and method for the lower connecting plate of a drum washing machine in this invention;

[0074] Figure 2 This is a structural diagram of the feeding conveyor line in this invention;

[0075] Figure 3 This is a structural diagram of the material loading and transfer mechanism in this invention;

[0076] Figure 4 This is a structural diagram of the intermediate positioning mechanism in this invention;

[0077] Figure 5 This is a structural diagram of the secondary transfer mechanism in this invention;

[0078] Figure 6 This is a structural diagram of the riveting table mechanism in this invention;

[0079] Figure 7 This is a structural diagram of the lifting and positioning mechanism in this invention;

[0080] Figure 8 This is a structural diagram of the rivet transfer mechanism in this invention;

[0081] Figure 9 This is a structural diagram of the feeding and gripping mechanism in the feeding and transfer mechanism;

[0082] Figure 10 This is a layout diagram of the intermediate positioning mechanism, the secondary transfer mechanism, and the riveting table mechanism.

[0083] Figures 11-16 Views of the intermediate positioning mechanism from different angles;

[0084] Figures 17-19This is a structural diagram of the box positioning mechanism in the riveting table mechanism.

[0085] In the diagram: 10-Feeding conveyor line, 20-Feeding transfer mechanism, 30-Intermediate positioning mechanism, 40-Secondary transfer mechanism, 50-Riveting table mechanism, 60-Lifting and positioning mechanism, 70-Riveting pliers transfer mechanism, 11-Frame 1, 12-Chain conveyor line, 13-Tooling plate, 21-Transfer frame, 22-Feeding gripping mechanism, 221-Gripping frame, 222-Gripping cylinder, 223-Gripping plate, 224-Electromagnet.

[0086] 31-Pushing mechanism, 311-Cylinder No. 1, 312-Connecting plate No. 1, 313-Lifting cylinder No. 1, 314-Connecting plate No. 2, 315-Positioning platform.

[0087] 32-Centering and positioning mechanism, 321-Cylinder No. 3, 322-Rotating plate, 323-Tightening rod.

[0088] 324 - Boss, 325 - Centering baffle

[0089] 33-Side push mechanism, 331-Cylinder No. 2, 332-Side push plate.

[0090] 41-Transfer module, 42-Secondary pick-and-place mechanism, 420-Secondary pick-and-place platform, 421-Transfer suction cup.

[0091] 51-Rack 2,

[0092] 52-Box positioning mechanism, 520-Gripper unit, 5201-Cylinder No. 4, 521-Left and right positioning unit, 5210-First limit frame, 5211-Cylinder No. 5, 5212-Pushing frame.

[0093] 61-Locking tapered pin,

[0094] 71-Platform transfer mechanism, 72-Riveting mechanism. Detailed Implementation

[0095] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings:

[0096] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are only for illustrative purposes to aid those skilled in the art and to facilitate their understanding and reading. They are not intended to limit the conditions under which the invention can be implemented. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0097] The following is in conjunction with the appendix Figure 1-19 Further details regarding the application:

[0098] Please see Figure 1 The automated riveting equipment for the lower connecting plate of a drum washing machine according to the present invention includes a feeding conveyor line 10, a feeding transfer mechanism 20, an intermediate positioning mechanism 30, a secondary transfer mechanism 40, a riveting table mechanism 50, a lifting and positioning mechanism 60, and a riveting clamp transfer mechanism 70 arranged in the working order.

[0099] The feeding conveyor line 10 and the intermediate positioning mechanism 30 are connected and transferred by the feeding transfer mechanism 20.

[0100] The secondary transfer mechanism 40 transfers the lower connecting plate, which has been positioned by the intermediate positioning mechanism 30, to the riveting table mechanism 50.

[0101] After the lifting and positioning mechanism 60 lifts the lower connecting plate into the working range of the riveting pliers transfer mechanism 70 and determines the relative position, the riveting pliers work is performed.

[0102] like Figure 2 As shown, the feeding conveyor line 10 consists of a frame 11, a chain conveyor line 12, and a tooling plate 13.

