Automatic assembling mechanism, system and method for inner barrel accessories of washing machine

Abstract

The invention discloses a washing machine inner barrel accessory assembling mechanism, system and method. The washing machine inner barrel accessory assembling mechanism comprises a rack assembly, a feeding mechanical arm, an inner side assembling assembly, a screw locking assembly, an arc guide rail arranged in the center of a table top, the inner side assembling assembly located in a guide rail containing cavity, and the feeding mechanical arm and the screw locking assembly which are arranged in the circumferential direction of the guide rail. The feeding mechanical arm conducts circumferential swing along the arc guide rail through the hinge assembly to be cut into the containing cavity, and the inner cylinder accessory is switched into the vertical posture from the horizontal posture through the overturning action and transferred to the inner side assembling assembly. The inner side assembling assembly outwards abuts against the accessory to the inner wall of the inner cylinder, and locking and fixing from outside to inside are completed in cooperation with the external screw locking assembly. Interference is effectively avoided through an arc path, conveying and posture adjustment are integrated, the automatic assembly problem in a narrow space is solved, and the assembly efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology for washing machines, specifically to an automatic assembly mechanism, system, and method for washing machine inner drum accessories. Background Technology

[0002] The washing machine drum is the core rotating component of the washing machine, typically consisting of a stainless steel drum body, a bottom cover, and a flange. To enhance washing performance, several (usually three) drum attachments (also called lifting ribs) are installed on the inner wall of the drum. These attachments lift and tumble the clothes during washing.

[0003] Currently, the installation of inner drum accessories in the production and assembly process of washing machine inner drums mainly presents the following problems: Manual assembly is labor-intensive and inefficient: Existing assembly methods rely heavily on manual operation. Operators need to reach into the washing machine drum with the inner tub attachments to align them, and then use an electric screwdriver to tighten and secure them from the outside or inside. Due to the confined space and sharp edges inside the washing machine drum, manual operation not only restricts movement and easily causes arm injuries, but also involves prolonged, repetitive bending and stretching work, resulting in extremely high labor intensity and difficulty in improving production efficiency.

[0004] Poor assembly quality consistency: Manual alignment is prone to deviations, resulting in loose fit between the inner drum accessories and the inner drum wall or misaligned installation angles. Furthermore, when manually tightening screws, the tightening torque is difficult to control precisely, easily leading to stripped threads, misaligned tightening, or missed tightening, affecting the overall quality and dynamic balance performance of the washing machine.

[0005] The existing automated equipment lacks coordination: Although there are some general-purpose robotic arms or linear modules on the market, most of them are based on Cartesian coordinate systems for linear motion. For the special deep-cavity cylindrical structure of a washing machine drum, conventional linear feeding mechanisms have difficulty conveying accessories to the depths of the drum without interfering with the drum opening, and it is also difficult to flexibly switch from a horizontal conveying posture to a vertical wall-mounted installation posture in the narrow internal space.

[0006] Therefore, there is currently a lack of specialized assembly equipment that can adapt to the special spatial structure of the washing machine drum, and achieve automatic loading, posture adjustment, and precise locking of accessories. Summary of the Invention

[0007] In order to overcome the technical defects of existing technologies, such as high labor intensity and unstable assembly quality of manual assembly, and the difficulty of conventional equipment to complete the installation of accessories in the confined deep drum space, the present invention provides an automatic assembly mechanism, system and method for washing machine inner drum accessories.

[0008] To solve the above problems, the present application is implemented according to the following technical solutions: The present application provides a washing machine inner drum accessory assembling mechanism, comprising: A rack assembly; An arc guide rail, which is arranged at the center of the tabletop of the rack assembly, and has a receiving cavity for receiving a washing machine inner drum; An inner assembling assembly, which is arranged in the receiving cavity and is used for supporting and positioning the washing machine inner drum from the inside, and which, together with the arc guide rail, defines an assembling station for the washing machine inner drum; A plurality of feeding mechanical arms, which are arranged along the circumference of the arc guide rail, and have hinge assemblies at the ends thereof, the hinge assemblies being used for clamping an inner drum accessory and conveying it along the arc path of the arc guide rail to the assembling station of the washing machine inner drum; A screw locking assembly, which is arranged on the rack assembly and is used for locking the washing machine inner drum and the inner drum accessory; The hinge assembly swings along the arc guide rail to cut into the receiving cavity, and can be flipped to switch the inner drum accessory from a horizontal posture to a vertical posture, so as to transfer the inner drum accessory to the inner assembling assembly; the inner assembling assembly is used for receiving the inner drum accessory and pressing it outward against the inner wall of the washing machine inner drum, so as to complete the locking and fixing from the outside to the inside in cooperation with the screw locking assembly.

[0009] In combination with the first aspect, the present application further provides a first specific implementation of the first aspect, wherein the feeding mechanical arm further comprises: A supporting leg, which is fixed to the rack assembly; An arc guide rail mounting seat, which is arranged on the supporting leg; A swing angle assembly, which comprises a swing angle sliding block and a swing angle mounting plate, and the swing angle sliding block is in sliding cooperation with the arc guide rail; A swing angle limiting seat, which is arranged on the arc guide rail and is used for limiting the swing stroke of the swing angle assembly; A feeding swing angle cylinder, which is mounted on the arc guide rail mounting seat, and has an output end connected to the hinge assembly and used for driving the swing angle assembly and the hinge assembly to swing along the arc guide rail, and the swing angle mounting plate is connected to the hinge assembly and the feeding swing angle cylinder.

[0010] In combination with the first aspect, the present application further provides a second specific implementation of the first aspect, wherein the hinge assembly comprises: A hinge seat is fixed on the swing angle sliding block; A hinge plate is hinged with the hinge seat through a hinge shaft; A right angle swing cylinder is installed on the hinge seat, and an output end of the right angle swing cylinder is in transmission connection with the hinge plate, for driving the hinge plate to swing around the hinge shaft to realize posture overturning; An inner drum accessory placing mounting plate is connected on the hinge plate, and an inner drum accessory clamping cylinder is arranged on the inner drum accessory placing mounting plate, for clamping an inner drum accessory; A push-out cylinder is arranged on the inner drum accessory placing mounting plate, and an output end of the push-out cylinder is used for driving the inner drum accessory to extend radially to push into the inner side assembly.

[0011] In combination with the first aspect, the present application further provides a third specific implementation manner of the first aspect, and the inner side assembly comprises: An inner side assembly support stand column is fixed on the rack assembly; A mold is rotatably arranged on the inner side assembly support stand column, for supporting an outer wall of a washing machine inner drum; An inner liner assembly comprises an inner liner mounting seat and an inner liner cylinder, the inner liner mounting seat is arranged beside the mold, and the inner liner cylinder is used for supporting the washing machine inner drum from inside; A rotation angle servo motor is installed at a bottom of the mold, an output end of the rotation angle servo motor is in transmission connection with the inner liner assembly, and the rotation angle servo motor is used for driving the inner liner assembly to rotate as a whole; An inner drum guide column is arranged along a circumference of the mold, for guiding an axial installation position of the washing machine inner drum.

[0012] In combination with the first aspect, the present application further provides a fourth specific implementation manner of the first aspect, and the inner side automatic assembly assembly further comprises a material receiving positioning mechanism installed on the inner liner cylinder, and the material receiving positioning mechanism comprises: A vertical placement mounting seat is installed on a claw of the inner liner cylinder; A vertical placement supporting and clamping assembly is arranged on the vertical placement mounting seat, and the vertical placement supporting and clamping assembly comprises a vertical placement supporting and clamping cylinder and a vertical placement supporting and clamping plate, the vertical placement supporting and clamping plate is connected with an output end of the vertical placement supporting and clamping cylinder, and the vertical placement supporting and clamping cylinder and the vertical placement supporting and clamping plate are arranged on the vertical placement mounting seat, for positioning the inner drum accessory in the up-down direction; A turnover clamping suction disc mounting hinge seat is hinged on the vertical placement mounting seat; A vertical turning and clamping cylinder, a cylinder body of the vertical turning and clamping cylinder is fixed on the vertical mounting seat, an output end of the vertical turning and clamping cylinder is connected with the turning and clamping suction disc mounting hinge seat, and the vertical turning and clamping cylinder is used for driving the turning and clamping suction disc mounting hinge seat to turn over. A suction disc, the suction disc is connected with the turning and clamping suction disc mounting hinge seat through a turning and clamping hinge shaft, and the suction disc is used for adsorbing and fixing the inner drum accessory.

