Metering component assembling equipment of volumetric water meter and positioning detection method of metering component assembling equipment

Abstract

The invention discloses metering component assembling equipment of a volumetric water meter and a positioning detection method of the metering component assembling equipment, and relates to the technical field of water meter assembling, the metering component assembling equipment comprises an assembling table, and the upper end of the assembling table is fixedly provided with a multi-channel part feeding assembly, a rotary multi-station part clamping assembly, a positioning assembling assembly and a water meter metering chamber positioning clamp. According to the device, the hydraulic clamp for clamping the impeller counter is adjusted to be located over the water meter metering chamber, the impeller counter is placed into the water meter metering chamber under the positioning and mounting operation of the positioning and assembling assembly, and then the rotary driving assembly drives the multi-station part clamp to rotate; the signal converter needed in the next installation step is adjusted to the position over the water meter metering chamber, positioning and assembling of the signal converter and the signal transmitter are sequentially completed, the metering component does not need to be repeatedly clamped when a single-batch assembling task is carried out, and therefore the time needed for assembling the metering component is shortened, and the assembling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water meter assembly, in particular to a metering component assembly device for a volumetric water meter and a positioning detection method thereof. Background Art

[0002] The basic principle of a volumetric water meter is that water passes through the inside of the meter, driving an impeller or rotor containing a metering component to rotate. The number of rotations of the impeller or rotor is positively correlated with the amount of water flowing down, so the amount of water flowing down can be calculated. The metering components in the volumetric water meter include impeller counters, signal converters, signal transmitters and other components. When assembling a volumetric water meter, it is necessary to use assembly equipment to accurately assemble the metering components and related accessories in sequence inside the metering chamber of the water meter.

[0003] For example, the integrated assembly line type water meter parts assembly device with Chinese patent publication number CN117644388B includes multiple conveyor belts supported by a frame, and multiple rubber gaskets, dial glass and water meter housing are placed on each conveyor belt.

[0004] During the assembly of the metrology components, the specific assembly process involves first placing the components on a mechanical fixture inside the measuring tube section. The fixture is then adjusted to enter the parts delivery area to pick up the components required for subsequent assembly steps. However, the repeated gripping action during the assembly process increases overall assembly time, negatively impacting assembly efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a metering component assembly device for a volumetric water meter and a positioning detection method thereof, so as to solve the problem raised in the above background technology that the existing metering component assembly process requires multiple repeated clamping actions, which prolongs the overall assembly time and thus has an adverse effect on the assembly efficiency.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a metering component assembly device for a volumetric water meter, comprising an assembly table, on the upper end of which are fixedly mounted a multi-channel component feeding assembly, a rotary multi-station component clamping assembly, a positioning assembly assembly and a water meter metering chamber positioning fixture, the rotary multi-station component clamping assembly being arranged in the middle of the multi-channel component feeding assembly, the multi-channel component feeding assembly being used for temporarily storing the impeller counter, signal converter and signal transmitter required for assembly, the rotary multi-station component clamping assembly synchronously clamping the impeller counter, signal converter and signal transmitter of the multi-channel component feeding assembly, the positioning assembly assembly sequentially positioning, detecting and assembling the metering components clamped by the rotary multi-station component clamping assembly, and the water meter metering chamber positioning fixture being used for positioning and clamping the water meter metering chamber.

[0007] The rotary multi-station component clamping assembly includes a No. 1 mounting frame, a single-axis adjustment assembly, a rotary drive assembly, a No. 2 mounting frame and a multi-station component fixture. The single-axis adjustment assembly is fixedly mounted on one side of the No. 1 mounting frame, and the drive end of the single-axis adjustment assembly is fixedly connected to one side of the No. 2 mounting frame. The multi-station component fixture is rotatably connected to the inside of the No. 2 mounting frame, and one end of the multi-station component fixture is transmission-connected to the drive end of the rotary drive assembly.

[0008] Preferably, the single-axis adjustment assembly includes a No. 1 drive motor, a screw rod, a drive block and a sliding rod. The drive end of the No. 1 drive motor is transmission-connected to one end of the screw rod, the screw rod is threadedly connected to the interior of the drive block, the sliding rod moves through the interior of the drive block, and one side of the drive block is fixedly connected to one side of the No. 2 mounting frame.

