A machine for processing the inner drum of a washing machine with rounded ends.

Abstract

This invention discloses a machine for processing the inner drum of a washing machine, which integrates two ends for rounding. It relates to the field of washing machine processing technology and includes a gantry frame and a machine base installed outside the gantry frame. It also includes a pair of multi-directional adjustment mechanisms, which are slidably installed on both sides of the gantry frame. A clamping robotic arm is rotatably mounted on each of the multi-directional adjustment mechanisms. A central column is installed on the front surface of the machine base, and an adjusting column is elastically sleeved around the central column. Internal support components and a linkage mechanism are installed on both sides of the adjusting column. These mechanisms are vertically slidably installed on both sides of the machine base, and their interiors allow for the movement of the main shaft of the clamping robotic arm. A push rod that abuts against the linkage mechanism is elastically installed above the adjusting column on the front surface of the machine base. This invention uses a pair of multi-directional adjustment mechanisms on the gantry frame to adjust the position of the clamping robotic arm in multiple directions. The clamping robotic arm, rotatably mounted on the gantry, is used to clamp the ends of the inner drum sheet. The internal support components installed on both sides of the adjusting column are used to support and shape the inner drum from the inside.

Description

Technical Field

[0001] This invention relates to the field of washing machine processing technology, specifically to a machine for processing the inner drum of a washing machine with both ends rounded. Background Technology

[0002] In the manufacturing process of cylindrical workpieces such as washing machine inner drums, the process of rolling flat plates into a circle and forming the joints is a key step. Currently, the common processing method is to use multiple machines to complete the process in steps. For example, the two ends of the plate are pre-bent by a bending machine, and then the plate rolling machine or a special rolling machine is used to roll it into shape. The traditional cylinder rolling process usually uses a three-roll plate rolling machine. Its workflow is to first place the plate between the upper and lower rollers, pre-bend the two ends of the plate by pressing down the upper roller, and then roll the plate into a circle multiple times by the coordinated rotation of the three rollers.

[0003] The existing patent application, with publication number CN115090728B and publication date of October 25, 2022, is entitled "A clamping and rolling table for processing metal plates into rolls in a sterilization pot." This patent includes a platform with flipping mechanisms on both its front and rear sides. Each flipping mechanism includes an arc-shaped plate, with first sliders slidably mounted on both the front and rear side walls of the arc-shaped plate. By automatically clamping and fixing the metal plate, it facilitates the automatic formation of a cylindrical shape, with the two ends of the metal plate automatically aligned. This avoids the need for repeated rolling operations, ensuring precise alignment of the metal plates, improving processing accuracy, eliminating the need to calculate the rolling radius, and saving the physical effort of manually aligning the two ends of the metal plate. This significantly saves manpower, effort, and time, improves work efficiency, facilitates one-time forming of the metal plate roll, simplifies operation, and reduces processing difficulty.

[0004] The above application has shortcomings. During multiple clamping and transfer processes, the plate is prone to deformation due to stress release or positioning errors, resulting in poor roundness, misalignment of joints, or gaps in the final rounded cylinder. After the inner cylinder is rounded, operators often need to manually or with the help of auxiliary equipment to remove the cylinder from the mold. Forcibly unloading may also cause scratches on the surface of the formed cylinder. Summary of the Invention

[0005] The purpose of this invention is to provide a machine for processing the inner drum of a washing machine into a single, rounded shape at both ends, in order to overcome the shortcomings of the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A washing machine inner drum processing machine with rounded ends includes a gantry frame and a machine platform installed outside the gantry frame. It also includes a pair of multi-directional adjustment mechanisms, which are slidably installed on both sides of the gantry frame. A clamping robotic arm is rotatably mounted on each of the multi-directional adjustment mechanisms. A central column is installed on the front surface of the machine platform, and an adjusting column is elastically sleeved around the central column. Internal support components and a linkage mechanism are installed on both sides of the adjusting column, which are vertically slidably installed on both sides of the machine platform. The internal components allow for the movement of the main shaft of the clamping robotic arm. A push rod, which abuts against the linkage mechanism, is elastically installed above the adjusting column on the front surface of the machine platform. When the clamping robotic arm moves upward, the linkage mechanism drives the internal support components to open. When the clamping robotic arm moves downward, the linkage mechanism pushes the push rod, forcing the adjusting column to move outward, and then drives the internal support components to reset and retract.

[0008] Preferably, the multi-directional adjustment mechanism includes a ram that is horizontally slidably mounted on the gantry, and an electric slide block that is vertically slidably mounted on the ram.

