An ultrasonic gas meter steel shell assembly closing assembly line and closing method

Abstract

The embodiment of the specification discloses a closing pipeline and a closing method of an ultrasonic gas meter steel shell assembly, wherein the closing pipeline comprises a first tray carrying a first steel shell, a second tray carrying a second steel shell and a conveying track conveying the first tray and the second tray; the closing pipeline further comprises an upper shell positioning unit capable of positioning the first steel shell at a first preset position, a lower shell positioning unit capable of positioning the second steel shell at a second preset position, and a manipulator capable of grabbing the first steel shell and moving between the first tray, the upper shell positioning unit and the lower shell positioning unit. Through the upper shell positioning unit and the lower shell positioning unit, the first steel shell is positioned at the first preset position and the second steel shell is positioned at the second preset position, and then combined with the high-precision control capability of the manipulator, a point-to-point control instruction of the manipulator is set, and the automatic and accurate closing operation of the first steel shell and the second steel shell is realized.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of watch case assembly technology, specifically to the mechanical automation improvement of ultrasonic gas meter steel case assemblies, and to an assembly line and method for assembling ultrasonic gas meter steel case assemblies. Background Technology

[0002] The steel casing assembly is the core sealing component of an ultrasonic gas meter, playing a crucial role in ensuring the meter's airtightness, pressure resistance, and long-term stable operation. Its structure is typically made of high-precision metal materials and must meet stringent sealing and flatness requirements to ensure the gas meter's reliability and safety under complex operating conditions. As a fundamental component of the ultrasonic gas meter, the assembly quality of the steel casing directly affects the overall performance and service life of the device.

[0003] Currently, the assembly of steel shell components largely relies on manual operation. The specific process includes manual handling, manual alignment, bolt tightening, and flatness inspection. Due to the nature of the process, operators need to maintain a high level of concentration for extended periods, relying on experience and manual adjustments to achieve the assembly and fixation of the components. Although manual operation offers some flexibility, the overall process has a low degree of standardization, is highly dependent on personnel skills, and requires a significant amount of repetitive labor.

[0004] Traditional manual assembly methods have significant drawbacks: First, insufficient alignment precision leads to poor consistency in component flatness, increasing the risk of seal failure. Second, high-intensity repetitive work causes employee fatigue and high turnover, further exacerbating quality fluctuations. Furthermore, labor costs rise with market demand, making it difficult to guarantee large-scale production in the context of labor shortages. These problems severely restrict product yield, production efficiency, and enterprise competitiveness, necessitating automated transformation through technological upgrades. Summary of the Invention

[0005] This specification provides an assembly line and method for assembling the steel casing of an ultrasonic gas meter. By using mechanized and automated assembly operations, the consistency and accuracy of the assembly action of the steel casing are maintained, thereby reducing reliance on manpower and lowering enterprise costs.

[0006] The technical solution is as follows:

[0007] In one aspect, embodiments of this specification provide a assembly line for an ultrasonic gas meter steel casing assembly, the steel casing assembly including a first steel casing and a second steel casing, and the assembly line including a first tray carrying the first steel casing, a second tray carrying the second steel casing, and a conveying track for moving the first tray and the second tray.

[0008] The assembly line also includes an upper shell positioning unit that can position the first steel shell at a first preset position, a lower shell positioning unit that can position the second steel shell at a second preset position, and a robotic arm that can grasp the first steel shell and move between the first tray, the upper shell positioning unit and the lower shell positioning unit.

[0009] The upper shell positioning unit includes a base plate, a limiting structure disposed on the base plate, and a top pressing structure that can move relative to the limiting structure and together with the limiting structure clamp and fix the first steel shell in a first preset position.

[0010] The lower shell positioning unit includes a base plate fixedly disposed above the conveying track, a lifting structure that can lift the second tray from the conveying track and clamp the second tray together with the bottom surface of the base plate, and a positioning structure that positions the second tray relative to the base plate so that the second steel shell on the clamped and fixed second tray is located at a second preset position. The base plate is provided with a joint window for the first steel shell to pass through.

[0011] Since the positions of the first and second steel shells on the conveyor track are uncertain, the first and second steel shells are positioned by upper and lower shell positioning units respectively. Then, a robotic arm performs a grasping and moving action between the two defined positions, achieving a high-precision automated joining operation. The robotic arm grasps the first steel shell from the first tray on the conveyor track and places it on the base plate of the upper shell positioning unit. The first steel shell is positioned by clamping it with a limiting structure and a pressing structure. Simultaneously, a lifting structure lifts the second tray off the conveyor track. The second steel shell is positioned by clamping the second tray with the lifting structure and the base plate, and by adjusting the second tray with the positioning structure. The robotic arm then grasps the positioned first steel shell from the first preset position and places it into the joining window to join with the second steel shell at the second preset position. Since both the first and second preset positions are defined, combined with the high-precision control capabilities of the robotic arm, point-to-point control commands are set for the robotic arm to achieve an automated and precise joining operation between the first and second steel shells. After the closing operation is completed, the lifting structure descends, allowing the second pallet to fall back onto the conveyor track and be transported to the next processing stage.

