Full-automatic assembly production line for water meters and assembly process of full-automatic assembly production line

Abstract

The invention provides a full-automatic assembly production line for water meters and an assembly process thereof.The full-automatic assembly production line comprises a production line body, a carrier body, a meter shell, a movement body, a fastening ring body, a meter head body and an extraction disc for feeding, the production line comprises an automatic water meter shell feeding tool, and the automatic water meter shell feeding tool is arranged at a first station of the production line; the automatic feeding and assembling device is used for automatically feeding and assembling meter shells. The fastening ring feeding and assembling station is arranged on a third station of the production line and used for automatic feeding and assembling of fastening ring bodies. The automatic feeding and discharging mechanisms are located at the beginning and all assembly stations of the production line and used for automatic feeding and discharging of the meter shell, the movement body, the fastening ring body and the meter head body; a circulation line body is arranged in the production line, and the internal circulation line body is used for circulation of the carrier body. The problem of low manual assembly efficiency is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of water meter assembly, and in particular to a full-automatic assembly production line for a water meter and an assembly process thereof. Background Art

[0002] With the continuous growth of market demand for water meters, traditional water meter assembly methods face many problems. Existing water meter assembly mostly relies on manual operation, which not only leads to low production efficiency and is difficult to meet the needs of large-scale production, but also manual assembly is easily affected by factors such as worker proficiency and working status, and product quality stability is poor. At the same time, manual assembly requires a lot of labor, which increases production costs. In addition, manual operation also has problems such as high labor intensity, which is not conducive to the sustainable development of enterprises. Therefore, there is an urgent need for a water meter assembly solution that can improve production efficiency, ensure product quality stability and reduce costs.

[0003] In the prior art, during the use of water meter assembly, the manual assembly line model easily increases production costs and has a relatively large error rate; therefore, we have made improvements to this and proposed a fully automatic assembly production line and assembly process for water meters. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the current design of water meter assembly cannot fully automatically assemble the water meter.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions: A fully automatic assembly production line for water meters and an assembly process thereof are provided to improve the above problems.

[0006] The specific application is as follows: A fully automatic assembly production line for a water meter and an assembly process thereof, comprising a production line, a carrier body, a meter housing, a movement body, a fastening ring body, a meter head body and a feeding plate, the production line comprising: The water meter case automatic loading tooling is set at the first station of the production line and is used for automatic loading and assembly of the meter case. The water meter case automatic loading tooling includes a six-axis robot arm, a case camera and a case base; The fastening ring loading and assembly station is arranged at the third station of the production line, and is used for automatic loading and assembly of the fastening ring body. The fastening ring loading and assembly station includes a four-axis robot arm, a fastening ring camera and a fastening ring machine base. A clip is arranged under the four-axis robot arm for clamping the fastening ring. A locking mechanism is arranged at the lower end of the fastening ring camera. An assembly position and a cache position are arranged at the feeding end of the locking mechanism. The assembly position is movably connected to the four-axis robot arm. A positioning seat and a clamp are arranged at the upper end of the locking mechanism. The clamp is controlled by a cylinder, and the clamp moves at the upper end of the positioning seat. Automatic loading and unloading mechanism, which is located at the beginning of the production line and at each assembly station, is used for automatic loading and unloading of the watch case, movement body, fastening ring body and watch head body. The automatic loading and unloading mechanism includes a loading U-groove roller line, a unloading U-groove roller line, a pneumatic adsorption moving mechanism and a side pneumatic limit assembly; A circulation line body is provided in the production line, and the circulation line body is used for the circulation of the carrier body.

[0007] As the preferred technical solution of the present application, it also includes: a movement loading and assembly station, which is arranged at the second station of the production line. The second station of the production line is used for automatic loading and assembly of the movement body. The second station of the production line includes a movement four-axis mechanical module, a movement camera and a movement base.

[0008] As the preferred technical solution of the present application, it also includes: an electronic meter head loading and assembly station, which is arranged on the fourth station of the production line and is used for automatic loading and assembly of the meter head body. The electronic meter head loading and assembly station includes a meter head four-axis mechanical module, a meter head camera and a meter head base.

[0009] As a preferred technical solution of the present application, it also includes a blocking component, which is used to control the stay and advance of the carrier body at each workstation.

