A washing machine inner drum accessory automatic assembly mechanism, system and method

Abstract

The application discloses a washing machine inner drum accessory assembling mechanism, system and method, which comprises a rack assembly, a feeding mechanical arm, an inner side assembling assembly and a screw locking assembly, a circular arc guide rail arranged at the center of a table top, the inner side assembling assembly arranged in a guide rail containing cavity, the feeding mechanical arm and the screw locking assembly arranged along the circumference of the guide rail. The feeding mechanical arm swings along the circular arc guide rail to cut into the containing cavity through a hinge assembly, and through a turnover action, the inner drum accessory is switched from a horizontal posture to a vertical posture and is handed over to the inner side assembling assembly. The inner side assembling assembly presses the accessory outward to the inner wall of the inner drum, and cooperates with the external screw locking assembly to complete the locking and fixing from the outside to the inside. The application effectively avoids interference by using a circular arc path, integrates conveying and posture adjustment, solves the automatic assembling problem in a narrow space, and improves the assembling efficiency and quality.

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 invention is implemented according to the following technical solution: The first aspect of the present invention provides a washing machine inner drum accessory assembly mechanism, comprising: 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. Several loading robotic arms are arranged circumferentially along the arc guide rail. The ends of the loading robotic arms are provided with hinge components. The hinge components 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 oscillates along the arc guide rail to cut into the receiving cavity. The hinge assembly can also flip to change the inner drum accessory from a horizontal to a vertical position, so as to transfer the inner drum accessory to the inner assembly assembly. The inner assembly assembly is used to receive the inner drum accessory and press it outward against the inner wall of the washing machine inner drum, and cooperate with the screw assembly to complete the locking and fixing from the outside to the inside.

[0009] In conjunction with the first aspect, the present invention also provides a first specific embodiment of the first aspect, wherein the loading robotic arm further 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.

[0010] In conjunction with the first aspect, the present invention also provides a second specific embodiment of the first aspect, wherein 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.

[0011] 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: 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.

[0012] In conjunction with the first aspect, the present invention also provides a fourth specific embodiment of the first aspect, wherein the inner assembly further 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 hinged to the vertical mounting base; 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.

[0013] In conjunction with the first aspect, the present invention also provides a fifth specific embodiment of the first aspect, wherein the screw-locking 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.

[0014] A second aspect of the present invention provides an automatic assembly control system for washing machine inner drum accessories, implemented based on the automatic assembly mechanism for washing machine inner drum accessories described in the first aspect of the present invention, the control system comprising: 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.

[0015] A third aspect of the present invention provides a method for assembling accessories for a washing machine inner drum, applied to a washing machine inner drum accessory assembly control system described in the second aspect of the present invention, the method comprising 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 pulse signal to drive the rotation 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.

[0016] In conjunction with the third aspect, the present invention also provides a first specific embodiment of the third aspect, wherein controlling the operation of the receiving and positioning mechanism in step S200 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.

[0017] In conjunction with the third aspect, the present invention also provides a second specific embodiment of the third aspect, wherein in step S100, the feeding control module has an initial waiting state and a feeding execution state of 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.

[0018] Compared with existing technologies, the advantages of this invention are as follows: This invention utilizes a loading robotic arm with an arc-shaped guide rail, allowing the inner drum accessories to be transported along an arc-shaped path. Compared to traditional linear module direct interpolation, the arc-shaped path design better suits the spatial structure of the washing machine's inner drum, bypassing the drum's edge and delivering the accessories into the inner drum's interior space. This design not only optimizes the motion trajectory and avoids mechanical interference between the robotic arm and the inner drum wall but also shortens the overall travel of the equipment, saving space. Through the sliding engagement of the hinge assembly on the arc-shaped guide rail, the attachment oscillates in a circular motion to cut into the inner drum, while simultaneously using a flipping action to automatically switch the inner drum accessories from a horizontal position during loading to a vertical position required to fit the inner wall. This design integrates material handling and posture adjustment into a single mechanical action, eliminating the need for an additional posture adjustment transfer station, simplifying the process, and improving the efficiency of automated assembly. The inner drum is supported and positioned by an inner assembly assembly, which connects and engages with the loading robotic arm, ensuring that the inner drum accessories align with the mounting holes after entering the inner drum. The automatic screw-locking function of the screw-locking assembly replaces the traditional method of manually inserting a screwdriver into the inner drum. This not only eliminates the safety hazards of manual operation but also ensures that the screw-locking torque of each accessory is consistent, effectively improving the product yield and consistency of the washing machine inner drum assembly. Attached Figure Description