[0009] Preferably, the multi-station component fixture includes a mounting block, three sets of hydraulic clamps and a rotating shaft. The rotating shaft is fixedly mounted inside the mounting block. Both ends of the rotating shaft are rotatably connected to the inside of the No. 2 mounting frame. One end of the rotating shaft is transmission-connected to the driving end of the rotating drive assembly. The rotating drive assembly includes a No. 2 driving motor and a speed changer. The output end of the No. 2 driving motor is transmission-connected to the input end of the speed changer. The output end of the speed changer is transmission-connected to one end of the rotating shaft. Pressure sensors are fixedly mounted on the clamping jaws of the three sets of hydraulic clamps. Six-dimensional force sensors are installed at both ends of the rotating shaft. The signal output ends of the pressure sensor and the six-dimensional force sensor are connected to the central controller, and the central controller is signal-connected to the speed changer.

[0010] Preferably, the multi-channel parts feeding assembly includes three groups of parts clamping bins, which respectively clamp the impeller counter, signal converter and signal transmitter inside. Several No. 1 electric telescopic rods are fixedly installed on one side of the No. 1 mounting frame in a centrally symmetrical manner, and the driving ends of several No. 1 electric telescopic rods are fixedly connected to one side of one group of parts clamping bins. A slide rail is provided on one side of the other two groups of parts clamping bins, and a slider is slidably connected to the outer side of the slide rail. One side of the slider is fixedly connected to one side of the parts clamping bin, and a No. 2 electric telescopic rod is provided on one side of the slide rail, and the driving end of the No. 2 electric screw is fixedly connected to the side of the parts clamping bin.

[0011] Preferably, the component clamping bin includes an installation bin and several hydraulic clamps, a groove is provided on one side of the installation bin, and the several hydraulic clamps are fixedly installed on one side of the installation bin, and the clamping ends of the several hydraulic clamps pass through the interior of the groove.

[0012] Preferably, the positioning assembly component includes a multi-joint robotic arm, a visual detection component and an electric-controlled gripper, and the signal output end of the visual detection component is connected to the signal input end of the electric-controlled gripper.

[0013] Preferably, the visual inspection component includes an industrial camera, an image processing module and a control module, and the signal output end of the control module is connected to the signal input end of the electric-controlled gripper.

[0014] Preferably, the water meter chamber positioning fixture includes two sets of side positioning plates and three electric telescopic rods. One set of side positioning plates is fixedly installed above the assembly table, and the driving end of the three electric telescopic rods is fixedly connected to one side of the other set of side positioning plates.

[0015] Preferably, a positioning rod is fixedly connected to the other side of the side positioning plate, a positioning ring is movably sleeved on the outer side of the positioning rod, and the positioning rod passes through one end of the water meter measuring chamber and positions the water meter measuring chamber.

[0016] A method for detecting the positioning of a measuring component of a volumetric water meter comprises the following steps:

[0017] S1. Pretreatment of the water meter chamber: Place the water meter chamber to be assembled on the assembly table and position and clamp it using the water meter chamber positioning fixture;

[0018] Insert the positioning rods of a set of side positioning plates into the positioning holes at one end of the water meter chamber to initially fix its position;

[0019] The third electric telescopic rod drives another set of side positioning plates close to the water meter chamber, and the positioning ring on the outside of the positioning rod squeezes the gap to complete the two-way clamping and fixing;

[0020] S2. Multi-component synchronous gripping and feeding assembly reset: The rotary multi-station component gripping assembly synchronously grips the metering components in the multi-channel component feeding assembly;

[0021] The three sets of hydraulic clamps of the multi-station component clamp extend into the three sets of component clamping compartments respectively to synchronously clamp the impeller counter, signal converter, and signal transmitter;

[0022] After the clamping is completed, the No. 1 electric telescopic rod drives the upper parts clamping bin to reset upward, and the parts clamping bins on both sides are reset to the outside along the slide rail under the drive of the No. 2 electric telescopic rod;

[0023] The single-axis adjustment assembly starts: the No. 1 drive motor drives the screw to rotate, driving the drive block to slide linearly along the slide rod, so that the multi-station component fixture moves as a whole to the assembly area above the water meter chamber;

[0024] S3. Visual positioning and position calibration: The visual inspection component performs spatial positioning of the metering components and the water metering chamber;

[0025] The industrial camera captures images of the water meter chamber and the clamped impeller counter. The image processing module uses a template matching algorithm to identify component feature points and edge contours, and calculates the deviation between the actual position and the ideal position, including translation and rotation angle.