[0010] As the preferred technical solution of the present application, the six-axis robotic arm is connected to the watch case camera signal, and the automatic loading and unloading mechanism grabs the watch case and installs it at the corresponding position on the carrier body.

[0011] As the preferred technical solution of the present application, the four-axis mechanical module of the movement is connected to the movement camera signal, and the four-axis mechanical module of the movement grabs the movement body and assembles it onto the carrier body on which the watch case has been installed.

[0012] As the preferred technical solution of the present application, the four-axis robotic arm is connected to the fastening ring camera signal, the four-axis robotic arm grabs the fastening ring body and assembles it between the movement body and the watch body, the four-axis mechanical module of the watch head is connected to the watch head camera signal, the four-axis mechanical module of the watch head grabs the watch head body and assembles it at the upper end of the watch body.

[0013] As a preferred technical solution of the present application, it also includes: a meter taking station, which is arranged at the end of the production line, and is used to take away the finished water meter, and the meter taking station includes a mechanical gripper and a conveyor belt.

[0014] As a preferred technical solution of the present application, a visual monitoring module is also included, which is used to obtain the coordinate information of the target object by the camera and accurately transmit it to the robotic arm. The visual monitoring module includes a camera module, a data processing module, a communication module and a robotic arm control module; The camera module focuses light through an optical lens and images the scene on the image sensor. The image sensor converts the light signal into an electrical signal, which is converted into digital image data after analog-to-digital conversion. The camera module is embedded with a coordinate detection function. The data processing module receives the image data and coordinate information from the camera module and converts them into coordinate displacement information in the mechanical coordinate system; The communication module is responsible for data transmission between the camera module, data processing module and robotic arm control module; The robot control module is used to plan the motion trajectory of the robot.

[0015] An assembly process of a fully automatic assembly production line for a water meter, the assembly steps are: S1: The watch case, movement, fastening ring and head are loaded onto the corresponding trays and fed into the various assembly stations in the production line through the U-groove roller line; S2: The carrier body moves gradually on the production line, and the corresponding manipulator equipment grabs the watch case, movement body, fastening ring body and watch head body in the corresponding tooling, and puts them in order after the carrier body moves into place; S3: During the process, the camera in each tooling is used to take pictures of the position information, so that the robot equipment can accurately grasp the corresponding parts for assembly; S4: When the vehicle body has completed one process, it can be circulated through the circulation line to the starting end for further assembly.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of this application: The fully automatic assembly production line of the present invention greatly improves the production efficiency of water meter assembly through the coordinated operation of the automated loading and unloading mechanism and each assembly station, reduces manual intervention, and reduces labor intensity; The camera visual positioning is used to assist the grabbing and installation of each assembly component, which improves the assembly accuracy and ensures the stability and consistency of product quality; 3. The vehicle body adopts a circular line design, which realizes the efficient recycling of the vehicle body, optimizes the overall layout of the production line, and further improves production efficiency.

[0017] 4. The entire assembly process has realized an automated process, which reduces the impact of human factors on production and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A fully automatic assembly production line for a water meter and an overall production line of its assembly process provided in this application; Figure 2This is an enlarged structural schematic diagram of a fully automatic assembly production line for water meters and a movement loading and assembly station of its assembly process provided by the present application; Figure 3 A schematic diagram of the enlarged structure of a fully automatic assembly production line for water meters and an automatic loading tooling for water meter cases in an assembly process thereof provided in the present application; Figure 4 This is an enlarged structural schematic diagram of a fastening ring loading and assembly station of a fully automatic assembly production line for a water meter and its assembly process provided in the present application; Figure 5 A top view of a fastening ring loading and assembly station of a fully automatic assembly production line for a water meter and its assembly process provided in the present application; Figure 6 This is a schematic diagram of the overall structure of an electronic meter head loading and assembly station for a fully automatic assembly production line for water meters and its assembly process provided in this application.

