A mechanical arm scheduling end cover forming and cutting processing intelligent production line and method

Abstract

The present application relates to the technical field of intelligent manufacturing equipment, and more particularly to a mechanical arm scheduling end cover forming and cutting processing intelligent production line and method. The production line comprises a dual-arm robot, a blank processing platform, a finished end cover conveying mechanism, a material pile and a control system. The blank processing platform comprises a hydraulic forming mechanism, a semi-finished end cover overturning mechanism and a numerical control processing mechanism. The dual-arm robot comprises a first mechanical arm and a second mechanical arm. The first mechanical arm is used to take the blank from the material pile and convey it to the hydraulic forming mechanism. The second mechanical arm is used to take the finished end cover from the finished end cover conveying mechanism and place it back into the material pile. The control system is electrically connected with the dual-arm robot, the blank processing platform and the finished end cover conveying mechanism. Through the production line, the continuous and beat operation of each processing procedure is realized, the efficiency and precision of end cover processing are improved, the deformation risk in the process of end cover transfer and processing is reduced, and the demand for large-batch continuous production is met.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to an intelligent production line and method for end cap forming and cutting processing using robotic arm scheduling. Background Technology

[0002] As a critical sealing component in pressure vessels, heat exchangers, and various shell-type equipment, the end cap's processing quality directly affects the overall airtightness and pressure resistance of the equipment. Especially in products such as air conditioning oil separators, the end cap requires multiple processes including blank forming, trimming, and finishing to meet assembly requirements. Currently, the industry typically uses a multi-machine sequential operation method for processing round end cap parts. This involves a hydraulic press forming the blank, followed by manual transfer of the semi-finished product to a conventional lathe or CNC machine tool for subsequent trimming and finishing.

[0003] In the specific processing, operators first place the metal billet into a hydraulic mold for stamping. After stamping, the semi-finished end cap, which is hot or has undergone some deformation, is manually removed and then transferred to another machine tool for clamping and positioning to complete the cutting of the outer edge of the end cap. When double-sided machining is required, the clamping posture of the end cap often needs to be manually adjusted, requiring secondary or even multiple clamping operations. This production method, consisting of a single machine and manual handling, has the following problems:

[0004] First, the seamless handling between processes makes it difficult to unify the positioning reference of the end caps across multiple processing units. Each manual handling and clamping introduces repetitive positioning errors, especially after the semi-finished end caps have undergone stamping, as their posture often changes randomly. Subsequent machining requires realigning, which not only increases auxiliary time but also causes deformation of the thin-walled end caps due to uneven stress from multiple clampings, thus affecting the machining accuracy of the sealing surface. Second, due to the lack of dedicated flipping and posture adjustment devices, operators must perform multiple clampings for end caps requiring double-sided machining. In normal processing mode, the positioning reference differs for each clamping, easily leading to uneven machining allowances, and even misalignment or eccentricity, resulting in poor product consistency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an intelligent production line and method for end cap forming and cutting using robotic arm scheduling. Through integrated production line layout and automated material flow, it solves the problems of poor positioning accuracy, low processing efficiency, and difficulty in ensuring product consistency caused by dispersed processes, manual transfer, and multiple clamping in traditional processing methods, thereby achieving continuous and high-precision manufacturing of end caps from raw materials to finished products.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A robotic arm-managed intelligent production line for end cap forming and cutting includes a dual-arm robot, a blank processing platform, a finished end cap conveying mechanism, a material pile, and a control system. The blank processing platform includes a hydraulic forming mechanism, a semi-finished end cap flipping mechanism, and a CNC machining mechanism. The hydraulic forming mechanism, the semi-finished end cap flipping mechanism, and the CNC machining mechanism are connected to the finished end cap conveying mechanism via a transmission mechanism. The dual-arm robot includes a first robotic arm and a second robotic arm. The first robotic arm is used to remove blanks from the material pile and convey them to the hydraulic forming mechanism, and the second robotic arm is used to remove finished end caps from the finished end cap conveying mechanism and place them back into the material pile. The control system is electrically connected to the dual-arm robot, the blank processing platform, and the finished end cap conveying mechanism to perform automated material handling, forming, flipping, processing, and conveying operations.

[0007] This invention also provides a method for end cap forming and cutting using a robotic arm, comprising the following steps: obtaining the position information of the blank in the stockpile through a vision recognition system, controlling a first robotic arm to pick up the blank from the stockpile and transfer the blank to a hydraulic forming mechanism; controlling the hydraulic forming mechanism to stamp the blank, and the formed semi-finished end cap is conveyed to a semi-finished end cap flipping mechanism via a conveying mechanism; adjusting the posture of the semi-finished end cap through the semi-finished end cap flipping mechanism, and conveying the adjusted semi-finished end cap to a CNC machining mechanism for cutting; controlling a second robotic arm to pick up the finished end cap from the finished end cap conveying mechanism, and transferring the finished end cap back to the stockpile for stacking.

[0008] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: 1. In the production line of this invention, a hydraulic forming mechanism, a semi-finished end cap flipping mechanism, and a CNC machining mechanism are arranged on the billet processing platform and connected by a conveying mechanism. This allows the end caps to complete the flow from forming to flipping and then to finishing on the same platform without manual intervention, avoiding repetitive positioning errors caused by manual handling. The flipping mechanism solves the problem of semi-finished product posture changes, allowing the end caps to complete posture adjustment before entering CNC machining, eliminating the need for secondary clamping and ensuring the uniformity of processing benchmarks. A dual-arm robot is used for collaborative work: the first robotic arm is responsible for picking up materials from the stockpile and feeding them into the hydraulic forming mechanism, while the second robotic arm is responsible for removing finished end caps from the finished product conveying mechanism and placing them back into the stockpile, thus automating billet loading and finished product unloading, replacing manual operation. The control system is electrically connected to each execution unit, uniformly scheduling the picking, forming, flipping, processing, and conveying actions, ensuring that the production cycle is not limited by manual speed, while isolating operators from high-risk processes such as stamping. This production line solves the problems of scattered processes, difficulty in unifying positioning benchmarks, lack of flipping devices, low efficiency and safety hazards in traditional production methods through integrated layout, robot scheduling and automatic flipping. It realizes continuous and rhythmic operation of each processing step, improves the efficiency and accuracy of end cap processing, reduces the risk of deformation during end cap transfer and processing, and meets the needs of large-scale continuous production.

[0009] 2. The production line of this invention integrates modules such as a robotic arm, a conveyor belt, and a stamping machine to form a complete automated production line. Workpieces can be precisely picked up and placed using the robotic arm, the stamping machine automatically performs processing according to a preset program, and the conveyor belt automatically transports the workpieces to the next process, greatly reducing the workload of workers.

[0010] 3. In the production line of the present invention, the visual recognition system can perform high-precision positioning and detection of workpieces, and with the precise control of the mechanical structure, ensure that each workpiece accurately reaches the required processing position; at the same time, it can identify workpiece defects in real time, effectively reduce the defect rate, and ensure the stability of product size, performance and other indicators.

[0011] 4. The production line of the present invention, in its automated mode, isolates personnel from direct contact with high-risk processes such as stamping. The visual recognition system assists in monitoring the production status, significantly reducing the probability of workplace accidents and ensuring personnel safety. In addition, it reduces economic losses caused by human error and quality fluctuations, while saving indirect costs such as personnel management and training, thereby improving the safety and economy of enterprise operations.

[0012] Advantages of additional aspects of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In addition, the dimensions or spacing between the components are exaggerated to show the position of each component, and the schematic diagrams are for illustrative purposes only.

[0014] Figure 1 This is an isometric view of the overall structure of an embodiment of the present invention; Figure 2 This is a top view of an embodiment of the present invention; Figure 3 This is an isometric view of a robot according to an embodiment of the present invention; Figure 4 This is a cross-sectional view of the workpiece blank magnetic suction device according to an embodiment of the present invention; Figure 5 This is an exploded view of the finished end cap clamping device according to an embodiment of the present invention; Figure 6 This is a bottom view of the finished end cap clamping device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a hydraulic punching device according to an embodiment of the present invention; Figure 8 This is a cross-sectional view of the upper and lower molds of an embodiment of the present invention; Figure 9 This is an isometric view of the semi-finished end cap ejected from the punch press according to an embodiment of the present invention; Figure 10 This is an isometric view of a single-stage flipping mechanism according to an embodiment of the present invention; Figure 11 This is a top view of the secondary flipping mechanism according to an embodiment of the present invention; Figure 12 This is a left view of the secondary flipping mechanism according to an embodiment of the present invention; Figure 13 This is an isometric view of the semi-finished end cap clamping fixture according to an embodiment of the present invention; Figure 14 These are top and sectional views of the semi-finished end cap clamping fixture according to an embodiment of the present invention; Figure 15 Top view and sectional view of a semi-finished end cap clamping fixture according to another embodiment of the present invention; Figure 16 This is a schematic diagram of the finished product end cap protection conveying mechanism according to an embodiment of the present invention; Figure 17 This is an isometric view of the iron sheet shielding and protection mechanism according to an embodiment of the present invention; Figure 18 This is an isometric view of the preliminary conveying mechanism for the finished end caps according to an embodiment of the present invention; Figure 19 This is an isometric view of a CNC machining mechanism according to an embodiment of the present invention; Figure 20 This is a cross-sectional view of the pneumatic chuck according to an embodiment of the present invention; Figure 21 This is an exploded view of the pneumatic chuck according to an embodiment of the present invention; Figure 22 This is an isometric view of the stockpile according to an embodiment of the present invention; Among them, Ⅰ is the robot material handling mechanism, Ⅱ is the hydraulic forming mechanism, Ⅲ is the primary turning mechanism, Ⅳ is the secondary turning mechanism, Ⅴ is the protective conveying device, Ⅵ is the CNC machining mechanism, and Ⅶ is the material stack; Ⅰ-1 Dual-arm robot, Ⅰ-2 Billet magnetic suction mechanism, Ⅰ-3 Finished product end cap clamping mechanism, Ⅰ-4 Wrist camera; Ⅰ-2-1 Sleeve-type connector, Ⅰ-2-2 Cylindrical pin, Ⅰ-2-3 Circular limiting plate, Ⅰ-2-4 Socket head bolt, Ⅰ-2-5 Central shaft, Ⅰ-2-6 Spring, Ⅰ-2-7 Shaft sleeve housing, Ⅰ-2-8 Electromagnet.