[0019] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a side view of a washing machine inner drum accessory assembly mechanism according to the present invention; Figure 2 This is a schematic diagram of the loading robotic arm of the present invention loading materials; Figure 3 This is a process diagram of the loading robot arm of the present invention loading materials; Figure 4 This is a schematic diagram of the loading robotic arm component of the present invention; Figure 5 This is a schematic diagram of the loading robotic arm component of the present invention; Figure 6 This is a top view of the loading robotic arm component of the present invention; Figure 7 This is a perspective view of the loading robotic arm component of the present invention; Figure 8 This is a schematic diagram of the inner assembly components of the present invention; Figure 9 This is a schematic diagram of the internal assembly components of the present invention; Figure 10 This is a perspective view of the inner assembly components of the present invention; Figure 11 This is a schematic diagram of the screw-locking assembly of the present invention; Figure 12 This is a flowchart of the process of the washing machine inner drum being fitted into the accommodating cavity according to the present invention; In the diagram: 1-Frame assembly, 2-Feeding robotic arm, 3-Inner assembly assembly, 4-Screw fastening assembly, 21-Support leg, 22-Arc guide rail mounting base, 23-Hinge seat, 24-Right-angle swing cylinder, 25-Right-angle swing cylinder mounting base, 26-Ejection cylinder, 27-Inner cylinder accessory clamping cylinder, 28-Inner cylinder accessory placement mounting plate, 29-Hinge plate, 210-Hinge shaft, 211-Arc guide rail, 212-Feeding swing angle cylinder, 213-Swing angle mounting plate, 214-Swing angle sliding block, 21 5-Angle limit seat, 216-Inner cylinder accessory, 31-Inner side component support column, 32-Corner servo motor, 33-Mold, 34-Inner liner mounting seat, 35-Inner liner cylinder, 36-Inner cylinder guide column, 37-Vertical mounting seat, 38-Vertical support clamp, 39-Vertical support clamp cylinder, 310-Vertical flip clamp cylinder, 311-Flip clamp suction cup mounting hinge seat, 312-Flip clamp hinge shaft, 313-Suction cup, 41-Screw locking mechanism mounting seat, 42-Vibrating screw feeder, 43-Automatic screw locking mechanism. Detailed Implementation

[0020] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention. Example

[0021] like Figures 1 to 11 As shown, The first aspect of the present invention provides a washing machine inner drum accessory assembly mechanism, comprising: Rack assembly 1; The arc guide rail 211 is located at the center of the table surface of the frame assembly 1, and the arc guide rail 211 has a receiving cavity for accommodating the inner drum of the washing machine. The inner assembly component 3 is located in the accommodating cavity. The inner assembly component 3 is used to support and position the inner drum of the washing machine from the inside. The inner assembly component 3 and the arc guide rail 211 together define the assembly position of the inner drum of the washing machine. Several loading robotic arms 2 are arranged circumferentially along the arc guide rail 211. The ends of the loading robotic arms 2 are provided with hinge components. The loading robotic arms 2 are used to clamp the inner drum accessory 216 and transport it along the arc path to the assembly station of the frame assembly 1. The plane of the arc path is parallel to the axis of the inner drum of the washing machine. Screw fastening assembly 4 is disposed on frame assembly 1 and is used to fasten the inner drum and inner drum accessory 216 of the washing machine. The hinge assembly swings in a circular motion along the arc guide rail 211 to cut into the receiving cavity, and changes the inner drum accessory 216 from a horizontal to a vertical position through a flipping action, so as to transfer the inner drum accessory 216 to the inner assembly assembly 3; the inner assembly assembly 3 is used to press the received inner drum accessory 216 outward against the inner wall of the washing machine inner drum, and cooperates with the screw fastening assembly 4 to complete the locking and fixing from the outside to the inside.

[0022] It should be noted that in this invention, the inner drum accessory 216 specifically refers to the washboard inside the washing machine drum. The washboard typically refers to a "lifting rib" or "baffle" on the inner drum wall, which agitates the clothes, mimicking the scrubbing effect of a washboard to improve washing efficiency. These lifting ribs accumulate dirt over time, are difficult to clean, and may loosen with wear and tear. In this embodiment, three washboards need to be installed inside the washing machine drum. The washboards have fixing screw holes; during assembly, the washboards are placed inside the drum and aligned with the holes, then secured using the screw-locking assembly 4.

[0023] like Figures 1-3 As shown, the frame assembly 1 serves as the basic support structure of the whole. An arc-shaped guide rail 211 is horizontally positioned at the center of the frame assembly 1's surface. The arc-shaped guide rail 211 is not a simple arc, but rather encloses (or semi-encloses) a cavity for accommodating the washing machine's inner drum. The inner assembly assembly 3 is vertically positioned within the cavity defined by the arc-shaped guide rail 211. Its function is to provide support and positioning from within the washing machine's inner drum. Specifically, the inner assembly assembly 3 includes an inner assembly support column 31 fixed at the center of the frame, and a mold 33 rotatably mounted on the top of the column. A corner servo motor 32 drives the mold 33 to rotate, thereby rotating the washing machine's inner drum fitted onto the mold 33 to adjust the angle of the inner drum so that its mounting position aligns with the outer assembly station.

[0024] 2. Loading robotic arms (circular trajectory and posture switching structure): Several loading robotic arms 2 (three in this embodiment, corresponding to the three accessory mounting positions of the inner cylinder) are arranged at intervals along the circumference of the circular arc guide rail 211. The loading robotic arm 2 includes a swing angle sliding block 214, a swing angle mounting plate 213, and a hinge assembly.

[0025] Circular guide rail 211: The plane in which it lies is configured to be parallel to the central axis of the washing machine inner drum (i.e., a horizontal plane). This arrangement allows the end trajectory of the robotic arm to cut tangentially into the gap between the inner drum and the guide rail as it slides along the guide rail.

[0026] The hinge assembly consists of a hinge base 23, a hinge plate 29, and a drive cylinder. Specifically, the swing angle sliding block 214 is slidably fitted onto the arc guide rail 211. The loading swing angle cylinder 212 drives the swing angle mounting plate 213 and the entire hinge assembly to reciprocate in a circular motion along the arc guide rail 211. On the swing angle mounting plate 213, the right-angle swing cylinder 24 drives the hinge plate 29 to rotate around the hinge axis 210. The inner cylinder accessory placement mounting plate 28 is connected to the hinge plate 29 and is used to adsorb or clamp the inner cylinder accessory (washboard) 216.