[0103] The frame 11 provides load-bearing and conveying for the line. To improve conveying efficiency, the tooling plate 13 of the double-station chain conveyor line is designed as an inclined mechanism to facilitate the stable transfer and conveying of the lower connecting plate.

[0104] like Figure 3 As shown, the loading and transfer mechanism 20 consists of a transfer frame 21 and a loading gripping mechanism 22. The transfer frame 21 is mainly welded from a profile frame.

[0105] The feeding and gripping mechanism 22 is connected to the transfer frame 21 through the first linear module, and moves rapidly in the horizontal direction.

[0106] The feeding gripping mechanism 22 can move vertically to pick up and place the lower connecting plate on the feeding conveyor line; its picking and placing mechanism is designed with a magnetic suction design with a range of motion, which facilitates quick picking and placing and improves efficiency.

[0107] The feeding and gripping mechanism 22 is a magnetic structure, such as Figure 9 As shown, it includes:

[0108] The gripper 221 is connected to the mobile end of the first linear module.

[0109] A gripping cylinder 222 is fixed to a gripping frame 221, and its cylinder rod extends downward in the vertical direction and is fixed to a gripping plate 223;

[0110] Electromagnet 224 is used to attract the lower connecting plate, which is fixed to the gripping plate and is set in the direction of the feeding conveyor line 10.

[0111] like Figure 4 , Figures 10-16 As shown, the intermediate positioning mechanism 30 consists of a pusher mechanism 31, a centering positioning mechanism 32, and a pusher mechanism 33, which determine the absolute positions of the lower connecting plate in two directions, X and Y.

[0112] The push-seat mechanism 31, which receives the other two mechanisms, moves them below the feeding and gripping mechanism 22, and includes:

[0113] The first cylinder 311 has a fixed cylinder body and its output end is connected to the first connecting plate 312. The first connecting plate 312 can move along the base of the pusher mechanism 31.

[0114] The first lifting cylinder 313 is used to lift the upper connecting plate to below the secondary transfer mechanism 40. Its output end is fixed to the lower end face of the positioning platform 315, and its cylinder body is fixed to the first connecting plate 312.

[0115] The centering positioning mechanism 32 and the side-push positioning mechanism 33 are used to determine the absolute position of the lower connecting plate in two directions.

[0116] The centering and positioning mechanism 32 determines the left and right positions (along the X direction) by simultaneously moving and clamping the lower plate at both ends of the centering moving unit. It also includes: cylinder 321.

[0117] The moving unit includes:

[0118] The rotating plate 322 is rotatably mounted on the positioning platform, and the tensioning rod 323 is symmetrically hinged to the rotating plate 322.

[0119] The boss 324 and the centering baffle 325 are connected to a tensioning rod 323 on one side and a centering baffle 325 on the other side. The centering baffle 325 is lower than the boss 324.

[0120] The boss 324 is correspondingly provided with the tensioning rod 323 and can move along the positioning platform.

[0121] Cylinder 321 is used to drive boss 324 to move in the front-back direction (X direction). Its cylinder body is fixedly set, and its output end is connected to the outer section of the driving boss 324 that extends out of the positioning platform.

[0122] The side-push positioning mechanism 33 is fixed at one end and can push one side of the lower connecting plate at the other end until it is clamped, thus determining the front and rear position (along the Y direction). It includes: a second cylinder 331 and a side-push plate 332.

[0123] Cylinder 331 is used to push the side push plate 332 so that the side push plate abuts against one side of the upper connecting plate. Its cylinder body is fixed to the second connecting plate 314, and its output end is fixed to the side push plate 332.

[0124] The positioning platform is fixed to the upper surface of the second connecting plate 314. The left and right ends of the platform along the X direction are provided with protrusions 324 to support the upper connecting plate. The upper surface of the platform is provided with a centering moving unit in the centering positioning mechanism 32. The centering moving unit is located below the upper connecting plate.

[0125] Depend on Figure 15 The positioning platform is narrower than the upper connecting plate, and there is no motion interference between the boss 324 and the side push plate 332.

