Vision-based washing machine drum assembly process system and process method thereof

Abstract

The application discloses a kind of based on visual washing machine cylinder body assembly process system and process method thereof, including cylinder wall joint mechanism, for being curled and crimped into straight cylinder with coiled material;The feeding end of the cylinder wall joint mechanism is connected with the feeding end of end cover pressing mechanism, for pressing end cover on the both ends of the straight cylinder;The cylinder wall joint mechanism is provided with visual positioning mechanism, for cooperating coiled material conveying mechanism to make the embossing of cylinder wall coiled material correspond with the port of the die structure 12;The end cover pressing mechanism is provided with visual alignment mechanism, for cooperating end cover clamping and feeding mechanism to align end cover with the end of straight cylinder.The application realizes the accurate buckling of cylinder body joint embossing and the stability of end cover crimping hem state, and then comprehensively improves the dimensional accuracy and structural stability of cylinder body.

Description

Technical Field

[0001] This invention relates to the field of washing machine manufacturing technology, and in particular to a vision-based washing machine drum assembly system and method. Background Technology

[0002] The washing machine drum is a crucial component, consisting of an inner drum and an outer drum. The inner drum is typically made of metal coils, which are stamped to create a specific textured structure and holes. This is then assembled by rolling, splicing, and pressing together end caps to form the complete drum body. While current seam embossing equipment is equipped with positioning devices, misalignment in the embossing position still occurs, leading to a mismatch between the inner and outer drum dimensions. Furthermore, aging equipment can cause unstable end cap edge rolling, resulting in an unstable overall drum structure. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a vision-based washing machine drum assembly process system and method, which realizes the precise fastening of drum seam embossing and the stable state of end cover pressing and rolling, thereby comprehensively improving the dimensional accuracy and structural stability of the drum.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a vision-based washing machine drum assembly process system, including a drum wall seam mechanism for curling and pressing rolled material into a straight drum; the discharge end of the drum wall seam mechanism is connected to the feed end of an end cap pressing mechanism, which presses end caps onto both ends of the straight drum; the drum wall seam mechanism includes a rotatably mounted curling roller, and a concave mold structure is vertically mounted above the curling roller, with the vision positioning mechanism mounted on the top surface of the inner wall of the concave mold structure; the vision positioning mechanism is used to cooperate with a rolled material conveying mechanism to align the embossing holes of the rolled material with the ports of the concave mold structure; a top block is vertically mounted on the roller surface of the curling roller, and when the curling roller rotates to the point where the top block faces upward, the top block is vertically aligned with the concave mold structure for cooperation with the concave mold structure. The tube wall joint mechanism includes a punching mechanism for bending the lugs to engage with the embossed holes at the tail end; the end cap pressing mechanism includes an inner support structure for supporting the inner wall of the tube, two clamping bodies for clamping the outer wall of the tube, a visual alignment mechanism and an end cap clamping mechanism respectively located at the upper and lower ends of the vertically placed tube, and a curling pressing module; the visual alignment mechanism is used to scan the contours of the tube port and the end cap and calculate the center position to plan the moving path of the end cap clamping mechanism so that the center of the end cap coincides with the center of the tube port; the inner support structure is provided with suction modules at both ends for suctioning the end cap to the corresponding end face of the tube; the curling pressing module is used to bend and curl the outer edge of the end cap to wrap and fasten it relative to the tube port.

[0005] Furthermore, the top block is slidably disposed in the clearance groove, which is arranged radially along the curling roller; when the opening of the clearance groove faces upward, a stamping mechanism is aligned directly above the clearance groove, and the stamping mechanism is connected to the die structure through a conversion device.

[0006] Furthermore, the end cap pressing mechanism is provided with an inner support structure aligned with the axial direction of the curling roller. The inner support structure is driven away from or close to the curling roller by a limiting seat. A push plate is provided at the end of the curling roller away from the inner support structure.

[0007] Furthermore, the limiting seat is provided with an assembly shaft on the side near the curling roller, the assembly shaft is fitted into the inner shaft hole of the inner support structure, and a limiting plate is provided at the end of the assembly shaft away from the curling roller.

[0008] Furthermore, the inner support structure is slidably disposed between the two clamping bodies, which clamp the middle part of the straight cylinder. The two clamping bodies are respectively rotatably engaged with the driving end of the corresponding clamping driving device, so as to rotate the straight cylinder so that it is placed vertically.