[0009] Preferably, a placement platform is installed on the front surface of the machine tool, a shelf is installed on the top of the placement platform, and the clamping robotic arm is placed on both sides of the placement platform. A pair of edge pressing clamps are hinged to the machine tool, and a pneumatic push rod is hinged between the edge pressing clamps and the side wall of the machine tool.

[0010] Preferably, the adjusting column has horizontally opening receiving grooves on both sides, the inner support assembly includes a bidirectional lead screw rotatably installed in the receiving groove, sliders symmetrically installed on the bidirectional lead screw and sliding in the receiving groove, a support rod is hinged between the two sliders, and a telescopic transmission rod is fixedly connected to one end of the bidirectional lead screw, which is inserted into the machine tool and drives the linkage mechanism.

[0011] Preferably, the linkage mechanism includes a connecting beam frame, the connecting beam frame having a through groove matching the main shaft of the clamping robot arm, the machine base having a vertical sliding groove matching the connecting beam frame, one end of the connecting beam frame being inserted into the sliding groove and fixedly connected to an adjusting rack, and one end of the telescopic transmission rod being inserted into the sliding groove and fixedly connected to a driven gear meshing with the adjusting rack.

[0012] Preferably, the other end of the connecting beam is provided with an air chamber, and a pressure plate for adjusting the size of the air chamber is installed in the through groove. One side of the pressure plate is in contact with the main shaft of the clamping robot arm, and a top spring is installed between the other side of the pressure plate and the through groove. Air supply hoses are installed between the air chamber and each pneumatic push rod.

[0013] Preferably, the push rod includes a wedge-shaped pressure rod that is vertically slidably installed on the front surface of the machine base, a return spring is installed between the back of the wedge-shaped pressure rod and the machine base, and a wedge-shaped abutment rod that is inclined and abuts against the wedge-shaped pressure rod is fixedly connected to the top of the adjusting column near the machine base.

[0014] Preferably, telescopic stop bars are movably inserted into both sides of the wedge-shaped pressure bar, and a plug bar is fixedly connected to the back of the telescopic stop bar. An arc-shaped guide groove matching the plug bar is provided on the machine base, and a pressing frame that abuts against the upper and lower sides of the telescopic stop bar is installed on the connecting beam.

[0015] Preferably, the mechanical clamping arm includes a connecting seat rotatably connected to an electric slide, an eccentrically mounted base is rotatably mounted on the connecting seat, and a pair of electric clamping rods are mounted on the base.

[0016] Preferably, a limit rod is vertically fixed to one side of the connecting beam, and a slide rail matching the limit rod is vertically provided on the inner wall of the slide groove.

[0017] In the above technical solution, the position of the clamping robotic arm is adjusted in multiple directions by a pair of multi-directional adjustment mechanisms set on the gantry. The clamping robotic arm, which is rotatably mounted on the gantry, is used to clamp the ends of the inner cylinder plate. The inner support components installed on both sides of the adjustment column are used to support and shape the inner cylinder from the inside. When the two clamping robotic arms clamp the two ends of the inner cylinder plate respectively and move upward, the middle part of the material will fall under the action of gravity. Then, the linkage mechanism that cooperates with the clamping robotic arm drives the inner support components on both sides of the adjustment column to open outward synchronously, thereby performing a precise and rapid rounding operation on both ends of the inner cylinder. When the processing is completed, when the clamping robotic arm moves downward, it will drive the linkage mechanism to push the push rod downward, forcing the adjustment column to move outward. This not only separates the forming station from the unloading station, leaving unobstructed material picking space for the robotic arm or other automated equipment, but also drives the inner support components to smoothly reset and retract, which is convenient for the subsequent placement of the plate. This realizes the synchronous and automatic rounding processing of both ends of the inner cylinder, avoiding the time waste of step-by-step operation.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit this disclosure.

[0019] This application provides an overview of various implementations or examples of the technology described in this disclosure, and is not a full disclosure of the entire scope or all features of the disclosed technology. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a schematic diagram of the overall structure of a washing machine inner drum processing machine with rounded ends according to the present invention;

[0022] Figure 2 In this invention Figure 1 Enlarged view of the structure at point A;

[0023] Figure 3 This is a schematic diagram of the machine platform and placement platform in a washing machine inner drum processing two-end rounding integrated machine according to the present invention;

[0024] Figure 4 This is a schematic diagram of the placement platform in a machine for processing the inner drum of a washing machine with rounded ends, according to the present invention.