[0126] All of the above-mentioned motion mechanisms can operate simultaneously. Once the position is confirmed, each mechanism releases, ready for the next process to begin, thus improving efficiency.

[0127] like Figure 5 , Figure 11 As shown, the secondary transfer mechanism 40 consists of a transfer module 41 and a secondary pick-and-place mechanism 42.

[0128] The secondary pick-and-place mechanism 42 is connected to the transfer module 41 via the second linear module. It moves rapidly in the horizontal direction to transfer the lower connecting plate, which has been positioned, from the intermediate positioning mechanism 30 to the next process via magnetic attraction. The linear modules are all existing technologies.

[0129] The secondary pick-up and drop-off mechanism 42 includes:

[0130] The secondary pick-and-place platform 420 is connected to the transfer module 41 and is located above the positioning platform 315;

[0131] The transplanting suction cup 421 is fixed to the secondary pick-up and drop platform 420 and is positioned towards the positioning platform 315.

[0132] like Figure 6As shown, the riveting table mechanism 50 is mainly composed of frame 2 11 and box positioning mechanism 52. Frame 2 11 is welded from profiles and supports the box and box positioning mechanism 52.

[0133] The four corner cylinders of the housing positioning mechanism 52 clamp the edges of the housing and move to the left and right sides to hold the edges of the housing in place.

[0134] Once the lower connecting plate has risen into place, it will be riveted together.

[0135] After riveting is completed, all mechanisms are released, and the push mechanism pushes the box out of the workstation.

[0136] like Figures 17-19 The housing positioning mechanism 52 includes:

[0137] Box positioning base;

[0138] The gripper unit 520 is used to position the box along the X direction. It includes a fourth cylinder 5201, whose cylinder body is fixed to the box positioning base and whose output end is fixed to the lower connector. The lower rotating shaft is installed in the groove of the lower connector. The lower rotating shaft is located in the lower mounting groove opened in the lower section of the cylinder gripper and can move along the lower mounting groove.

[0139] The cylinder gripper is hinged to the housing positioning base via the upper connector.

[0140] Left and right positioning unit 521, used for positioning the housing along the Y direction, includes:

[0141] The first limiting frame 5210 is fixed to one end of the box positioning base along the Y direction.

[0142] The pusher frame 5212 and the fifth cylinder 5211 are installed at the other end of the housing positioning base along the Y direction. The cylinder body of the fifth cylinder 5211 is fixedly set, and its output end is fixed to the pusher frame 5212. The pusher frame 5212 extends along the X direction.

[0143] like Figure 7 As shown, the lifting and positioning mechanism 60 has a lifting function. It lifts and positions the lower connecting plate by means of the positioning cone pin 61 on the pallet. After it is raised to the position relative to the box, it retracts and waits for the next process of riveting.

[0144] like Figure 8 As shown, the rivet transfer mechanism 70 (prior art) consists of a base transfer mechanism 71 and a rivet mechanism 72.

[0145] The pedestal transfer mechanism 71 mainly consists of three sets of servo motors and one set of pneumatic transmission mechanisms, which are used to quickly and accurately transfer the position of the rivet clamp mechanism 72.

[0146] Specifically, the pedestal transfer mechanism 71 is mainly composed of three sets of servo drive transfer mechanisms. One set of servo drives positions the components in one direction, while the other two sets of servo drives transfer and position the riveting mechanisms 1 and 2 in another direction.

[0147] After the relative positions of the lower connecting plate and the housing are determined, the riveting mechanism 72 begins riveting.

[0148] This invention also provides an automated riveting device and method for the lower connecting plate of a drum washing machine, characterized by comprising the following steps:

[0149] Step S100: The feeding conveyor line transports the lower connecting plate through a double-station chain line, improving the conveying efficiency. Its tooling structure is designed as an inclined plane, so that the tooling plate tilts to one side due to gravity, which facilitates positioning and conveying.

[0150] Step S200: The loading and transfer mechanism moves the loading and gripping mechanism above the lower connecting plate, lowers the gripping mechanism, and uses magnetic attraction to grip the lower connecting plate. Then, the electric drive module transfer mechanism moves to the next station to realize the gripping and transfer of the lower connecting plate.