[0015] Ⅰ-2-1-1 Upper ring component, Ⅰ-2-1-2 Lower ring component, Ⅰ-2-1-3 Upper and lower ring components connected to internal hexagon bolts at the top, Ⅰ-2-1-4 Lower and upper ring components connected to internal hexagon bolts at the bottom.

[0016] Ⅰ-3-1 Connecting robotic arm motion hand ring structure, Ⅰ-3-2 Drive motor, Ⅰ-3-3 Finished product end cap clamping mechanism fixing plate, Ⅰ-3-4 Hex socket bolt, Ⅰ-3-5 Finished product end cap clamping mechanism clamping block, Ⅰ-3-6 Guide rod, Ⅰ-3-7 Limiting sliding seat, Ⅰ-3-8 Drive motor gear; Ⅰ-3-1-1 Annular structural component, semi-circular plate-shaped connecting block; Ⅰ-3-1-2 Annular structural component, upper part fixed with internal hexagon bolts; Ⅰ-3-1-3 Annular structural component, lower part fixed with internal hexagon bolts; Ⅰ-3-1-4 Annular structural component, semi-circular trapezoidal connecting block with holes.

[0017] II-1 Four-column hydraulic press, II-2 Punch, II-3 Die, II-4 Die fixing plate, II-5 Semi-finished end cover slide, II-6 Semi-finished end cover arc positioning groove, II-7 Semi-finished end cover ejection cylinder, II-8 Semi-finished end cover ejection cylinder fixing plate, II-9 Semi-finished end cover arc ejector, II-10 Thin-film pressure sensor, II-11 Electromagnet.

[0018] II-2-1 Cylinder fixing flange plate, II-2-2 Upper punch sleeve, II-2-3 Punch cylinder, II-2-4 Punch fixing bolt, II-2-5 Punch fixing nut, II-2-6 Punch rod connecting shaft, II-2-7 Lower punch sleeve, II-2-8 Punch rod.

[0019] III-1 End cap initial flipping fixture, III-2 Fixing plate, III-3 Fixing base.

[0020] IV-1 Support plate, IV-2 Slide rail, IV-3 Slide rail fixing bolt, IV-4 Linear bearing, IV-5 Guide rod, IV-6 Top rod cylinder, IV-7 Cylinder for bearing plate, IV-8 Bearing plate, IV-9 Support plate, IV-10 Fixture fixing plate for semi-finished end cap clamping fixture, IV-11 Support column, IV-12 Fixture, IV-13 Cylinder core for semi-finished end cap tray, IV-14 Guide rod for semi-finished end cap tray, IV-15 Support column for sensor fixing plate, IV-16 Arc-shaped fixing plate for sensor, IV-17 Sensor, IV-18 Bolts for the arc-shaped fixing plate of the sensor, IV-19 sensor fixing plate, IV-20 C-type plate, IV-21 vertical support plate, IV-22 ejector cylinder fixing plate, IV-23 coupling, IV-24 slide rail slider, IV-25 bolt, IV-26 vertical support plate, IV-27 perforated plate, IV-28 deep groove ball bearing, IV-29 end cover ejector mold fixing plate, IV-30 end cover ejector mold, IV-31 bottom support side plate, IV-32 bottom support base plate, IV-33 semi-finished product end cover tray, IV-34 flip control motor compartment; IV-12-1 Clamp chuck bolt, IV-12-2 Clamp chuck, IV-12-3 T-type spring, IV-12-4 Ring bracket, IV-12-5 Rotary bearing; IV-12-6 Ring cover plate, IV-12-7 Ring pulley toothed baffle, IV-12-8 Triangular blade, IV-12-9 Base plate; IV-12-10 Cover plate, IV-12-11 Ring pulley toothed retaining ring, IV-12-12 Arc blade, IV-12-13 Bottom sleeve, IV-12-14 Blade stop post; V-1 Iron sheet blocking mechanism, V-2 Finished product end cap conveyor mechanism, V-3 Support mechanism.

[0021] V-1-1 Perforated iron sheet fixing block, V-1-2 Iron sheet blocking mechanism cylinder core, V-1-3 Iron sheet blocking mechanism guide rod, V-1-4 Iron sheet blocking mechanism internal hex bolt, V-1-5 Iron sheet blocking mechanism cylinder fixing block, V-1-6 Iron sheet blocking mechanism guide rod linear bearing bolt, V-1-7 Iron sheet blocking mechanism guide rod linear bearing, V-1-8 Iron sheet blocking mechanism cylinder.

[0022] V-2-1 Slide rail, V-2-2 Slide rail mounting plate, V-2-3 Slide rail connecting bolt, V-2-4 Slide rail fixing block bolt, V-2-5 Connecting block bolt, V-2-6 Vertical support plate, V-2-7 Finished end cover guide rolling frame, V-2-8 Slider, V-2-9 Slider fixing plate, V-2-10 Coupling, V-2-11 Cylinder flange connecting plate, V-2-12 Cylinder, V-2-13 Double-headed cylinder, V-2-14 Y-shaped connecting plate, V-2-15 Support block, V-2-16 Thin sheet baffle, V-2-17 Thin sheet baffle connecting block, V-2-18 Grooved fixing block.

[0023] VI-1 Pneumatic chuck, VI-2 Servo tool platform, VI-3 Spindle box.

[0024] VI-1-1 Chuck collet, VI-1-2 Chuck collet fixing bolt, VI-1-3 Chuck collet, VI-1-4 Jaws, VI-1-5 Threaded fan blade piston, VI-1-6 Grooved lower sleeve, VI-1-7 Upper sleeve, VI-1-8 Rubber washer, VI-1-9 Thrust ball bearing, VI-1-10 Trapezoidal center shaft, VI-1-11 Center shaft fixing bolt, VI-1-11 Wedge-shaped limit block, VI-2-1 Spindle box spindle.

[0025] VII. Material stack, VII-1. Industrial camera bracket, VII-2. Industrial camera, VII-3. Billet stack, VII-4. Finished product end cap frame. Detailed Implementation

[0026] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0027] Example 1 This embodiment discloses an intelligent production line for end cap forming and cutting using a robotic arm, suitable for the continuous automated manufacturing of bottle cap-type round end caps, from blank forming and semi-finished product flipping to finishing and finished product collection. Figure 1 , Figure 2 As shown, it includes Ⅰ a robot material handling mechanism, Ⅱ a hydraulic forming mechanism, Ⅲ a primary flipping mechanism, Ⅳ a secondary flipping mechanism, Ⅴ a protective conveying device, Ⅵ a CNC machining mechanism, Ⅶ a material stack, etc.

[0028] Specifically, the production line includes a dual-arm robot, a billet processing platform, a finished product end cap conveying mechanism, a material pile, and a control system. The billet processing platform includes a hydraulic forming mechanism, a semi-finished product end cap flipping mechanism, and a CNC machining mechanism. The hydraulic forming mechanism, the semi-finished product end cap flipping mechanism, and the CNC machining mechanism are connected to the finished product end cap conveying mechanism via a transmission mechanism. The dual-arm robot includes a first robotic arm and a second robotic arm. The first robotic arm is used to remove billets from the material pile and convey them to the hydraulic forming mechanism, and the second robotic arm is used to remove finished product end caps from the finished product end cap conveying mechanism and place them back into the material pile. The control system is electrically connected to the dual-arm robot, the billet processing platform, and the finished product end cap conveying mechanism to perform automated material handling, forming, flipping, processing, and conveying operations.

[0029] Dual-arm robots are used for blank conveying and finished product transfer respectively; the hydraulic forming mechanism enables precise forming and automatic ejection of end cap blanks; the flipping mechanism adjusts the posture of semi-finished products; and the CNC machining mechanism completes the finishing of the end caps. The control system uniformly schedules the robots, conveying devices, and each processing unit to achieve full-process automation, cycle time optimization, and flexible processing. This invention improves the processing efficiency and stability of end caps, reduces manual intervention, and is suitable for large-scale continuous production of end caps.

[0030] The conveying mechanism includes at least one belt conveyor or push rod conveying device, and buffer tables or positioning devices are provided between each processing unit of the blank processing platform to achieve processing cycle matching and positioning accuracy control. Both the first and second robotic arms are equipped with replaceable end effectors, which include at least one of magnetic suction cups or mechanical claw grippers to adapt to end caps of different postures or shapes.

[0031] Specifically, the first robotic arm is equipped with a billet magnetic attraction mechanism, which includes a bushing-type housing, a central shaft, a spring, and an electromagnet. The bushing-type housing has an annular groove, the central shaft passes through the bushing-type housing, and the central shaft has a cylindrical protrusion in the middle that cooperates with and limits the protrusion in the annular groove. The spring is sleeved on the lower end of the central shaft and is connected to the central shaft and the bushing-type housing respectively. The electromagnet is connected to the bottom of the bushing-type housing.

[0032] The annular groove inside the bushing housing engages with the cylindrical protrusion in the center of the central shaft, and with the addition of a spring, the central shaft can only swing circumferentially while being radially constrained. When the electromagnet is energized to pick up the blank, if there is a slight deviation in the blank's position, the central shaft can adaptively swing under the action of the spring, and automatically return to the center position after contact. This structure improves the gripping tolerance, avoids picking failures caused by inaccurate blank stacking, and ensures that the first robotic arm can stably remove the blank from the pile, providing a reliable blank positioning basis for subsequent forming processes.

[0033] The second robotic arm is equipped with a finished end cap clamping mechanism, which includes a fixed plate, a clamping block, a limiting sliding seat, a guide rod, and a drive motor. The fixed plate has protrusions with wedge-shaped grooves around its perimeter, and the clamping block has a wedge-shaped end at its tail, which is accommodated in the wedge-shaped groove of the fixed plate. The limiting sliding seat has an arc-shaped hole, and the guide rod passes through the arc-shaped hole and connects to the tail of the clamping block. The outer edge of the limiting sliding seat has gear teeth that mesh with the gears of the drive motor.