[0009] Furthermore, the vertically clamped straight cylinder is provided with visual alignment mechanisms at its upper and lower ends respectively. The visual signal output end of the visual alignment mechanism is electrically connected to the corresponding clamping mechanism through a control module. The clamping mechanism is movably disposed between the corresponding visual alignment mechanism and the end face of the straight cylinder. The visual alignment mechanism is connected to the edge pressing module through a conversion device.

[0010] Furthermore, the inner support structure is provided with a central support module that cooperates with the clamping body, and also with end support modules corresponding to both ends of the straight cylinder. Both the central support module and the end support modules are circumferentially supported on the inner wall surface of the straight cylinder. At both ends of the inner support structure, suction modules are respectively provided for suctioning the end caps on the corresponding end faces of the straight cylinder.

[0011] Furthermore, the edge-pressing module is provided with a pressing mold, which cooperates with the end face of the inner support structure to clamp the end cap, and an edge-pressing mold is slidably provided on the outside of the pressing mold.

[0012] Furthermore, a vision-based washing machine drum assembly process specifically includes the following steps:

[0013] S1. The roll material with double-end embossing is conveyed to the winding roller by the roll material conveying mechanism. The contour of the concave die structure port and the embossing contour are scanned by the vision positioning mechanism. When the embossing contour at the beginning of the roll material moves to coincide with the contour of the concave die structure port, the roll material conveying is stopped. The concave die structure is used to press the roll material onto the surface of the winding roller. The top block and the concave die structure cooperate to form an ear protruding on the surface of the roll material.

[0014] S2. The coiled material is made to adhere to the surface of the coiled roller by rotating one revolution, and the embossed hole at the tail end of the coiled material is fitted with the lug at the head end. Then, the lug is bent by the stamping mechanism so that the lug and the embossed hole at the tail end are fastened to form a complete straight cylinder.

[0015] S3. Push the straight cylinder from the coiling roller onto the inner support structure, use the inner support structure to support the inner wall of the straight cylinder, use two clamping bodies to clamp the outer wall of the straight cylinder, remove the straight cylinder along with the inner support structure relative to the assembly shaft, and rotate it so that the straight cylinder is placed vertically.

[0016] S4. The visual alignment mechanism scans the contours of the upper and lower ports of the straight cylinder and calculates the center position of the straight cylinder port contour. Then, the clamping mechanism sends the end cap into the field of view. The visual alignment mechanism scans the contour of the end cap and calculates the center of the end cap contour. The moving path of the clamping mechanism is planned with the center of the end cap contour as the starting point and the center of the straight cylinder port contour as the ending point until the two centers coincide. The suction module then clamps the end cap at the corresponding end.

[0017] S5. The end cap is pressed by a molding die, and the outer edge of the end cap is bent and rolled by a rolling die, thereby wrapping and fastening it relative to the straight cylinder port to form a complete cylinder.

[0018] Beneficial Effects: This invention provides a vision-based washing machine drum assembly system and method. A vision positioning mechanism determines the position of the roll material relative to a mechanical positioning structure. A roller structure adapted to the target inner diameter of the drum serves as the mechanical positioning structure, supporting and limiting the inner diameter of the drum throughout the rolling and splicing process to ensure precise dimensional accuracy. An internal support structure maintains the dimensional accuracy of the straight drum, preventing deformation during end cap pressing. Vision alignment guides the movement of the clamping mechanism, aligning the center of the end cap with the center of the straight drum end face. This results in uniform edge width after pressing, ensuring stable edge condition and preventing warping, slippage, and other issues, thus improving the structural stability of the finished drum. Attached Figure Description

[0019] Appendix Figure 1 This is a top view of the overall structure of one embodiment of the present invention.

[0020] Appendix Figure 2 This is a schematic diagram of a cylinder wall joint mechanism according to an embodiment of the present invention.

[0021] Appendix Figure 3 This is a schematic diagram illustrating the relationship between the stamping end of the stamping mechanism and the rolled material in one embodiment of the present invention.

[0022] Appendix Figure 4 This is a partial structural diagram of the end cap pressing mechanism according to an embodiment of the present invention.

[0023] Appendix Figure 5 This is a schematic diagram of the internal support structure according to an embodiment of the present invention.

[0024] Appendix Figure 6 This is a schematic diagram showing the relative positional relationship of the edge-pressing module according to an embodiment of the present invention.