[0151] In step S300, the intermediate positioning mechanism clamps the lower connecting plate using the centering positioning mechanism and the side-pushing positioning mechanism, and then releases it after determining the relative position. The secondary transfer mechanism magnetically grabs the lower connecting plate and transfers it to the workstation of the riveting table mechanism.

[0152] Step S400: The riveting table is opened. After the box is placed in the box positioning mechanism, the two side pushing mechanisms move the top position to support the box. The four cylinder claw grooves tighten the edges of the box to determine the position of the box.

[0153] Then, the lifting and positioning mechanism 60 lifts up, positions the lower connecting plate by inserting the positioning cone pin through the slot hole of the lower connecting plate, and transfers it into the box.

[0154] When the required riveting slots of the connecting plate and the housing correspond, the riveting mechanism moves relative to each other under the control of three servo transmission mechanisms and a set of pneumatic mechanism control equipment and methods. When the riveting mechanism enters the corresponding riveting range, the riveting operation begins.

[0155] Step S500: When the riveting operation begins, the control equipment and method move the riveting clamp mechanism. The hydraulic booster equipment and method are activated to begin riveting the washing machine casing and lower connecting plate. After riveting is completed, the riveting mechanism returns to its original standby position. After the robot removes the riveted casing, the riveting table is ready to fix a new casing, and the next casing operation begins, repeating this process.

[0156] Through the above technical solution, the automated riveting equipment for the lower connecting plate of the drum washing machine body of the present invention is suitable for riveting of bodies of different sizes. It replaces the original manual riveting with an automated electronic control system, and uses module transfer and hydraulic riveting methods to work, which speeds up the production and assembly cycle, improves the production quality and efficiency of the products, and realizes the automated production of the lower connecting plate of the drum washing machine body.

[0157] The embodiments of this patent have been described in detail above. However, this patent is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.

Claims

1. A drum washing machine lower connecting plate automatic riveting equipment, characterized in that, include: The following components are arranged in the order of operation: feeding conveyor (10), feeding transfer mechanism (20), intermediate positioning mechanism (30), secondary transfer mechanism (40), riveting table mechanism (50), lifting and positioning mechanism (60), and riveting clamp transfer mechanism (70). The feeding conveyor line (10) is used to feed the lower connecting plate, providing load-bearing and transportation for the lower connecting plate; The loading and transfer mechanism (20) cooperates with the conveying end of the loading conveyor line (10). It is used to load the lower connecting plate, grab the lower connecting plate on the loading conveyor line (10), and transfer it to the intermediate positioning mechanism (30) for loading. The intermediate positioning mechanism (30) is located on the other side below the loading and transfer mechanism (20). It completes the initial positioning of the lower connecting plate through center positioning and side positioning. The secondary transfer mechanism (40) transfers the lower connecting plate, which has completed its initial positioning on the intermediate positioning mechanism (30), to the riveting table mechanism (50) station. The riveting table mechanism (50) is used to fix the box body and ensure its relative position with the lower connecting plate; The lifting and positioning mechanism (60) lifts the lower connecting plate through the hole of the lower connecting plate by positioning cone pin (61) to reposition the lower connecting plate on the riveting table mechanism (50) station to ensure the relative position with the box body; then the lifting and positioning mechanism (60) continues to lift to transfer the repositioned lower connecting plate into the box body. The rivet transfer mechanism (70) is used to complete the rivet action after the relative positions of the housing and the lower connecting plate are determined, and to rivet the housing and the lower connecting plate into one piece. The intermediate positioning mechanism (30) includes: The push-seat mechanism (31) receives the centering positioning mechanism (32) and the side-pushing positioning mechanism (33) and moves them below the loading gripping mechanism (22) in the loading and transfer mechanism (20), and includes: The first cylinder (311) has a fixed cylinder body and its output end is connected to the first connecting plate (312). The first connecting plate (312) can move along the base of the pusher mechanism (31). The first lifting cylinder (313) is used to lift the lower connecting plate to below the secondary transfer mechanism (40). Its output end is fixed to the lower end face of the positioning platform (315), and its cylinder body is fixed to the first connecting plate (312). The centering positioning mechanism (32) and the side-pushing positioning mechanism (33) are used to determine the absolute position of the lower connecting plate in two directions; The side-push positioning mechanism (33) is fixed at one end and can push one side of the lower connecting plate at the other end until it is clamped between the side-push plate (332) and the side of the positioning platform (315) to determine the front and rear position along the X direction. It includes: cylinder No. 2 (331) and side-push plate (332). The second cylinder (331) is used to push the side push plate (332) so that the side push plate abuts against one side of the lower connecting plate. Its cylinder body is fixed to the second connecting plate (314), and its output end is fixed to the side push plate (332). The positioning platform is fixed to the upper surface of the second connecting plate (314). It has protrusions (324) at its left and right ends along the X direction to support the lower connecting plate. Its upper surface is provided with a centering moving unit in the centering positioning mechanism (32). The centering moving unit is located below the lower connecting plate.