[0012] As a preferred embodiment, the lifting structure includes a lifting rod and a support plate disposed at the top of the lifting rod;

[0013] The positioning structure is a positioning protrusion provided on the upper surface of the support plate;

[0014] The bottom of the second tray has a positioning hole that mates with the positioning protrusion.

[0015] After the second pallet on the conveyor track moves to the positioning protrusion, the protrusion engages with the positioning hole on the bottom of the second pallet to position it. This changes the uncertain posture of the lifting structure lifting the second pallet on the moving conveyor track to a definite one, thus avoiding the need to adjust the posture of the second pallet. This ensures that the second steel shell in the second pallet enters the second preset position after lifting, improving the closing accuracy.

[0016] As a preferred embodiment, the second tray also carries a sealing ring pre-assembled with the second steel shell. The substrate is provided with a plurality of elastic buckles located above the edge of the second preset position. Each elastic buckle includes a pressure-receiving surface inclined upward toward the center of the engagement window and a blocking surface horizontally disposed below the pressure-receiving surface.

[0017] When the pressure surface of the elastic buckle is pressed, it pushes the elastic buckle outward, allowing the first steel shell to pass through the engagement window. After the first steel shell passes through the elastic buckle, the elastic buckle, under its own elastic force, returns to its original position above the edge of the second preset position, thus placing the blocking surface above the first steel shell to form a barrier. This serves two purposes: firstly, it prevents the edge of the first steel shell from contacting the top surface of the sealing ring during the closing process, which would prevent the sealing ring from coming off through the engagement window; secondly, it prevents the sealing ring from coming off through the engagement window.

[0018] As a preferred embodiment, the substrate is provided with two sets of latching groups, each set of latching groups including two elastic latches disposed opposite each other on the two opposite edges of the joint window, and the connecting lines between the corresponding two elastic latches in each of the two sets of latching groups are perpendicular to each other.

[0019] As a preferred embodiment, the bottom of the substrate is provided with a support foot for abutting against the second tray to form a gap between the bottom of the substrate and the top of the second steel shell.

[0020] Maintain a certain distance between the second steel shell and the bottom of the substrate to avoid direct contact between the two and damage to the steel shell assembly.

[0021] As a preferred embodiment, the limiting structure includes a transverse enclosing edge and a longitudinal enclosing edge perpendicular to the transverse enclosing edge, and the pressing structure includes a first extrusion member arranged in a direction perpendicular to the transverse enclosing edge or the longitudinal enclosing edge, and a second extrusion member arranged in a diagonal direction of the first steel shell when the first steel shell is in a first preset position.

[0022] First, the first extrusion piece is roughly positioned, then the second extrusion piece is precisely positioned. This avoids interference between the two mutually perpendicular extrusion pieces and errors that may occur during their respective extrusion processes.

[0023] As a preferred embodiment, the extrusion end of the second extruder is configured as a curved surface that matches the corner profile of the first steel shell.

[0024] The curved extrusion end allows the second extruder to guide the first steel shell to the first preset position more smoothly. At the same time, the matching of the curved surface with the corner contour of the first steel shell can also avoid the problem of excessive local extrusion pressure during the extrusion process, which could damage the first steel shell.

[0025] As a preferred embodiment, the base plate is disposed on the substrate, and the projections of the first preset position and the second preset position in the same horizontal plane are parallel.

[0026] The trajectory length and complexity of the robotic arm moving from the first preset position to the second preset position are simplified, thereby reducing motion errors and ensuring the closing accuracy of the steel shell assembly.

[0027] Secondly, this specification provides a closing method based on the content described in the first aspect of the above embodiments. The closing method includes the following steps:

[0028] The robotic arm is controlled to grab the first steel shell on the first pallet and place it on the base plate of the upper shell positioning unit;

[0029] The driving top pressing structure moves relative to the limiting structure until the top pressing structure and the limiting structure together clamp and fix the first steel shell in the first preset position.

[0030] The robotic arm is controlled to grasp the first steel shell in the first preset position, and the top pressing structure is driven to move in the opposite direction to the limiting structure.