[0013] With the first aspect, the present application further provides a fifth specific implementation manner of the first aspect, and the screw locking assembly comprises: A screw locking mechanism mounting seat, the screw locking mechanism mounting seat is fixed on the rack assembly; An automatic screw locking mechanism, the automatic screw locking mechanism is mounted on the screw locking mechanism mounting seat and is arranged corresponding to the work station of the inner side assembly; A vibration screw feeder, the vibration screw feeder is connected with the automatic screw locking mechanism through a conveying pipeline and is used for automatically supplying screws.

[0014] The second aspect of the present application provides a washing machine inner drum accessory automatic assembly control system, which is realized based on the washing machine inner drum accessory automatic assembly mechanism of the first aspect of the present application, and the control system comprises: An inner drum positioning module, which is used for controlling a rotary servo motor to drive a mold to rotate to a predetermined angle and controlling an inner lining cylinder and a material receiving positioning mechanism to receive an inner drum accessory and fix a washing machine inner drum; A feeding control module, which is used for controlling a feeding swing angle cylinder to act and drive a feeding mechanical arm to cut into the inside of the washing machine inner drum along an arc track and controlling a right-angle swing cylinder and a pushing cylinder to act to adjust the posture of the inner drum accessory and complete pushing; A locking execution module, which is used for controlling a screw locking assembly to align and execute a locking action; A general control module, which is used for coordinating the timing of each module and ensuring that the actions of the feeding control module and the locking execution module do not interfere with each other.

[0015] The third aspect of the present application provides a washing machine inner drum accessory assembly method, which is applied to the washing machine inner drum accessory assembly control system of the second aspect of the present application, and the method comprises the following steps: S100: The feeding control module receives a feeding instruction, outputs a control signal to drive the feeding swing angle cylinder, makes the hinge assembly of the feeding mechanical arm swing from a folding position to an unfolding position along an arc guide rail, and outputs a turning signal to drive the right-angle swing cylinder to convert the inner drum accessory from a horizontal posture to a vertical posture; S200: The feeding control module outputs a feeding signal to drive the pushing-out air cylinder to push the inner drum accessory into the receiving range of the inner assembly; the inner drum positioning module controls the receiving positioning mechanism to clamp and adsorb the inner drum accessory in response to the in-place signal, while the feeding control module controls the feeding mechanical arm to release the inner drum accessory and reset; S300: The inner drum positioning module calculates a target rotation angle according to a preset number of assembly stations, and outputs a pulse signal to drive the rotation angle servo motor to rotate the inner assembly and the inner drum accessory to the zero position of the locking execution module. S400: After confirming that the washing machine inner drum is loaded in place, the inner drum positioning module outputs a bracing signal to drive the inner lining air cylinder to open to fix the washing machine inner drum, and then the locking execution module controls the automatic screw locking mechanism to perform the screw locking action.

[0016] In combination with the third aspect, the present application also provides a first specific implementation of the third aspect, wherein the step S200 of controlling the receiving positioning mechanism includes: The inner drum positioning module outputs a first clamping signal to drive the vertical holding clamp air cylinder to act, and limits the inner drum accessory vertically by the vertical holding clamp plate. The inner drum positioning module outputs a second clamping signal to drive the vertical holding clamp air cylinder to act, and drives the holding clamp suction cup mounting hinge seat to flip, so that the suction cup is attached to and adsorbed on the surface of the inner drum accessory, completing the fixation.

[0017] In combination with the third aspect, the present application also provides a second specific implementation of the third aspect, wherein the step S100 includes that the feeding control module has an initial waiting state and a feeding execution state of the feeding mechanical arm, and specifically includes: In the initial waiting state, the plurality of feeding mechanical arms are controlled to be kept in a folded position at an included angle of 60°. In the feeding execution state, the plurality of feeding mechanical arms are controlled to swing along the circular arc guide rail to an unfolded position at an included angle of 120°, so as to avoid the entrance edge of the washing machine inner drum and enter the internal space.

[0018] Compared with the prior art, the present application has the beneficial effects that: the present application sets the feeding mechanical arm with a circular arc guide rail, so that the inner drum accessory is conveyed along a circular arc path. Compared with the traditional linear module direct interpolation, the design of the circular arc path is more in line with the space structure of the washing machine inner drum, and can bypass the port edge of the washing machine inner drum to send the inner drum accessory into the inner space of the inner drum. This design not only optimizes the motion trajectory and avoids mechanical interference between the mechanical arm and the inner drum wall, but also shortens the overall stroke of the equipment and saves the floor space. Through the sliding cooperation of the hinge assembly on the circular arc guide rail, on the one hand, the circular arc guide rail is cut into the inner drum, and on the other hand, the inner drum accessory is automatically switched from the horizontal posture during feeding to the vertical posture required for adhering to the inner wall. This design integrates the material handling and posture adjustment processes into the same mechanical action, eliminating the need for an additional posture adjustment transfer station, simplifying the action and improving the efficiency of automated assembly. The inner side assembly component supports and positions the washing machine inner drum, and is connected and cooperated with the feeding mechanical arm, so as to ensure that the inner drum accessory can be positioned to the mounting hole after entering the inner drum. In cooperation with the automatic locking function of the screw locking assembly, the traditional manual handheld screwdriver operation mode is replaced, which not only eliminates the safety hazards of manual operation, but also ensures that the locking torque of each accessory is consistent, effectively improving the product yield and consistency of the washing machine inner drum assembly. BRIEF DESCRIPTION OF DRAWINGS

[0019] The specific embodiments of the present application will be further described in detail below in combination with the drawings, in which: Figure 1 is a side view of a washing machine inner drum accessory assembly mechanism of the present application; Figure 2 is a schematic view of the feeding mechanical arm during feeding; Figure 3 is a process diagram of the feeding mechanical arm during feeding; Figure 4 is a schematic view of the feeding mechanical arm component; Figure 5 is a schematic view of the feeding mechanical arm component; Figure 6 is a top view of the feeding mechanical arm component; Figure 7 is a perspective view of the feeding mechanical arm component; Figure 8 is a schematic view of the inner side assembly component; Figure 9 is a schematic view of the inner side assembly component; Figure 10 is a perspective view of the inner side assembly component; Figure 11 is a schematic view of the screw locking assembly; Figure 12 is a flow chart of the present application washing machine inner drum sleeve set in the accommodation cavity; In the figure: 1- machine frame assembly, 2- feeding mechanical arm, 3- inner side assembly, 4- screw locking assembly, 21- support leg, 22- circular arc guide rail mounting seat, 23- hinge seat, 24- right angle swing cylinder, 25- right angle swing cylinder mounting seat, 26- push-out cylinder, 27- inner drum accessory clamping cylinder, 28- inner drum accessory placement mounting plate, 29- hinge plate, 210- hinge shaft, 211- circular arc guide rail, 212- feeding swing angle cylinder, 213- swing angle mounting plate, 214- swing angle sliding block, 215- swing angle limiting seat, 216- inner drum accessory, 31- inner side assembly support column, 32- corner servo motor, 33- mold, 34- inner liner mounting seat, 35- inner liner cylinder, 36- inner drum guide column, 37- vertical placement mounting seat, 38- vertical placement supporting and clamping plate, 39- vertical placement supporting and clamping cylinder, 310- vertical placement and clamping cylinder, 311- clamping suction cup mounting hinge seat, 312- clamping hinge shaft, 313- suction cup, 41- screw locking mechanism mounting seat, 42- vibration screw feeder, 43- automatic screw locking mechanism. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, it should be understood that the preferred embodiments described here are only used to illustrate and explain the present application, and are not used to limit the present application. EMBODIMENT

[0021] As Figures 1-11 shown, The first aspect of the present application provides a washing machine inner drum accessory assembly mechanism, comprising: machine frame assembly 1; circular arc guide rail 211, circular arc guide rail 211 is arranged in the center of the table top of machine frame assembly 1, and an accommodation cavity for accommodating the washing machine inner drum is arranged in the circular arc guide rail 211; inner side assembly 3, inner side assembly 3 is arranged in the accommodation cavity, inner side assembly 3 is used for supporting and positioning the washing machine inner drum from the inside of the washing machine inner drum, and inner side assembly 3 and circular arc guide rail 211 jointly define an assembly station of the washing machine inner drum; a plurality of feeding mechanical arms 2, the feeding mechanical arms 2 are arranged circumferentially along the circular arc guide rail 211, and the end of the feeding mechanical arms 2 is provided with a hinge assembly, the feeding mechanical arms 2 are used for clamping the inner drum accessory 216 and conveying the inner drum accessory 216 to the assembly station of the machine frame assembly 1 along a circular arc path, and the plane where the circular arc path is located is parallel to the axis of the washing machine inner drum; screw locking assembly 4, screw locking assembly 4 is arranged on the machine frame assembly 1, and is used for locking the washing machine inner drum and the inner drum accessory 216; The hinge assembly swings along the circular arc guide rail 211 to cut into the accommodating cavity, and switches the inner cylinder accessory 216 from a horizontal posture to a vertical posture through a turnover action, so as to transfer the inner cylinder accessory 216 to the inner side assembly component 3; the inner side assembly component 3 is used for pressing the received inner cylinder accessory 216 outward to the inner wall of the washing machine inner cylinder, and cooperating with the lock screw assembly 4 to complete the locking and fixing from the outside to the inside.