[0025] Appendix Figure 7 This is a schematic diagram of the edge-pressing module structure according to an embodiment of the present invention. Detailed Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] As attached Figure 1-7 The aforementioned vision-based washing machine drum assembly system and method include a drum wall joint mechanism 1 for rolling and pressing a roll of material 10 into a straight drum 8; the discharge end of the drum wall joint mechanism 1 is connected to the feed end of the end cap pressing mechanism 2 for pressing end caps 9 onto both ends of the straight drum 8; the drum wall joint mechanism 1 is provided with a vision positioning mechanism 3 for cooperating with the roll material 10 conveying mechanism 4 to align the embossing of the drum wall roll material 10 with the port of the die structure 12; the end cap pressing mechanism 2 is provided with a vision alignment mechanism 6 for cooperating with the end cap clamping mechanism 7 to align the end caps 9 with the ends of the straight drum 8.

[0028] This solution uses a combination of visual and mechanical positioning to achieve precise fastening of the embossed seams at the joints of the straight sections of the cylinder, as well as precise fastening of the end caps relative to the ends of the straight cylinder, ensuring uniform edge rolling and thus making the cylinder as a whole firm and reliable.

[0029] The cylinder wall joint mechanism 1 includes a rotatably mounted curling roller 11, the cross-sectional dimensions of which are adapted to the dimensions of the cylinder to be assembled; a concave mold structure 12 is raised and lowered directly above the curling roller 11, and the visual positioning mechanism 3 is provided on the top surface of the inner wall of the concave mold structure 12; a top block 13 is raised and lowered on the roller surface of the curling roller 11, and when the curling roller 11 rotates to the point where the top block 13 faces upward, the top block 13 is vertically aligned with the concave mold structure 12.

[0030] The visual positioning mechanism employs an optical camera, which is integrated within the cavity mold structure. This restricts its field of view to the mold opening area. The specific dimensions and position of the cavity mold are determined by the position and size of the embossed hole 81 at the beginning of the roll 10. Example: The embossed hole 81 at the beginning of the roll 10 has an I-shaped profile, with a basic square outline. U-shaped protrusions extend into the hole along two sides of its outline parallel to the seam of the roll 10. These protrusions are used to form an insert 82 protruding from the outer surface of the roll 10 after folding, thus engaging with the embossed hole 81 at the end of the roll 10.

[0031] The top block 13 is slidably disposed within the clearance groove 14, which is radially arranged along the coiling roller 11. When the opening of the clearance groove 14 faces upward, a stamping mechanism 15 is aligned directly above the clearance groove 14. The stamping mechanism 15 is connected to the die structure 12 via a conversion device. The conversion device is used to interchange the die structure and the stamping mechanism, allowing them to alternately correspond to the clearance groove.

[0032] The top block is connected to a sliding drive device, such as a hydraulic cylinder structure. Its output shaft can extend and retract to the inner end of the clearance groove, so that the extension limit position of the top block just matches the die structure to complete the bending process of the lug 82. Its retraction limit position fits the bottom of the clearance groove, so that clearance space is left between the outer end face of the top block and the inner wall of the clearance groove, providing a downward pressure buffer distance for the stamping mechanism.

[0033] The stamping end of the stamping mechanism includes an arc-shaped arrangement surface corresponding to the two side lugs 82. As the stamping mechanism presses down, the two side lugs 82 slide along the corresponding arrangement surface and separate to both sides. Based on the original 90° fold to form lugs 82, they are further bent outward by nearly 90° so that the lugs 82 are folded into a hook shape and fastened to the embossed hole 81 at the tail end of the roll material 10. The two lugs 82 are fastened to both sides along the circumferential direction of the cylinder, thereby forming a circumferential constraint on the straight cylinder part of the cylinder and ensuring the dimensional accuracy of the straight cylinder part.

[0034] The end cap pressing mechanism 2 is provided with an inner support structure 21 that is axially aligned with the curling roller 11. The inner support structure 21 is driven away from or closer to the curling roller 11 by a limiting seat 22. A push plate is provided at the end of the curling roller 11 that is away from the inner support structure 21.

[0035] The limiting seat 22 is provided with an assembly shaft 23 on the side close to the curling roller 11. The assembly shaft 23 is fitted into the inner shaft hole of the inner support structure 21. A limiting plate 26 is provided at the end of the assembly shaft 23 away from the curling roller 11.

[0036] After the straight section is spliced, the inner support structure can be directly connected to the coiling roller through the limiting seat. The straight cylinder is pushed along the roller surface to move to the inner support structure by the push plate on one side, so that the inner support structure supports the inner wall of the straight cylinder. When the end face of the straight cylinder is against the limiting plate 26, the two ends of the straight cylinder are just flush with the two ends of the inner support structure.