[0031] The lifting structure is driven to rise, and the second tray, which is transported to the lifting structure by the conveying track, is lifted upward by the conveying track until the lifting structure and the base plate together clamp and fix the second tray, so that the second steel shell is held in the second preset position.

[0032] The robotic arm is controlled to place the first steel shell through the joint window onto the second steel shell, which is in the second preset position, to complete the closing operation.

[0033] The drive lifting structure descends until the second pallet falls back onto the conveyor track to continue conveying.

[0034] As a preferred embodiment, the controlled robotic arm places the first steel shell through the joining window onto the second steel shell at a second preset position to complete the closing operation, including:

[0035] The robotic arm is controlled to rotate, causing the first steel shell to tilt downwards to one side.

[0036] The robotic arm is controlled to pass the downward-sloping side of the first steel shell through the joint window and abut against the corresponding side of the second steel shell, which is in the second preset position.

[0037] The robotic arm is controlled to flip the first steel shell downwards along the abutting side until it is completely placed on the second steel shell in the second preset position, thus completing the closing operation.

[0038] During the process of placing the first steel shell into the sealing ring, the robotic arm uses the principle of the longest hypotenuse to close the shell step by step, thereby simplifying the difficulty of high-precision assembly.

[0039] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0040] 1. The first steel shell is positioned at the first preset position by the upper shell positioning unit and the second steel shell is positioned at the second preset position by the lower shell positioning unit. Combined with the high-precision control capability of the robot, point-to-point control commands are set for the robot to realize the automated and precise closing operation of the first steel shell and the second steel shell.

[0041] 2. When the pressure surface of the elastic buckle is pressed, the elastic buckle is pushed outward to allow the first steel shell to pass through the joining window. After the first steel shell passes through the elastic buckle, the elastic buckle returns to its original position above the edge of the second preset position under its own elastic force, thereby placing the blocking surface above the first steel shell to form a barrier. This prevents the edge of the first steel shell from contacting the top surface of the sealing ring during the closing process, thus preventing the sealing ring from coming off the joining window.

[0042] 3. The first extruder is used for rough positioning, followed by the second extruder for fine positioning. This avoids interference between the two perpendicular extruders and errors during their respective extrusion processes. The curved extrusion end allows the second extruder to guide the first steel shell to the first preset position more smoothly. At the same time, the matching of the curved surface with the corner contour of the first steel shell can also avoid the problem of excessive local extrusion pressure during the extrusion process, which could damage the first steel shell.

[0043] 4. During the process of placing the first steel shell into the sealing ring, the robotic arm uses the principle of the longest hypotenuse to close the shell step by step, thereby reducing the difficulty of high-precision assembly and improving the closing efficiency. Attached Figure Description

[0044] 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. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the assembly line for an ultrasonic gas meter steel casing assembly provided in the embodiments of this specification.

[0046] Figure 2This is a schematic diagram of the upper shell positioning unit and the lower shell positioning unit in the assembly line of an ultrasonic gas meter steel shell assembly provided in the embodiments of this specification, showing the state in which the lifting structure and the base plate jointly position the second steel shell in the second preset position.

[0047] Figure 3 This is a structural schematic diagram of the second tray and the second steel shell.

[0048] Figure 4 This is a schematic diagram of the lower shell positioning unit in the assembly line of an ultrasonic gas meter steel shell assembly provided in the embodiments of this specification.

[0049] Figure 5 yes Figure 4 The enlarged view of part A shows the specific setup of the elastic buckle.

[0050] Figure 6 This is a schematic diagram of the robotic arm grasping the first steel shell from the upper shell positioning unit.

[0051] Figure 7 This is a schematic diagram of a robotic arm grasping the first steel shell from the first pallet.

[0052] Figure 8 This is a schematic diagram showing how the robotic arm adjusts the closing posture of the first steel shell before it grasps and closes the second steel shell, using the principle that the hypotenuse is the longest.

[0053] In the diagram: 1. First steel shell; 2. Second steel shell; 3. First pallet; 4. Second pallet; 5. Conveying track; 6. Upper shell positioning unit; 61. Base plate; 62. Limiting structure; 621. Lateral enclosure side; 622. Longitudinal enclosure side; 63. Top pressing structure; 631. First extrusion component; 632. Second extrusion component; 7. Lower shell positioning unit; 71. Base plate; 711. Elastic buckle; 7111. Pressure-bearing surface; 7112. Blocking surface; 712. Support foot; 72. Lifting structure; 721. Lifting rod; 722. Support plate; 73. Positioning protrusion; 74. Joining window; 8. Robotic arm; 9. Sealing ring. Detailed Implementation

[0054] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0055] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0056] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0057] The steel casing assembly is the core sealing component of an ultrasonic gas meter, playing a crucial role in ensuring the meter's airtightness, pressure resistance, and long-term stable operation. Its structure is typically made of high-precision metal materials and must meet stringent sealing and flatness requirements to ensure the gas meter's reliability and safety under complex operating conditions. As a fundamental component of the ultrasonic gas meter, the assembly quality of the steel casing directly affects the overall performance and service life of the device.