2. The automated riveting equipment for the lower connecting plate of a drum washing machine according to claim 1, characterized in that: The feeding conveyor line (10) includes a frame (11) and a double-station chain conveyor line (12). The tooling plate (13) conveyed by the double-station chain conveyor line (12) is inclined, which facilitates the transfer and conveying of the lower connecting plate.

3. The automated riveting equipment for the lower connecting plate of a drum washing machine according to claim 1, characterized in that: The loading and transfer mechanism (20) includes a transfer frame (21) and a loading gripping mechanism (22). The transfer frame (21) is welded from profile frames and is used to support the No. 1 linear module; The feeding gripping mechanism (22) is connected to the transfer frame (21) through a linear module and moves horizontally on it; The feeding gripping mechanism (22) can move vertically to pick up and place the lower connecting plate on the feeding conveyor line (10); The feeding and gripping mechanism (22) is a magnetic suction structure.

4. The automatic riveting apparatus for the lower connecting plate of a drum washing machine according to claim 3, characterized in that, The feeding and gripping mechanism (22) includes: The gripper (221) is connected to the mobile end of the first linear module; A gripping cylinder (222) is fixed to the gripping frame (221), and its cylinder rod extends downward in the vertical direction and is fixed to the gripping plate (223). An electromagnet (224) is used to attract the lower connecting plate, which is fixed to the gripping plate and set in the direction of the feeding conveyor line (10).

5. The automatic riveting apparatus for the lower connecting plate of a drum washing machine according to claim 3, wherein The centering and positioning mechanism (32) determines the left and right positions by simultaneously moving and clamping the lower connecting plate at both ends of the centering moving unit. The centering and positioning mechanism (32) also includes: cylinder No. 3 (321). The centering movement unit includes: A rotating plate (322) and a tightening rod (323) are provided. The rotating plate (322) is rotatably mounted on the positioning platform, and the tightening rod (323) is symmetrically hinged to the rotating plate (322). A boss (324) and a centering baffle (325) are provided. One side of the boss (324) is connected to a tensioning rod (323), and the other side is connected to the centering baffle (325). The centering baffle (325) is lower than the boss (324). The boss (324) is correspondingly provided with the tensioning rod (323) and can move along the positioning platform; The third cylinder (321) is used to drive the boss (324) to move in the front-back direction. Its cylinder body is fixedly set, and its output end is connected to the outer section of the driving boss (324) extending out of the positioning platform.

6. The automatic riveting device for the lower connecting plate of a drum washing machine according to claim 5, characterized in that: The secondary transfer mechanism (40) includes a transfer module (41) and a secondary pick-and-place mechanism (42). The secondary pick-and-place mechanism (42) is connected to the transfer module (41) via the second linear module. It moves rapidly in the horizontal direction, transferring the lower connecting plate, after its position has been determined, from the intermediate positioning mechanism (30) to the next process via magnetic attraction. This includes: The secondary pick-and-place platform (420) is connected to the transfer module (41) and is located above the positioning platform (315); The transfer suction cup (421) is fixed to the secondary pick-up and drop platform (420) and is positioned toward the positioning platform (315).