[0034] The wedge-shaped grooves around the fixed plate engage with the wedge-shaped end of the clamping block, forming a radial sliding guide structure. The arc-shaped hole on the limiting sliding seat, in conjunction with the guide rod, converts the rotational motion of the drive motor into the linear extension and retraction of the clamping block. This transmission method allows for precise control of the clamping force through the motor rotation angle, avoiding potential impacts from pneumatic grippers. The clamping block moves radially under the constraint of the wedge-shaped grooves, accommodating finished end caps within a certain diameter range. This ensures the reliability of the second robotic arm's gripping when retrieving materials from the finished end cap conveying mechanism, preventing the finished product from falling off or being damaged during handling.

[0035] Please refer to the accompanying drawings for explanation, such as... Figure 3 As shown, the robotic material handling mechanism I consists of a dual-arm robot (I-1), a magnetic material gripping mechanism (I-2), a finished product end cap clamping mechanism (I-3), and a wrist camera (I-4). The dual-arm robot (I-1) serves as the core execution unit, with its left and right arms respectively handling material gripping and finished product end cap placement. The wrist camera (I-4) is mounted at the end of the robot's forearm. The left arm of I-1, through a combination of the wrist camera (I-4) and the industrial camera (VII-2), acquires the target position in the material pile (VII-3) in real time. After the coordinates are analyzed using a visual algorithm, the magnetic material gripping mechanism I-2 is driven to achieve precise adsorption. like Figure 4As shown, the I-2 billet magnetic gripping mechanism consists of I-2-1 upper and lower annular components, I-2-2 cylindrical pins, I-2-3 annular limiting plate, I-2-4 hexagon socket bolts, I-2-5 central shaft, I-2-6 spring, I-2-7 bushing-type housing, and I-2-8 electromagnet. The main body of the mechanism is fixedly connected to the annular limiting plate I-2-3 and the bushing-type housing I-2-7 by the hexagon socket bolts I-2-4. The bushing-type housing has an annular groove with a protrusion for placing and fixing the spring I-2-6. The central shaft I-2-5 has a cylindrical protrusion in its middle, which is restricted by the annular limiting plate I-2-3 and moves within the annulus; the lower end of the central shaft I-2-5 also has a cylindrical protrusion for fixing the other end of the spring I-2-6. Spring I-2-6 and the annular limiting plate I-2-3 together constrain the central shaft I-2-5, allowing it to swing only circumferentially and preventing radial displacement. When the bushing housing I-2-7 is subjected to an external load, the central shaft I-2-5 automatically returns to the center position of the annulus under the action of spring I-2-6, maintaining its positioning. A hole is opened at the top of the central shaft I-2-5, through which the cylindrical pin I-2-5 connects to the upper and lower annular components of I-2-1. Electromagnet I-2-8 is connected to the bushing housing I-2-7 through a threaded protrusion at the bottom of the housing, generating magnetic force when energized to attract and grip the workpiece blank. like Figure 5 , Figure 6As shown, the finished end cap clamping mechanism (Ⅰ-3) consists of a ring-shaped structure connecting the robotic arm's moving hand (Ⅰ-3-1), a drive motor (Ⅰ-3-2), a fixed plate for the finished end cap clamping mechanism (Ⅰ-3-3), hexagon socket head cap bolts (Ⅰ-3-4), a clamping block for the finished end cap clamping mechanism (Ⅰ-3-5), a guide rod (Ⅰ-3-6), a limiting sliding seat (Ⅰ-3-7), and a drive motor gear (Ⅰ-3-8). The ring-shaped structure connecting the robotic arm's moving hand (Ⅰ-3-1) is a C-shaped, open-top structure used to cover and fix the end hand of the dual-arm robot (Ⅰ-1), and provides a bottom threaded hole as an installation interface. The central through hole of the fixed plate for the finished end cap clamping mechanism (Ⅰ-3-3) is used to fasten the fixed plate to the surface of the ring-shaped structure connecting the robotic arm's moving hand (Ⅰ-3-1) through the hexagon socket head cap bolts (Ⅰ-3-4). The fixed plate has protrusions around its perimeter, with wedge-shaped grooves on the inner side of the protrusions to accommodate the finished end cap clamping mechanism (Ⅰ-3-5). The clamping block has a long wedge-shaped end; the wedge-shaped tail of the clamping mechanism of finished end cap I-3-5 has a hole, which serves as a guide and hinge point. The guide rod of I-3-7, which passes through the arc-shaped hole of the limiting sliding seat of I-3-6, is inserted into the support; at the same time, the outer edge of the limiting sliding seat of I-3-6 has gear teeth that mesh with the gear of the driving motor of I-3-8. The driving motor of I-3-2 drives the gear of the driving motor of I-3-8 to rotate, causing the limiting sliding seat of I-3-6 to undergo angular displacement. With the help of the relative movement between the arc-shaped hole of the limiting sliding seat and the guide rod of I-3-7, the clamping block of the clamping mechanism of finished end cap I-3-5 performs linear extension and retraction on the guide rod of I-3-7; under the constraint of the wedge-shaped groove of the fixed plate of the clamping mechanism of finished end cap I-3-3, the extension and retraction of the clamping block of the clamping mechanism of finished end cap I-3-5 is converted into radial clamping or releasing action, thereby realizing reliable clamping of the finished end cap and effectively converting the rotational output of the motor into the linear displacement of the clamping block.

[0036] The hydraulic forming mechanism includes a hydraulic press, an upper mold assembly, and a lower mold assembly. The upper and lower mold assemblies are arranged opposite each other to form a mold cavity that matches the shape of the end cap blank. The hydraulic press drives the upper mold assembly to move downwards to form the end cap blank. The upper mold assembly includes an ejector structure that can continue to move downwards after the forming stroke is completed. The relative displacement between the ejector structure and the lower mold assembly is used to eject the formed end cap from the mold cavity. Specifically, the hydraulic forming mechanism includes a four-column hydraulic press, a punch, a die, a die fixing plate, a semi-finished end cap slide, and a semi-finished end cap ejection cylinder; the die is placed on the die fixing plate, and a cavity for accommodating the stamped blank is formed inside the die fixing plate; the cylinder core of the semi-finished end cap ejection cylinder is connected to a semi-finished end cap arc-shaped ejector; one end of the semi-finished end cap slide is connected to the cavity of the die fixing plate, and the other end is connected to the semi-finished end cap arc-shaped positioning groove.

[0037] The die is placed on a die fixing plate, which forms a cavity to accommodate the stamped blank. This structure allows the formed end cap to temporarily remain in a fixed position. The semi-finished end cap ejection cylinder pushes the end cap out of the cavity via an arc-shaped ejector, and pushes it along a slide to an arc-shaped positioning groove. The shape of the arc-shaped positioning groove matches the outer circumference of the end cap, enabling initial positioning. This design allows the formed end cap to detach from the die promptly, avoiding sticking or jamming that could affect the next work cycle. Simultaneously, the guide of the slide and positioning groove provides a relatively fixed position for the subsequent flipping mechanism to grip the workpiece.

[0038] The punch includes a punch sleeve, a punch cylinder, a punch rod connecting shaft, and a punch rod; the punch sleeve includes an upper sleeve and a lower sleeve, and the upper sleeve and the lower sleeve are connected by a flange; the punch cylinder is installed on the top of the upper sleeve through a cylinder fixing flange plate, the upper end of the punch rod connecting shaft is connected to the cylinder core of the punch cylinder, and the lower end of the punch rod connecting shaft is connected to the punch rod; the lower sleeve has a longitudinal guide groove on its side wall, and the outer wall of the punch rod has a protrusion that cooperates with the longitudinal guide groove.

[0039] The punch sleeve is connected to the lower sleeve flange via an upper sleeve, ensuring overall rigidity and coaxiality. The punch rod connecting shaft transmits the thrust of the punch cylinder to the punch rod. The longitudinal guide groove on the side wall of the lower sleeve engages with the protrusion on the outer wall of the punch rod, restricting the rotation and lateral displacement of the punch rod. This guiding structure allows the punch rod to maintain pure linear motion during ejection, improving repeatability and positioning accuracy. When the punch cylinder pushes the punch rod to eject the end cap from the die, the precise linear motion ensures that the ejection force is evenly applied to the end cap, reducing the risk of end cap deformation due to uneven loading.

[0040] Please refer to the accompanying drawings for explanation, such as... Figure 7 , Figure 8 , Figure 9As shown, the hydraulic forming mechanism II consists of a four-column hydraulic press (II-1), a punch (II-2), a die (II-3), a die fixing plate (II-4), a semi-finished end cap slide (II-5), a semi-finished end cap arc-shaped positioning groove (II-6), a semi-finished end cap ejection cylinder (II-7), a semi-finished end cap ejection cylinder fixing plate (II-8), a semi-finished end cap arc-shaped ejector (II-9), a thin-film pressure sensor (II-10), and an electromagnet (II-11). On the four-column hydraulic press (II-1), the vertical thrust generated by the hydraulic system drives and controls the punch (II-2) to complete the stamping motion. In terms of die assembly, the die fixing plate (II-4) is placed on the worktable (II-1), and the die (II-3) is placed on top of it for forming. The stamped end cap falls into the die fixing plate (II-4). Inside the cavity formed by the fixed plate, a pressure sensor is installed directly below the cavity to detect the end cap's positioning signal. When the sensor confirms the presence of the end cap, the background control system activates the II-7 semi-finished end cap ejection cylinder. The cylinder core is fixed to the II-9 semi-finished end cap arc ejection component via a threaded connection, ejecting the end cap and pushing it along the II-5 semi-finished end cap slide to the II-6 semi-finished end cap arc positioning groove. An II-11 electromagnet is arranged at the arc center of the positioning groove to attract the end cap. Meanwhile, the II-10 thin-film distance sensor installed on the side of the II-6 arc positioning groove detects the end cap's position in real time and sends a signal to the control system to drive or release the II-11 electromagnet, thereby firmly attracting the end cap into the positioning groove and completing the positioning and preparation for the next process.