[0025] Figure 5 This is a schematic diagram of the multi-directional adjustment mechanism and clamping robotic arm in a washing machine inner drum processing end-rounding integrated machine of the present invention;

[0026] Figure 6 This is a schematic diagram of the adjusting column and inner support assembly in a washing machine inner drum processing two-end rounding integrated machine according to the present invention;

[0027] Figure 7 This is a schematic diagram of the linkage mechanism in a washing machine inner drum processing two-end rounding integrated machine according to the present invention;

[0028] Figure 8 This is a schematic diagram of the push rod component in the integrated machine for processing the inner drum of a washing machine according to the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Machine base; 10. Placement table; 11. Shelf; 12. Edge pressing clamp; 13. Pneumatic push rod; 14. Slide groove; 15. Arc-shaped guide groove; 16. Slide rail; 2. Gantry frame; 3. Multi-directional adjustment mechanism; 31. Slide block; 32. Electric slide; 4. Clamping robotic arm; 41. Connecting seat; 42. Base; 43. Electric clamping rod; 5. Central column; 6. Adjusting column; 61. Receiving groove; 62. Wedge-shaped abutment; 7. Internal support assembly 71. Double-acting lead screw; 72. Slider; 73. Support rod; 74. Telescopic transmission rod; 75. Driven gear; 76. Connecting rod; 8. Linkage mechanism; 80. Pressing frame; 81. Connecting beam frame; 82. Through groove; 84. Adjusting rack; 85. Air chamber; 86. Pressure plate; 87. Top spring; 88. Air supply hose; 89. Limiting anti-detachment rod; 90. Pushing rod; 91. Wedge-shaped pressure rod; 92. Return spring; 94. Telescopic stop rod; 95. Insert rod. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0032] Please see Figure 1-8 This invention provides a washing machine inner drum processing machine with rounded ends, comprising a gantry frame 2 and a machine base 1 installed outside the gantry frame 2, and a pair of multi-directional adjustment mechanisms 3, which are slidably installed on both sides of the gantry frame 2. A clamping mechanical arm 4 is rotatably installed on the multi-directional adjustment mechanism 3. A central column 5 is installed on the front surface of the machine base 1, and an adjusting column 6 is elastically sleeved on the outside of the central column 5. An inner support assembly 7 is installed on both sides of the adjusting column 6. A linkage mechanism 8 is vertically slidably installed on both sides of the machine base 1, and its interior allows the main shaft of the clamping mechanical arm 4 to move. A push rod 9 that abuts and cooperates with the linkage mechanism 8 is elastically installed on the front surface of the machine base 1 above the adjusting column 6. When the clamping mechanical arm 4 moves upward, the linkage mechanism 8 drives the inner support assembly 7 to open. When the clamping mechanical arm 4 moves downward, the linkage mechanism 8 pushes the push rod 9 to force the adjusting column 6 to move outward, and then drives the inner support assembly 7 to reset and close.