[0027] 3. Screw-locking assembly 4 is mounted on the frame assembly 1 and located on the outer side of the washing machine inner drum assembly station (i.e., the outer perimeter of the arc guide rail). It includes a screw-locking mechanism mounting base 41, a vibrating screw feeder 42, and an automatic screw-locking mechanism 43. Its locking head faces the support position of the inner assembly assembly 3 and is used to lock and fix the washing machine inner drum and inner drum accessories from the outside in.

[0028] 4. Working Principle and Operation Process The assembly operation logic of this embodiment is as follows: Swinging Insertion: In the initial state, the hinge assembly is at one end of the arc guide rail 211, and the inner drum accessory placement mounting plate 28 is in a horizontal position, clamping the inner drum accessory 216. At the start of assembly, the loading swing cylinder 212 extends, driving the hinge assembly to swing circumferentially along the arc guide rail 211. Guided by the trajectory of the arc guide rail, the inner drum accessory 216 avoids the end face edge of the washing machine inner drum and smoothly inserts into the internal space of the washing machine inner drum.

[0029] Posture Flipping and Transfer: After the inner cylinder accessory 216 enters and reaches its position inside the inner cylinder, the right-angle swing cylinder 24 actuates, driving the hinge plate 29 to flip 90 degrees. Through this action, the inner cylinder accessory 216 changes from its horizontal posture upon entry to its vertical posture. At this time, the ejection cylinder 26 actuates, pushing the vertically positioned inner cylinder accessory 216 radially outward, transferring it to the receiving position (such as the suction cup or tray) of the inner assembly component 3.

[0030] Pressing and Locking: After receiving the inner drum accessory 216 via a mechanism such as an inner liner cylinder, the inner assembly 3 continues to move radially outward, pressing the inner drum accessory 216 tightly against the inner wall of the washing machine drum and engaging the snap-fit ​​holes. At this point, the inner drum accessory is tightly fitted against the inner drum wall. Finally, the screw-locking assembly 4 on the outer side advances, and the automatic screw-locking mechanism 43 engages with the internal pressing action, driving the screw from the outside to the inside into the connecting hole, completing the final locking and fixing.

[0031] In conjunction with the first aspect, the present invention also provides a first specific embodiment of the first aspect, wherein the loading robotic arm further includes: Support leg 21, support leg 21 is fixed to frame assembly 1; Arc-shaped guide rail mounting base 22 is mounted on support leg 21; The tilting component includes a tilting sliding block 214 and a tilting mounting plate 213. The tilting sliding block 214 is slidably engaged with the arc guide rail 211, and the tilting mounting plate 213 connects the hinge assembly and the feeding tilting cylinder 212. The swing angle limit seat 215 is set on the arc guide rail 211 and is used to limit the swing stroke of the swing angle assembly. The loading swing cylinder 212 is mounted on the arc guide rail mounting base 22. The output end of the loading swing cylinder 212 is connected to the hinge assembly, which is used to drive the swing assembly and the hinge assembly to swing along the arc guide rail 211.

[0032] In this embodiment, the drive and support structure of the loading robotic arm 2 is specifically designed.

[0033] like Figures 4-7 As shown, the loading robotic arm 2 also includes a support leg 21, an arc guide rail mounting base 22, a swing angle assembly, a swing angle limit seat 215, and a loading swing angle cylinder 212.

[0034] The support leg 21 serves as the foundation of the entire feeding assembly, with its bottom fixed to the frame assembly 1. An arc-shaped guide rail mounting base 22 is located at the top of the support leg 21, used to install and support the arc-shaped guide rail 211, ensuring that the spatial position of the guide rail corresponds parallel to the axis of the washing machine's inner drum. The swing angle assembly is the core load-bearing component for achieving circular motion, mainly composed of a swing angle sliding block 214 and a swing angle mounting plate 213. The swing angle sliding block 214 is snapped onto the arc-shaped guide rail 211, forming a sliding fit with it, allowing the swing angle sliding block 214 to move only along the arc trajectory of the guide rail. The swing angle mounting plate 213 is fixedly connected to the swing angle sliding block 214. One side of the swing angle mounting plate 213 is connected to the aforementioned hinge assembly (i.e., the part supporting the washboard), and the other side is connected to the drive source. The feeding swing angle cylinder 212 is mounted on the arc-shaped guide rail mounting base 22. The output end of the feeding swing cylinder 212 is connected to the hinge assembly (or via the swing mounting plate 213) for transmission.

[0035] Working principle: When the feeding swing cylinder 212 extends or retracts, it directly drives the swing assembly and hinge assembly as a whole to swing back and forth along the arc guide rail 211, thereby realizing the action of sending the washboard into or out of the inner drum.

[0036] The swing angle limit seat 215 is set at the end of the arc guide rail 211 or at a specific position. It is used to limit the swing stroke of the swing angle assembly, prevent the swing angle slider 214 from sliding out of the guide rail or swinging excessively and causing mechanical collision, and ensure the safety and positioning accuracy of the feeding process.

[0037] In conjunction with the first aspect, the present invention also provides a second specific embodiment of the first aspect, wherein the hinge assembly includes: Hinge seat 23, hinge seat 23 is fixed on the swing angle sliding block 214; Hinge plate 29, hinge plate 29 is hinged to hinge seat 23 via hinge shaft 210; Right-angle swing cylinder 24 is mounted on the hinge seat. The output end of the right-angle swing cylinder is connected to the hinge plate for transmission, and is used to drive the hinge plate 29 to swing around the hinge axis 210 to achieve posture flipping. Inner cylinder accessory placement and mounting plate 28 is connected to hinge plate 29, and inner cylinder accessory clamping cylinder 27 is provided on it for clamping inner cylinder accessory 216. The ejector cylinder 26 is mounted on the inner cylinder accessory placement mounting plate 28, and its output end is used to drive the inner cylinder accessory 216 to extend radially to be pushed into the inner assembly 3.