[0022] It should be noted that in the present application, the inner cylinder accessory 216 is specifically a washing board in the washing machine inner cylinder. The washing board usually refers to "lifting ribs" or "baffles" on the inner cylinder wall, which has the function of agitating clothes and simulating the washing effect of a washing board to improve washing efficiency. These lifting ribs will accumulate dirt over time, are not easy to clean, and may loosen over time due to use. In the present embodiment, three washing boards need to be installed on the inner side of the washing machine inner cylinder. The washing boards are provided with fixed screw hole positions. When assembling, the washing boards need to be placed in the inner cylinder and aligned with the hole positions, and then locked and fixed by the lock screw assembly 4.

[0023] As shown in Figures 1-3 The rack assembly 1 serves as the overall base support structure. The circular arc guide rail 211 is horizontally arranged at the center position of the table top of the rack assembly 1. The circular arc guide rail 211 is not a simple circular arc, but is enclosed (or semi-enclosed) to form an accommodating cavity for accommodating the washing machine inner cylinder. The inner side assembly component 3 is vertically arranged in the accommodating cavity defined by the circular arc guide rail 211. Its function is to support and position from the inside of the washing machine inner cylinder. Specifically, the inner side assembly component 3 includes an inner side component support column 31 fixed at the center position of the rack, and a mold 33 rotatably mounted at the top end of the column. The corner servo motor 32 drives the mold 33 to rotate, thereby driving the washing machine inner cylinder sleeved on the mold 33 to rotate, so as to adjust the angle of the inner cylinder and align the installation position with the outer assembly station.

[0024] 2. The upper loading mechanical arm (circular arc trajectory and posture switching structure) is arranged at intervals along the circumference of the circular arc guide rail 211. The upper loading mechanical arm 2 includes a swing angle sliding block 214, a swing angle mounting plate 213, and a hinge assembly.

[0025] The plane where the circular arc guide rail 211 is located is configured to be parallel to the center axis of the washing machine inner cylinder (i.e. a horizontal plane). This layout makes the trajectory of the end of the mechanical arm cut into the gap between the inner cylinder and the guide rail in a tangent direction when the mechanical arm slides along the guide rail.

[0026] Hinge assembly: composed of hinge base 23, hinge plate 29 and driving cylinder. Specifically, swing angle sliding block 214 is slidingly fitted on circular arc guide rail 211. Loading swing cylinder 212 drives swing angle mounting plate 213 and the entire hinge assembly to make circumferential reciprocating swing along circular arc guide rail 211. On swing angle mounting plate 213, right-angle swing cylinder 24 drives hinge plate 29 to perform overturning action around hinge shaft 210. Inner cylinder accessory placing mounting plate 28 is connected to hinge plate 29, and is used for adsorbing or clamping inner cylinder accessory (washing board) 216.

[0027] 3. Lock screw assembly Lock screw assembly 4 is arranged on rack assembly 1 and is located outside the washing machine inner cylinder assembly station (i.e. the periphery of the circular arc guide rail). It includes lock screw mechanism mounting seat 41, vibration screw feeder 42 and automatic lock screw mechanism 43. The lock head thereof faces the support position of inner side assembly 3, and is used for locking and fixing the washing machine inner cylinder and inner cylinder accessory from outside to inside.

[0028] 4. Working principle and action process The assembly action logic of the embodiment is as follows: Swing cutting: in the initial state, the hinge assembly is located at one end of the circular arc guide rail 211, and the inner cylinder accessory placing mounting plate 28 is in a horizontal posture and clamps the inner cylinder accessory 216. When the assembly starts, the loading swing cylinder 212 extends to drive the hinge assembly to make circumferential swing along the circular arc guide rail 211. With the help of the trajectory guidance of the circular arc guide rail, the inner cylinder accessory 216 avoids the end face edge of the washing machine inner cylinder and smoothly cuts into the inner space of the washing machine inner cylinder.

[0029] Posture overturning and handover: when the inner cylinder accessory 216 enters the inner cylinder to the position, the right-angle swing cylinder 24 acts to drive the hinge plate 29 to overturn by 90 degrees. Through this action, the inner cylinder accessory 216 is switched from the horizontal posture when entering to the vertical posture. At this time, the push-out cylinder 26 acts to push the inner cylinder accessory 216 in the vertical posture outward along the radial direction, and hands over it to the receiving position (such as the suction cup or the supporting plate) of the inner side assembly 3.

[0030] Resisting and cooperating locking: after the inner side assembly 3 (through the inner lining cylinder and other mechanisms) receives the inner cylinder accessory 216, it continues to act along the radial direction outward to tightly press the inner cylinder accessory 216 against the inner wall of the washing machine inner cylinder, and makes the buckle enter the hole position. At this time, the inner cylinder accessory is tightly attached to the inner cylinder wall. Finally, the lock screw assembly 4 located on the outside feeds, the automatic lock screw mechanism 43 cooperates with the internal resisting action to drive the screw into the connecting hole from the outside to the inside, and the final locking and fixing is completed.

[0031] In combination with the first aspect, the first specific implementation manner of the first aspect further includes: Supporting leg 21, which is fixed to rack assembly 1; Arc rail mounting seat 22, arc rail mounting seat 22 is arranged on support leg 21; Swing angle assembly, swing angle assembly includes swing angle sliding block 214 and swing angle mounting plate 213, swing angle sliding block 214 is slidably connected with arc rail 211, swing angle mounting plate 213 is connected with hinge assembly and upper feeding swing angle cylinder 212; Swing angle limiting seat 215, swing angle limiting seat is arranged on arc rail 211, for limiting swing angle assembly swing stroke; Upper feeding swing angle cylinder 212, upper feeding swing angle cylinder 212 is installed on arc rail mounting seat 22, output end of upper feeding swing angle cylinder 212 is connected with hinge assembly, for driving swing angle assembly and hinge assembly to swing along arc rail 211.

[0032] In this embodiment, the driving and support structure of the upper feeding mechanical arm 2 is specifically designed.

[0033] As shown in Figures 4-7 , the upper feeding mechanical arm 2 further includes support leg 21, arc rail mounting seat 22, swing angle assembly, swing angle limiting seat 215 and upper feeding swing angle cylinder 212.

[0034] Support leg 21 is the basis of the whole upper feeding assembly, and the bottom end is fixed on rack assembly 1. Arc rail mounting seat 22 is arranged at the top end of support leg 21, for mounting and carrying arc rail 211, to ensure that the spatial position of the guide rail corresponds to the axis of the inner drum of the washing machine. Swing angle assembly is the core bearing component for realizing circular motion, mainly composed of swing angle sliding block 214 and swing angle mounting plate 213. Swing angle sliding block 214 is buckled on arc rail 211 and slidably connected with arc rail 211, so that swing angle sliding block 214 can only move along the arc track of the guide rail. Swing angle mounting plate 213 is fixedly connected to swing angle sliding block 214. One side of swing angle mounting plate 213 is connected with the aforementioned hinge assembly (i.e. the part bearing the washing board), and the other side is connected with the driving source. Upper feeding swing angle cylinder 212 is installed on arc rail mounting seat 22. The output end of upper feeding swing angle cylinder 212 is drivingly connected with hinge assembly (or through swing angle mounting plate 213).

[0035] Working principle: when upper feeding swing angle cylinder 212 extends and retracts, it directly drives swing angle assembly and hinge assembly as a whole to reciprocatingly swing along arc rail 211, thereby realizing the action of sending the washing board into or out of the inner drum.

[0036] Swing angle limiting seat 215 is arranged at the end or a specific position of arc rail 211. It is used to limit the swing stroke of swing angle assembly, prevent swing angle sliding block 214 from sliding out of the guide rail or from excessive swinging to cause mechanical collision, and ensure the safety and positioning accuracy of the upper feeding process.