[0037] The inner support structure 21 is slidably disposed between two clamping bodies 24, which clamp the middle part of the straight cylinder 8. The inner support structure 21 is provided with a middle support module 211 that cooperates with the clamping bodies 24, and also with end support modules 212 corresponding to both ends of the straight cylinder 8. The middle support module 211 and the end support modules 212 are both circumferentially supported on the inner wall surface of the straight cylinder 8.

[0038] Preferably, the portion of the inner support structure 21 that is fitted onto the assembly shaft 23 is a sleeve structure. Both the middle support module 211 and the end support module 212 include several circumferentially distributed support blocks. The support blocks are connected to the outer surface of the sleeve structure by high-strength elastic elements. The inner end face of the support block is connected to a pull rod. The sleeve structure has guide holes along the radial direction that cooperate with the sliding of the pull rod. The pull rod is made of metal. By setting an electromagnet module at a corresponding position on the surface of the assembly shaft, when energized, the magnetic force attracts the pull rod to slide, thereby causing the support blocks to gather and adhere to the surface of the sleeve structure. When de-energized, under the action of the elastic restoring force of the elastic element, the multiple support blocks are circumferentially distributed at a distance from the surface of the sleeve structure.

[0039] As the straight section moves from the coiling roller onto the inner support structure, the electromagnet modules corresponding to multiple support modules are de-energized sequentially along the direction of movement, thus gradually completing the support of the inner wall of the straight cylinder. Conversely, energizing all electromagnets removes the support for the inner wall of the cylinder, allowing the cylinder to be easily removed from the inner support structure. Simultaneously, the magnetic attraction of the electromagnets firmly holds the inner support structure onto the assembly shaft, and the inner support structure can also be easily removed from the assembly shaft when de-energized.

[0040] The two clamping bodies 24 are respectively rotatably engaged with the driving ends of the corresponding clamping driving devices, used to rotate and place the straight cylinder 8 vertically. The vertically clamped straight cylinder 8 is provided with the visual alignment mechanism 6 at its upper and lower ends, respectively. The visual signal output end of the visual alignment mechanism 6 is electrically connected to the corresponding clamping and conveying mechanism 7 through a control module. The clamping and conveying mechanism 7 is movably disposed between the corresponding visual alignment mechanism 6 and the end face of the straight cylinder 8. The two ends of the inner support structure 21 are respectively provided with suction modules 213, used to suction the end cap 9 on the corresponding end face of the straight cylinder 8.

[0041] After the straight cylinder is fixed in position relative to the built-in structure, it is clamped to the middle of the outer side of the straight cylinder by the clamping bodies on both sides. While clamping the cylinder, the inner support structure on the inner side is also clamped. At this time, since the electromagnet on the assembly shaft is de-energized, the assembly shaft is disengaged from the inner support structure by sliding the limit seat. Then, the clamping bodies are rotated and adjusted so that the straight cylinder and the inner support structure are placed vertically as a whole, which facilitates the pressing of the end caps from both sides at the same time.

[0042] The visual alignment mechanism 6 is connected to the edge-pressing module 25 via a conversion device. After visual alignment is completed, the edge-pressing module 25 can be converted to correspond with the upper and lower ends of the cylinder, thereby facilitating subsequent pressing operations.

[0043] The edge-pressing module 25 is provided with a pressing mold 251, which cooperates with the end face of the inner support structure 21 to clamp the end cap 9, and an edge-pressing mold 252 is slidably provided on the outside of the pressing mold 251.

[0044] The end caps are simultaneously pressed together by molds at both ends, providing a stable clamping force along the axial direction of the cylinder. This ensures the relative position of the end caps and the straight cylinder. The internal support structure prevents the pressure from the molds from directly acting on the straight cylinder, thus preventing over-pressure deformation and ensuring a tight fit between the end caps and the straight cylinder. Furthermore, the edge-pressing process can be completed simultaneously at both ends, improving assembly efficiency.

[0045] Based on the above structure, the specific cylinder assembly process includes the following steps:

[0046] S1. The roll material 10, which has undergone double-end embossing, is conveyed to the winding roller 11 by the roll material 10 conveying mechanism 4. The visual positioning mechanism 3 scans the port contour and embossing contour of the die structure 12. When the embossing contour at the beginning of the roll material 10 moves to coincide with the port contour of the die structure 12, the conveying of the roll material 10 is stopped. The die structure 12 is used to press the roll material 10 onto the surface of the winding roller 11. The top block 13 cooperates with the die structure 12 to form an ear 82 protruding from the surface of the roll material 10.