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

[0039] Operating principle: When the right-angle swing cylinder 24 is activated, it drives the hinge plate 29 to swing around the hinge axis 210. This action realizes the posture flipping of the inner drum accessory 216, that is, switching from the horizontal posture during loading to the vertical posture during assembly, so as to adapt to the inner wall angle of the washing machine inner drum.

[0040] The inner drum accessory placement and mounting plate 28 is connected to the hinge plate 29 and rotates together with the hinge plate 29. An inner drum accessory clamping cylinder 27 is mounted on the inner drum accessory placement and mounting plate 28. During the gripping phase, this cylinder actuates to clamp the inner drum accessory (inner drum accessory 216) to prevent it from falling during the arc conveying and rotation process. An ejection cylinder 26 is mounted on the inner drum accessory placement and mounting plate 28. When the inner drum accessory is fed into the inner drum and rotated into position, the output end of the ejection cylinder 26 actuates, driving the inner drum accessory to extend radially along the inner drum of the washing machine. This action pushes the washboard's clamping feet into the mounting hole grooves on the inner drum wall, cooperating with the inner assembly components to complete the final alignment and loading.

[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., inner assembly component 3) to achieve stable support and rotational positioning of the inner drum of the washing machine.

[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 component support column 31 is fixed to the frame assembly 1, serving as the fixed base for this assembly. The mold 33 is rotatably mounted on the top of the inner component support column 31. The shape of the mold 33 is adapted to the inner drum of the washing machine, used to fit and support the outer wall of the inner drum, ensuring the roundness and stability of the inner drum during assembly. The inner liner assembly includes an inner liner mounting seat 34 and an inner liner cylinder 35. The inner liner mounting seat 34 is located beside the mold 33. The inner liner cylinder 35 is mounted on the inner liner mounting seat 34. When the inner drum of the washing machine is in place, the inner liner cylinder 35 actuates, pushing outwards 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] An angle servo motor 32 is mounted on the bottom of the mold 33. The output end of the angle servo motor 32 is connected to the inner liner assembly for transmission. The angle servo motor 32 drives the inner liner assembly and the tightened washing machine inner drum to rotate as a whole. Through precise control of the servo motor, the washing machine inner drum can be rotated to a predetermined assembly angle, so that the assembly holes on the inner drum are precisely aligned with the aforementioned loading robotic arm or screw-locking assembly. Several inner drum guide posts 36 are arranged at intervals along the circumference of the mold 33 (three are shown in the figure). When the robotic arm places the washing machine inner drum, the inner drum guide posts 36 play a guiding role, guiding the washing machine inner drum to slide accurately into the predetermined position of the mold 33 axially, preventing installation tilt.

[0047] In conjunction with the first aspect, the present invention also provides a fourth specific embodiment of the first aspect, wherein the inner assembly further includes a receiving and positioning mechanism mounted on the inner liner cylinder, the receiving and positioning mechanism comprising: Vertical mounting base 37 is mounted on the pneumatic gripper of the inner liner cylinder 35; A vertical support clamp assembly is mounted on a vertical mounting base 37. The vertical support clamp assembly includes a vertical support clamp cylinder 39 and a vertical support clamp plate 38. The vertical support clamp plate 38 is connected to the output end of the vertical support clamp cylinder 39. The vertical support clamp cylinder 39 and the vertical support clamp plate 38 are mounted on the vertical mounting base 37 and are used to position the inner cylinder accessory 216 in the vertical direction. The flip-clamp suction cup mounting hinge seat 311 is connected to the vertical mounting seat 37. The vertical flip-clamp cylinder 310 has its cylinder body fixed on the vertical mounting base 37. The output end of the vertical flip-clamp cylinder 310 is connected to the flip-clamp suction cup mounting hinge base 311. The vertical flip-clamp cylinder 310 is used to drive the flip-clamp suction cup mounting hinge base 311 to flip. The suction cup 313 is connected to the flip-clamp suction cup mounting hinge seat 311 via a flip-clamp hinge shaft 312. The suction cup 313 is used to adsorb and fix the inner cylinder accessories.

[0048] Furthermore, in order to better receive and secure the inner cylinder accessories, the inner assembly 3 in this embodiment also includes a receiving and positioning mechanism mounted on the inner lining cylinder.

[0049] like Figures 8-10 As shown, the material receiving and positioning mechanism mainly includes a vertical mounting base 37, a vertical clamping assembly, a flip-clamp suction cup mounting hinge base 311, a vertical flip-clamp cylinder 310, and a suction cup 313.

[0050] The vertical mounting base 37 serves as the main mounting body of this mechanism, and it is directly mounted on the pneumatic gripper (or output end) of the aforementioned inner lining cylinder 35. This means that the receiving and positioning mechanism will move in sync with the movement of the inner lining cylinder 35, or be located at a specific workstation inside the inner cylinder. The vertical clamping assembly is mounted on the vertical mounting base 37 and mainly consists of a vertical clamping cylinder 39 and a vertical clamping plate 38. The vertical clamping cylinder 39 is fixed to the vertical mounting base 37, and its output end is connected to the vertical clamping plate 38. When the inner cylinder accessory 216 is transported to the vicinity of the mounting position, the vertical clamping cylinder 39 drives the vertical clamping plate 38 to extend or retract, thereby abutting or limiting the inner cylinder accessory 216 in the vertical direction to ensure that the inner cylinder accessory 216 is at the accurate assembly height in the vertical direction.