[0037] In combination with the first aspect, the present application further provides a second specific implementation of the first aspect, wherein the hinge assembly comprises: a hinge seat 23 fixed on the swing sliding block 214; a hinge plate 29 hingedly connected to the hinge seat 23 through a hinge shaft 210; a right-angle swing cylinder 24 installed on the hinge seat, the output end of the right-angle swing cylinder being in transmission connection with the hinge plate, for driving the hinge plate 29 to swing around the hinge shaft 210 to realize posture overturning; an inner drum accessory placement mounting plate 28 connected to the hinge plate 29, which is provided with an inner drum accessory clamping cylinder 27 for clamping the inner drum accessory 216; a push-out cylinder 26 arranged on the inner drum accessory placement mounting plate 28, the output end of the push-out cylinder 26 being used to drive the inner drum accessory 216 to extend radially to push into the inner side assembly 3.

[0038] The hinge seat 23 is fixed on the swing sliding block 214 and moves along the circular arc guide rail together with the swing sliding block 214. The hinge plate 29 is hingedly connected to the hinge seat 23 through a hinge shaft 210, so that the hinge plate 29 can rotate around the axis of the hinge shaft 210. The right-angle swing cylinder 24 is fixed on the hinge seat 23 through a right-angle swing cylinder mounting seat 25. The output end of the right-angle swing cylinder 24 is in transmission connection with the hinge plate 29.

[0039] The hinge plate 29 is hingedly connected to the hinge seat 23 through a hinge shaft 210, so that the hinge plate 29 can rotate around the axis of the hinge shaft 210. The right-angle swing cylinder 24 is fixed on the hinge seat 23 through a right-angle swing cylinder mounting seat 25. The output end of the right-angle swing cylinder 24 is in transmission connection with the hinge plate 29.

[0040] The hinge plate 29 is hingedly connected to the hinge seat 23 through a hinge shaft 210, so that the hinge plate 29 can rotate around the axis of the hinge shaft 210. The right-angle swing cylinder 24 is fixed on the hinge seat 23 through a right-angle swing cylinder mounting seat 25. The output end of the right-angle swing cylinder 24 is in transmission connection with the hinge plate 29.

[0041] In one specific embodiment, three sets of support legs 21 are fixedly connected to the platform of the frame assembly 1, and the arc guide rail mounting base 22 is fixed on the three sets of support legs 21 as the basic component of the loading robot arm 2. Two sets of arc guide rails 211 are fixed on the arc guide rail mounting base 22, allowing the two sets of hinge assemblies to swing in a circular motion. There are three sets of hinge bases 23, two sets are fixed on the arc guide rail slider, and one set is fixedly installed on the arc guide rail mounting base 22. Each set of hinge assembly consists of a right-angle swing cylinder 24, a right-angle swing cylinder mounting base 25, a push-out cylinder 26, an inner cylinder accessory clamping cylinder 27, an inner cylinder accessory placement mounting plate 28, a hinge plate 29, and a hinge shaft 210. This enables accurate clamping of the inner cylinder accessory 216 to be loaded, and allows switching between horizontal and vertical orientations. The push-out cylinder 26 pushes the inner cylinder accessory 216 into the vertical mounting base 37. The feeding swing cylinder 212, the swing mounting plate 213, the swing sliding block 214, and the swing limit seat 215 enable the two sets of hinge assemblies to swing in an arc between 60° and 120°.

[0042] In conjunction with the first aspect, the present invention also provides a third specific embodiment of the first aspect, wherein the inner assembly component includes: The inner component support column 31 is fixed to the frame assembly 1; Mold 33 is rotatably mounted on the inner component support column 31 to support the outer wall of the washing machine inner drum; The inner liner assembly includes an inner liner mounting base 34 and an inner liner cylinder 35. The inner liner mounting base 34 is disposed on the side of the mold 33, and the inner liner cylinder 35 is used to tighten the inner drum of the washing machine from the inside. An angle servo motor 32 is installed at the bottom of the mold 33. The output end of the angle servo motor 32 is connected to the inner lining assembly for driving the inner lining assembly to rotate as a whole. The inner drum guide post 36 is arranged circumferentially along the mold 33 and is used to guide the axial installation position of the inner drum of the washing machine.

[0043] Furthermore, this embodiment designs the specific structure of the inner assembly component (i.e., the inner automatic assembly component 3) to achieve stable support and rotational positioning of the washing machine inner drum.

[0044] like Figures 8-10 As shown, the inner assembly mainly includes an inner component support column 31, a mold 33, an inner lining component, a corner servo motor 32, and an inner cylinder guide column 36.

[0045] The inner assembly support column 31 is fixed on the frame assembly 1 as a fixed base of the assembly. A mold 33 is rotatably arranged at the top end of the inner assembly support column 31. The mold 33 is shaped to match the inner drum of the washing machine, and is used to wrap and support the outer wall of the inner drum to ensure the roundness and stability of the inner drum during assembly. The inner lining assembly includes an inner lining mounting seat 34 and an inner lining cylinder 35. The inner lining mounting seat 34 is arranged beside the mold 33. The inner lining cylinder 35 is mounted on the inner lining mounting seat 34. When the inner drum is wrapped in place, the inner lining cylinder 35 is actuated to be pushed out from the inside to tighten the inner wall of the inner drum. This action eliminates the gap between the inner drum and the mold, achieving the fixation of the inner drum.

[0046] A rotation servo motor 32 is installed at the bottom of the mold 33. The output end of the rotation servo motor 32 is in transmission connection with the inner lining assembly. The rotation servo motor 32 drives the inner lining assembly and the tightened inner drum of the washing machine to rotate as a whole. Through the precise control of the servo motor, the inner drum of the washing machine can be rotated to a predetermined assembly angle, so that the hole to be assembled on the inner drum is accurately aligned with the aforementioned feeding mechanical arm or screw locking assembly. A plurality of inner drum guide columns 36 are arranged along the circumference of the mold 33 (for example, three as shown in the figure). When the mechanical hand places the inner drum of the washing machine, the inner drum guide column 36 plays a guiding role, guiding the inner drum of the washing machine to accurately slide into the predetermined position of the mold 33 along the axial direction, preventing the installation from being inclined.

[0047] In combination with the first aspect, the present application further provides a fourth specific implementation manner of the first aspect, wherein the inner automatic assembly assembly further comprises a material receiving and positioning mechanism mounted on the inner lining cylinder, and the material receiving and positioning mechanism comprises: a vertical mounting seat 37 mounted on the claw of the inner lining cylinder 35; a vertical clamping assembly arranged on the vertical mounting seat 37, the vertical clamping assembly comprising a vertical clamping cylinder 39 and a vertical clamping plate 38, the vertical clamping plate 38 being connected to the output end of the vertical clamping cylinder 39, and the vertical clamping cylinder 39 and the vertical clamping plate 38 being arranged on the vertical mounting seat 37 for positioning the inner drum accessory 216 in the up-down direction; a turnover clamping suction cup mounting hinge seat 311 connected with the vertical mounting seat 37; a vertical turnover clamping cylinder 310, the cylinder body of the vertical turnover clamping cylinder 310 being fixed on the vertical mounting seat 37, the output end of the vertical turnover clamping cylinder 310 being connected with the turnover clamping suction cup mounting hinge seat 311, and the vertical turnover clamping cylinder 310 being used to drive the turnover clamping suction cup mounting hinge seat 311 to turn over; a suction cup 313 connected with the turnover clamping suction cup mounting hinge seat 311 through a turnover clamping hinge shaft 312, the suction cup 313 being used to adsorb and fix the inner drum accessory.

[0048] Further, in order to better receive and fix the incoming inner tube accessory, the inner side assembly 3 in this embodiment further comprises a receiving and positioning mechanism installed on the inner liner cylinder.

[0049] As shown in Figures 8-10 the receiving and positioning mechanism mainly comprises a vertical mounting seat 37, a vertical supporting and clamping assembly, a turning clamping suction cup mounting hinge seat 311, a vertical turning clamping cylinder 310 and a suction cup 313.