[0033] Specifically, a pair of multi-directional adjustment mechanisms 3 installed on the gantry 2 can adjust the position of the clamping robotic arm 4 in three-dimensional space to accommodate inner cylinder plates of different sizes. The clamping robotic arm 4 is rotatably mounted at the end of the mechanism to reliably clamp both ends of the inner cylinder plate. The central column 5 is fixed at the center of the front surface of the machine base 1. When the cylinder is rounded, the central column 5 is surrounded by the cylinder. An elastic element is installed between one end of the adjusting column 6 and the machine base 1. The adjusting column 6 can slide along the central axis away from the machine base 1 under a certain pressure and is reset by the elastic element after the pressure is released. The two sides of the adjusting column 6 correspond to the two sides of the inner wall of the cylinder. The inner support components 7 are installed at these two locations. The opening and closing action is controlled by the linkage mechanism 8. During processing, the operator or the loading robot places the flat inner cylinder plate into the working position, so that its center is directly below the central column 5. Then, the multi-directional adjustment mechanisms 3 on both sides drive the clamping robot arms 4 to move and adjust their posture, accurately clamping both ends of the plate. Driven by the multi-directional adjustment mechanisms 3, the two clamping robot arms 4 move upward synchronously and gradually move towards the center. The middle of the plate falls due to gravity, forming a natural bend. During this process, the main shaft of the clamping robot arm 4 drives the linkage mechanisms 8 on both sides to slide upward together. The upward movement of the linkage mechanisms 8 drives the inner support components 7 on both sides to synchronously radially support. As the gripping robotic arm 4 continues to move upwards, possibly accompanied by a flipping motion, the sheet metal is further bent. At this point, the already extended inner support component 7 precisely supports and shapes both ends of the sheet metal from the inside, ensuring that it accurately rounds according to the preset arc until the interfaces at both ends of the sheet metal are joined, forming a complete cylindrical workpiece. After rounding and shaping, the gripping robotic arm 4 releases its grip on the cylinder and begins to move downwards under the drive of the multi-directional adjustment mechanism 3. A specific part of the downward-moving linkage mechanism 8 contacts and pushes the push rod 9. The push rod 9 is pressed down, and its other end transmits force to the end face of the adjusting column 6, forcing the entire adjusting column 6, along with the inner support component 7 and the already extended inner support component 7, to bend further. The formed cylinder moves outward along the central axis a predetermined distance. This action causes the formed cylinder to leave the original, complex, round forming station and move to a relatively open and unobstructed unloading station. In the later stage of the downward movement, the linkage mechanism 8 will reverse drive the inner support component 7 to reset and retract, causing it to disengage from the inner wall of the cylinder. At this time, the industrial robot or other automated equipment can easily enter the unloading station and remove the formed cylinder. After unloading, the clamping robotic arm 4 stops moving downward, the pressure on the pushing rod 9 disappears, and the adjusting column 6 automatically retracts to its original position under the action of the internal spring. The equipment returns to its initial state and waits for the next work cycle.

[0034] Compared with the prior art, the embodiment of the present invention uses a pair of multi-directional adjustment mechanisms 3 set on the gantry frame 2 to adjust the position of the clamping robotic arms 4 in multiple directions. The clamping robotic arms 4, which are rotatably mounted on the gantry frame 2, are used to clamp the ends of the inner cylinder plate. The inner support components 7 installed on both sides of the adjusting column 6 are used to support and shape the inner cylinder from the inside. When the two clamping robotic arms 4 clamp the two ends of the inner cylinder plate respectively and move upward, the middle part of the material will fall under the action of gravity. Then, the linkage mechanism 8 that cooperates with the clamping robotic arms 4 drives the inner support components 7 on both sides of the adjusting column 6. The component 7 expands outward synchronously, thereby performing precise and rapid rounding operations on both ends of the inner cylinder. When the processing is completed, the clamping robotic arm 4 moves downward, which drives the linkage mechanism 8 to push the push rod component 9 downward, forcing the adjusting column 6 to move outward. This not only separates the forming station from the unloading station, leaving unobstructed material picking space for the robotic arm or other automated equipment, but also drives the inner support component 7 to smoothly reset and retract, facilitating the subsequent placement of the sheet metal. This achieves synchronous and automatic rounding processing of both ends of the inner cylinder, avoiding the time wasted in step-by-step operations.

[0035] In a further embodiment of the present invention, the multi-directional adjustment mechanism 3 includes a ram 31 horizontally slidably mounted on the gantry 2, and an electric slide block 32 vertically slidably mounted on the ram 31. The ram 31 is horizontally slidably mounted on the crossbeam of the gantry 2 via linear guide rails and a drive motor, enabling precise movement along the X-axis. The electric slide block 32 is vertically slidably mounted on the ram 31 via another set of linear guide rails and a drive device, enabling precise movement along the Z-axis. Specifically, the operator or the loading robot places the flat inner cylinder plate into the working position. Subsequently, the multi-directional adjustment mechanisms 3 on both sides begin to operate, and the electric slide block 32 drives the clamping robot arm 4 to descend to the accurate clamping position. The two slide blocks 31 move towards or away from each other along the crossbeam of the gantry frame 2 under the drive, adjusting to a position that adapts to the width of the plate to be processed. Finally, the clamping mechanism reliably clamps both ends of the plate. The clamping robot arm 4 moves upward synchronously under the drive of the electric slide block 32. At the same time, according to the preset rounding trajectory, the two slide blocks 31 also perform a precise horizontal approaching movement, and the clamping robot arm 4 itself will perform a flipping movement. The combination of these movements causes the two ends of the plate to move along the predetermined trajectory, and the middle of the plate naturally falls under the action of gravity and is precisely bent into a circle. The precise position control ensures the accurate repetition of the rounding trajectory, thereby ensuring the consistency of product forming.