[0041] like Figure 8As shown, the II-2 punch consists of a II-2-1 cylinder fixing flange plate, an II-2-2 punch sleeve, an II-2-3 punch cylinder, an II-2-4 punch fixing bolt, an II-2-5 punch fixing nut, an II-2-6 punch rod connecting shaft, an II-2-7 punch sleeve lower part, and an II-2-8 punch rod. The uppermost end of the II-2-2 punch sleeve is provided with a wedge-shaped groove for positioning and anti-torsional fixing of the punch assembly during assembly. A rectangular groove is further provided in the center of the wedge-shaped groove to embed and position the II-2-1 cylinder fixing flange plate, and the II-2-3 punch cylinder is fastened to the flange plate by bolts, thereby forming a rigid and coaxial connection between the cylinder and the sleeve. The upper end of the connecting shaft of punch II-2-6 is provided with a threaded hole for detachable connection with the cylinder core, and the lower end is provided with an external thread for fastening with punch II-2-8. This connecting shaft reliably transmits the axial thrust of cylinder II-2-3 to punch II-2-8. During the stamping process, the cylinder of punch II-2-3 pushes the cylinder core, which is transmitted to punch II-2-8 via punch II-2-6, causing the end cap stuck in the die II-3 to be ejected and placed into the cavity formed by the die fixing plate II-4, thus achieving end cap demolding and unloading. To ensure the overall rigidity and coaxiality of the punch assembly, punch sleeve II-2-2 and the lower punch sleeve II-2-7 are connected by a flange. The two are fastened by punch fixing bolts II-2-4 and punch fixing nuts II-2-5, forming a reliable flange connection. Furthermore, in order to limit the movement path of the punch rod and prevent the punch rod from rotating or shifting laterally when subjected to force, a longitudinal guide groove is provided on the side wall of the punch sleeve of II-2-7, and a protrusion is provided at the corresponding position on the outer surface of the punch rod of II-2-8. Under the guidance and constraint of the groove, the protrusion allows the punch rod to only perform pure linear reciprocating motion, thereby improving the repeatability and stability of the ejection action.

[0042] The semi-finished end cap flipping mechanism includes an end cap tray; semi-finished end caps conveyed by a conveyor belt fall into and are positioned within the end cap tray; the end cap tray rises vertically under the drive of a cylinder to deliver the semi-finished end caps into the pickup area of ​​the clamping mechanism. The semi-finished end cap flipping mechanism includes a flipping table, a clamping mechanism, and a flipping drive mechanism; after the clamping mechanism clamps the semi-finished end cap, the flipping table rotates around a flipping axis under the drive of the flipping drive mechanism to adjust the end cap's posture. The clamping mechanism includes grippers with elastic bushings or a gripper structure with adjustable clamping force to adapt to semi-finished end caps of different thicknesses or materials and reduce the risk of damage to the processed surface.

[0043] Specifically, the semi-finished end cap flipping mechanism includes a primary flipping mechanism and a secondary flipping mechanism; the primary flipping mechanism includes an end cap flipping clamp, a fixing plate, and a fixing base, the end cap flipping clamp is mounted on the fixing base and secured by the fixing plate; the secondary flipping mechanism includes a semi-finished end cap tray, a semi-finished end cap tray cylinder, a clamp, a rotary drive component, and an ejection assembly; the semi-finished end cap tray cylinder is connected to the semi-finished end cap tray, the clamp includes an annular support and multiple chucks evenly arranged circumferentially on the annular support, the chucks include a chuck housing and a T-shaped spring sheet built into the chuck housing, the annular support is provided with a rotary bearing and connected to the rotary drive component, and the ejection assembly includes an ejector cylinder and an end cap ejection mold.

[0044] In the primary flipping mechanism, the end cap flipping fixture hand is responsible for gripping the end cap from the arc-shaped positioning groove and placing it onto the conveyor belt after initial rotation. In the secondary flipping mechanism, the semi-finished end cap tray cylinder pushes the end cap to the fixture position. The fixture's chuck is equipped with T-shaped springs, which rely on elastic deformation to hold the edge of the end cap, avoiding indentations that might be caused by rigid clamping. The rotary drive component drives the fixture to rotate 90 degrees through a rotary bearing, realizing the change of the end cap's posture from an upward-facing opening to a horizontal opening. The ejector cylinder and the end cap ejection die are responsible for ejecting the posture-adjusted end cap to the CNC machining mechanism. The two flipping operations work together to achieve gradual adjustment of the end cap's posture, ensuring that the opening direction of the end cap is parallel to the machine tool fixture plane when entering CNC machining, reducing the need for manual adjustment.

[0045] Please refer to the accompanying drawings for explanation, such as... Figure 10 As shown, the single-stage flipping mechanism III consists of a III-1 end cap flipping fixture, a III-2 fixing plate, and a III-3 fixing base. When the end cap, after the previous process, is positioned in the arc-shaped positioning groove of the II-6 semi-finished end cap, the III-1 end cap flipping fixture, assembled on the III-3 fixing base and secured by the III-2 fixing plate, begins to operate. Specifically, the control system triggers the III-1 end cap flipping fixture to clamp the end cap in the positioning groove and complete the necessary flipping or rotation action, then places the clamped end cap onto the conveyor belt above. Subsequently, the conveyor belt starts and stably transports the end cap to the position required for subsequent processing steps.

[0046] like Figure 11 , Figure 12As shown, the secondary flipping mechanism IV consists of: IV-1 horizontal support plate, IV-2 slide rail, IV-3 slide rail fixing bolts, IV-4 linear bearing, IV-5 guide rod, IV-6 push rod cylinder, IV-7 bearing plate cylinder, IV-8 bearing plate, IV-9 rectangular support plate, IV-10 semi-finished end cap clamping fixture fixing plate, IV-11 support column, IV-12 clamp, IV-13 semi-finished end cap tray cylinder, IV-14 guide rod for semi-finished end cap tray, IV-15 sensor support column, IV-16 sensor arc-shaped fixing plate, IV-17 sensor, IV-18 bolts for sensor arc-shaped fixing plate, IV-19 sensor fixing plate, IV-20 C-shaped plate, IV-21 vertical support plate, IV-22 bearing plate cylinder fixing plate, IV-23 coupling, IV- Composed of: 24 slide rail slider, IV-25 bolt, IV-26 L-type support plate, IV-27 bearing fixing plate, IV-28 deep groove ball bearing, IV-29 end cover ejector mold fixing plate, IV-30 end cover ejector mold, IV-31 bottom support side plate, IV-32 bottom support base plate, IV-33 semi-finished end cover tray, and IV-34 tilting control motor compartment; the IV-31 bottom support side plate surrounds the IV-32 bottom support base plate to form a closed cavity, used to support and bear the IV-1 transverse support plate; a series of through holes are provided on the left side of the IV-1 transverse support plate, and the IV-13 semi-finished end cover tray cylinder is fixed to the IV-1 transverse support plate through flange connection, so that the end cover tray can move along a predetermined position and cooperate with the next mechanism when the cylinder extends and retracts; IV- The cylinder core of the 13 semi-finished end cover tray cylinder is connected to the IV-33 semi-finished end cover tray via a coupling; the IV-15 sensor support column is fixed to the IV-1 transverse support plate with screws, and the IV-19 sensor fixing plate is fixed to the upper end of the IV-15 with screws; the IV-17 distance sensor is fastened to the IV-16 sensor arc fixing plate by the IV-18 sensor arc fixing plate and bolts, so that the sensor can be angled in the arc-guided installation position to detect the end cover position; in order to realize the load-bearing and guiding of rotation and linear transmission, the IV-26 L-type support plate has a mounting hole at the bottom protruding part, and the IV-26 is fastened to the IV-1 transverse support plate by bolts; the IV-27 bearing fixing plate has an opening in the middle, and the IV-28 deep groove ball bearing is placed in the opening. Subsequently, the IV-27 bearing fixing plate is fastened to the IV-26L type support plate with IV-25 bolts, thus forming a support point that can withstand radial loads and allow axial rotation; the IV-11 support column is also fixed to the corresponding holes of the IV-1 transverse support plate with bolts, providing vertical support for the upper component; above the IV-11 support column and the IV-26L type support plate, the IV-20C type plate is bolted and installed, and the IV-2 slide rail is fastened to the IV-20C type plate with IV-3 slide rail fixing bolts at symmetrical positions on both sides; the IV-24 slide rail slider can be slidably installed on the IV-2 slide rail, and the IV-8 bearing plate is fixed on the slider with bolts. The cooperation between the slide rail and the slider allows the bearing plate to achieve linear reciprocating motion along the slide rail, which is used to complete the conveying or positioning adjustment of the end cover;The IV-8 bearing plate is bolted to the IV-21 vertical support plate on both sides. One side of the bearing plate has a cylindrical protrusion, which is connected to the cylinder core on the IV-22 push rod cylinder fixing plate via the IV-23 coupling. This allows the cylinder's thrust to be transmitted to the bearing structure via the coupling, thereby driving the moving parts related to the bearing plate. A IV-21 vertical support plate is symmetrically located on the short side of the IV-8 bearing plate and fixed with bolts. Both vertical support plates have grooves on their opposite surfaces for embedding and bolting to the IV-31 push rod cylinder fixing plate, maintaining the push rod cylinder assembly in position between the vertical supports and bearing the thrust. A hole is made in the IV-31 push rod cylinder fixing plate, and the IV-6 push rod cylinder is bolted to it. The IV-4 linear bearing is fixed to the same mounting plate with bolts; the IV-5 ejector cylinder guide rod is inserted into the IV-4 linear bearing to ensure that the IV-6 ejector cylinder performs a strictly linear reciprocating motion during extension and retraction, avoiding swaying; to ensure precise alignment between the ejection action and the guide, holes are opened on two adjacent surfaces of the IV-29 end cap ejector mold fixing plate, ensuring that the leftmost side of the IV-5 ejector cylinder guide rod and the IV-6 ejector cylinder cylinder core are on the same straight line, so that the end cap can be pushed along the same center line during synchronous extension, achieving coaxiality of the ejection action; the bottom surface of the IV-30 end cap ejector mold is opened and fastened to the corresponding hole on the IV-29 end cap ejector mold fixing plate with bolts, forming a complete ejector mold assembly.