[0051] The flip-clamp suction cup mounting hinge seat 311 is hinged to the vertical mounting base 37 via a pin or hinge structure, and can be flipped around the hinge point. The vertical flip-clamp cylinder 310 has its cylinder body fixed to the vertical mounting base 37, and its output end is hinged to the flip-clamp suction cup mounting hinge seat 311. The suction cup 313 is fixedly mounted on the flip-clamp suction cup mounting hinge seat 311 and connected to a vacuum source. When material needs to be received, the vertical flip-clamp cylinder 310 is activated, pushing the flip-clamp suction cup mounting hinge seat 311 to flip, causing the suction cup 313 to face the surface of the inner cylinder accessory. The suction cup 313 adsorbs the inner cylinder accessory, firmly adsorbing and fixing it. Through the mechanical limiting of the vertical clamping assembly and the vacuum adsorption of the suction cup 313, this material receiving and positioning mechanism can stably receive and maintain the posture of the inner cylinder accessory just before the screw is tightened, preventing it from shifting during the tightening process.

[0052] In one specific embodiment, three sets of inner component support columns 31 are fixedly connected to the arc guide rail mounting base 22. The columns are reasonably distributed to avoid the movement area of ​​the swing component. The mold 33 is mounted on the three sets of inner component support columns 31, with three inner drum guide columns 36 distributed circumferentially to guide the inner drum of the washing machine that automatically feeds into the mold. An angle servo motor 32 is mounted on the inner lining mounting base 34, and the inner lining cylinder 35 is mounted on the connecting plate at the motor output end to realize the circumferential rotation of the inner lining assembly. The inner lining cylinder 35 adopts a large-diameter three-jaw cylinder. Each claw is mounted on a vertical mounting base 37. On each vertical mounting base 37, a vertical clamping cylinder 39 is mounted with a vertical clamping plate 38 to clamp the already loaded washboard and position it in the up and down direction. The flip-clamp suction cup mounting hinge base 311 is mounted on the rotating shaft part of the vertical mounting base 37. Three suction cups 313 are fixed to its end face. The vertical flip-clamp cylinder 310 is fixed on the vertical mounting base 37 and is connected to the flip-clamp suction cup mounting hinge base 311 through the flip-clamp hinge shaft 312 to realize the left and right clamping and positioning of the loaded inner cylinder accessory 216.

[0053] In conjunction with the first aspect, the present invention also provides a fifth specific embodiment of the first aspect, wherein the automatic screw-locking assembly 4 includes: Screw locking mechanism mounting base 41 is fixed to the frame assembly 1; Automatic screw fastening mechanism 43 is mounted on screw fastening mechanism mounting base 41 and is set at the work station corresponding to the inner assembly component 3. Vibrating screw feeder 42 is connected to automatic screw fastening mechanism 43 via a conveying pipeline for automatically feeding screws.

[0054] Furthermore, this embodiment designs the specific structure of the automatic screw-locking assembly 4 to achieve automatic fastening between the washboard and the inner drum of the washing machine.

[0055] like Figure 11 As shown, the automatic screw-locking assembly 4 mainly includes a screw-locking mechanism mounting base 41, an automatic screw-locking mechanism 43, and a vibratory screw feeder 42. The screw-locking mechanism mounting base 41 is fixed to the frame assembly 1. As the base of the entire screw-locking unit, its installation position is precisely calibrated to ensure that the actuator subsequently installed on it can be aligned with the assembly holes of the washing machine inner drum.

[0056] The automatic screw-locking mechanism 43 is mounted on the screw-locking mechanism mounting base 41. The screw-locking head (or bit) of the automatic screw-locking mechanism 43 corresponds to the working position of the aforementioned inner assembly component 3. When the inner drum of the washing machine rotates to a predetermined angle and the washboard is pushed into place, the automatic screw-locking mechanism 43 operates (usually including feeding and rotation actions) to screw the screw into the connection hole between the washboard and the inner drum, completing the locking.

[0057] The vibratory screw feeder 42 is positioned appropriately within the frame assembly 1. The vibratory screw feeder 42 is connected to the locking nozzle of the automatic screw-locking mechanism 43 via a flexible conveying pipe (such as an air pipe). The vibratory screw feeder 42 uses a vibrating plate to automatically arrange scattered screws neatly, and then uses compressed air to automatically blow each screw through the conveying pipe to the area below the locking nozzle of the automatic screw-locking mechanism 43, achieving continuous and uninterrupted automatic screw supply without manual feeding. Example

[0058] This embodiment details the specific operational process of automatically assembling the washboard inside the washing machine drum using the mechanism described in Embodiment 1. (See attached diagram.) Figure 12 The assembly process specifically includes the following steps: Phase 1: Preparing the Washboard Material and Posture like Figure 12 As shown, at the start of the operation, the loading robotic arm is in a waiting-to-load state. In the multi-station setup of this embodiment, the two sets of swingable loading robotic arms retract to a 60° angle position each time. The three inner cylinder accessories 216 to be assembled are fed to the inner cylinder accessory placement and mounting plates 28 of the three loading robotic arms by an external automatic feeder. At this time, the inner cylinder accessory clamping cylinder 27 is activated, automatically clamping the inner cylinder accessories 216.

[0059] Subsequently, as Figure 6 As shown, the loading tilting cylinder 212 drives the two sets of swingable loading robotic arms 2 to swing to a 120° angle position (i.e., the unfolded state). At this time, the three assembly stations on the inner assembly component 3 (i.e., the position of the inner liner mounting base 34) rotate to a position aligned with the three loading robotic arms 2, waiting for the inner cylinder accessory 216 to be loaded.