[0026] The control module sends instructions based on the deviation value to adjust the linear displacement of the single-axis adjustment component and the angular rotation of the rotary drive component, so that the hydraulic fixture holding the impeller counter is accurately aligned above the center of the water meter chamber;

[0027] S4. Position the assembly components and accurately install the impeller counter:

[0028] Driven by the multi-joint robotic arm, the electric-controlled gripper grabs the impeller counter from the hydraulic fixture in the multi-station component fixture, and the hydraulic fixture releases the grip at the same time;

[0029] Based on the three-dimensional coordinate information output by the visual inspection component, a multi-jointed robotic arm places the impeller counter into the center mounting position of the water meter chamber. Workers then complete the mechanical fixation and circuit connections, completing the assembly of the single component.

[0030] S5. Rotate and switch components and repeat the assembly of the rotary drive assembly to switch components to be assembled:

[0031] The second drive motor drives the rotating shaft to rotate 120 degrees through the speed changer, so that the hydraulic fixture holding the signal converter is moved to the top of the water metering chamber. Repeat steps S3-S4 to complete the assembly of the signal converter.

[0032] Rotate 120° again to align the hydraulic fixture corresponding to the signal transmitter with the center, and repeat the positioning inspection and assembly process until all metering components are installed;

[0033] S6. Multi-batch cycle processing After a single batch of assembly is completed, the multi-station component fixture returns to the multi-channel component feeding assembly and repeats steps S2-S5 to achieve continuous batch production. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of a measuring component assembly device of a volumetric water meter according to the present invention;

[0035] Figure 2 It is a schematic diagram of the three-dimensional structure of a multi-channel parts feeding assembly in a measuring component assembly device of a volumetric water meter according to the present invention;

[0036] Figure 3 This is a schematic diagram of the three-dimensional structure of a component clamping bin in a measuring component assembly device for a volumetric water meter according to the present invention;

[0037] Figure 4This is a schematic diagram of the three-dimensional structure of a rotary multi-station component clamping assembly in a measuring component assembly device for a volumetric water meter according to the present invention;

[0038] Figure 5 This is a schematic diagram of the transmission relationship between a rotary drive assembly and a multi-station component fixture in a measuring component assembly device for a volumetric water meter according to the present invention;

[0039] Figure 6 It is a schematic diagram of the three-dimensional structure of a positioning fixture for a water meter measuring chamber in a measuring component assembly device for a volumetric water meter according to the present invention;

[0040] Figure 7 It is a schematic diagram of positioning and assembling an impeller counter of a positioning assembly component in a measuring component assembly device of a volumetric water meter according to the present invention;

[0041] Figure 8 A schematic diagram of a hydraulic fixture for rotating and adjusting a multi-station component fixture in a measuring component assembly device for a volumetric water meter according to the present invention;

[0042] Figure 9 A schematic diagram of the positioning range of a visual detection component in a measuring component assembly device for a volumetric water meter according to the present invention;

[0043] Figure 10 The present invention is a flow chart of the positioning and assembly of a measuring component assembly device for a volumetric water meter.

[0044] In the figure: 1. Assembly table; 2. Multi-channel parts feeding assembly; 21. Parts clamping compartment; 211. Mounting compartment; 212. Groove; 22. Slide rail; 23. Slider; 24. No. 2 electric telescopic rod; 3. Rotary multi-station parts clamping assembly; 31. No. 1 mounting frame; 311. No. 1 electric telescopic rod; 32. Single-axis adjustment assembly; 321. No. 1 drive motor; 322. Screw; 323. Drive block; 324. Slide; 33. Rotary Rotation drive assembly; 331. No. 2 drive motor; 332. Speed ​​changer; 34. No. 2 mounting frame; 35. Multi-station component fixture; 351. Mounting block; 352. Hydraulic fixture; 353. Rotation axis; 4. Positioning assembly assembly; 41. Multi-joint robotic arm; 42. Visual inspection assembly; 43. Electric-controlled gripper; 5. Water meter chamber positioning fixture; 51. Side positioning plate; 52. No. 3 electric telescopic rod; 53. Positioning rod; 54. Positioning ring. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] Example 1: Reference Figure 1 - Figure 10 As shown: A metering component assembly device for a volumetric water meter, including an assembly table 1, on the upper end of the assembly table 1 are fixedly installed a multi-channel component feeding component 2, a rotary multi-station component clamping component 3, a positioning assembly component 4 and a water meter metering chamber positioning fixture 5, the rotary multi-station component clamping component 3 is arranged in the middle of the multi-channel component feeding component 2, the multi-channel component feeding component 2 is used to temporarily store the impeller counter, signal converter and signal transmitter required for assembly, the rotary multi-station component clamping component 3 synchronously clamps the impeller counter, signal converter and signal transmitter of the multi-channel component feeding component 2, the positioning assembly component 4 sequentially positions, detects and assembles the metering components clamped by the rotary multi-station component clamping component 3, and the water meter metering chamber positioning fixture 5 is used to position and clamp the water meter metering chamber.