[0047] The workflow of the IV secondary flipping mechanism is as follows: the semi-finished end cap is conveyed to the IV-33 semi-finished end cap tray via the conveyor belt and placed in position; at this time, the IV-17 distance sensor detects the end cap in position and sends the position signal to the background control panel; after receiving the position signal, the background control panel drives the IV-13 semi-finished end cap tray cylinder to move according to the preset control logic, so that the tray smoothly pushes the end cap to the working position of the IV-12 semi-finished end cap clamping fixture. At the end of its stroke, the fixture confirms that the end cap has entered the clamping area by limiting its position. When the end cap is inserted and the fixture is ready, the IV-12 semi-finished end cap clamping fixture performs a clamping action to fix the semi-finished end cap. At this time, the working surface of the fixture is in a vertically downward position, so that the end cap is clamped in an initial posture with the opening facing upward. After clamping is completed and the safety conditions are met, the background control panel starts the IV-34 flip control motor compartment, driving the IV-12 fixture to rotate 90° clockwise around the predetermined rotating axis, so that the working surface of the fixture changes from vertically downward to horizontal, thereby changing the posture of the end cap from longitudinal to lateral, which is convenient for subsequent ejection. The flipping action is controlled by the angular displacement of the motor and fed back to the control system by a limit switch to ensure accurate flipping angle. After the flipping action is completed and confirmed by the control system, the back-end control panel controls the action of the IV-7 bearing plate cylinder, pushing the IV-8 bearing plate and the structure mounted on it to translate along the IV-2 slide rail to the left end section to the designated position. This translation process is guaranteed by the linear guidance of the slide rail and slider to ensure precise linear displacement. When the IV-8 bearing plate is in place, the back-end control panel drives the IV-6 ejector cylinder to extend, using the IV-30 end cap ejector die mounted on it to eject the semi-finished end cap that has been flipped and positioned in the IV-12 fixture. During the ejection process, the ejector die moves linearly along the guide, ejecting the end cap from the fixture and sending it to the receiving position of the next processing step. After the ejection is completed, the IV-6 ejector cylinder retracts, the ejector die resets, and the IV-7 bearing plate cylinder retracts.

[0048] like Figure 13 As shown, the IV-12 semi-finished end cap clamping fixture consists of IV-12-1 clamping head bolts, IV-12-2 clamping head shells, IV-12-3 T-type springs, IV-12-4 annular brackets, and IV-12-5 rotary bearings. The entire fixture is formed by four IV-12-2 clamping head shells symmetrically arranged to form a clamping array, with each shell containing an IV-12-3 T-type spring. The IV-12-4 annular bracket has a series of through holes, and the IV-12-1 clamping head bolts are used to firmly fasten each IV-12-2 clamping head shell to the annular bracket. The IV-12-5 rotary bearing is installed on the protruding side of the edge of the IV-12-4 annular bracket, mainly for supporting the rotation of the IV-12-4 annular bracket.

[0049] The IV-12 semi-finished end cap clamping fixture operates as follows: When the semi-finished end cap is fed into the center of the fixture from a pallet or conveyor, each IV-12-3T type spring deforms elastically due to contact with the outer diameter of the end cap. The four-point clamping mechanism jointly constrains the end cap, ensuring its stability and coaxiality during vertical or flipping operations. The fixture as a whole can be coupled with a flipping drive mechanism via an IV-12-5 rotary bearing to achieve 90° or other angle flipping actions without changing the clamping state.

[0050] like Figure 14 As shown, the right figure is a cross-sectional view along section line AA in the left figure; the IV-12 semi-finished product end cap clamping fixture consists of an IV-12-6 annular cover plate, an IV-12-7 annular gear toothed baffle, an IV-12-8 triangular blade, and an IV-12-9 base plate; the IV-12-9 base plate has eight trapezoidal grooves evenly distributed along the circumference to receive the trapezoidal protrusions at the bottom of the IV-12-8 triangular blades for circumferential positioning, and each blade has a cylindrical protrusion on its upper part, which cooperates with the corresponding groove on the lower edge of the IV-12-7 annular gear toothed baffle, so that the blade can be guided radially and restricted by the relative movement of the baffle; the clamping fixture is secured by bolts. After the annular cover plate of IV-12-6 is fastened to the base plate of IV-12-9, the blade is held by the structural components and is in a guideable sliding state. The external drive system is a gear driven by a drive motor. This gear meshes with the circumferential tooth row on the outer side of the annular belt pulley baffle of IV-12-7. When the motor rotates, it drives IV-12-7 to make relative displacement through the gear, thereby causing the baffle to produce circumferential or angular displacement relative to the base plate. This relative motion is converted into radial sliding of the blade in the trapezoidal groove of the base plate by pushing the upper cylindrical protrusion of the blade through the groove at the lower edge of the baffle. The blade of IV-12-8 moves radially inward to clamp the semi-finished end cap or moves outward to loosen the end cap.

[0051] like Figure 15As shown, the right figure is a cross-sectional view along line BB in the left figure. In this embodiment, the IV-12 semi-finished end cap clamping fixture consists of an IV-12-10 cover plate, an IV-12-11 annular pulley toothed retaining ring, an IV-12-12 arc-shaped blade, an IV-12-13 bottom sleeve, and an IV-12-14 blade stop post. The bottom of the IV-12-13 bottom sleeve has eight holes evenly spaced along the circumference at its bottom to arrange and support the hinged or stop post connection positions of the arc-shaped blade at circumferential intervals. The IV-12-12 arc-shaped blade adopts a stepped cross-sectional structure. The lowest opening allows the blade to be hinged and fixed to the bottom sleeve of IV-12-13 via the blade retainer (Ⅳ-12-14), enabling the blade to both oscillate radially around the retainer and be guided and constrained by the bottom. Each of the IV-12-12 arc-shaped blades has a cylindrical protrusion at its uppermost end, which engages with a groove on the lower side of the IV-12-11 annular pulley tooth retainer ring, creating a push from the retainer ring onto the upper end of the blade. The cover plate IV-12-10 is bolted to the bottom sleeve IV-12-13, holding the blade in a predetermined position to ensure its guidance and limitation during operation. An external drive mechanism, driven by a motor, meshes with the circumferential teeth on the outer side of the IV-12-11 annular pulley tooth retainer ring. The motor's rotation causes relative circumferential displacement of the retainer ring. The groove in the retainer ring, acting on the upper cylindrical protrusion of the blade, converts the circumferential motion into radial oscillation or sliding of the blade, thus allowing the blade to clamp the end cap inwards or separate outwards to release the end cap.

[0052] The production line also includes a protective conveying device, which includes an iron sheet shielding protection mechanism and a finished product end cap conveying mechanism. The iron sheet shielding protection mechanism includes a shielding iron sheet, an iron sheet shielding cylinder, a guide rod, and a linear bearing. The guide rod cooperates with the linear bearing to guide the movement of the shielding iron sheet. The finished product end cap conveying mechanism includes a slide rail, a slider, an end cap conveying cylinder, a guide rolling frame, and a thin sheet baffle. The slider is mounted on the slide rail and connected to the end cap conveying cylinder. The guide rolling frame is connected to the slider. The thin sheet baffle is connected to a double-headed cylinder that drives its opening and closing.

[0053] In the sheet metal shielding and protection mechanism, a guide rod and a linear bearing guide the movement of the shielding sheet, allowing it to extend or retract smoothly under the drive of a cylinder, thus blocking or releasing the end cap at specific times. In the finished end cap conveying mechanism, a slider is mounted on a slide rail and connected to the end cap conveying cylinder. The guide rolling frame moves with the slider, and the thin-plate baffle is driven to open and close by a double-headed cylinder. This structure ensures that the finished end cap is smoothly caught after being ejected from the CNC machining mechanism and conveyed along the guide rolling frame. The opening and closing control of the thin-plate baffle ensures accurate timing of end cap release, preventing multiple pieces from falling simultaneously and causing collisions.

[0054] The iron sheet shielding and protection mechanism also includes a perforated iron sheet fixing block. The shielding iron sheet is fastened to the perforated iron sheet fixing block by bolts. The cylinder core of the iron sheet shielding cylinder is connected to the perforated iron sheet fixing block. The finished end cap conveying mechanism also includes a Y-shaped connecting plate and a grooved fixing block. The thin sheet baffle is inserted along the groove of the grooved fixing block and connected to the cylinder core of the double-headed cylinder through the thin sheet baffle connecting block.

[0055] A perforated iron sheet fixing block is added to the iron sheet blocking protection mechanism. The blocking iron sheet is fastened to it with bolts. The cylinder core of the iron sheet blocking cylinder is also connected to this fixing block, realizing a rigid connection between the power and the actuator and ensuring the synchronicity of the blocking action. The finished end cap conveying mechanism is equipped with a Y-shaped connecting plate and a grooved fixing block. The thin sheet baffle is inserted along the groove and connected to the double-headed cylinder through the connecting block. This plug-in structure facilitates assembly and adjustment, ensures the movement accuracy of the thin sheet baffle when opening and closing, and enables it to accurately block or release the finished end cap.

[0056] Please refer to the accompanying drawings for explanation, such as... Figure 16 As shown, the V protective conveying device consists of a V-1 iron sheet shielding and protection mechanism, a V-2 finished product end cap conveying mechanism, and a V-3 support mechanism. A series of through holes are opened on the support column of the V-3 support mechanism. The V-1 iron sheet shielding mechanism and the V-2 finished product end cap conveying mechanism are fastened to the above-mentioned through holes of the V-3 support column by bolts.