[0060] Phase Two: Attitude Flip and Transfer like Figure 2 As shown, the loading robotic arm performs the actions of feeding into the bucket and transferring it.

[0061] Posture flipping: The right-angle swing cylinder 24 is pushed out, driving the hinge plate 29 to swing around the hinge axis 210, causing the inner cylinder accessory 216 to flip from a horizontal posture to a vertical posture, so that it is adapted to the angle of the inner cylinder wall.

[0062] Push and transfer: Extend the cylinder 26 to push the inner cylinder accessory 216 radially to the clamping position of the inner assembly component 3 (i.e., the vertical support plate 38 and the suction cup 313).

[0063] Inner receiving: The vertically placed clamping cylinder 39 on the inner assembly component 3 works in conjunction with the vertically placed flipping clamping cylinder 310 to clamp and use the suction cup 313 to adsorb and clamp the inner cylinder accessory 216.

[0064] Loading Reset: The inner cylinder attachment clamping cylinder 27 of the loading robotic arm 2 is released, and the push-out cylinder 26 retracts; then the right-angle swing cylinder 24 retracts, causing the hinge plate 29 to flip from vertical to horizontal; finally, the loading swing cylinder 212 resets, causing the two sets of swingable loading robotic arms 2 to retract to the 60° angle position, ready for the next loading.

[0065] Phase 3: Inner cylinder assembly and fastening At this point, the inner assembly component 3 has already absorbed the inner cylinder accessory 216.

[0066] Inner drum positioning: The corner servo motor 32 drives the mold 33 to automatically rotate to the predetermined assembly position. This position meets two conditions: first, it coincides with the position of the washing machine inner drum assembly accessories; second, it coincides with the locking position of the automatic screw locking assembly 4.

[0067] Inner drum loading: The system waits for the washing machine inner drum to be loaded. The washing machine inner drum is delivered to the top of the mechanism by the external automatic feeding mechanism. After the circumferential position is determined, it automatically descends and fits into the preset position of the mold 33.

[0068] Tightening and Locking: The inner liner cylinder 35 of the inner assembly component 3 opens (extends), tightening from the inside and accurately delivering and pressing the three inner drum accessories 216 adsorbed on the receiving mechanism to their assembly positions on the inner wall of the washing machine drum. At this time, the external automatic screw-locking assembly 4 activates, and the automatic screw-locking mechanism 43 feeds in and automatically locks the screws, completing the fixing.

[0069] Unloading complete: The suction cup 313 of the inner assembly component 3 releases the inner drum accessory 216, the inner liner cylinder 35 retracts, and the washing machine inner drum and washboard are automatically assembled and ready to be removed.

[0070] In this embodiment, the rotation angle of the inner assembly component 3 is precisely adjusted by the corner servo motor 32, and the swinging motion is driven by various pneumatic components (such as the loading swing cylinder 212 and the right-angle swing cylinder 24). This cleverly avoids motion interference between components in a confined space, making the overall structural design more compact. Furthermore, by changing the mold 33 to different specifications and adjusting the servo parameters, convenient replacement of different models of washing machine inner drum products can be quickly achieved. Example

[0071] The second aspect of the present invention provides an automatic assembly control system for washing machine inner drum accessories, implemented based on an automatic assembly mechanism for washing machine inner drum accessories according to the first aspect of the present invention. 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.

[0072] The inner drum positioning module is electrically connected to the corner servo motor 32, the inner liner cylinder 35, and the receiving and positioning mechanism (including the vertical clamping cylinder 39 and the vertical flipping cylinder 310) of the inner assembly component 3. The inner drum positioning module is used to send pulse signals to control the corner servo motor 32 to drive the mold 33 and the inner liner component to rotate to a predetermined angle to find the assembly zero point; and to output control signals to control the inner liner cylinder 35 to tighten and fix the washing machine inner drum from the inside, and to control the cylinders of the receiving and positioning mechanism to receive and adsorb the inner drum accessory 216.

[0073] The loading control module is electrically connected to the loading swing cylinder 212, the right-angle swing cylinder 24, and the ejection cylinder 26 of the loading robotic arm 2. The loading control module is used to control the movement of the loading swing cylinder 212, driving the hinge assembly of the loading robotic arm 2 to swing along the arc trajectory of the arc guide rail 211 and cut into the inner drum of the washing machine; and to control the movement of the right-angle swing cylinder 24 to flip the inner drum accessory 216 from a horizontal position to a vertical position, and then control the movement of the ejection cylinder 26 to push the inner drum accessory 216 into the receiving range of the inner assembly component 3.

[0074] The screw fastening execution module is electrically connected to the screw fastening assembly 4 (specifically the automatic screw fastening mechanism 43) and is used to control the screw fastening assembly 4 to feed into position and perform the screw fastening action after confirming that the inner drum accessory 216 and the inner drum of the washing machine are positioned.

[0075] The central control module, as the system's central processing unit (such as a PLC or industrial computer), communicates with the aforementioned inner cylinder positioning module, feeding control module, and locking execution module to coordinate the timing of actions of each module, ensuring that the robotic arm movement of the feeding control module and the feeding action of the locking execution module do not interfere with each other, thereby realizing the control of the automated assembly process. Example

[0076] The third aspect of the present invention provides a method for assembling accessories for a washing machine inner drum, applied to a washing machine inner drum accessory assembly control system according to the second aspect of the present invention. The method 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. Specifically, regarding the feeding path planning and posture conversion, the feeding control module receives the feeding command from the system and outputs a control signal to drive the feeding swing cylinder 212. The feeding swing cylinder 212 drives the hinge assembly of the feeding robotic arm 2 to swing along the arc guide rail 211 from the initial retracted position (e.g., 60° angle) to the extended position (e.g., 120° angle), thereby avoiding the drum opening and cutting into the inner drum of the washing machine. Subsequently, the feeding control module outputs a flipping signal to drive the right-angle swing cylinder 24 to actuate, driving the hinge assembly to flip and change the inner drum accessory 216 from a horizontal conveying posture to a vertical assembly posture.