[0019] Indicated in the figure: 1. Production line; 2. Carrier body; 3. Watch case; 4. Movement body; 5. Fastening ring body; 6. Watch head body; 7. Extraction plate; 8. Automatic loading tooling for water meter case; 801. Six-axis robotic arm; 802. Watch case camera; 803. Watch case base; 9. Fastening ring loading and assembly station; 901. Four-axis robotic arm; 902. Fastening ring camera; 903. Fastening ring base; 904. Clip; 905. Locking mechanism; 906. Assembly position; 907. Cache position ;908, positioning seat; 909, fixture; 910, cylinder; 10, automatic loading and unloading mechanism; 1003, pneumatic adsorption moving mechanism; 11, circulation line; 12, movement loading and assembly station; 1201, movement four-axis mechanical module; 1202, movement camera; 1203, movement base; 13, electronic meter head loading and assembly station; 1301, meter head four-axis mechanical module; 1302, meter head camera; 1303, meter head base; 15, meter retrieval station. DETAILED DESCRIPTION

[0020] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0021] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] like Figure 1-Figure 6 As shown, this embodiment proposes a fully automatic assembly production line for water meters, including a production line 1, a carrier body 2, a meter housing 3, a movement body 4, a fastening ring body 5, a meter head body 6 and a feeding plate 7, and the production line 1 includes: The water meter case automatic loading tool 8 is arranged at the first station of the production line 1 and is used for automatic loading and assembly of the meter case 3. The water meter case automatic loading tool 8 includes a six-axis robot arm 801, a case camera 802 and a case base 803; A fastening ring loading and assembly station 9 is arranged at the third station of the production line 1, and is used for automatic loading and assembly of the fastening ring body 5. The fastening ring loading and assembly station 9 includes a four-axis robot arm 901, a fastening ring camera 902, and a fastening ring machine base 903. A clip 904 is provided under the four-axis robot arm 901 for clamping the fastening ring. A locking mechanism 905 is provided at the lower end of the fastening ring camera 902. An assembly position 906 and a cache position 907 are provided at the feeding end of the locking mechanism 905. The assembly position 906 is movably connected to the four-axis robot arm 901. A positioning seat 908 and a clamp 909 are provided at the upper end of the locking mechanism 905. The clamp 909 is controlled by a cylinder 910, and the clamp 909 moves at the upper end of the positioning seat 908. The automatic loading and unloading mechanism 10 is located at the beginning and each assembly station of the production line 1, and is used for the automatic loading and unloading of the watch case 3, the movement body 4, the fastening ring body 5 and the watch head body 6. The automatic loading and unloading mechanism 10 includes a loading U-groove roller line body, a unloading U-groove roller line body, a pneumatic adsorption moving mechanism 1003 and a side pneumatic limit assembly; A circulating line body 11 is provided in the production line 1 , and the circulating line body 11 is used for the circulation of the carrier body 2 .

[0024] It also includes: a movement loading and assembly station 12, which is arranged at the second station of the production line 1. The second station of the production line 1 is used for automatic loading and assembly of the movement body 4. The second station of the production line 1 includes a movement four-axis mechanical module 1201, a movement camera 1202 and a movement base 1203.

[0025] It also includes: an electronic meter head loading and assembly station 13, which is set at the fourth station of the production line 1 and is used for automatic loading and assembly of the meter head body 6. The electronic meter head loading and assembly station 13 includes a meter head four-axis mechanical module 1301, a meter head camera 1302 and a meter head base 1303.

[0026] By further comprising a blocking component, the blocking component is used to control the stay and advance of the carrier body 2 at each workstation.

[0027] The six-axis robotic arm 801 is connected to the watch case camera 802 by signal, and the automatic loading and unloading mechanism 10 grabs the watch case 3 and installs it at the corresponding position on the carrier body 2 .

[0028] The movement four-axis mechanical module 1201 is connected to the movement camera 1202 by signal. The movement four-axis mechanical module 1201 grabs the movement body 4 and assembles it onto the carrier body 2 on which the watch case 3 has been installed.

[0029] The four-axis robot arm 901 is connected to the fastening ring camera 902 by signal. The four-axis robot arm 901 grabs the fastening ring body 5 and assembles it between the movement body 4 and the watch case 3. The four-axis mechanical module 1301 of the watch head is connected to the watch head camera 1302 by signal. The four-axis mechanical module 1301 of the watch head grabs the watch head body 6 and assembles it at the upper end of the watch case 3.

[0030] It also includes: a meter taking station 15, which is arranged at the end of the production line 1, and is used to take away the finished water meter. The meter taking station 15 includes a mechanical clamp and a conveyor belt.