[0050] The vertical mounting seat 37 serves as the installation main body of the mechanism, which is directly installed on the claw (or output end) of the aforementioned inner liner cylinder 35. This means that the receiving and positioning mechanism will act in conjunction with the action of the inner liner cylinder 35, or be located at a specific station inside the inner tube. The vertical supporting and clamping assembly is arranged on the vertical mounting seat 37, mainly composed of a vertical supporting and clamping cylinder 39 and a vertical supporting and clamping plate 38. The vertical supporting and clamping cylinder 39 is fixed on the vertical mounting seat 37, and its output end is connected to the vertical supporting and clamping plate 38. When the inner tube accessory 216 is transported to the vicinity of the installation position, the vertical supporting and clamping cylinder 39 drives the vertical supporting and clamping plate 38 to extend or retract, and the inner tube accessory 216 is resisted or limited in the upward and downward direction, ensuring that the inner tube accessory 216 is at the correct assembly height in the vertical direction.

[0051] The turning clamping suction cup mounting hinge seat 311 is hinged to the vertical mounting seat 37 through a pin shaft or hinge structure, and can be turned around the hinge point. The vertical turning clamping cylinder 310 has its cylinder body fixed on the vertical mounting seat 37, and its output end is hinged to the turning clamping suction cup mounting hinge seat 311. The suction cup 313 is fixedly installed on the turning clamping suction cup mounting hinge seat 311 and connected to a vacuum source. When receiving is needed, the vertical turning clamping cylinder 310 acts to push the turning clamping suction cup mounting hinge seat 311 to turn, driving the suction cup 313 to face the surface of the inner tube accessory. The suction cup 313 adsorbs the inner tube accessory and firmly adsorbs and fixes it. Through the mechanical limiting of the vertical supporting and clamping assembly and the vacuum adsorption of the suction cup 313, the receiving and positioning mechanism can stably receive and hold the posture of the inner tube accessory at the moment before locking the screw, preventing displacement during the locking process.

[0052] In a specific embodiment, three groups of inner assembly support columns 31 are fixedly connected with the circular arc guide rail mounting seat 22, the columns are reasonably distributed and avoid the movement area of the swing assembly. The mold 33 is mounted on the three groups of inner assembly support columns 31, and three inner cylinder guide columns 36 are distributed in a circle to guide the automatically fed washing machine inner cylinder into the mold. The corner servo motor 32 is mounted on the inner liner mounting seat 34, and the inner liner cylinder 35 is mounted on the connecting plate at the output end of the motor to realize the circumferential rotation of the inner liner assembly. The inner liner cylinder 35 is a large-diameter three-jaw cylinder, each jaw is mounted on a vertical mounting seat 37, and a vertical clamping plate 38 is mounted on the vertical clamping cylinder 39 on each vertical mounting seat 37 to realize clamping and positioning of the loaded washing board in the up-down direction. The flip clamping suction disc mounting hinge seat 311 is mounted on the rotating shaft part of the vertical mounting seat 37, and three suction discs 313 are fixed to the end face of the vertical mounting seat 37. The vertical flip clamping cylinder 310 is fixed to the vertical mounting seat 37 and connected to the flip clamping suction disc mounting hinge seat 311 through the flip clamping hinge shaft 312 to realize left-right direction clamping and positioning of the loaded inner cylinder accessory 216.

[0053] In combination with the first aspect, the present application further provides a fifth specific embodiment of the first aspect, wherein the automatic screw locking assembly 4 comprises: a screw locking mechanism mounting seat 41 fixedly mounted on the rack assembly 1; an automatic screw locking mechanism 43 mounted on the screw locking mechanism mounting seat 41 and corresponding to the work station of the inner assembly 3; a vibration screw feeder 42 connected with the automatic screw locking mechanism 43 through a conveying pipeline for automatically feeding screws.

[0054] Further, the specific structure of the automatic screw locking assembly 4 is designed to realize automatic fastening of the washing board and the washing machine inner cylinder.

[0055] As shown in Figure 11 the automatic screw locking assembly 4 mainly comprises the screw locking mechanism mounting seat 41, the automatic screw locking mechanism 43 and the vibration screw feeder 42. The screw locking mechanism mounting seat 41 is fixedly mounted on the rack assembly 1. As the base of the entire screw locking unit, the mounting position is accurately calibrated to ensure that the subsequent installed execution mechanism can be directly opposite the assembly hole of the washing machine inner cylinder.

[0056] The automatic screw locking mechanism 43 is mounted on the screw locking mechanism mounting seat 41. The locking head (or batch head) of the automatic screw locking mechanism 43 corresponds to the work station of the aforementioned inner assembly 3. When the washing machine inner cylinder is rotated to a predetermined angle and the washing board is pushed into position, the automatic screw locking mechanism 43 acts (usually including feeding and rotating actions) to screw the screw into the connecting hole of the washing board and the inner cylinder, completing the locking.

[0057] The vibration screw feeder 42 is arranged at a suitable position of the rack assembly 1. The vibration screw feeder 42 is connected with the locking nozzle of the automatic screw locking mechanism 43 through a flexible conveying pipeline (such as an air pipe). The vibration screw feeder 42 uses a vibration disc to automatically arrange the scattered screws in order, and automatically blows the screws one by one through the conveying pipeline to the position below the locking nozzle of the automatic screw locking mechanism 43 by compressed air, so as to realize continuous and uninterrupted automatic feeding of the screws without manual feeding. Embodiment

[0058] This embodiment specifically describes the specific operation process of automatically assembling the washing machine inner drum rubbing board by using the mechanism in embodiment 1. In combination with the attached drawings, the specific assembling process includes the following steps: Figure 12 First stage: rubbing board feeding and posture preparation As shown in the figure, the feeding mechanical arm is in a waiting feeding state at the beginning of the operation. In the multi-station arrangement of this embodiment, the two groups of swingable feeding mechanical arms are each folded to a 60° angle position. The three inner drum accessories 216 to be assembled are fed to the inner drum accessory placing and mounting plate 28 of the three feeding mechanical arms by an external automatic feeder. At this time, the inner drum accessory clamping cylinder 27 is actuated to automatically clamp the inner drum accessory 216. Figure 12 Subsequently, as shown in the figure, the feeding swing angle cylinder 212 drives the two groups of swingable feeding mechanical arms 2 to swing to a 120° angle position (i.e. an unfolded state). At this time, the three assembly stations (i.e. the positions of the inner liner mounting seats 34) on the inner side automatic assembly assembly 3 are rotated to the positions aligned with the three feeding mechanical arms 2, waiting for the feeding of the inner drum accessories 216.

[0059] Figure 6 Second stage: posture turning over and handover As shown in the figure, the feeding mechanical arm performs the barrel entering and handover action.

[0060] Posture turning over: the right-angle swing cylinder 24 is pushed out to drive the hinge plate 29 to swing around the hinge shaft 210, and drive the inner drum accessory 216 to turn over from a horizontal posture to a vertical posture, so as to adapt to the inner wall angle of the inner drum. Figure 2 Pushing and handover: the pushing cylinder 26 is extended to push the inner drum accessory 216 radially to the clamping position (i.e. the vertical placing clamping plate 38 and the suction disc 313) of the inner side automatic assembly assembly 3.

[0061] Inner side receiving: the vertical placing clamping cylinder 39 and the vertical placing and clamping cylinder 310 on the inner side automatic assembly assembly 3 cooperate to clamp and clamp the inner drum accessory 216 by the suction disc 313.

[0062]

[0063] The vibration screw feeder 42 is arranged at a suitable position of the rack assembly 1. The vibration screw feeder 42 is connected with the locking nozzle of the automatic screw locking mechanism 43 through a flexible conveying pipeline (such as an air pipe). The vibration screw feeder 42 uses a vibration disc to automatically arrange the scattered screws in order, and automatically blows the screws one by one through the conveying pipeline to the position below the locking nozzle of the automatic screw locking mechanism 43 by compressed air, so as to realize continuous and uninterrupted automatic feeding of the screws without manual feeding.​​​

[0064] Loading reset: the inner cylinder accessory clamping cylinder 27 of the loading mechanical arm 2 is loosened, the push-out cylinder 26 is retracted; then the right-angle swing cylinder 24 is retracted, the hinge plate 29 is turned from vertical to horizontal; finally, the loading swing cylinder 212 is reset, and the two groups of swingable loading mechanical arms 2 are retracted to a 60° angle position, ready for the next loading.

[0065] Third stage: inner cylinder assembly and locking At this time, the inner side automatic assembly component 3 has adsorbed the inner cylinder accessory 216.

[0066] Inner cylinder positioning: the corner servo motor 32 drives the mold 33 to automatically rotate to the predetermined assembly position. This position meets two conditions: one is coincident with the position of the washing machine inner cylinder assembly accessory, and the other is coincident with the locking position of the automatic screw locking assembly 4.

[0067] Inner cylinder loading: the system waits for the loading of the washing machine inner cylinder, the washing machine inner cylinder is sent to the upper part of the mechanism by the external automatic feeding mechanism, and after the circumferential position is determined, it is automatically lowered to the preset position of the mold 33.