[0077] S200: The feeding control module outputs a feed signal to drive the push-out 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 robot arm to release the inner cylinder accessory and reset. Specifically, during the attachment handover and takeover process, the feeding control module outputs a feed signal to drive the extension cylinder 26 to push the inner cylinder attachment 216 into the receiving range of the inner assembly component 3. The inner cylinder positioning module responds to the position signal from the sensor and controls the receiving positioning mechanism: specifically, it controls the vertical clamping cylinder 39 and the vertical flipping cylinder 310 to clamp and fix the inner cylinder attachment 216 using the vertical clamping plate 38 and the suction cup 313. After confirming the takeover is complete, the feeding control module controls the feeding robotic arm 2 (specifically, the inner cylinder attachment clamping cylinder 27) to release the inner cylinder attachment 216 and controls the feeding swing cylinder 212 and the right-angle swing cylinder 24 to reverse their movements for resetting.

[0078] S300: The inner cylinder positioning module calculates the target rotation angle based on the preset number of assembly stations and outputs a pulse signal to drive the rotation servo motor, thereby rotating the inner assembly components and inner cylinder accessories to the zero point position of the alignment and locking execution module. Specifically, for rotational addressing and alignment, the inner cylinder positioning module calculates the target rotation angle based on the preset number of assembly stations (e.g., 3) and outputs a pulse signal to drive the rotational servo motor 32 to rotate. The rotational servo motor 32 drives the inner assembly component 3 and the inner cylinder accessory 216 to rotate as a whole until they are aligned with the zero point position of the outer locking execution module (i.e., the screw locking component 4).

[0079] 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.

[0080] Specifically, in the clamping and locking process, after confirming that the washing machine inner drum is guided and installed in place by the inner drum guide post 36, the inner drum positioning module outputs a clamping signal to drive the inner liner cylinder 35 to open (outer support of the pneumatic gripper), pressing and fixing the inner drum accessory 216 against the inner wall of the washing machine inner drum. Subsequently, the locking execution module controls the automatic screw-locking mechanism 43 to feed forward and perform the screw-driving action, completing the final locking and assembly of the inner drum accessory.

[0081] In conjunction with the third aspect, the present invention also provides a first specific embodiment of the third aspect, wherein step S200, controlling the operation of the receiving and positioning mechanism, specifically includes: The inner cylinder positioning module outputs the 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 flipping cylinder to rotate, causing the flipping 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.

[0082] Specifically, the inner cylinder positioning module outputs a first clamping signal, driving the vertical clamping cylinder 39 to actuate. The vertical clamping cylinder 39 pushes the vertical clamping plate 38 connected to its output end to move, thereby clamping and limiting the inner cylinder accessory 216 entering the receiving range in the vertical direction to prevent longitudinal displacement. The inner cylinder positioning module outputs a second clamping signal, driving the vertical flipping clamping cylinder 310 to actuate. The vertical flipping clamping cylinder 310 extends or retracts, driving the flipping suction cup mounting hinge seat 311, which is hinged to it, to rotate around the hinge axis, causing the suction cup 313 fixed on the end face of the flipping suction cup mounting hinge seat 311 to rotate and adhere to the surface of the inner cylinder accessory 216, completing the final fixation through vacuum adsorption. At this time, the inner cylinder accessory 216 is held on the inner assembly component 3.

[0083] In conjunction with the third aspect, the present invention also provides a second specific implementation of the third aspect, wherein 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, control multiple loading robotic arms to remain in a retracted position with an angle of 60° between them; During the loading process, multiple loading robotic arms are controlled to swing along the arc guide rail to an unfolded position with an angle of 120° between them, so as to avoid the inlet edge of the washing machine drum and enter the internal space.

[0084] Specifically, in the initial waiting state, the loading control module outputs a control signal to drive the loading swing cylinder 212 to operate, controlling multiple (e.g., three) loading robotic arms 2 to remain in a retracted position at a 60° angle to each other on the arc guide rail 211. In this position, the mechanism is compact, facilitating the external feeding mechanism to transport the inner drum accessory 216 and clamp it onto the hinge assembly. In the loading execution state, when it is necessary to feed the inner drum accessory 216 into the washing machine drum, the loading control module controls the multiple loading robotic arms 2 to swing outwards along the arc guide rail 211 until they reach an extended position at a 120° angle to each other. Through angle changes, the loading robotic arms 2 can expand their distribution range, avoid the narrow entrance edge of the washing machine drum, and smoothly cut into the internal space of the washing machine drum without interference. Example

[0085] A vision positioning system is installed on the loading robot arm to identify the gripping position of the inner cylinder accessories and the mounting hole position of the inner cylinder.

[0086] In conjunction with the second and third aspects of the present invention, this embodiment further provides an assembly method based on visual positioning. It can be used as an insertion step or optimization step between S100 and S200, and is executed according to the following steps: S510: In-drum Image Acquisition and Feature Recognition: When the loading control module controls the loading robotic arm 2 to swing along the arc guide rail 211 and cut into the inside of the washing machine drum, and drives the right-angle swing cylinder 24 to complete the flipping action so that the inner drum accessory 216 is erected (i.e., in the handover state), the vision processing module triggers the vision sensor (such as an industrial camera) set on the loading robotic arm 2 to turn on. With the assistance of a coaxial supplementary light, the vision sensor acquires images of the inner wall of the washing machine drum directly in front. The vision processing module receives the image data and uses an edge detection algorithm to identify the actual mounting hole features on the inner wall of the washing machine drum.