[0047] S2. As the coiling roller 11 rotates one revolution, the top block is always engaged with the embossing hole 81 during the rotation, providing the coil material 10 with the pulling force of the coiling roller. At the same time, a set of clamping rollers is set at the tail end of the conveying mechanism to provide a frictional force relative to the pulling force, ensuring that the coil material 10 is always taut. This makes the coil material 10 fit against the roller surface of the coiling roller 11, and the embossing hole 81 at the tail end of the coil material 10 is fitted with the lug 82 at the head end. Then, the stamping mechanism 15 bends the lug 82, so that the lug 82 and the embossing hole 81 at the tail end are fastened to form a complete straight cylinder 8.

[0048] S3. Push the straight cylinder 8 from the curling roller onto the inner support structure 21, use the inner support structure 21 to support the inner wall of the straight cylinder 8, use the two clamping bodies 24 to clamp the outer wall of the straight cylinder 8, remove the straight cylinder 8 together with the inner support structure 21 relative to the assembly shaft 23, and rotate it so that the straight cylinder 8 is placed vertically.

[0049] S4. The visual alignment mechanism 6 scans the contours of the upper and lower ports of the straight cylinder 8 and calculates the center position of the straight cylinder port contour. Then, the clamping mechanism 7 sends the end cap 9 into the field of view. The visual alignment mechanism 6 scans the contour of the end cap 9 and calculates the center of the end cap contour. The moving path of the clamping mechanism 7 is planned with the center of the end cap contour as the starting point and the center of the straight cylinder port contour as the ending point until the two centers coincide. The suction module 213 then clamps the end cap 9 at the corresponding end.

[0050] S5. The end cap is pressed by the pressing mold 251, and the outer edge of the end cap is bent and rolled by the edge rolling mold 252, so as to wrap and fasten it relative to the straight cylinder 8 port to form a complete cylinder.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the above principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A vision based washing machine drum assembly process system characterized by: It includes a cylinder wall joint mechanism (1) for rolling and pressing the roll material (10) into a straight cylinder (8); the discharge end of the cylinder wall joint mechanism (1) is connected to the feed end of the end cap pressing mechanism (2), and the end cap pressing mechanism (2) is used to press the end cap (9) onto both ends of the straight cylinder (8); The cylinder wall joint mechanism (1) includes a rotating roller (11), a die structure (12) is raised and lowered directly above the roller (11), and the visual positioning mechanism (3) is provided on the top surface of the inner wall of the die structure (12). The visual positioning mechanism (3) is used to cooperate with the roll material (10) conveying mechanism (4) to match the embossing hole (81) of the roll material (10) with the port of the die structure (12); A top block (13) is provided on the roller surface of the curling roller (11). When the curling roller (11) rotates to the point where the top block (13) faces upward, the top block (13) is aligned vertically with the die structure (12) and is used to cooperate with the die structure (12) to form an ear (82) protruding on the surface of the roll material (10). The cylinder wall joint mechanism (1) also includes a stamping mechanism (15) for bending the lug (82) so that it is fastened to the embossed hole (81) at the tail end; The end cap pressing mechanism (2) includes an inner support structure (21) for supporting the inner wall of the straight cylinder (8), two clamping bodies (24) for clamping the outer wall of the straight cylinder (8), a visual alignment mechanism (6) and an end cap clamping mechanism (7) respectively set at the upper and lower ends of the vertically placed straight cylinder (8), and an edge pressing module (25). The visual alignment mechanism (6) is used to scan the outline of the port of the straight cylinder (8) and the end cap (9) and calculate the center position in order to plan the moving path of the end cap clamping mechanism (7) so that the center of the end cap (9) coincides with the center of the port of the straight cylinder (8); The inner support structure (21) is provided with suction modules (213) at both ends, which are used to suction the end cap (9) onto the corresponding end face of the straight cylinder (8); The edge-pressing module (25) is used to bend and roll the outer edge of the end cap (9) to wrap and fasten it relative to the port of the straight cylinder (8).

2. The vision-based washing machine drum assembly process system according to claim 1, characterized in that: The top block (13) is slidably disposed in the relief groove (14), which is arranged radially along the curling roller (11). When the opening of the relief groove (14) faces upward, a stamping mechanism (15) is aligned and disposed directly above the relief groove (14). The stamping mechanism (15) is connected to the die structure (12) through a conversion device.