[0057] like Figure 17As shown, the V-1 iron sheet shielding protection mechanism consists of V-1-1 a perforated iron sheet fixing block, V-1-2 an iron sheet shielding mechanism cylinder core, V-1-3 an iron sheet shielding mechanism guide rod, V-1-4 an internal hex bolt for the iron sheet shielding mechanism, V-1-5 an iron sheet shielding mechanism cylinder fixing block, V-1-6 an iron sheet shielding mechanism guide rod linear bearing bolt, V-1-7 an iron sheet shielding mechanism guide rod linear bearing, V-1-8 an iron sheet shielding mechanism cylinder, and V-1-9 a shielding iron sheet; V-1-1 perforated iron sheet fixing block One side of the corresponding part is fitted with an opening to cooperate with the V-1-9 blocking iron sheet. The two are fastened together by bolts passing through the through hole to form the basic support interface of the iron sheet blocking assembly. In addition, the V-1-1 perforated iron sheet fixing block is provided with a threaded hole on the side facing the V-1-5 iron sheet blocking mechanism cylinder fixing block. This is used to thread-fasten the left end of the V-1-3 iron sheet blocking mechanism guide rod and the V-1-2 iron sheet blocking mechanism cylinder core, so that the guide rod and the cylinder core are rigidly connected at the fixing block and the coaxial alignment is ensured when the cylinder is pushed. To achieve guiding and low-friction sliding, the linear bearing of the guide rod of the V-1-7 iron sheet blocking mechanism is inserted into a series of pre-drilled through holes on the cylinder fixing block of V-1-5. Then, the linear bearing is securely fastened to the fixing block using the guide rod linear bearing bolt of V-1-6, thus forming a guiding-bearing sliding fit. The cylinder of the V-1-8 iron sheet blocking mechanism is fastened to the same set of through holes by bolts. The extension and retraction of the cylinder reliably transmits linear thrust to the blocking iron sheet through the guiding mechanism. The entire blocking assembly is finally rigidly fastened to the support column of the V-3 support mechanism by passing the internal hexagonal bolt of the V-1-4 iron sheet blocking mechanism through the aforementioned through holes.

[0058] The working process of the V-1 iron sheet shielding protection mechanism is as follows: After the control system issues the ejection preparation signal in the previous step, the V-1-8 iron sheet shielding mechanism cylinder first retracts from its extended position to the retracted position. As the cylinder retracts, the V-1-2 cylinder core, under the precise guidance of the V-1-3 guide rod, performs a linear retraction motion. The cooperation between the guide rod and the linear bearing ensures that the cylinder core remains stable and without sway during displacement. This retraction action further drives the V-1-9 shielding iron sheet connected to it along the pre-set... The device moves along a fixed trajectory to allow the end cap to be released or blocked according to the process requirements. The final position of the blocking component is guaranteed by mechanical limit to ensure repeatability. After the V-1-9 iron sheet is in place, the control system receives relevant signals to confirm that the blocking mechanism has been stably positioned, thus allowing the fixture ejection action to continue and enabling the next processing step to receive the end cap smoothly. After the end cap is successfully received, the cylinder of the V-1-8 iron sheet blocking mechanism changes from the retracted position to the extended position to block and protect the end cap in the next processing step.

[0059] like Figure 18As shown, the V-2 finished end cap conveying mechanism consists of V-2-1 slide rail, V-2-2 slide rail mounting plate, V-2-3 slide rail connecting bolts, V-2-4 slide rail fixing block bolts, V-2-5 connecting block bolts, V-2-6 vertical support plate, V-2-7 finished end cap guide rolling frame, V-2-8 slider, V-2-9 slider fixing plate, V-2-10 coupling, V-2-11 cylinder flange connecting plate, V-2-12 end cap conveying cylinder, V-2-13 double-headed cylinder, V-2-14 Y-shaped connecting plate, V... The V-2 end cover conveying and guiding assembly consists of a central support block (V-2-15), a thin baffle plate (V-2-16), a thin baffle plate connecting block (V-2-17), and a grooved fixing block (V-2-18). The structure and assembly relationship of the V-2 end cover conveying and guiding assembly are as follows: The V-2-2 slide rail mounting plate has a series of mounting holes on its surface for positioning and fastening slide rails and other components. Two V-2-1 slide rails are arranged horizontally side-by-side on the side of the V-2-2 slide rail mounting plate closest to its long side, and are firmly fixed to the mounting plate by V-2-3 slide rail connecting bolts inserted into the aforementioned holes. Each V-2-1 slide rail is equipped with a V-2-8 slider. The two sliders are connected as one unit by a V-2-9 slider fixing plate, allowing the two sliders to synchronously reciprocate along the slide rail, thereby ensuring the balanced displacement of the load-bearing components.The V-2-12 end cap conveying cylinder is first bolted to the V-2-11 cylinder flange connecting plate, and then the flange connecting plate is bolted to another support column of the V-3 support mechanism, achieving reliable installation of the cylinder on the support mechanism. To transmit the linear thrust of the cylinder to the slider assembly, the V-2-9 slider fixing plate has a cylindrical protrusion on the side facing the V-2-11 cylinder flange connecting plate, and this cylindrical protrusion is connected to the cylinder core of the V-2-12 cylinder via the V-2-10 coupling, allowing the cylinder to extend... The compression directly drives the slider assembly to move synchronously; the slider fixing plate is fastened to a series of through holes reserved at the upper part of the vertical support plate of V-2-6 through the connecting block bolts of V-2-5, forming a vertical connection structure for bearing and transmitting force; the lower part of the vertical support plate of V-2-6 is fixed with the finished end cap guide rolling frame of V-2-7 by welding, and the rolling frame is responsible for the smooth guidance and conveying of the finished end cap; at the discharge port on the upper left of the guide rolling frame of V-2-7, two grooved fixing plates of V-2-18 are welded in the form of opposing grooves. As a material discharge positioning structure, the V-2-18 slotted fixing block has a through hole on its upper part, and the V-2-15 intermediate support block also has a through hole in its middle part. The two are connected by bolts in sequence via the V-2-14 Y-shaped connecting plate. The connection sequence is as follows: first, align the V-2-14 Y-shaped connecting plate with the fixed part, and then fix the V-2-15 intermediate support block and the V-2-18 slotted fixing block in sequence to form a rigid and adjustable material discharge positioning assembly; on the right side of this material discharge positioning assembly, the V-2-13 is connected by bolts. The double-headed cylinder is fixed to the Y-shaped connecting plate of V-2-14. The top of the cylinder core of the double-headed cylinder is fastened to the thin sheet baffle connecting block of V-2-17 by bolts. Then, the thin sheet baffle of V-2-16 is inserted from the right side along the groove of the grooved fixing block of V-2-18, so that the thin sheet baffle is aligned with the connecting block. The thin sheet baffle of V-2-16 is then firmly fastened to the thin sheet baffle connecting block of V-2-17 by bolts. The thin sheet baffle can be opened and closed under the drive of the double-headed cylinder, which is used to accurately stop material or guide the end cap through the discharge port.

[0060] The workflow of the V-2 finished end cap conveying mechanism is as follows: In the initial state, the V-2-12 end cap conveying cylinder is in the extended position to keep the conveying mechanism in a ready position. After the previous process ejects the finished end cap from the machine tool fixture, the end cap falls into and is guided into the V-2-7 finished end cap guide rolling frame. The end cap rolls along the inclined guide plate surface within the frame and eventually gathers into the cavity formed by the frame. At this time, the end cap is placed at the blocking position formed by the V-2-16 thin sheet baffle to prevent it from moving forward further. Subsequently, the control system sends a signal to retract the V-2-12 end cap conveying cylinder from the extended position. The retraction of the cylinder synchronously drives the connected V-2-6 vertical support plate and its attached slider fixing plate and bearing components to move linearly backward through the coupling-slider-slide rail mechanism, thereby making room for the subsequent gate opening action. Subsequently, the V-2-13 dual-head cylinder responds to the control signal by retracting from its extended position, causing the V-2-17 thin-plate baffle connecting block and the V-2-16 thin-plate baffle to move upward along the slot, moving out of the blocking position. This allows the previously blocked end cap to move freely forward without constraint. Since the end cap's orientation in the frame is with its opening facing left and its center of gravity slightly to the right, after the baffle is released, the end cap rolls along the inclined guide surface towards the conveyor belt under the influence of gravity, rotating during the process and changing its opening from horizontal to vertical. The conveyor belt then transports the finished end cap, now with its orientation adjusted, to the next processing step.

[0061] The CNC machining mechanism includes a machine tool servo system and a CNC machine tool housing; the front end of the spindle of the CNC machine tool housing is equipped with a fixture for holding the semi-finished end cap; the machine tool servo system is used to drive the cutting tool to perform CNC machining on the semi-finished end cap.

[0062] Specifically, the CNC machining mechanism includes a pneumatic chuck, a servo tool platform, and a spindle box; the pneumatic chuck includes a chuck collet, jaws, a threaded fan blade piston, a grooved lower sleeve, and an upper sleeve; the chuck collet is connected to the jaws via a connecting block, the lower part of the jaws has threaded protrusions, and the upper part of the threaded fan blade piston has threaded grooves that mate with the jaw protrusions; the lower part of the threaded fan blade piston has rectangular fan blades, the grooved lower sleeve has grooves to accommodate the rectangular fan blades, and the outer wall of the grooved lower sleeve has inlet and outlet holes communicating with the grooves.

[0063] In a pneumatic chuck, the chuck collet is connected to the jaws via a connecting block. The threaded protrusion at the lower part of the jaws engages with the threaded groove on the upper part of the threaded fan-blade piston. When compressed gas enters the grooved lower sleeve from the inlet and outlet ports, it acts on the rectangular fan blades, causing the piston to rotate. The threaded engagement converts this rotational motion into radial contraction of the jaws. This pneumatic drive method achieves automatic clamping of semi-finished end caps, and the clamping force can be adjusted by air pressure. After machining, exhaust causes the piston to rotate in the opposite direction, the jaws open, and the end cap is released. When the inlet and outlet ports also function as suction ports, they can also assist in removing machining debris. This structure ensures the end cap remains in a stable position during cutting, guaranteeing machining accuracy.

[0064] Please refer to the accompanying drawings for explanation, such as... Figure 19 As shown, the VI CNC machining mechanism consists of a VI-1 pneumatic chuck, a VI-2 servo tool platform, and a VI-3 spindle box. The VI-1 pneumatic chuck is connected to the spindle of the VI-3 spindle box. The VI-2 servo tool platform is arranged on the horizontal plane at the center of the VI-1 pneumatic chuck and controls the tool head to move in the X and Y directions within this plane for further machining.