[0068] Tightening and locking: the inner lining cylinder 35 of the inner side automatic assembly component 3 is opened (extended) to internally tighten, accurately sends and tightly presses the three inner cylinder accessories 216 adsorbed on the material receiving mechanism to the assembly position on the inner wall of the washing machine inner cylinder. At this time, the external automatic screw locking assembly 4 acts, the automatic screw locking mechanism 43 feeds and automatically locks the screw, and the fixing is completed.

[0069] Complete unloading: the suction cup 313 of the inner side automatic assembly component 3 loosens the inner cylinder accessory 216, the inner lining cylinder 35 is retracted, and the washing machine inner cylinder and the washing board are automatically assembled, waiting to be moved out.

[0070] In this embodiment, by accurately adjusting the rotation angle of the inner side assembly component 3 through the corner servo motor 32, and driving the swing action through various pneumatic elements (such as the loading swing cylinder 212 and the right-angle swing cylinder 24), the movement interference of each component in the narrow space can be skillfully avoided, and the overall structure design is more compact. In addition, by replacing different specifications of the mold 33 and adjusting the servo parameters, the convenient model change of different models of washing machine inner cylinder products can be quickly realized. Embodiment

[0071] The second aspect of the present application provides a washing machine inner cylinder accessory automatic assembly control system, which is realized based on the washing machine inner cylinder accessory automatic assembly mechanism of the first aspect of the present application, and the control system comprises: An inner cylinder positioning module is configured to control the corner servo motor to drive the mold to rotate to a predetermined angle, and control the inner lining cylinder and the material receiving positioning mechanism to act to receive the inner cylinder accessory and fix the washing machine inner cylinder. The feeding control module is used for controlling the action of the feeding swing angle cylinder, driving the feeding mechanical arm to cut into the inside of the washing machine inner drum along the circular arc track, and controlling the action of the right-angle swing cylinder and the pushing-out cylinder to adjust the posture of the inner drum accessory and complete the pushing. The locking execution module is used for controlling the alignment of the screw locking assembly and performing the locking action. The general control module is used for coordinating the time sequence of the modules and ensuring that the actions of the feeding control module and the locking execution module do not interfere with each other.

[0072] The inner drum positioning module is electrically connected with the corner servo motor 32, the inner lining cylinder 35 and the material receiving positioning mechanism (including the vertical placing clamp cylinder 39 and the vertical turning clamp cylinder 310) of the inner side assembly component 3. The inner drum positioning module is used for sending pulse signals to control the corner servo motor 32 to drive the mold 33 and the inner lining assembly to rotate to a predetermined angle to find the assembly zero point, outputting control signals to control the action of the inner lining cylinder 35 to tightly fix the washing machine inner drum from the inside, and controlling the action of the cylinders of the material receiving positioning mechanism to receive and adsorb the inner drum accessory 216.

[0073] The feeding control module is electrically connected with the feeding swing angle cylinder 212, the right-angle swing cylinder 24 and the pushing-out cylinder 26 of the feeding mechanical arm 2. The feeding control module is used for controlling the action of the feeding swing angle cylinder 212 to drive the hinge assembly of the feeding mechanical arm 2 to swing along the circular arc track of the circular arc guide rail 211 to cut into the inside of the washing machine inner drum, and controlling the action of the right-angle swing cylinder 24 to turn the inner drum accessory 216 from a horizontal posture to a vertical posture, and then controlling the action of the pushing-out cylinder 26 to push the inner drum accessory 216 into the material receiving range of the inner side assembly component 3.

[0074] The locking execution module is electrically connected with the screw locking assembly 4 (specifically, the automatic screw locking mechanism 43) and is used for controlling the screw locking assembly 4 to feed and align after confirming that the positioning of the inner drum accessory 216 and the washing machine inner drum is completed, and performing the screw locking action.

[0075] The general control module is a central processing unit (such as a PLC or an industrial computer) of the system and is communicatively connected with the above-mentioned inner drum positioning module, the feeding control module and the locking execution module, is used for coordinating the action time sequence of the modules, ensuring that the movement of the mechanical arm of the feeding control module and the feeding action of the locking execution module do not interfere with each other, and realizing the control of the automatic assembly process. Embodiment

[0076] The third aspect of the present application provides a washing machine inner drum accessory assembly method applied to the washing machine inner drum accessory assembly control system of the second aspect of the present application. The method comprises the following steps: S100: The feeding control module receives a feeding instruction, outputs a control signal to drive the feeding swing angle cylinder, makes the hinge assembly of the feeding mechanical arm swing along the circular guide rail from the folded position to the unfolded position, and outputs a turnover signal to drive the right-angle swing cylinder to convert the inner barrel accessory from the horizontal posture to the vertical posture; Specifically, the feeding path planning and posture conversion, the feeding control module receives the feeding instruction issued by the system, and outputs a control signal to drive the feeding swing angle cylinder 212 to act. The feeding swing angle cylinder 212 drives the hinge assembly of the feeding mechanical arm 2 to swing along the circular guide rail 211 from the initial folded position (for example, 60° angle) to the unfolded position (for example, 120° angle), so as to avoid cutting into the inner barrel of the washing machine. Subsequently, the feeding control module outputs a turnover signal to drive the right-angle swing cylinder 24 to act, drives the hinge assembly to turn over, and converts the inner barrel accessory 216 from the horizontal conveying posture to the vertical assembly posture.

[0077] S200: The feeding control module outputs a feeding signal to drive the push-out cylinder to push the inner barrel accessory into the receiving range of the inner assembly; the inner barrel positioning module responds to the in-place signal to control the receiving positioning mechanism to act to clamp and adsorb the inner barrel accessory, while the feeding control module controls the feeding mechanical arm to release the inner barrel accessory and reset; Specifically, the accessory handover and takeover, the feeding control module outputs a feeding signal to drive the push-out cylinder 26 to extend, and pushes the inner barrel accessory 216 into the receiving range of the inner assembly 3. The inner barrel positioning module responds to the in-place signal fed back by the sensor to control the receiving positioning mechanism to act: specifically, the vertical placing clamp cylinder 39 and the vertical turning clamp cylinder 310 act, and the inner barrel accessory 216 is clamped and adsorbed by the vertical placing clamp plate 38 and the suction cup 313. After confirming the takeover is completed, the feeding control module controls the feeding mechanical arm 2 (specifically, the inner barrel accessory clamping cylinder 27) to release the inner barrel accessory 216, and controls the feeding swing angle cylinder 212 and the right-angle swing cylinder 24 to reverse to reset.

[0078] S300: The inner barrel positioning module calculates the target rotation angle according to the preset number of assembly stations, and outputs a pulse signal to drive the rotation angle servo motor to rotate the inner assembly and the inner barrel accessory to the zero position of the locking execution module; Specifically, the rotation addressing and positioning, the inner barrel positioning module calculates the target rotation angle according to the preset number of assembly stations (for example, 3), and outputs a pulse signal to drive the rotation angle servo motor 32 to rotate. The rotation angle servo motor 32 rotates the inner assembly 3 and the inner barrel accessory 216 as a whole until it is aligned with the zero position of the outer locking execution module (i.e., the screw locking assembly 4).

[0079] S400: After confirming that the washing machine inner drum is loaded in place, the inner drum positioning module outputs a bracing signal to drive the inner liner cylinder to open to fix the washing machine inner drum, and then the locking execution module controls the automatic screw locking mechanism to perform the screw locking action.

[0080] Specifically, bracing and fixing, after confirming that the washing machine inner drum is guided and loaded in place by the inner drum guide column 36, the inner drum positioning module outputs a bracing signal to drive the inner liner cylinder 35 to open (the gas claw to expand outward), and the inner drum accessory 216 is pressed and fixed on the inner wall of the washing machine inner drum. Then, the locking execution module controls the automatic screw locking mechanism 43 to feed and perform the screw locking action, completing the final locking assembly of the inner drum accessory.

[0081] In combination with the third aspect, the present application also provides a first specific implementation of the third aspect, wherein the step S200 of controlling the material receiving and positioning mechanism to act includes the following steps: The inner drum positioning module outputs a first clamping signal to drive the vertical placement clamping cylinder to act, and limits the inner drum accessory up and down by the vertical placement clamping plate. The inner drum positioning module outputs a second clamping signal to drive the vertical placement clamping cylinder to act, and drives the clamping suction cup mounting hinge seat to flip, so that the suction cup is attached and adsorbed to the surface of the inner drum accessory, and the fixing is completed.