7. The automatic riveting apparatus for the lower connecting plate of a drum washing machine according to claim 1, wherein The riveting table mechanism (50) includes: The second frame (51) is welded from profiles and supports the box and the box positioning mechanism (52). The four corner grippers of the box positioning mechanism (52) clamp the edge of the box, and move left and right sides to press against the edge of the box, thus fixing the box. This mechanism includes: Box positioning base; The gripper unit (520) is used to position the box along the X direction. It includes a fourth cylinder (5201), whose cylinder body is fixed to the box positioning base, and whose output end is fixed to the lower connector. A lower rotating shaft is installed in the groove of the lower connector. The lower rotating shaft is located in the lower mounting groove opened in the lower section of the cylinder gripper and can move along the lower mounting groove. The cylinder gripper is hinged to the box positioning base through the upper connector. Left and right positioning unit (521), used for positioning the housing along the Y direction, includes: The first limiting frame (5210) is fixed to one end of the box positioning base along the Y direction; The pusher (5212) and the fifth cylinder (5211) are installed at the other end of the housing positioning base along the Y direction. The cylinder body of the fifth cylinder (5211) is fixedly installed, and its output end is fixed to the pusher (5212). The pusher (5212) extends along the X direction. Once the lower connecting plate is lifted into place by the lifting and positioning mechanism (60), the box positioning base receives the lower connecting plate and rivets it on it; After riveting is completed, the box positioning mechanism (52) and the riveting pliers transfer mechanism (70) are reset, and the pusher frame (5212) pushes the box out of the workstation, waiting for the robot to unload the box.

8. An automated riveting device for the lower connecting plate of a drum washing machine according to claim 1, characterized in that: The lifting and positioning mechanism (60) can be lifted and positioned by the positioning cone pin (61) on the pallet to lift and position the lower connecting plate. After it is raised to the position relative to the box, it is retracted and ready for the next process of riveting.

9. The automatic riveting device for the lower connecting plate of a drum washing machine according to claim 1, characterized in that: The rivet transfer mechanism (70) includes: a base transfer mechanism (71) and a rivet mechanism (72). The pedestal transfer mechanism (71) is used to transfer the position of the rivet clamp mechanism (72); The riveting mechanism (72) begins riveting after the lower connecting plate and the housing are in the correct relative positions.

10. A method for the automatic riveting of a lower connection plate of a drum washing machine, based on the automatic riveting apparatus for a lower connection plate of a drum washing machine according to any one of claims 1-9, characterized in that, Includes the following steps: Step S100: The feeding conveyor line (10) conveys the lower connecting plate through a double-station chain line; Step S200: The loading and transfer mechanism (20) moves the loading and gripping mechanism above the lower connecting plate, lowers the gripping mechanism, and uses magnetic attraction to grip the lower connecting plate. Then, the first linear module drives the loading and transfer mechanism (20) to the next station to realize the gripping and transfer of the lower connecting plate. Step S300: The intermediate positioning mechanism (30) clamps the lower connecting plate through the centering positioning mechanism and the side-push positioning mechanism, and then releases it; The secondary transfer mechanism (40) magnetically grabs the lower connecting plate at the intermediate positioning mechanism (30) and then transfers it to the riveting table mechanism (50) station; Step S400: The riveting table mechanism (50) is opened. After the box is placed in the box positioning mechanism (52), the left and right positioning units (521) move and position to support the box. The cylinder claw grooves in the four claw units (520) press the edge of the box to determine the position of the box. Then, the lifting and positioning mechanism (60) is lifted, and the lower connecting plate is positioned by the positioning cone pin passing through the slot hole of the lower connecting plate. The lifting and positioning mechanism (60) continues to lift to transfer the repositioned lower connecting plate into the box. At this time, the required riveting slot holes of the lower connecting plate and the box correspond. The rivet mechanism (72) of the rivet transfer mechanism (70) is activated. When the rivet mechanism (72) enters the corresponding riveting range, the riveting operation begins.

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