[0031] It also includes a visual monitoring module, which is used to obtain the coordinate information of the target object through the camera and accurately transmit it to the robotic arm. The visual monitoring module includes a camera module, a data processing module, a communication module and a robotic arm control module; The camera module focuses light through an optical lens and images the scene on the image sensor. The image sensor converts the light signal into an electrical signal, which is converted into digital image data after analog-to-digital conversion. The camera module is embedded with a coordinate detection function. The data processing module receives the image data and coordinate information from the camera module and converts them into coordinate displacement information in the mechanical coordinate system; The communication module is responsible for data transmission between the camera module, data processing module and robotic arm control module; The robot control module is used to plan the motion trajectory of the robot.

[0032] An assembly process of a fully automatic assembly production line for a water meter, the assembly steps are: S1: The watch case 3, the movement body 4, the fastening ring body 5 and the watch head body 6 are placed on a fully loaded tray and fed into each assembly station in the production line 1 through a loading U-groove roller line; S2: The carrier body 2 moves gradually on the production line 1, and the corresponding manipulator device grabs the watch case 3, the movement body 4, the fastening ring body 5 and the watch head body 6 in the corresponding tooling, and puts them in order after the carrier body 2 moves into place; S3: During the process, the camera in each tooling is used to take pictures of the position information, so that the robot equipment can accurately grasp the corresponding parts for assembly; S4: When the carrier body 2 completes one process, it can be circulated to the starting end through the circulation line 11 to continue assembly.

[0033] The loading U-groove roller line cooperates with the pneumatic adsorption moving mechanism 1003 to accurately transport the watch case 3, the movement body 4, the fastening ring body 5 or the watch head body 6 placed on the extraction tray 7 to the corresponding assembly station; The unloading U-groove roller line cooperates with the pneumatic adsorption moving mechanism 1003 to transport the assembled parts from the assembly station to the designated location; The stopping and advancing of the carrier body 2 at each workstation can be controlled by a blocking assembly outside the circulating line body 11. A lifting assembly is set up inside the circulating line body 11, which is moved upward by the cylinder 910 to facilitate the lifting of the carrier body 2 to a suitable height for assembly operations. The lifting mechanism of the carrier body 2 is provided at the starting end and the end of the circulating line body 11, which can realize the conversion of the carrier body 2 between different layers of streamlines.

[0034] The six-axis robot arm 801 in the water meter case automatic loading tool 8 grabs the meter case 3 from the automatic loading and unloading mechanism 10 and accurately installs it at the corresponding position on the carrier body 2 with the assistance of the visual positioning of the camera; The movement four-axis mechanical module 1201 in the movement loading and assembly station 12 grabs the movement body 4 and assembles it onto the carrier body 2 on which the watch case has been installed, with the assistance of the visual positioning of the camera; The four-axis robot arm 901 in the fastening ring loading and assembly station 9 grabs the fastening ring body 5 and assembles it to the corresponding component with the assistance of the visual positioning of the camera; The electronic meter head four-axis mechanical module 1301 in the electronic meter head loading and assembly station 13 grabs the meter head body 6 and assembles it to the above-assembled components with the assistance of the visual positioning of the camera.

[0035] The pneumatic adsorption moving mechanism 1003 of the automatic loading and unloading mechanism 10 ensures that the extraction tray 7 is accurately in place and the material is stably loaded; in the assembly step, the mechanical arm or mechanical module of each assembly station performs precise grasping and assembly actions based on the visual information fed back by the camera.

[0036] Camera coordinate transmission and robotic arm movement implementation process: (1) Camera coordinate acquisition: After the camera is turned on and initialized, it continuously captures images of the target scene. When the target object is detected entering the field of view, the camera uses the built-in target detection algorithm to analyze the image and calculate the coordinate value of the target object in the camera coordinate system (x_camera, y_camera, z_camera); (2) Data transmission and processing: The camera sends the collected image data and the calculated coordinate information to the data processing module through the communication interface. After receiving the data, the data processing module first analyzes and processes the image data to verify the accuracy of the coordinate information. Then, according to the pre-calibrated conversion relationship between the camera coordinate system and the robot coordinate system, the coordinates in the camera coordinate system (x_camera, y_camera, z_camera) are converted to the coordinates in the robot coordinate system (x_robot, y_robot, z_robot).