[0058] A production line for assembling steel casing components of an ultrasonic gas meter, as shown in the reference. Figure 1 , Figure 2 As shown, Figure 1 This is a schematic diagram of the assembly line for an ultrasonic gas meter steel casing assembly provided in one embodiment of this specification.

[0059] The steel shell assembly includes a first steel shell 1 and a second steel shell 2. The assembly line includes a first pallet 3 that carries the first steel shell 1, a second pallet 4 that carries the second steel shell 2, and a conveyor track 5 that moves the first pallet 3 and the second pallet 4.

[0060] The assembly line also includes an upper shell positioning unit 6 that can position the first steel shell 1 at a first preset position, a lower shell positioning unit 7 that can position the second steel shell 2 at a second preset position, and a robotic arm 8 that can grasp the first steel shell 1 and move between the first pallet 3, the upper shell positioning unit 6 and the lower shell positioning unit 7.

[0061] The upper shell positioning unit 6 includes a base plate 61, a limiting structure 62 disposed on the base plate 61, and a top pressing structure 63 that can move relative to the limiting structure 62 and together with the limiting structure 62 clamp and fix the first steel shell 1 in a first preset position.

[0062] The lower shell positioning unit 7 includes a base plate 71 fixedly disposed above the conveying track 5, a lifting structure 72 that can lift the second tray 4 from the conveying track 5 and clamp the second tray 4 together with the bottom surface of the base plate 71, and a positioning structure that positions the second tray 4 relative to the base plate 71 so that the second steel shell 2 on the clamped and fixed second tray 4 is located at a second preset position. The base plate 71 is provided with a joint window 74 for the first steel shell 1 to pass through.

[0063] Explaining the process, the robotic arm 8 picks up the first steel shell 1 from the first tray 3 on the conveyor track 5 and places it on the base plate 61 of the upper shell positioning unit 6. The first steel shell 1 is positioned by the clamping of the limiting structure 62 and the pressing structure 63. Simultaneously, the lifting structure 72 lifts the second tray 4 from the conveyor track 5, detaching it from the track. The second steel shell 2 is positioned by the clamping of the second tray 4 by the lifting structure 72 and the base plate 71, and by the adjustment of the positioning structure. The robotic arm 8 then picks up the positioned first steel shell 1 from the first preset position and places it into the joining window 74 to join with the second steel shell 2 at the second preset position. Since both the first and second preset positions are fixed positions, combined with the high-precision control capability of the robotic arm 8, point-to-point control commands are set to the robotic arm 8 to achieve automated and precise joining of the first steel shell 1 and the second steel shell 2. It should be noted that the position of the second steel shell 2 placed on the second tray 4 is fixed, so that after the second steel shell 2 is positioned, the second tray 4 on it reaches the second preset position.

[0064] For illustrative purposes, the first steel shell 1 and the second steel shell 2 are two interlocking steel shell assemblies. The lower shell positioning unit 7 is set on the conveyor track 5 to facilitate the movement of the second tray 4, while the upper shell positioning unit 6 can be fixedly set at any position within the reach of the robot arm 8. Considering that the shorter the moving distance of the robot arm 8 during the closing operation, the smaller the error and the higher the efficiency, the upper shell positioning unit 6 should be set as close as possible to the lower shell positioning unit 7.

[0065] For example, Figure 1 The conveying track 5 includes two conveying lines that respectively convey the first steel shell 1 and the second steel shell 2. The conveying line that conveys the second steel shell 2 is closer to the setting position of the robot arm 8 than the conveying line that conveys the first steel shell 1. The upper shell positioning unit 6 is fixedly set between the lower shell positioning unit 7 and the conveying line that conveys the first steel shell 1, so as to shorten the moving distance of the robot arm 8 for the closing operation.

[0066] It is understandable that the conveying track 5 may consist of only one conveying line to carry out the conveying work of the first steel shell 1 and the second steel shell 2.