[0082] Specifically, the inner drum positioning module outputs a first clamping signal to drive the vertical placement clamping cylinder 39 to act. The vertical placement clamping cylinder 39 pushes the vertical placement clamping plate 38 connected to the output end to move, thereby clamping and limiting the inner drum accessory 216 entering the material receiving range in the up-down direction, preventing longitudinal displacement. The inner drum positioning module outputs a second clamping signal to drive the vertical placement clamping cylinder 310 to act. The vertical placement clamping cylinder 310 extends or retracts to drive the clamping suction cup mounting hinge seat 311 hinged thereto to perform a flipping motion around the hinge shaft, so that the suction cup 313 fixed to the end face of the clamping suction cup mounting hinge seat 311 flips and adheres to the surface of the inner drum accessory 216, and the final fixing is completed by vacuum adsorption. At this time, the inner drum accessory 216 is kept on the inner assembly 3.

[0083] In combination with the third aspect, the present application also provides a second specific implementation of the third aspect, wherein the step S100 of controlling the material receiving and positioning mechanism to act includes the following steps: In the initial waiting state, control multiple material feeding mechanical arms to keep in a converged position at an included angle of 60°; In the material feeding execution state, control multiple material feeding mechanical arms to swing along the circular arc guide rail to a deployed position at an included angle of 120°, so as to avoid the entrance edge of the washing machine inner drum and enter the internal space.

[0084] Specifically, in the initial waiting state, the feeding control module outputs a control signal to drive the feeding swing angle cylinder 212 to act, and controls the plurality of (for example, three) feeding mechanical arms 2 to keep in a folded position at an angle of 60 degrees with each other on the circular arc guide rail 211. In this position, the mechanism structure is compact, facilitating the external feeding mechanism to transport and clamp the inner drum accessory 216 to the hinge assembly. In the feeding execution state, when the inner drum accessory 216 needs to be sent into the washing machine inner drum, the feeding control module controls the plurality of feeding mechanical arms 2 to swing outward along the circular arc guide rail 211 to spread until reaching an unfolded position at an angle of 120 degrees with each other. Through angle transformation, the feeding mechanical arm 2 can expand the distribution range, avoid the narrow entrance edge of the washing machine inner drum, and smoothly cut into the inner space of the washing machine inner drum without interference. Embodiments

[0085] A visual positioning system is arranged on the feeding mechanical arm, and is used to identify the grabbing position of the inner drum accessory and the mounting hole position of the inner drum.

[0086] In combination with the second aspect and the third aspect of the application, the embodiment further provides an assembly method based on visual positioning. The method can be used as an insertion step or an optimization step between S100 and S200, and is executed according to the following steps: S510: inner drum image acquisition and feature identification: when the feeding control module controls the feeding mechanical arm 2 to swing into the inner drum of the washing machine along the circular arc guide rail 211, and drives the right-angle swing cylinder 24 to complete the overturning action to make the inner drum accessory 216 stand up (i.e., in the state of waiting for transfer), the visual processing module triggers the visual sensor (such as an industrial camera) arranged on the feeding mechanical arm 2 to start. The visual sensor acquires images of the inner wall of the washing machine inner drum in front under the assistance of the coaxial fill light. The visual processing module receives the image data, and identifies the actual mounting hole feature on the inner wall of the washing machine inner drum by using an edge detection algorithm.

[0087] S520: deviation calculation and path planning: the visual processing module extracts the center coordinates of the actual mounting hole, compares the center coordinates with the theoretically preset assembly zero point coordinates of the system, calculates the circumferential angle deviation value Δθ and the axial height deviation value (ΔH) between the two, and sends the deviation data to the total control module for logical judgment if the deviation value exceeds the preset allowable tolerance range.

[0088] It can be understood that the visual system needs to detect the axial height, and only needs to perform simple identification to obtain the height deviation value, and according to the height deviation value, it is judged whether the washing machine inner drum is installed in place on the mold 33.

[0089] S530: the servo deviation correction inner drum positioning module receives the circumferential angle deviation value Δθ signal from the visual processing module.

[0090] Based on the signal, the inner drum positioning module calculates the required compensation pulse number P through the internal motion control algorithm. The specific calculation formula is as follows: ; Wherein: P: represents the total number of compensation pulses required for the rotation angle servo motor 32 to execute; Δθ: represents the circumferential angle deviation value (unit: degree) between the actual hole position recognized by the vision sensor and the theoretical zero point, and Δθ is a vector value, positive or negative representing the rotation direction; E: represents the resolution of the encoder of the rotation angle servo motor 32 (i.e. the number of pulses required for the motor to rotate one circle); i: represents the mechanical transmission reduction ratio between the rotation angle servo motor 32 and the mold 33.

[0091] The inner drum positioning module generates corresponding forward or reverse pulse instructions according to the calculated compensation pulse number P and its positive or negative sign, drives the rotation angle servo motor 32 to drive the inner assembly component 3 and the already sleeved washing machine inner drum to rotate by a corresponding angle, until Δθ approaches zero, realizing position correction.

[0092] In this embodiment, specifically, the encoder resolution E and the reduction ratio i are determined by the following steps or methods: 1. Determination of the encoder resolution E: E is the inherent parameter of the feedback encoder equipped with the rotation angle servo motor 32, and its value depends on the hardware selection of the servo motor.

[0093] Reading method: the inner drum positioning module of the control system automatically acquires by reading the parameter list of the servo driver; or is preset in the control system by the technical personnel according to the servo motor nameplate parameters.

[0094] 2. Determination of the reduction ratio i: i is the mechanical transmission ratio between the output shaft of the rotation angle servo motor 32 and the inner assembly component 3 (mold 33), and its value is determined by the mechanical transmission structure.

[0095] Calculation formula: .

[0096] Wherein, Z 主动 is the number of teeth or diameter of the driving wheel (or driving gear) connected to the output shaft of the rotation angle servo motor 32; Z 从动 is the number of teeth or diameter of the driven wheel (or driven gear) connected to the bottom of the mold 33.

[0097] Calibration correction (optional): In order to eliminate machining errors, the system can also use teaching calibration method to fine-tune i: control the servo motor to output a fixed pulse, and measure the actual rotation angle of the mold 33 by using a visual sensor or an external angle instrument, and then correct the deceleration ratio.

[0098] S540: visual confirmation and action release After the servo correction is completed, the visual processing module can trigger the visual sensor again for secondary review. When it is confirmed that the alignment error meets the assembly accuracy requirement, the total control module issues a release instruction to allow the feeding control module to execute the push-out action in S200 to push the inner drum accessory 216 into the aligned mounting hole.

[0099] In summary, the present application provides a washing machine inner drum accessory assembly mechanism, system and method. By setting the circular arc guide rail in cooperation with the hinge assembly, the circular arc trajectory is used to avoid the entrance edge of the washing machine inner drum, solving the problem of difficult feeding in deep cylinder space; the hinge plate is driven to flip by using the right-angle swing cylinder, realizing the automatic switching of the inner drum accessory from the horizontal conveying posture to the vertical installation posture; the inner lining cylinder of the inner assembly component is used to tighten the washing machine inner drum from the inside, and the external locking screw assembly is used to ensure the stability and accuracy of the assembly. Further, by introducing the visual positioning system and the servo correction algorithm, the compensation for the inner drum manufacturing tolerance is realized, and the assembly yield is improved.

[0100] The working principle of the washing machine inner drum accessory assembly mechanism according to the present application is as follows: After the system is started, the feeding mechanical arm makes circular motion along the circular arc guide rail under the drive of the feeding swing cylinder, carries the inner drum accessory to avoid the cylinder opening, and cuts into the deep part of the washing machine inner drum. After entering the position, the right-angle swing cylinder acts to drive the inner drum accessory to flip 90 degrees and stand up. At this time, the visual system identifies the inner drum hole deviation, and drives the washing machine inner drum to rotate for angle correction through the corner servo motor. After the correction is completed, the push-out cylinder pushes the inner drum accessory to the receiving position of the inner assembly component, and the receiving positioning mechanism (supporting clamp and adsorption) receives the pipe. Then, the inner assembly component rotates to the locking station, the inner lining cylinder is opened to tighten the inner drum, and the external locking screw assembly is fed and screwed to complete the final fixation.

[0101] The structure of the washing machine inner drum accessory assembly mechanism according to the present application is the same as that of the prior art.