[0047] The rotary multi-station component clamping assembly 3 includes a No. 1 mounting frame 31, a single-axis adjustment assembly 32, a rotary drive assembly 33, a No. 2 mounting frame 34 and a multi-station component fixture 35. The single-axis adjustment assembly 32 is fixedly mounted on one side of the No. 1 mounting frame 31, and the driving end of the single-axis adjustment assembly 32 is fixedly connected to one side of the No. 2 mounting frame 34. The multi-station component fixture 35 is rotatably connected to the inside of the No. 2 mounting frame 34, and one end of the multi-station component fixture 35 is transmission-connected to the driving end of the rotary drive assembly 33.

[0048] The single-axis adjustment assembly 32 includes a No. 1 drive motor 321, a screw rod 322, a drive block 323 and a slide rod 324. The drive end of the No. 1 drive motor 321 is connected to one end of the screw rod 322. The screw rod 322 is threadedly connected to the inside of the drive block 323. The slide rod 324 moves through the inside of the drive block 323. One side of the drive block 323 is fixedly connected to one side of the No. 2 mounting bracket 34. The multi-station component fixture 35 includes a mounting block 351, three sets of hydraulic clamps 352 and a rotary clamp. The rotating shaft 353 is fixedly mounted inside the mounting block 351. Both ends of the rotating shaft 353 are rotatably connected to the inside of the No. 2 mounting frame 34. One end of the rotating shaft 353 is transmission-connected to the driving end of the rotating drive assembly 33. The rotating drive assembly 33 includes a No. 2 driving motor 331 and a speed changer 332. The output end of the No. 2 driving motor 331 is transmission-connected to the input end of the speed changer 332. The output end of the speed changer 332 is transmission-connected to one end of the rotating shaft 353.

[0049] In this embodiment, the multi-station component fixture 35 first clamps the impeller counter, signal converter and signal transmitter required for a single assembly in the middle of the multi-channel component feeding assembly 2, and then, under the driving action of the No. 1 driving motor 321, the driving block 323 drives the multi-station component fixture 35 to slide on the slide rod 324, so that it slides out from the middle of the multi-channel component feeding assembly 2 until the hydraulic fixture 352 that clamps the impeller counter is located directly above the water metering chamber. Under the positioning and installation operation of the positioning assembly component 4, the impeller counter is placed inside the water metering chamber. Then, the No. 2 driving motor 331 in the rotation driving component 33 drives the speed changer 332 to work, and the speed changer 332 drives the rotating shaft 353 to rotate, driving the multi-station component fixture 35 to rotate with the rotating shaft 353 as the axis, and adjusts the signal converter required for the next installation step to the top of the water metering chamber. The positioning assembly component 4 repeats the positioning and installation operation to complete the positioning assembly of the signal converter and the signal transmitter in turn. When performing a single batch assembly task, there is no need to repeatedly clamp the metering components, thereby shortening the time required to assemble the metering components and improving assembly efficiency.