[0067] Figure 2 This is a schematic diagram of the upper shell positioning unit 6 and the lower shell positioning unit 7 in an assembly line for an ultrasonic gas meter steel shell assembly provided in this specification. It shows the state in which the lifting structure 72 and the base plate 71 jointly position the second steel shell 2 in a second preset position. The lifting structure 72 can be a common cylinder or hydraulic cylinder and hydraulic pump station to provide power to drive the lifting platform. It can also be a motor that drives the lifting platform with a lead screw, gear or synchronous belt. Lifting can also be achieved through a purely mechanical structure such as a cam, connecting rod, gear and rack.

[0068] For example, refer to Figure 3 , Figure 3 This is a structural schematic diagram of the second tray 4 and the second steel shell 2. By setting the bearing position of the second tray 4 to match the outline 5 of the second steel shell 2, the position of the second steel shell 2 on the second tray 4 is fixed. In this embodiment, two second steel shells 2 can be placed on the second tray 4. Two corresponding joining windows 74 are opened on the base plate 71. After the second tray 4 is positioned each time, the robot arm 8 performs the closing operation on the two second steel shells 2 in sequence. In this embodiment, after the lifting structure 72 and the bottom surface of the base plate 71 clamp and fix the second tray 4 together, the position of each second steel shell 2 is the second preset position in its own closing operation. Only the closing operation of one second steel shell 2 is used as an example for explanation. The upper shell positioning unit 6 can also be a positioning groove opened on the base plate 61 and the floor. The four walls of the positioning groove are guide surfaces that open and slope upwards towards the base plate 61. After the first steel shell 1 is placed in the positioning groove on the floor, it slides along the guide surface to the bottom of the groove by its own weight to complete the positioning.

[0069] In one embodiment of this specification, in conjunction with the appendix Figure 3 , Figure 3 This is a schematic diagram of the lower shell positioning unit 7 in the assembly line of an ultrasonic gas meter steel shell assembly provided in the embodiments of this specification. The lifting structure 72 includes a lifting rod 721 and a support plate 722 disposed at the top of the lifting rod 721;

[0070] The positioning structure is a positioning protrusion 73 set on the upper end face of the support plate 722;

[0071] The bottom of the second tray 4 has a positioning hole that mates with the positioning protrusion 73.

[0072] Explained, after the second pallet 4 on the conveyor track 5 moves to the position of the positioning protrusion 73, the positioning protrusion 73 engages with the positioning hole at the bottom of the second pallet 4 to position the second pallet 4. This changes the uncertain posture of the lifting structure 72 lifting the second pallet 4 on the moving conveyor track 5 to a definite one, thus avoiding the step of adjusting the posture of the second pallet 4. This ensures that the second steel shell 2 in the second pallet 4 enters the second preset position after lifting, improving the closing accuracy.

[0073] Illustratively, when the second tray 4 is clamped by the lifting structure 72 and the base plate 71, and the second tray 4 is adjusted by the positioning structure, the second steel shell 2 is positioned on the second tray 4 at the second preset position. The positioning structure can also be an irregularly shaped stop block provided on the support plate 722.

[0074] Currently, the mainstream ultrasonic gas meter structure mainly consists of two interlocking steel shell components, connected at the joint by a sealing ring 9 to achieve reinforcement and sealing. Before the closing operation, the glued lower steel shell component is usually pre-fitted into the L-shaped sealing ring 9. During the closing operation, the glued upper steel shell component is directly placed into the sealing ring 9 and fastened to the lower steel shell component. Then, the sealing ring 9 is folded and compacted in a subsequent station to complete the sealing. Because the gap between the sealing ring 9 and the joint surface of the steel shell component is very small, contact and collision between the upper steel shell component and the sealing ring 9 may still occur during the closing operation using the robotic arm 8, which may affect the closing efficiency to some extent.

[0075] In the case where the second steel shell 2 conveyed by the second pallet 4 already has a pre-assembled sealing ring 9, in one embodiment of this specification, refer to the appendix. Figure 4 and attached Figure 5 The second tray 4 also carries a sealing ring 9 pre-assembled with the second steel shell 2. The base plate 71 is provided with a plurality of elastic buckles 711 located above the edge of the second preset position. Each elastic buckle 711 includes a pressure-receiving surface 7111 inclined above the center of the engagement window 74 and a blocking surface 7112 horizontally disposed below the pressure-receiving surface 7111.

[0076] Explained, when the pressure-bearing surface 7111 of the elastic buckle 711 is pressed, the elastic buckle 711 pushes outward, allowing the first steel shell 1 to pass through the engagement window 74. After the first steel shell 1 passes through the elastic buckle 711, the elastic buckle 711, under its own elastic force, returns to its original position above the edge of the second preset position, thereby causing the blocking surface 7112 to be positioned above the first steel shell 1, forming a barrier. This serves two purposes: firstly, it prevents the edge of the first steel shell 1 from contacting the top surface of the sealing ring 9 during the closing process, thus preventing the sealing ring 9 from coming off the engagement window 74; secondly, it prevents the sealing ring 9 from coming off the engagement window 74.