3. The vision-based washing machine drum assembly process system according to claim 1, characterized in that: The end cap pressing mechanism (2) is provided with an inner support structure (21) aligned with the axial direction of the curling roller (11). The inner support structure (21) is driven away from or close to the curling roller (11) by a limiting seat (22). A push plate is provided at the end of the curling roller (11) away from the inner support structure (21).

4. The vision-based washing machine drum assembly process system according to claim 3, characterized in that: The limiting seat (22) is provided with an assembly shaft (23) on the side close to the curling roller (11). The assembly shaft (23) is fitted into the inner shaft hole of the inner support structure (21). A limiting plate (26) is provided at the end of the assembly shaft (23) away from the curling roller (11).

5. The vision-based washing machine drum assembly process system according to claim 4, characterized in that: The inner support structure (21) is slidably disposed between two clamping bodies (24). The two clamping bodies (24) clamp the middle part of the straight cylinder (8). The two clamping bodies (24) are respectively rotated and cooperated with the driving end of the corresponding clamping driving device to rotate so that the straight cylinder (8) is placed vertically.

6. The vision-based washing machine drum assembly process system according to claim 5, characterized in that: The vertically clamped straight cylinder (8) is provided with visual alignment mechanism (6) at its upper and lower ends respectively. The visual signal output end of the visual alignment mechanism (6) is electrically connected to the corresponding clamping and feeding mechanism (7) through the control module. The clamping and feeding mechanism (7) is movably disposed between the corresponding visual alignment mechanism (6) and the end face of the straight cylinder (8). The visual alignment mechanism (6) is connected to the edge pressing module (25) through the conversion device.

7. The vision-based washing machine drum assembly process system according to claim 6, characterized in that: The inner support structure (21) is provided with a middle support module (211) that cooperates with the clamping body (24), and also with end support modules (212) corresponding to both ends of the straight cylinder (8). The middle support module (211) and the end support module (212) are both circumferentially supported on the inner wall surface of the straight cylinder (8). The two ends of the inner support structure (21) are respectively provided with suction modules (213) for suctioning the end cap (9) on the corresponding end surface of the straight cylinder (8).

8. The vision-based washing machine drum assembly process system according to claim 7, characterized in that: The edge-pressing module (25) is provided with a pressing mold (251), which cooperates with the end face of the inner support structure (21) to clamp the end cap (9), and an edge-pressing mold (252) is slidably provided on the outside of the pressing mold (251).

9. The process method of the vision-based washing machine drum assembly system according to claim 8, characterized in that, Specifically, the following steps are included: S1. The roll material (10) after double-end embossing is conveyed to the winding roller (11) by the roll material (10) conveying mechanism (4). The visual positioning mechanism (3) scans the port contour and embossing contour of the die structure (12). When the embossing contour at the beginning of the roll material (10) moves to coincide with the port contour of the die structure (12), the roll material (10) is stopped from being conveyed. The die structure (12) is used to press the roll material (10) onto the surface of the winding roller (11). The top block (13) cooperates with the die structure (12) to form a lug (82) protruding on the surface of the roll material (10). S2. The coil (11) rotates once, so that the coil (10) is attached to the roller surface of the coil (11), and the embossed hole (81) at the tail end of the coil (10) is fitted with the lug (82) at the head end. Then the stamping mechanism (15) bends the lug (82) so that the lug (82) and the embossed hole (81) at the tail end are fastened to form a complete straight cylinder (8). S3. Push the straight cylinder (8) from the curling roller onto the inner support structure (21), use the inner support structure (21) to support the inner wall of the straight cylinder (8), use the two clamping bodies (24) to clamp the outer wall of the straight cylinder (8), remove the straight cylinder (8) together with the inner support structure (21) relative to the assembly shaft (23), and rotate it so that the straight cylinder (8) is placed vertically. S4. Scan the outline of the upper and lower ports of the straight cylinder (8) through the vision alignment mechanism (6) and calculate the center position of the straight cylinder port outline. Then use the clamping mechanism (7) to send the end cap (9) into the field of view area. Scan the outline of the end cap (9) through the vision alignment mechanism (6) and calculate the center of the end cap outline. Plan the moving path of the clamping mechanism (7) with the center of the end cap outline as the starting point and the center of the straight cylinder port outline as the ending point until the two centers coincide. Then use the suction module (213) to clamp the end cap (9) at the corresponding end. S5. The end cap is pressed by the mold (251), and the outer edge of the end cap is bent and rolled by the edge rolling mold (252) to wrap and fasten it relative to the port of the straight cylinder (8) to form a complete cylinder.

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