[0037] (3) Robotic arm motion control: The data processing module sends the coordinate information of the converted robot arm coordinate system to the robot arm control module through the communication network. After receiving the target coordinate information, the robot arm control module starts to plan the motion trajectory of the robot arm. It will calculate the rotation angle and movement distance of each joint based on the current position and posture of the robot arm and the target coordinates. Then, the robot arm control module generates a series of control instructions based on the planned motion trajectory. These instructions contain information such as the speed, direction and movement time of each joint motor. The control instructions are sent to each joint motor of the robot arm through the motor driver, and the driving motor rotates according to the instructions, thereby driving the joint movement of the robot arm and making the end of the robot arm gradually approach the target object. During the movement of the robot arm, the robot arm control module monitors the actual movement state of the robot arm in real time, obtains the actual angle and position information of the joint through sensors such as encoders installed at the joints, and compares it with the expected motion trajectory. If it is found that there is a deviation between the actual movement and the expected trajectory, the robot arm control module will adjust the control instructions in time and correct the movement of the robot arm to ensure that the robot arm can accurately reach the target position and complete the corresponding operation task.

[0038] When the present application is in use: In the actual production process, firstly, according to the automatic loading steps of the above-mentioned assembly process, the watch case 3, the movement body 4, the fastening ring body 5 and the watch head body 6 are respectively transported to their respective loading positions by the corresponding AGV, and the pneumatic adsorption moving mechanism 1003 of the automatic loading and unloading mechanism 10 ensures that the materials are accurately transported to each assembly station.

[0039] In the water meter case automatic loading tooling 8, the six-axis robot arm 801 quickly and accurately grabs the meter case 3 from the automatic loading and unloading mechanism 10 under the visual positioning of the case camera 802, and installs it on the carrier body 2. As the carrier body 2 circulates on the circular line 11, it passes through the movement loading and assembly station 12, the fastening ring loading and assembly station 9 and the electronic meter head loading and assembly station 13 in sequence. The robot arm or mechanical module at each station completes the assembly of the corresponding parts with the assistance of the camera visual positioning of each tooling.

[0040] Finally, at the meter retrieval station 15, the mechanical gripper grabs the assembled finished water meter and places it on the conveyor belt, and the carrier body 2 descends to the next streamline and flows back to the water meter case loading station to start a new round of assembly process.

[0041] During the entire production process, each mechanism and workstation operates strictly according to preset procedures and parameters to ensure efficient, accurate and stable water meter assembly.

[0042] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A fully automatic assembly production line for a water meter, comprising a production line (1), a carrier body (2), a meter housing (3), a movement body (4), a fastening ring body (5), a meter head body (6) and a feeding plate (7), characterized in that: The production line (1) comprises: A water meter case automatic loading tool (8), the water meter case automatic loading tool (8) being arranged at the first workstation of the production line (1) and used for automatically loading and assembling a meter case (3), the water meter case automatic loading tool (8) comprising a six-axis robot arm (801), a case camera (802) and a case base (803); A fastening ring loading and assembly station (9), the fastening ring loading and assembly station (9) being arranged at the third station of the production line (1) and being used for automatically loading and assembling the fastening ring body (5), the fastening ring loading and assembly station (9) comprising a four-axis mechanical arm (901), a fastening ring camera (902) and a fastening ring machine base (903), a clip (904) being arranged under the four-axis mechanical arm (901) for clamping the fastening ring, and a lower end of the fastening ring camera (902) A locking mechanism (905) is provided, and an assembly position (906) and a buffer position (907) are provided at the feeding end of the locking mechanism (905), and the assembly position (906) is movably connected to the four-axis robot arm (901), and a positioning seat (908) and a clamp (909) are provided at the upper end of the locking mechanism (905), and the clamp (909) is controlled by a cylinder (910), and the clamp (909) is movable at the upper end of the positioning seat (908); An automatic loading and unloading mechanism (10), the automatic loading and unloading mechanism (10) being located at the start and at each assembly station of the production line (1), and being used for automatically loading and unloading the watch case (3), the movement body (4), the fastening ring body (5) and the watch head body (6), the automatic loading and unloading mechanism (10) comprising a loading U-groove roller line body, a unloading U-groove roller line body, a pneumatic adsorption moving mechanism (1003) and a side pneumatic limit assembly; A circulating line body (11) is provided in the production line (1), and the circulating line body (11) is used for the circulating flow of the carrier body (2).