[0036] In a further embodiment of the present invention, a placement platform 10 is installed on the front surface of the machine base 1, a shelf 11 is installed on the top of the placement platform 10, and the two sides of the placement platform 10 are for holding the robotic arm 4. A pair of edge-pressing clamping plates 12 are hinged on the machine base 1, and a pneumatic push rod 13 is hinged between the edge-pressing clamping plates 12 and the side wall of the machine base 1. Specifically, the flat inner cylinder plate is horizontally placed on the shelf 11 of the placement platform 10. After the plate is placed securely, the control system activates the pneumatic push rod 13, and the pneumatic push rod 13 extends. The pneumatic push rod 13 drives a pair of edge pressing clamps 12 to close inward, precisely and evenly clamping the edge of the plate along its length. This clamping force can effectively straighten the slight warping and deformation that may occur on the edge of the plate during transportation or previous processes, eliminate stress concentration points, and ensure that the edge is straight. After a short period of pressing, the pneumatic push rod 13 retracts to release the pressure plate 86, making room for the next clamping step. This can effectively prevent wrinkles or cracks from forming on the edge, thus ensuring that the edge of the final formed cylinder is smooth and neat.

[0037] In a further embodiment of the present invention, both sides of the adjusting column 6 are horizontally provided with receiving grooves 61. The inner support assembly 7 includes a bidirectional lead screw 71 rotatably installed in the receiving groove 61. Slider blocks 72 that slide within the receiving groove 61 are symmetrically installed on the bidirectional lead screw 71. A support rod 73 is hinged between the two sliders 72 through a connecting rod 76. One end of the bidirectional lead screw 71 is fixedly connected to a telescopic transmission rod 74 that is inserted into the machine base 1 and drives the linkage mechanism 8. Specifically, the two sliders 72 are symmetrically installed on the bidirectional lead screw 71 through internal threaded holes. Under the drive of the bidirectional lead screw 71, the sliders 72 move precisely along the receiving groove 61. The linear motion does not rotate with the lead screw. When the two sliders 72 move towards each other, the connecting rod 76 pushes the support rod 73 to move radially outward, thus opening it up. When the sliders 72 move away from each other, the connecting rod 76 pulls the support rod 73 inward. One end of the telescopic transmission rod 74 is fixedly connected to the end of the bidirectional lead screw 71, and the other end extends backward and is inserted into the interior of the machine base 1. The telescopic transmission rod 74 can extend and retract axially and also transmit torque. The end inserted into the machine base 1 forms a transmission cooperation with the linkage mechanism 8. Through the inner support assembly 7, it steadily opens from the inside and abuts against the inner wall of the cylinder that is being formed into a circle, ensuring the roundness of the forming.

[0038] In a further embodiment of the present invention, the linkage mechanism 8 includes a connecting beam 81. A through groove 82 matching the main shaft of the clamping robotic arm 4 is provided inside the connecting beam 81. A sliding groove 14 matching the connecting beam 81 is vertically provided on the side wall of the machine base 1. The sliding groove 14 provides precise guidance for the up-and-down movement of the connecting beam 81. One end of the connecting beam 81 is inserted into the sliding groove 14 and fixedly connected to an adjusting rack 84. One end of the telescopic transmission rod 74 is inserted into the sliding groove 14 and fixedly connected to a driven gear 75 meshing with the adjusting rack 84. Specifically, when the clamping robotic arm 4 moves horizontally within the through groove 82 inside the connecting beam 81, the connecting beam 81 will not shift. However, if the clamping robotic arm 4 moves up and down, it will cause the connecting beam 81 to rise and fall together. During the rounding and forming stage, when the clamping robotic arm 4 is driven to move upward, its main shaft drives the connecting beam 81, which passes through it, to slide upward along the sliding groove 14 on the side wall of the machine base 1. The upward movement of the 1 causes the adjusting rack 84 fixed thereon to move upward synchronously. The upward movement of the adjusting rack 84 drives the driven gear 75 meshing with it to rotate, which in turn drives the telescopic transmission rod 74 and the double-sided lead screw 71 fixed thereon to rotate together. Then, through the transmission of the slider 72 and the support rod 73, the inner support assembly 7 is finally radially opened, providing internal support for the cylinder in the rounding process. When the rounding is completed, when the clamping robot arm 4 moves downward, it drives the connecting beam frame 81 and the adjusting rack 84 to slide downward in the slide groove 14 through the main shaft. The downward movement of the adjusting rack 84 drives the driven gear 75 to rotate in the opposite direction. Through the telescopic transmission rod 74, it drives the double-sided lead screw 71 to reverse, causing the two sliders 72 to move in opposite directions, pulling the support rod 73, so that the inner support assembly 7 radially retracts and resets, disengaging from the inner wall of the cylinder. This allows the lifting and lowering of the clamping robot arm 4 to directly act on the opening and closing of the inner support assembly 7, precisely assisting the rounding work of the inner cylinder processing.