[0065] In this embodiment, the VI-1 pneumatic chuck is coaxially mounted and connected to the spindle end of the VI-3 spindle box; the VI-2 servo tool platform is arranged on the horizontal plane at the center of the VI-1 pneumatic chuck and is coaxially aligned with the center of the chuck; to achieve precise in-plane displacement, the VI-2 servo tool platform adopts a servo-driven linear transmission mechanism; during machining, the VI-3 spindle box provides the spindle speed and torque, the VI-1 pneumatic chuck keeps the workpiece clamped, and the VI-2 servo tool platform moves the tool head along the set trajectory according to the program to perform further machining such as turning on the workpiece, thereby achieving high-precision planar machining of the workpiece under the same clamping state.

[0066] like Figure 20 , Figure 21As shown, the VI-1 pneumatic chuck consists of VI-1-1 chuck chuck jaws, VI-1-2 chuck chuck fixing bolts, VI-1-3 chuck chuck jaw connecting block, VI-1-4 jaws, VI-1-5 threaded fan-blade piston, VI-1-6 grooved lower sleeve, VI-1-7 upper sleeve, VI-1-8 rubber washer, VI-1-9 thrust ball bearing, VI-1-10 trapezoidal central shaft, VI-1-11 central shaft fixing bolts, and VI-1-11 wedge-shaped limiting block; the VI-1-1 chuck jaws have a through hole on the upper side of the bottom and a circular protrusion on the lower side, which is connected to... The groove on the upper part of the VI-1-3 chuck collet connecting block fits tightly, and the lower part of the connecting block also has a protrusion that fits with the groove on the upper part of the VI-1-4 jaw. The above components are fastened together by the VI-1-2 chuck collet fastening bolt to form a complete collet unit. The collet unit is then inserted into the interior of the VI-1-7 upper sleeve along the guide groove on the inner side of the VI-1-7 upper sleeve. The VI-1-7 upper sleeve has grooves on its inner wall that match the protrusions on both sides of the VI-1-4 jaw to ensure radial positioning and anti-rotation fit of the collet unit in the sleeve. To achieve a combination of air source drive and sealing, the lower part of the jaws of VI-1-4 is provided with threaded protrusions, while the upper part of the threaded fan blade piston of VI-1-5 is provided with matching threaded grooves. When the threaded fan blade piston of VI-1-5 is inserted into the upper sleeve of VI-1-7, the threaded engagement of the protrusions and grooves can transmit force axially and achieve coaxial guidance. A series of rectangular fan blades are evenly distributed circumferentially on the lower part of the threaded fan blade piston of VI-1-5. These fan blades are inserted into the corresponding grooves of the grooved lower sleeve of VI-1-6. A channel is left between the fan blades and the grooves of the sleeve, and a through hole is opened on the outer wall of the sleeve to connect to the groove, serving as an air inlet / outlet to introduce or extract gas to achieve vacuum suction or blowing function. To prevent gas leakage and ensure sealing performance, an annular groove is machined on the outer upper part of the grooved lower sleeve of VI-1-6. A corresponding annular groove is also provided on the outer lower part of the threaded fan-blade piston of VI-1-5. Rubber gaskets of VI-1-8 are inserted in both grooves to achieve a reliable seal. Regarding the center drive structure, the trapezoidal center shaft of VI-1-10 is rotatably inserted into the aforementioned sleeve structure. A thrust ball bearing of VI-1-9 is installed inside the grooved lower sleeve of VI-1-6 to support and ensure the rotational support of the trapezoidal center shaft of VI-1-10. Finally, a through hole is provided at the bottom of the trapezoidal center shaft of VI-1-10. The center shaft is fixed with bolts and tightly connected to the machine tool spindle of VI-2-1, thereby enabling the chuck to rotate coaxially with the spindle and simultaneously providing airtight suction / blowing and clamping functions.

[0067] The working process of the VI-1 pneumatic chuck is as follows: after the semi-finished end cap is pushed into the VI-1 pneumatic chuck for positioning in the previous process, the control system opens the air supply valve that is connected to the air inlet / outlet hole on the VI-1-6 grooved lower sleeve, and compressed gas is introduced into the sleeve cavity through the through hole; the introduced gas acts on the rectangular fan blade of the VI-1-5 threaded fan blade piston along the inner channel of the sleeve, so that the fan blade generates a rotational torque and drives the fan blade to rotate relative to the sleeve. The rotation of the fan blades, through the engagement of threads and protrusions, is converted into the radial contraction of the chuck unit. This causes the chuck unit, composed of the VI-1-3 chuck jaws and VI-1-4 jaws, to tighten inward and clamp the end cap, achieving reliable clamping. After clamping, the control system shuts off the air supply to maintain the clamping state for subsequent processing. After processing, the control system activates the exhaust or intake device to extract gas from the sleeve through the same inlet / outlet ports. The reverse airflow direction causes the fan blades to rotate in the opposite direction. The reverse-rotating fan blades, through the same mechanical engagement, drive the chuck unit to retract radially to the extended state, thereby releasing the clamped end cap and resetting the chuck assembly for easy removal or entry into the next process. The gas supply, pressure, and suction / release time in the above process are controlled in a closed loop by the control system through valves and sensors to ensure smooth, controllable, and repeatable clamping and release actions.

[0068] A visual recognition system is installed above the material pile; the visual recognition system is used to obtain the position and stacking status information of the billet in the material pile and transmit the information to the control system; the control system adjusts the movement trajectory of the first robotic arm and the second robotic arm according to the visual detection results, so as to achieve precise picking up of the billet and accurate placement of the finished end cap.

[0069] Please refer to the accompanying drawings for explanation, such as... Figure 22 As shown, the VII material pile consists of an industrial camera bracket (VII-1), an industrial camera (VII-2), a billet pile (VII-3), and a finished end cap pile (VII-4). The industrial camera (VII-2) is positioned above each material pile (or trough) and is used for visual inspection of the position and status of the end caps (or billets) within the material pile. The industrial camera (VII-2) is bolted to the industrial camera bracket (VII-1), and the bracket provides fine-tuning holes and an adjustment mechanism to precisely adjust the camera's viewing angle and shooting area, ensuring that the camera's field of view covers the target detection area of ​​the material pile. A unit lighting device is placed directly below the camera to reduce changes in ambient light. The real-time images acquired by the industrial camera (VII-2) are sent to the vision processing unit of the control panel by the image acquisition and preprocessing module. The vision processing unit performs position recognition, boundary detection, and status judgment on the images and feeds back the recognition results to the control panel in the form of electrical signals. The control panel implements subsequent control decisions based on the received position information, such as triggering sorting, feeding, stopping, or adjusting mechanisms.

[0070] Example 2 This embodiment provides a method for end cap forming and cutting machining for robotic arm scheduling, including the following steps: The position information of the billet in the stockpile is obtained by the visual recognition system, and the first robotic arm is controlled to pick up the billet from the stockpile and transfer the billet to the hydraulic forming mechanism. The hydraulic forming mechanism is controlled to stamp the blank, and the semi-finished end cap is conveyed to the semi-finished end cap flipping mechanism via the conveying mechanism. The attitude of the semi-finished end cap is adjusted by the semi-finished end cap flipping mechanism, and the adjusted semi-finished end cap is transported to the CNC machining mechanism for cutting. The second robotic arm is controlled to pick up the finished end caps from the finished end cap conveyor and transfer them to the return stack for stacking.

[0071] Industrial cameras identify the position of the blank, and a dual-arm robotic arm picks it up and feeds it to a hydraulic punch press for processing. The semi-finished product is then transferred by a conveyor belt to the next processing station, where a fixture picks up the semi-finished end caps and places them into the machine tool fixture for trimming. Finally, the finished end caps are automatically stacked or boxed by robots. The entire line achieves unmanned operation, significantly improving production efficiency and processing accuracy, reducing labor costs and workplace injury risks, and meeting the needs of large-scale continuous production.

[0072] Specifically: Absorption mechanism: The vision recognition system uses a high-resolution industrial camera to capture the position and posture of the billet in real time, and transmits the coordinate information to the robot control system to achieve precise grasping; Blank stamping: The hydraulic press is equipped with a high-precision mold. The robot accurately places the positioned blank into the mold to complete the end cap forming stamping, and then the blank is conveyed to the next station by the conveyor belt. Edge trimming: The semi-finished end caps are sent to the CNC edge trimming machine station via a conveyor belt and a flipping mechanism, where they are automatically positioned and fixed by a high-precision fixture to complete the edge trimming. After processing, the finished products are visually inspected and confirmed to be free of defects. Then, the robots automatically stack them according to the preset stacking pattern. The entire process is centrally monitored and data recorded by the central control system to ensure production traceability and stability.

[0073] Furthermore, the suction mechanism uses a dual-arm robot as the core execution unit, with the left and right robotic arms responsible for the tasks of blank grasping and finished end cap placement, respectively; a wrist camera is installed at the end of the robot's forearm, which works in conjunction with an industrial camera located above the material pile to obtain the target position and posture of the blank pile in real time through visual algorithms, driving the magnetic gripping mechanism to complete precise adsorption; a finished end cap clamping mechanism is also provided to clamp the finished end cap to the finished product frame.

[0074] Furthermore, the magnetic suction mechanism consists of upper and lower annular components, a central shaft, a spring, a bushing-type housing, and an electromagnet. The central shaft is limited by the annular ring and, under the constraint of the spring, is only allowed to swing around the circumference and is prohibited from radial deviation. When it deviates due to an external load, the spring automatically resets, causing the central shaft to return to the center, thus realizing the adaptive and reset functions of gripping and positioning. In conjunction with the electromagnet being energized to hold the blank, it improves the gripping fault tolerance and repeatability accuracy.