[0077] Explanatory Figure 5 yes Figure 4The enlarged view of part A shows the specific arrangement of the elastic latch 711. The positioning structure can also consist of multiple positioning blocks with guide surfaces abutting the edge of the second tray 4, located at the bottom of the substrate 71, as shown in the reference diagram. Figure 4 Structural design of the connection between the flexible buckle 711 and the substrate 71.

[0078] In one embodiment of this specification, the substrate 71 is provided with two sets of latching groups, each set of latching groups including two elastic latches 711 disposed opposite to each other on the two opposite edges of the engagement window 74, and the lines connecting the two corresponding elastic latches 711 in each of the two sets of latching groups are perpendicular to each other.

[0079] Explanatoryly, an elastic buckle 711 is provided on each of the four sides of the joint surface of the first steel shell 1 and the second steel shell 2, which acts on the four sides of the first steel shell 1 respectively, to buffer the precise docking in the final step of the closing operation and avoid damage caused by the edge of the first steel shell 1 contacting the top surface of the sealing ring 9 during the closing process.

[0080] In one embodiment of this specification, the bottom of the substrate 71 is provided with a support foot 712 for abutting against the second tray 4 to form a gap between the bottom of the substrate 71 and the top of the second steel shell 2.

[0081] Explanatory, this ensures that the second steel shell 2, after positioning, maintains a certain distance from the bottom of the substrate 71 to avoid direct contact between the two and damage to the steel shell assembly.

[0082] In one embodiment of this specification, the limiting structure 62 includes a transverse enclosing edge 621 and a longitudinal enclosing edge 622 perpendicular to the transverse enclosing edge 621, and the pressing structure 63 includes a first pressing member 631 arranged in a direction perpendicular to the transverse enclosing edge 621 or the longitudinal enclosing edge 622, and a second pressing member 632 arranged in a diagonal direction of the first steel shell 1 when the first steel shell 1 is in a first preset position.

[0083] Explained, the design of the limiting structure 62 is simple, and the positioning steps are straightforward, resulting in high accuracy and no positioning error. When positioning the first steel shell 1, it is first coarsely positioned by the first extruder 631, with the first steel shell 1 pressed against the transverse enclosure edge 621. After the first extruder 631 retracts, the second extruder 632 performs fine positioning. If the two extruders are perpendicular to each other, during the subsequent extrusion process, the first steel shell 1 may gradually move away from the transverse enclosure edge 621, causing positioning errors. This necessitates multiple alternating extrusions by the two extruders to complete the positioning, increasing the positioning time.

[0084] For example, refer to Figure 6 , Figure 6This is a schematic diagram of the robotic arm 8 grasping the first steel shell 1 from the first tray 3. In this embodiment, when the first steel shell 1 is close to the transverse enclosure side 621 and the longitudinal enclosure side 622 on the side away from the second extruder 632, it is positioned at the first preset position.

[0085] In one embodiment of this specification, the extrusion end of the second extruder 632 is configured as a curved surface that matches the corner profile of the first steel shell 1.

[0086] Explanatoryly, the curved extrusion end allows the second extruder 632 to guide the first steel shell 1 more smoothly to the first preset position. Simultaneously, the matching of the curved surface with the corner contour of the first steel shell 1 avoids damage to the first steel shell 1 due to excessive local extrusion pressure during the extrusion process. The accuracy of the upper shell positioning unit 6 is controlled within 0.02mm.

[0087] In one embodiment of this specification, in conjunction with the appendix Figure 2 The base plate 61 is disposed on the base plate 71, and the projections of the first preset position and the second preset position in the same horizontal plane are parallel.

[0088] Explanatoryly, after the robotic arm 8 grasps the first steel shell 1, it lifts it up, translates it to be directly above the second preset position, and then lowers it to complete the closing. The robotic arm 8 does not need to move in a direction perpendicular to the translation. This simplifies the trajectory length and complexity of the robotic arm 8 moving from the first preset position to the second preset position, thereby reducing motion errors and ensuring the closing accuracy of the steel shell assembly.

[0089] In this embodiment, after the two second steel shells 2 in the second tray 4 are positioned, they correspond to two second preset positions respectively. The base plate 61 is disposed on the base plate 71. The first preset position is disposed parallel to any second preset position, or it can be disposed in other similar positions, such as the center line corresponding to the two second preset positions.