2. A fully automatic assembly production line for water meters according to claim 1, characterized in that: Also includes: A movement loading and assembly station (12), the movement loading and assembly station (12) being arranged at a second workstation of a production line (1), the second workstation of the production line (1) being used for automatic loading and assembly of a movement body (4), the second workstation of the production line (1) comprising a movement four-axis mechanical module (1201), a movement camera (1202) and a movement base (1203).

3. A fully automatic assembly production line for water meters according to claim 2, characterized in that: Also includes: An electronic meter head loading and assembly station (13) is provided at the fourth station of the production line (1) and is used for automatic loading and assembly of a meter head body (6). The electronic meter head loading and assembly station (13) comprises a meter head four-axis mechanical module (1301), a meter head camera (1302) and a meter head machine base (1303).

4. A fully automatic assembly production line for water meters according to claim 3, characterized in that: It also comprises a blocking component, which is used to control the stay and advance of the carrier body (2) at each workstation.

5. A fully automatic assembly production line for water meters according to claim 4, characterized in that: The six-axis mechanical arm (801) is connected to the watch case camera (802) via a signal, and the automatic loading and unloading mechanism (10) grabs the watch case (3) and installs it at a corresponding position on the carrier body (2).

6. A fully automatic assembly production line for water meters according to claim 5, characterized in that: The movement four-axis mechanical module (1201) is connected to the movement camera (1202) by signal, and the movement four-axis mechanical module (1201) grabs the movement body (4) and assembles it onto the carrier body (2) on which the watch case (3) has been installed.

7. A fully automatic assembly production line for water meters according to claim 6, characterized in that: The four-axis mechanical arm (901) is connected to the fastening ring camera (902) by signal, the four-axis mechanical arm (901) grabs the fastening ring body (5) and assembles it between the movement body (4) and the watch case (3), the four-axis mechanical module (1301) of the watch head is connected to the watch head camera (1302) by signal, and the four-axis mechanical module (1301) of the watch head grabs the watch head body (6) and assembles it at the upper end of the watch case (3).

8. A fully automatic assembly production line for water meters according to claim 7, characterized in that: Also includes: A meter taking station (15), the meter taking station (15) is arranged at the end of the production line (1), the meter taking station (15) is used to take away the finished water meter, and the meter taking station (15) comprises a mechanical gripper and a conveyor belt.

9. A fully automatic assembly production line for water meters according to claim 8, characterized in that: It also includes a visual monitoring module, which is used to accurately transmit the coordinate information of the target object obtained by the camera to the robotic arm, and the visual monitoring module includes a camera module, a data processing module, a communication module and a robotic arm control module; The camera module focuses light through an optical lens and images the scene on an image sensor. The image sensor converts the light signal into an electrical signal, which forms digital image data after analog-to-digital conversion. The camera module is embedded with a coordinate detection function. The data processing module receives the image data and coordinate information from the camera module and converts them into coordinate displacement information in a mechanical coordinate system; The communication module is responsible for data transmission between the camera module, the data processing module and the robotic arm control module; The robot arm control module is used to plan the motion trajectory of the robot arm.

10. The assembly process of the fully automatic assembly line for water meters according to claim 9, characterized in that: The assembly steps are: S1: The watch case (3), the movement body (4), the fastening ring body (5) and the watch head body (6) are placed on a fully loaded tray and fed into each assembly station in the production line (1) through a loading U-groove roller line; S2: The carrier body (2) moves gradually on the production line (1), and the corresponding robot device grabs the watch case (3), the movement body (4), the fastening ring body (5) and the watch head body (6) in the corresponding tooling, and puts them in order after the carrier body (2) moves into place; S3: During the process, the camera in each tooling is used to take pictures of the position information, so that the robot equipment can accurately grasp the corresponding parts for assembly; S4: When the carrier body (2) completes one process, it can be circulated through the circulation line (11) to the starting end for further assembly.

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