[0102] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any modification, equivalent change and modification of the above embodiment based on the technical essence of the present application, without departing from the technical solution content of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A washing machine inner drum accessory assembly mechanism, characterized in that, include: Rack components; An arc-shaped guide rail is provided at the center of the table surface of the frame assembly, and the arc-shaped guide rail has a receiving cavity for accommodating the inner drum of the washing machine. An inner assembly assembly is disposed within a receiving cavity. The inner assembly assembly is used to support and position the inner drum of the washing machine from the inside. The inner assembly assembly and the arc guide rail together define the assembly position of the inner drum of the washing machine. A plurality of loading robotic arms are arranged circumferentially along the arc guide rail. The ends of the loading robotic arms are provided with hinge assemblies. The hinge assemblies of the loading robotic arms are used to clamp the inner drum accessories and transport them along the arc path of the arc guide rail to the assembly station of the washing machine inner drum. A screw-locking assembly is disposed on the frame assembly and is used to fasten the inner drum and inner drum accessories of the washing machine; The hinge assembly swings in a circular motion along the arc guide rail to cut into the receiving cavity. The hinge assembly can also perform a flipping action to switch the inner cylinder accessory from a horizontal to a vertical position and transfer the inner cylinder accessory to the inner assembly assembly. The inner mounting assembly is used to receive the inner drum accessory and press it outward against the inner wall of the washing machine inner drum, thereby completing the locking and fixing from the outside to the inside with the screw assembly.

2. The washing machine inner drum accessory assembly mechanism according to claim 1, characterized in that, The loading robotic arm also includes: Support legs, the support legs being fixed to the frame assembly; An arc-shaped guide rail mounting base is disposed on the support leg; An angle-swinging assembly, comprising an angle-swinging sliding block and an angle-swinging mounting plate, wherein the angle-swinging sliding block slidably engages with the arc-shaped guide rail; An angle limiting seat is disposed on the arc guide rail and is used to limit the swing stroke of the angle assembly; A loading swing cylinder is mounted on the arc guide rail mounting base. The output end of the loading swing cylinder is connected to the hinge assembly, which drives the swing assembly and the hinge assembly to swing along the arc guide rail. The swing mounting plate connects the hinge assembly and the loading swing cylinder.

3. The washing machine inner drum accessory assembly mechanism according to claim 2, characterized in that, The hinge assembly includes: A hinge seat, which is fixed to the swing angle sliding block; A hinge plate, which is hinged to the hinge seat via a hinge axis; A right-angle swing cylinder is mounted on the hinge seat. The output end of the right-angle swing cylinder is connected to the hinge plate for driving the hinge plate to swing around the hinge axis to achieve posture flipping. An inner cylinder accessory placement and mounting plate is connected to the hinge plate and is provided with an inner cylinder accessory clamping cylinder for clamping the inner cylinder accessory. An ejector cylinder is disposed on the inner cylinder accessory placement mounting plate, and its output end is used to drive the inner cylinder accessory to extend radially to push it into the inner assembly.

4. The washing machine inner drum accessory assembly mechanism according to claim 1, characterized in that, The inner assembly includes: An inner component support column is fixed to the frame assembly; A mold, which is rotatably mounted on the inner component support column, is used to support the outer wall of the washing machine inner drum; The inner liner assembly includes an inner liner mounting base and an inner liner cylinder. The inner liner mounting base is disposed next to the mold, and the inner liner cylinder is used to internally tighten the inner drum of the washing machine. An angle servo motor is installed at the bottom of the mold, and the output end of the angle servo motor is connected to the inner lining assembly for driving the inner lining assembly to rotate as a whole. Inner drum guide post, which is arranged circumferentially along the mold, is used to guide the axial installation position of the inner drum of the washing machine.

5. The washing machine inner drum accessory assembly mechanism according to claim 4, characterized in that, The inner automatic assembly assembly also includes a receiving and positioning mechanism mounted on the inner liner cylinder, the receiving and positioning mechanism comprising: A vertical mounting base is installed on the pneumatic gripper of the inner liner cylinder; A vertical support clamp assembly is provided on the vertical mounting base. The vertical support clamp assembly includes a vertical support clamp cylinder and a vertical support clamp plate. The vertical support clamp plate is connected to the output end of the vertical support clamp cylinder. The vertical support clamp cylinder and the vertical support clamp plate are provided on the vertical mounting base for positioning the inner cylinder accessories in the vertical direction. A flip-clamp suction cup mounting hinge seat is provided, and the flip-clamp suction cup mounting hinge seat is connected to the vertical mounting seat; A vertical flip-clamp cylinder, the cylinder body of which is fixed on the vertical mounting base, the output end of which is connected to the flip-clamp suction cup mounting hinge base, and the vertical flip-clamp cylinder is used to drive the flip-clamp suction cup mounting hinge base to flip. The suction cup is connected to the suction cup mounting hinge seat via a flip-clamp hinge shaft, and the suction cup is used to adsorb and fix the inner cylinder accessories.

6. The washing machine inner drum accessory assembly mechanism according to claim 1, characterized in that, The screw fastening assembly includes: A screw-locking mechanism mounting base, which is fixed to the frame assembly; An automatic screw-locking mechanism is mounted on a screw-locking mechanism mounting base and is set at a position corresponding to the inner assembly component. A vibratory screw feeder is connected to the automatic screw fastening mechanism via a conveying pipeline for automatically feeding screws.

7. A washing machine inner drum accessory assembly control system, implemented based on the washing machine inner drum accessory assembly mechanism as described in any one of claims 1 to 6, characterized in that, The control system includes: The inner drum positioning module is used to control the corner servo motor to drive the mold to rotate to a predetermined angle, and to control the inner liner cylinder and the receiving and positioning mechanism to receive the inner drum accessories and fix the washing machine inner drum. The feeding control module is used to control the movement of the feeding swing cylinder, drive the feeding robotic arm to cut into the inner drum of the washing machine along an arc trajectory, and control the movement of the right-angle swing cylinder and the push-out cylinder to adjust the posture of the inner drum accessories and complete the pushing. The screw fastening execution module is used to control the alignment of the screw fastening assembly and perform the fastening action; The master control module is used to coordinate the timing of each module to ensure that the actions of the feeding control module and the locking execution module do not interfere with each other.

8. A method for assembling accessories for a washing machine inner drum, characterized in that, The method, applied to the washing machine inner drum accessory assembly control system as described in claim 7, includes the following steps: S100: The feeding control module receives the feeding instruction, outputs a control signal to drive the feeding swing cylinder, so that the hinge assembly of the feeding robot arm swings from the retracted position to the unfolded position along the arc guide rail, and outputs a flip signal to drive the right-angle swing cylinder to change the inner cylinder accessory from the horizontal posture to the vertical posture. S200: The feeding control module outputs a feed signal to drive the ejection cylinder to push the inner cylinder accessory into the receiving range of the inner assembly component; the inner cylinder positioning module responds to the positioning signal and controls the receiving positioning mechanism to clamp and adsorb the inner cylinder accessory, while the feeding control module controls the feeding robotic arm to release the inner cylinder accessory and reset. S300: The inner cylinder positioning module calculates the target rotation angle according to the preset number of assembly stations, and outputs a signal to drive the corner servo motor, thereby rotating the inner assembly components and inner cylinder accessories to the zero point position aligned with the locking execution module. S400: After confirming that the inner drum of the washing machine is in place, the inner drum positioning module outputs a tensioning signal to drive the inner liner cylinder to open and fix the inner drum of the washing machine. Then, the locking execution module controls the automatic screw-locking mechanism to perform the screw-driving action.

9. A method for assembling a washing machine inner drum accessory according to claim 8, characterized in that, The step S200 of controlling the operation of the receiving and positioning mechanism specifically includes: The inner cylinder positioning module outputs a first clamping signal to drive the vertical support cylinder to move, and limits the upper and lower positions of the inner cylinder accessories through the vertical support plate; The inner cylinder positioning module outputs a second clamping signal to drive the vertical flip-clamp cylinder to rotate, causing the flip-clamp suction cup mounting hinge seat to flip so that the suction cup adheres to the surface of the inner cylinder accessory, thus completing the fixation.

10. A method for assembling a washing machine inner drum accessory according to claim 8, characterized in that, In step S100, the feeding control module has an initial waiting state and a feeding execution state for the feeding robotic arm, specifically including: In the initial waiting state, the multiple loading robotic arms are controlled to remain in a retracted position at an angle of 60° to each other; During the loading process, multiple loading robotic arms are controlled to swing along the arc guide rail to an unfolded position at a 120° angle to each other, so as to avoid the inlet edge of the washing machine drum and enter the internal space.

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