[0090] A joining method, based on the above-mentioned joining production line for an ultrasonic gas meter steel casing assembly, includes the following steps:

[0091] Step 1: Control the robotic arm 8 to grab the first steel shell 1 on the first pallet 3 and place it on the base plate 61 of the upper shell positioning unit 6;

[0092] Step 2: Drive the top pressing structure 63 to move relative to the limiting structure 62 until the top pressing structure 63 and the limiting structure 62 together clamp and fix the first steel shell 1 in the first preset position.

[0093] Step 3: Control the robotic arm 8 to grab the first steel shell 1 in the first preset position, and drive the top pressing structure 63 to move away from the limiting structure 62.

[0094] Step 4: Drive the lifting structure 72 to rise, and the second tray 4, which is transported by the conveying track 5 to the lifting structure 72, is lifted upward by the conveying track 5 until the lifting structure 72 and the base plate 71 together clamp and fix the second tray 4 so that the second steel shell 2 is held in the second preset position.

[0095] Step 5: Control the robotic arm 8 to place the first steel shell 1 through the joining window 74 onto the second steel shell 2, which is in the second preset position, to complete the closing operation;

[0096] Step 6: Drive the lifting structure 72 to descend until the second tray 4 falls back onto the conveying track 5 to continue conveying.

[0097] Reference Figure 7 Combined with the appendix Figure 1 and attached Figure 6 , Figure 7 This is a schematic diagram of the robotic arm 8 grasping the first steel shell 1 from the upper shell positioning unit 6.

[0098] In one embodiment of this specification, step 5, controlling the robotic arm 8 to place the first steel shell 1 through the joining window 74 onto the second steel shell 2 at the second preset position to complete the closing operation, includes:

[0099] Step 51: Control the robotic arm 8 to rotate so that the first steel shell 1 tilts downward to one side;

[0100] Step 52: Control the robot arm 8 to pass the downward tilted side of the first steel shell 1 through the joint window 74 and abut against the corresponding side of the second steel shell 2 which is in the second preset position;

[0101] Step 53: Control the robotic arm 8 to flip the first steel shell 1 downwards with the abutting side as the axis until it is completely placed on the second steel shell 2 in the second preset position, thus completing the closing operation.

[0102] To illustrate, the conveyor track 5 uses a double-speed chain. The robotic arm 8 grabs the qualified first steel shell 1 from the first tray 3 on the conveyor track 5, and accurately positions it through the upper shell positioning unit 6. Then, it grabs the first steel shell 1 again. Utilizing the principle that the hypotenuse is the longest, the first steel shell 1 enters the sealing ring 9 at an angle on one side and remains stationary, while the other side rotates to a horizontal angle and enters the sealing ring 9. Then, it is placed parallel to the joint surface of the second steel shell 2 to complete the closing operation. The accuracy is controlled within 0.04mm.

[0103] Explanatory, see appendix Figure 8 , Figure 8This is a schematic diagram illustrating how the robotic arm 8 adjusts the closing posture of the first steel shell 1 using the principle of the longest hypotenuse before grasping and closing the first steel shell 1 and the second steel shell 2. After the robotic arm grasps the first steel shell 1 and translates it to directly above the second preset position, it first rotates upward about one side of the first steel shell 1 as an axis. The mating surface of the first steel shell 1 and the mating surface of the second steel shell 2 form a certain angle, i.e. Figure 8 As shown in the diagram, the first steel shell 1 is then lowered. After the first steel shell 1 comes into contact with the second steel shell 2, it rotates downwards about the same side of the first steel shell 1 as the axis. The mating surface of the first steel shell 1 is parallel to the mating surface of the second steel shell 2, thus completing the closing.

[0104] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0105] The above embodiments are merely preferred embodiments described in this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.