[0087] S520: Deviation Calculation and Path Planning: The vision processing module extracts the center coordinates of the actual installation hole positions and compares them with the system's preset theoretical assembly zero-point coordinates to calculate the circumferential angle deviation Δθ and axial height deviation (ΔH). If the deviation value exceeds the preset allowable tolerance range, the vision processing module sends the above deviation data to the main control module for logical judgment.

[0088] Understandably, the vision system needs to detect the axial height. It only needs to perform simple recognition to obtain the height deviation value. Based on the height deviation value, it can be determined whether the inner drum of the washing machine is installed in place on the mold 33.

[0089] S530: The servo-guided inner cylinder positioning module receives the circumferential angle deviation value Δθ signal from the vision processing module.

[0090] Based on this signal, the inner cylinder positioning module calculates the number of compensation pulses P required for correction using its internal motion control algorithm. The specific calculation formula is as follows: ; in: P: Represents the total number of compensation pulses that the corner servo motor 32 needs to execute; Δθ: Represents the circumferential angular deviation between the actual hole position identified by the vision sensor and the theoretical zero point (unit: degrees). Δθ is a vector value, and positive and negative values ​​represent the direction of rotation. E: Represents the resolution of the 32 encoder for the angle servo motor (i.e., the number of pulses required for the motor to rotate one revolution). i: represents the mechanical transmission reduction ratio between the corner servo motor 32 and the mold 33.

[0091] The inner drum positioning module generates corresponding positive or negative pulse commands based on the calculated number of compensation pulses P and their positive or negative signs. This drives the rotation servo motor 32 to rotate the inner assembly component 3 and the already fitted inner drum of the washing machine by the corresponding angle until Δθ approaches zero, thus achieving position correction.

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

[0093] Reading method: The inner cylinder positioning module of the control system automatically obtains the parameters by reading the parameter list of the servo driver; or the technicians preset the parameters in the control system 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 corner 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] Among them, Z 主动 The number of teeth or diameter of the drive wheel (or drive gear) connected to the output shaft of the corner servo motor 32; Z 从动 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): To eliminate machining errors, this system can also use the teaching calibration method to fine-tune i: control the servo motor to output a fixed pulse quantity, and use a vision sensor or external angle meter to measure the actual rotation angle of the mold 33, then the corrected reduction ratio is obtained.

[0098] S540: Visual Confirmation and Action Release After the servo correction is completed, the vision processing module can trigger the vision sensor again for a second verification. When it is confirmed that the alignment error meets the assembly accuracy requirements, the main control module issues a release command, allowing the feeding control module to execute the push-out action in S200, pushing the inner cylinder accessory 216 into the aligned mounting hole.

[0099] In summary, this invention provides a washing machine inner drum accessory assembly mechanism, system, and method. By setting up an arc-shaped guide rail in conjunction with a hinge assembly, the arc trajectory avoids the inlet edge of the washing machine inner drum, solving the problem of difficult loading in deep drum spaces. A right-angle swing cylinder drives the hinge plate to rotate, achieving automatic switching of the inner drum accessories from a horizontal conveying posture to a vertical installation posture. An inner liner cylinder of the inner assembly assembly internally supports the washing machine inner drum, and in conjunction with an external screw assembly, ensures assembly stability and precision. Furthermore, by introducing a visual positioning system and a servo correction algorithm, compensation for inner drum manufacturing tolerances is achieved, improving the assembly yield.

[0100] The working principle of the washing machine inner drum accessory assembly mechanism described in this invention is as follows: After the system starts, the loading robotic arm, driven by the loading swing cylinder, moves in a circular motion along the arc guide rail, carrying the inner drum accessory and cutting deep into the washing machine's inner drum, avoiding the drum opening. Once in position, the right-angle swing cylinder activates, driving the inner drum accessory to rotate 90 degrees and stand upright. At this time, the vision system identifies the deviation in the inner drum's hole position and corrects the angle by driving the washing machine's inner drum to rotate via the corner servo motor. After correction, the ejection cylinder pushes the inner drum accessory to the receiving position of the inner assembly component, where the receiving and positioning mechanism (clamp and suction) takes over. Subsequently, the inner assembly component rotates to the locking position, the inner liner cylinder opens to tighten the inner drum, and the external screw-locking assembly feeds in and tightens the screws, completing the final fixation.

[0101] The structure of the washing machine inner drum accessory assembly mechanism described in this invention is the same as that in the prior art.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

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. 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 feeding swing cylinder is mounted on the arc guide rail mounting base. The output end of the feeding swing cylinder is connected to the hinge assembly, which is used to drive the swing assembly and the hinge assembly to swing along the arc guide rail. The swing mounting plate connects the hinge assembly and the feeding swing cylinder. 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 ejection 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 assembly. 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 press the received inner drum accessory outward against the inner wall of the washing machine inner drum, and cooperate with the screw fastening assembly to complete the locking and fixing from the outside to the inside.

2. 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 inner drum of the washing machine; 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.

3. The washing machine inner drum accessory assembly mechanism according to claim 2, characterized in that, The inner 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.

4. The washing machine inner drum accessory assembly mechanism according to claim 3, 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.

5. 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 3 to 4, 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.

6. 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 5, 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.

7. A method for assembling a washing machine inner drum accessory according to claim 6, 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.

8. A method for assembling accessories for a washing machine inner drum according to claim 6, 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.

Images