[0075] Furthermore, the stamping die is equipped with a high-precision guiding device, wherein the die punch has a large through hole in the middle, and a punch rod positioning mechanism is provided in the middle of the through hole to ensure the stability and centering of the punch rod during the stamping process. The tail of the punch rod is equipped with a cylinder linkage mechanism to ensure that when the die punch moves to the bottom of the mother mold, the ejector rod pushes the semi-finished end cap out of the mother mold cavity. After the process is completed, the punch rod quickly returns to its original position and is accurately reset.

[0076] Furthermore, the stamped end cap falls into the cavity formed by the die fixing plate. A thin-film pressure sensor located below detects its position and triggers the ejection cylinder to push the end cap to the semi-finished product slide and stop it in the arc-shaped positioning groove. An electromagnet located in the center of the positioning groove, together with a side-mounted thin-film distance sensor, realizes the adsorption positioning and release control of the end cap.

[0077] Furthermore, after the end cap is positioned in the positioning groove, the end cap flipping fixture clamps it and performs a preliminary flipping, placing it on the conveyor belt. It is then conveyed to the lifting platform of the end cap flipping mechanism. A sensor is installed on one side of the lifting platform to accurately sense the arrival position of the semi-finished end cap. After sensing the arrival position of the semi-finished end cap, the lifting platform automatically rises to the designated height, and the semi-finished end cap fixture starts simultaneously, accurately clamping the edge of the end cap to prevent deformation.

[0078] Furthermore, the semi-finished end cap fixture, in conjunction with a servo control system, achieves adaptive clamping. After clamping, the fixture is rotated 90 degrees by the control system so that the opening direction of the end cap is parallel to the plane of the CNC lathe fixture. Then, the push rod controlled by the cylinder pushes the end cap into the CNC lathe fixture.

[0079] Furthermore, the iron sheet shielding and protection mechanism implements shielding and release control before and after the end cover is ejected; the CNC lathe fixture has a built-in high-precision fixture and a cylinder-controlled push rod to ensure that the end cover maintains a constant positional accuracy during processing; after the lathe starts, the tool performs precision cutting on the edge of the end cover along a preset trajectory. After processing is completed, the tool automatically retracts, and while the fixture releases the end cover, the cylinder-controlled push rod smoothly pushes the finished end cover away to the unloading platform.

[0080] Furthermore, the unloading platform is equipped with a finished product unloading platform; the finished product unloading platform is equipped with a guide groove to guide the finished product to fall accurately into the unloading area; the guide rail is controlled by a cylinder, so that the unloading platform is transferred to the conveyor belt of the unloading area under the push of the cylinder.

[0081] Furthermore, the conveyor belt in the unloading area is equipped with a vision recognition system to detect the surface quality and geometric dimensions of the finished end caps in real time. When defects or dimensional deviations are detected, the system immediately issues an alarm and automatically removes unqualified products through a robotic arm. Qualified products then enter the subsequent packaging station with the conveyor belt.

[0082] Furthermore, the packaging station is equipped with a flexible gripping robotic arm that identifies the finished product's posture using a visual positioning system, accurately grips the finished product's end cap, and places it in a customized pallet; once the pallet is full, it is transported to the sealing area by a forklift.

[0083] While the specific embodiments of the present invention have been described above, they are not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A smart production line for end cap forming and cutting machining with robotic arm scheduling, characterized in that, This includes a dual-arm robot, a billet processing platform, a finished product end cap conveying mechanism, a material stack, and a control system; The blank processing platform includes a hydraulic forming mechanism, a semi-finished product end cap flipping mechanism, and a CNC machining mechanism. The hydraulic forming mechanism, the semi-finished product end cap flipping mechanism, the CNC machining mechanism, and the finished product end cap conveying mechanism are connected by a conveying mechanism. The dual-arm robot includes a first robotic arm and a second robotic arm. The first robotic arm is used to remove the blank from the material pile and transport it to the hydraulic forming mechanism. The second robotic arm is used to remove the finished end cap from the finished end cap conveying mechanism and place it back into the material pile. The control system is electrically connected to the dual-arm robot, the blank processing platform, and the finished product end cap conveying mechanism to perform automated material picking, forming, flipping, processing and conveying operations. The semi-finished end cap flipping mechanism includes a primary flipping mechanism and a secondary flipping mechanism. The primary flipping mechanism includes an end cap flipping clamp, a fixing plate, and a fixing base. The end cap flipping clamp is mounted on the fixing base and secured by the fixing plate. The secondary flipping mechanism includes a semi-finished end cap tray, a semi-finished end cap tray cylinder, a clamp, a rotary drive, and an ejection assembly. The semi-finished end cap tray cylinder is connected to the semi-finished end cap tray. The clamp includes an annular support and multiple chucks evenly arranged circumferentially on the annular support. Each chuck includes a chuck housing and a T-shaped spring sheet built into the chuck housing. A rotary bearing is provided on the annular support and connected to the rotary drive. The ejection assembly includes an ejector cylinder and an end cap ejection mold. It also includes a protective conveying device, which comprises an iron sheet shielding and protection mechanism and a finished product end cap conveying mechanism. The iron sheet shielding and protection mechanism includes a shielding iron sheet, an iron sheet shielding cylinder, a guide rod, and a linear bearing. The guide rod cooperates with the linear bearing and guides the movement of the shielding iron sheet. The finished product end cap conveying mechanism includes a slide rail, a slider, an end cap conveying cylinder, a guide rolling frame, and a thin sheet baffle. The slider is mounted on the slide rail and connected to the end cap conveying cylinder. The guide rolling frame is connected to the slider. The thin sheet baffle is connected to a double-headed cylinder that drives its opening and closing. The iron sheet shielding and protection mechanism also includes a perforated iron sheet fixing block. The shielding iron sheet is fastened to the perforated iron sheet fixing block by bolts. The cylinder core of the iron sheet shielding cylinder is connected to the perforated iron sheet fixing block. The finished end cap conveying mechanism also includes a Y-shaped connecting plate and a grooved fixing block. The thin sheet baffle is inserted along the groove of the grooved fixing block and connected to the cylinder core of the double-headed cylinder through the thin sheet baffle connecting block.

2. The intelligent production line for end cap forming and cutting processing with robotic arm scheduling as described in claim 1, characterized in that, The first robotic arm is equipped with a billet magnetic attraction mechanism, which includes a bushing-type housing, a central shaft, a spring, and an electromagnet. The bushing-type housing has an annular groove inside, and the central shaft passes through the bushing-type housing. The central shaft has a cylindrical protrusion in the middle that cooperates with and limits the protrusion in the annular groove. The spring is sleeved on the lower end of the central shaft and is connected to the central shaft and the bushing-type housing respectively. The electromagnet is connected to the bottom of the bushing-type housing.

3. The intelligent production line for end cap forming and cutting processing with robotic arm scheduling as described in claim 1, characterized in that, The second robotic arm is equipped with a finished end cap clamping mechanism, which includes a fixed plate, a clamping block, a limiting sliding seat, a guide rod, and a drive motor. The fixed plate has protrusions with wedge-shaped grooves around its perimeter, and the clamping block has a wedge-shaped end at its tail, which is accommodated in the wedge-shaped groove of the fixed plate. The limiting sliding seat has an arc-shaped hole, and the guide rod passes through the arc-shaped hole and connects to the tail of the clamping block. The outer edge of the limiting sliding seat has gear teeth that mesh with the gears of the drive motor.

4. The intelligent production line for end cap forming and cutting processing with robotic arm scheduling as described in claim 1, characterized in that, The hydraulic forming mechanism includes a four-column hydraulic press, a punch, a die, a die fixing plate, a semi-finished end cap slide, and a semi-finished end cap ejection cylinder; the die is placed on the die fixing plate, and a cavity for accommodating the stamped blank is formed inside the die fixing plate; the cylinder core of the semi-finished end cap ejection cylinder is connected to an arc-shaped ejector for the semi-finished end cap; one end of the semi-finished end cap slide is connected to the cavity of the die fixing plate, and the other end is connected to the arc-shaped positioning groove of the semi-finished end cap.

5. The intelligent production line for end cap forming and cutting processing with robotic arm scheduling as described in claim 4, characterized in that, The punch includes a punch sleeve, a punch cylinder, a punch rod connecting shaft, and a punch rod; the punch sleeve includes an upper sleeve and a lower sleeve, and the upper sleeve and the lower sleeve are connected by a flange; the punch cylinder is installed on the top of the upper sleeve through a cylinder fixing flange plate, the upper end of the punch rod connecting shaft is connected to the cylinder core of the punch cylinder, and the lower end of the punch rod connecting shaft is connected to the punch rod; the lower sleeve has a longitudinal guide groove on its side wall, and the outer wall of the punch rod has a protrusion that cooperates with the longitudinal guide groove.

6. The intelligent production line for end cap forming and cutting processing with robotic arm scheduling as described in claim 1, characterized in that, The CNC machining mechanism includes a pneumatic chuck, a servo tool platform, and a spindle box; the pneumatic chuck includes a chuck collet, jaws, a threaded fan blade piston, a grooved lower sleeve, and an upper sleeve; the chuck collet is connected to the jaws via a connecting block, the lower part of the jaws has threaded protrusions, and the upper part of the threaded fan blade piston has threaded grooves that mate with the jaw protrusions; the lower part of the threaded fan blade piston has rectangular fan blades, and the grooved lower sleeve has grooves to accommodate the rectangular fan blades, and the outer wall of the grooved lower sleeve has inlet and outlet holes communicating with the grooves.

7. A processing method for an intelligent production line for end cap forming and cutting with robotic arm scheduling as described in any one of claims 1-6, characterized in that, Includes the following steps: The position information of the billet in the stockpile is obtained by the visual recognition system, and the first robotic arm is controlled to pick up the billet from the stockpile and transfer the billet to the hydraulic forming mechanism. The hydraulic forming mechanism is controlled to stamp the blank, and the semi-finished end cap is conveyed to the semi-finished end cap flipping mechanism via the conveying mechanism. The attitude of the semi-finished end cap is adjusted by the semi-finished end cap flipping mechanism, and the adjusted semi-finished end cap is transported to the CNC machining mechanism for cutting. The second robotic arm is controlled to pick up the finished end caps from the finished end cap conveyor and transfer them to the return stack for stacking.

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