Claims

1. A production line for assembling a steel casing assembly for an ultrasonic gas meter, the steel casing assembly comprising a first steel casing (1) and a second steel casing (2), characterized in that, The assembly line includes a first pallet (3) that carries the first steel shell (1), a second pallet (4) that carries the second steel shell (2), and a conveying track (5) that moves the first pallet (3) and the second pallet (4). The assembly line also includes an upper shell positioning unit (6) that can position the first steel shell (1) at a first preset position, a lower shell positioning unit (7) that can position the second steel shell (2) at a second preset position, and a robotic arm (8) that can grasp the first steel shell (1) and move it between the first tray (3), the upper shell positioning unit (6) and the lower shell positioning unit (7). The upper shell positioning unit (6) includes a base plate (61), a limiting structure (62) disposed on the base plate (61), and a top pressing structure (63) that can move relative to the limiting structure (62) and together with the limiting structure (62) clamp and fix the first steel shell (1) in the first preset position. The lower shell positioning unit (7) includes a base plate (71) fixedly disposed above the conveying track (5), a lifting structure (72) that can lift the second tray (4) from the conveying track (5) and clamp the second tray (4) together with the bottom surface of the base plate (71), and a positioning structure that positions the second tray (4) relative to the base plate (71) so that the second steel shell (2) on the clamped and fixed second tray (4) is located at a second preset position. The base plate (71) is provided with a joint window (74) for the first steel shell (1) to pass through. The second tray (4) also carries a sealing ring (9) pre-assembled with the second steel shell (2). The base plate (71) is provided with a plurality of elastic buckles (711) located above the edge of the second preset position. Each elastic buckle (711) includes a pressure-bearing surface (7111) inclined above the center of the engagement window (74) and a blocking surface (7112) horizontally disposed below the pressure-bearing surface (7111).

2. The assembly line for the steel casing of an ultrasonic gas meter according to claim 1, characterized in that, The lifting structure (72) includes a lifting rod (721) and a support plate (722) disposed at the top of the lifting rod (721). The positioning structure is a positioning protrusion (73) provided on the upper surface of the support plate (722). The bottom of the second tray (4) is provided with a positioning hole that cooperates with the positioning protrusion (73).

3. The assembly line for the steel casing of an ultrasonic gas meter according to claim 1, characterized in that, The substrate (71) is provided with two sets of latches, each set of latches including two elastic latches (711) disposed opposite to each other on the two opposite edges of the engagement window (74), and the lines connecting the two corresponding elastic latches (711) in the two sets of latches are perpendicular to each other.

4. The assembly line for the steel casing of an ultrasonic gas meter according to claim 1, characterized in that, The bottom of the substrate (71) is provided with a support foot (712) for abutting against the second tray (4) to form a gap between the bottom of the substrate (71) and the top of the second steel shell (2).

5. The assembly line for the steel casing of an ultrasonic gas meter according to claim 1, characterized in that, The limiting structure (62) includes a transverse enclosing edge (621) and a longitudinal enclosing edge (622) perpendicular to the transverse enclosing edge (621). The top pressing structure (63) includes a first extrusion member (631) arranged in a direction perpendicular to the transverse enclosing edge (621) or the longitudinal enclosing edge (622), and a second extrusion member (632) arranged in the diagonal direction of the first steel shell (1) when the first steel shell (1) is in the first preset position.

6. The assembly line for the steel casing of an ultrasonic gas meter according to claim 5, characterized in that, The extrusion end of the second extruder (632) is configured as a curved surface that matches the corner profile of the first steel shell (1).

7. The assembly line for the steel casing of an ultrasonic gas meter according to claim 1, characterized in that, The base plate (61) is disposed on the substrate (71), and the projections of the first preset position and the second preset position in the same horizontal plane are parallel.

8. A joining method, based on the joining production line of an ultrasonic gas meter steel shell assembly according to any one of claims 1 to 7, characterized in that, Includes the following steps: Control the robotic arm (8) to grab the first steel shell (1) on the first pallet (3) and place it on the bottom plate (61) of the upper shell positioning unit (6); The driving top pressing structure (63) moves relative to the limiting structure (62) until the top pressing structure (63) and the limiting structure (62) together clamp and fix the first steel shell (1) in the first preset position; The control robot (8) grabs the first steel shell (1) in the first preset position and drives the top pressing structure (63) to move away from the limiting structure (62); The lifting structure (72) is driven to rise, and the second tray (4) transported by the conveying track (5) to the lifting structure (72) is lifted upward by the conveying track (5) until the lifting structure (72) and the base plate (71) together clamp and fix the second tray (4) so ​​that the second steel shell (2) is kept in the second preset position. The control robot (8) places the first steel shell (1) through the joint window (74) onto the second steel shell (2) which is in the second preset position, and completes the closing operation; The drive lifting structure (72) descends until the second pallet (4) falls back onto the conveying track (5) to continue conveying.

9. A closing method according to claim 8, characterized in that, The control robot (8) places the first steel shell (1) through the joining window (74) onto the second steel shell (2) at the second preset position to complete the closing operation, including: Control the robotic arm (8) to rotate so that the first steel shell (1) tilts downward to one side; The control robot (8) moves the downward tilted side of the first steel shell (1) through the joint window (74) to abut the corresponding side of the second steel shell (2) which is in the second preset position; The robot arm (8) is controlled to flip the first steel shell (1) downward with the abutting side as the axis until it is completely placed on the second steel shell (2) in the second preset position, thus completing the closing operation.

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