[0039] In a further embodiment of the present invention, an air chamber 85 is provided at the other end of the connecting beam 81. A pressure plate 86 for adjusting the size of the air chamber 85 is installed in the through groove 82. One side of the pressure plate 86 is in contact with the main shaft of the clamping robot arm 4, and a top spring 87 is installed between the other side of the pressure plate 86 and the through groove 82. An air supply hose 88 is installed between the air chamber 85 and each pneumatic push rod 13. Specifically, in the natural state, the elastic force of the top spring 87 keeps the pressure plate 86 away from the air chamber 85, thereby maximizing the volume of the air chamber 85. When it is necessary to clamp the plate, the clamping robot arm 4, driven by the multi-directional adjustment mechanism 3, moves its main shaft horizontally towards the center, i.e., away from the pressure plate 86. The pressure plate 86 moves outward under the force of the top spring 87, causing the volume of the air chamber 85 to increase and generating a negative pressure inside. This negative pressure draws the gas in the air chamber of the pneumatic push rod 13 back to the air chamber through the air supply hose 88. In step 85, the internal pressure of the pneumatic push rod 13 is released, and the piston rod retracts under the force of its own spring or the gravity of the mechanism, causing the edge pressing clamping plate 12 to open and reset, releasing the constraint on the cylindrical plate and making room for the clamping action. When a new plate is placed on the shelf 11, if the clamping robot arm 4 squeezes the pressure plate 86 to move it to the side of the air chamber 85, the movement of the pressure plate 86 causes the volume of the air chamber 85 to decrease, compressing the air inside and increasing the pressure. The resulting high-pressure gas is forced into the corresponding air chamber of each pneumatic push rod 13 through the air delivery hose 88. The high-pressure gas pushes the piston rod of the pneumatic push rod 13 to extend, thereby continuing to perform pressing operations on the edge of the plate placed on the shelf 11. As long as the clamping robot arm 4 remains in this position, the pressure plate 86 maintains pressure on the air chamber 85, and the edge pressing clamping plate 12 continues to press the edge of the plate. The pneumatic transmission response is fast and the force is uniform. By setting the stiffness of the top spring 87 and the volume of the air chamber 85, the pressing time and pressure on the edge of the sheet can be precisely controlled, ensuring a stable and consistent pressing effect.

[0040] In a further embodiment of the present invention, the pushing rod 9 includes a wedge-shaped pressure rod 91 vertically slidably mounted on the front surface of the machine base 1. A return spring 92 is installed between the back of the wedge-shaped pressure rod 91 and the machine base 1. A wedge-shaped abutment rod 62, which is inclined and abuts against the wedge-shaped pressure rod 91, is fixedly connected to the top end of the adjusting column 6 near the machine base 1. Specifically, when the linkage mechanism 8 moves down to a certain position, it will press the top end of the wedge-shaped pressure rod 91, causing it to overcome the elastic force of the return spring 92 and slide vertically downward. Its inclined surface is fixed to the adjusting column 6. The inclined surfaces of the wedge-shaped push rod 62 slide relative to each other. Due to the action of the inclined surfaces, the vertical downward movement of the wedge-shaped push rod 91 is converted into a horizontal outward thrust on the wedge-shaped push rod 62, which in turn pushes the entire adjusting column 6 to move outward along the axis. This action causes the forming cylinder to leave the original forming station and reach the spacious unloading station. When unloading is completed, the clamping robot arm 4 moves up and resets, releasing the pressure on the wedge-shaped push rod 91. Under the action of the reset spring 92, the wedge-shaped push rod 91 moves back to its initial position.

[0041] In a further embodiment of the present invention, telescopic stop bars 94 are movably inserted into both sides of the wedge-shaped pressure bar 91. The telescopic stop bars 94 can extend or retract a certain distance from the side of the wedge-shaped pressure bar 91. An insert bar 95 is fixedly connected to the back of the telescopic stop bar 94. An arc-shaped guide groove 15 matching the insert bar 95 is provided on the machine base 1. A pressing frame 80 is installed on the connecting beam frame 81, which respectively abuts against the upper and lower sides of the telescopic stop bar 94. Specifically, in the initial position or after unloading, the connecting beam frame 81 is in a low position, the telescopic stop bar 94 is in an extended state, and its insert bar 95 is located in the middle of the arc-shaped guide groove 15. When the connecting beam frame 81 moves upward, the pressing frame 80 will abut against the bottom of the telescopic stop bar 94. Since the insert bar 95 is restricted by the arc-shaped guide groove 15, this upward force will force the telescopic stop bar 94 to move laterally and retract inward. This displacement can make the pressing frame The 80 moves above the telescopic stop bar 94, and the connecting beam 81 continues to move upward to complete the rounding and internal support actions. After the rounding is completed, the connecting beam 81 begins to move downward under the drive of the clamping robotic arm 4. In the initial stage of the movement, the pressing frame 80 on it will press down on the upper surface of the telescopic stop bar 94. Similarly, since the insertion rod 95 is restricted by the upper section of the arc guide groove 15, this downward force will first force the telescopic stop bar 94 and the insertion rod 95 to move along the trajectory of the arc guide groove 15. When the connecting beam 81 moves down to a certain position, the insertion rod 95 slides into the lower half of the arc guide groove 15, and the pressing frame 80 directly pushes the wedge-shaped pressure rod 91 to move down as a whole, allowing the adjusting column 6 to move outward to achieve the unloading action. Finally, the insertion rod 95 is restricted by the arc guide groove 15, which again forces the telescopic stop bar 94 to move laterally and contract inward, making room for the downward movement of the connecting beam 81.

[0042] In a further embodiment of the present invention, the mechanical clamping arm includes a connecting seat 41 rotatably connected to the electric slide 32. An eccentrically mounted base 42 is rotatably mounted on the connecting seat 41, and a pair of electric clamping rods 43 are mounted on the base 42. Specifically, the connecting seat 41 is rotatably connected to the electric slide 32 in the multi-directional adjustment mechanism 3, which allows the entire clamping mechanical arm 4 to perform a wide range of rotational movements around a vertical axis or a specific horizontal axis. At the beginning of the rounding motion, this is a multi-degree-of-freedom composite motion process. The electric slide 32 drives the mechanical arm to move upwards, while the slide 31 drives the mechanical arm to move horizontally towards the center. The connecting seat 41 begins to rotate slowly, causing the entire clamping mechanism to rotate, causing the end of the plate to begin to bend. During the bending process, by driving the eccentrically set base 42 to rotate slightly relative to the connecting seat 41, the precise position of the plate end in space can be adjusted in real time. Due to the eccentricity, the slight rotation of the base 42 can be converted into a relatively large trajectory correction of the clamping point. This eccentric adjustment capability enables the system to dynamically optimize the rounding trajectory for plates of different materials, thicknesses, or those with slight deformation, avoiding excessive stretching or compression, and finely adjusting the relative position of the two plate ends in the final rounding stage to ensure that the joint can be perfectly aligned, reducing the difficulty of subsequent welding or connection, and making the cylinder more rounded. By optimizing the stress points, the plate is more evenly wrapped around the inner support component 7, forming a more regular circle.

[0043] In a further embodiment of the present invention, a limiting anti-detachment rod 89 is vertically fixedly connected to one side of the connecting beam 81. A slide rail 16 matching the limiting anti-detachment rod 89 is vertically provided on the inner wall of the slide groove 14. The cross-sectional shape of the slide rail 16 forms a sliding fit with the limiting anti-detachment rod 89. Specifically, the groove wall of the slide rail 16 surrounds and constrains the limiting anti-detachment rod 89 from multiple directions. This structure can effectively resist the lateral force or torsion that the connecting beam 81 may be subjected to during the movement, fundamentally preventing the possibility of the connecting beam 81 accidentally detaching from the slide groove 14, improving the safety of the equipment. At the same time, the precise guidance also reduces the risk of jamming caused by shaking, making the operation of the connecting beam 81 smoother.

[0044] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A machine for processing the inner drum of a washing machine with rounded ends, comprising a gantry frame (2) and a machine base (1) installed outside the gantry frame, characterized in that, Also includes: A pair of multi-directional adjustment mechanisms (3) are slidably installed on both sides of the gantry (2), and a clamping mechanical arm (4) is rotatably installed on the multi-directional adjustment mechanism (3). A central column (5) is installed on the front surface of the machine (1), and an adjusting column (6) is elastically sleeved on the outside of the central column (5). An inner support assembly (7) is installed on both sides of the adjusting column (6). The linkage mechanism (8) is vertically slidably installed on both sides of the machine base (1), and its interior is used to hold the main shaft of the mechanical arm (4) to move. The front surface of the machine base (1) is elastically installed above the adjusting column (6) with a push rod (9) that abuts and cooperates with the linkage mechanism (8). The adjusting column (6) has horizontally opened receiving grooves (61) on both sides. The inner support assembly (7) includes a bidirectional lead screw (71) rotatably installed in the receiving groove (61). Sliders (72) that slide in the receiving groove (61) are symmetrically installed on the bidirectional lead screw (71). A support rod (73) is hinged between the two sliders (72). One end of the bidirectional lead screw (71) is fixedly connected to a telescopic transmission rod (74) that is inserted into the machine base (1) and drives the linkage mechanism (8). The linkage mechanism (8) includes a connecting beam (81), which has a through groove (82) that matches the main shaft of the clamping robot arm (4). The side wall of the machine base (1) has a vertical sliding groove (14) that matches the connecting beam (81). One end of the connecting beam (81) is inserted into the sliding groove (14) and fixedly connected to an adjusting rack (84). One end of the telescopic transmission rod (74) is inserted into the sliding groove (14) and fixedly connected to a driven gear (75) that meshes with the adjusting rack (84). When the gripping robotic arm (4) moves upward, the inner support assembly (7) is driven to open through the linkage mechanism (8). When the gripping robotic arm (4) moves downward, the adjusting column (6) is forced to move outward by the push rod (9) through the linkage mechanism (8), and then the inner support assembly (7) is driven to reset and close.

2. The washing machine inner drum processing machine with rounded ends as described in claim 1, characterized in that, The multi-directional adjustment mechanism (3) includes a slide block (31) that is horizontally slidably installed on the gantry frame (2), and an electric slide block (32) that is vertically slidably installed on the slide block (31).

3. The washing machine inner drum processing machine with rounded ends as described in claim 1, characterized in that, A placement platform (10) is installed on the front surface of the machine base (1). A shelf (11) is installed on the top of the placement platform (10). The clamping robotic arm (4) is placed on both sides of the placement platform (10). A pair of edge pressing clamps (12) are hinged on the machine base (1). A pneumatic push rod (13) is hinged between the edge pressing clamps (12) and the side wall of the machine base (1).

4. A machine for processing the inner drum of a washing machine with rounded ends as described in claim 3, characterized in that, The other end of the connecting beam (81) is provided with an air chamber (85). A pressure plate (86) for adjusting the size of the air chamber (85) is installed in the through groove (82). One side of the pressure plate (86) is in contact with the main shaft of the clamping robot arm (4). A top spring (87) is installed between the other side of the pressure plate (86) and the through groove (82). An air supply hose (88) is installed between the air chamber (85) and each pneumatic push rod (13).

5. A machine for processing the inner drum of a washing machine with rounded ends as described in claim 1, characterized in that, The push rod (9) includes a wedge-shaped pressure rod (91) that is vertically slidably installed on the front surface of the machine base (1). A return spring (92) is installed between the back of the wedge-shaped pressure rod (91) and the machine base (1). A wedge-shaped push rod (62) that is inclined against the wedge-shaped pressure rod (91) is fixedly connected to one end of the top of the adjusting column (6) near the machine base (1).

6. A machine for processing the inner drum of a washing machine with rounded ends as described in claim 5, characterized in that, The wedge-shaped pressure rod (91) has telescopic stop rods (94) movably inserted on both sides. The telescopic stop rod (94) has a fixed rod (95) connected to its back. The machine base (1) has an arc-shaped guide groove (15) that matches the rod (95). The connecting beam frame (81) is equipped with a pressing frame (80) that abuts against the upper and lower sides of the telescopic stop rod (94).

7. A machine for processing the inner drum of a washing machine with rounded ends as described in claim 1, characterized in that, The gripping robotic arm (4) includes a connecting seat (41) rotatably connected to an electric slide (32), an eccentrically mounted base (42) is rotatably mounted on the connecting seat (41), and a pair of electric gripping rods (43) are mounted on the base (42).

8. A machine for processing the inner drum of a washing machine with rounded ends as described in claim 1, characterized in that, The connecting beam (81) is vertically fixed to one side with a limit anti-detachment rod (89), and the inner wall of the slide groove (14) is vertically provided with a slide rail (16) that matches the limit anti-detachment rod (89).

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