[0050] Example 2: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 10As shown, the multi-channel parts feeding assembly 2 includes three groups of parts clamping bins 21, and the three groups of parts clamping bins 21 respectively clamp the impeller counter, signal converter and signal transmitter inside. One side of the No. 1 mounting frame 31 is fixedly installed with several No. 1 electric telescopic rods 311 in a centrally symmetrical manner, and the driving ends of several No. 1 electric telescopic rods 311 are fixedly connected to one side of one group of parts clamping bins 21. One side of the other two groups of parts clamping bins 21 is provided with a slide rail 22, and the outer side of the slide rail 22 is slidably connected with a slider 23, and one side of the slider 23 is fixedly connected to one side of the parts clamping bin 21. A No. 2 electric telescopic rod 24 is provided on one side of the slide rail 22, and the driving end of the No. 2 electric telescopic rod 24 is fixedly connected to the side of the parts clamping bin 21. The parts clamping bin 21 includes a mounting bin 211 and several hydraulic clamps 352. A groove 212 is provided on one side of the mounting bin 211, and several hydraulic clamps 352 are fixedly installed on the mounting bin. On one side of the warehouse 211, the clamping ends of several hydraulic clamps 352 pass through the interior of the groove 212. The multi-station component clamp 35 includes a mounting block 351, three groups of hydraulic clamps 352 and a rotating shaft 353. The rotating shaft 353 is fixedly installed inside the mounting block 351. Both ends of the rotating shaft 353 are rotatably connected to the interior of the No. 2 mounting frame 34. One end of the rotating shaft 353 is transmission-connected to the driving end of the rotation drive assembly 33. The rotation drive assembly 33 includes a No. 2 drive motor 331 and a speed changer 332. The output end of the No. 2 drive motor 331 is transmission-connected to the input end of the speed changer 332. The output end of the speed changer 332 is transmission-connected to one end of the rotating shaft 353. Pressure sensors are fixedly installed at the clamping jaws of the three groups of hydraulic clamps 352. Six-dimensional force sensors are installed at both ends of the rotating shaft 353. The signal output ends of the pressure sensor and the six-dimensional force sensor are connected to the central controller, and the central controller is signal-connected to the speed changer 332.

[0051] In this embodiment, Figure 10As shown in the first column on the left, when the three groups of hydraulic clamps 352 in the multi-station component clamp 35 synchronously clamp the metering components inside the three component clamping bins 21 respectively, the hydraulic clamps 352 inside the three component clamping bins 21 release the clamping task, and the component clamping bins 21 on both sides of the multi-station component clamp 35 slide on the slide rail 22 under the drive of the No. 2 electric telescopic rod 24 to perform a reset operation. At the same time, the No. 1 electric telescopic rod 311 drives the component clamping bin 21 above the multi-station component clamp 35 to move upward, reserving corresponding movement space for the multi-station component clamp 35 to leave the multi-channel component feeding assembly 2, so that the multi-station component clamp 35 can synchronously clamp the metering components required for a single batch assembly task inside the multi-channel component feeding assembly 2, so that the multi-station component clamp 35 can quickly complete a round of clamping tasks and quickly enter the next round. Compared with the traditional single-station or asynchronous operation mode, more batches of metering components can be clamped per unit time, effectively shortening the time of the overall assembly process and improving production capacity.

[0052] It is worth noting that, in view of the weight differences among the impeller counter (lightweight plastic part, about 50g), the signal converter (mixed material, about 100g), and the signal transmitter (metal part, about 200g), the clamping force of the three-station fixture is adaptively controlled through real-time feedback from the pressure sensor + dynamic adjustment of the proportional valve, thus avoiding damage or falling off of components due to uneven clamping force.

[0053] The specific plan is as follows:

[0054] 1. Sensor integration design

[0055] A micro pressure sensor (such as a strain gauge sensor with a range of 0-30N and an accuracy of ±0.1N) is embedded inside the clamping arm of each set of hydraulic clamps 352, and the sensor signal line is integrated into the wiring groove inside the mounting block 351.

[0056] 2. Install six-dimensional force sensors at the bearing seats at both ends of the rotating shaft 353 to monitor the axial / radial load distribution of the three-station fixture in real time and identify eccentric loads caused by component weight differences (the threshold is set to trigger compensation when the load difference is greater than 10%).

[0057] 2. Closed-loop control algorithm

[0058] (1) Gradual pressure control strategy:

[0059] a. Impeller counter: The clamping force is set to 5-8N (to prevent tooth deformation). When the deviation between the real-time feedback value of the pressure sensor and the set value is greater than 1N, the central controller drives the proportional pressure reducing valve to adjust the hydraulic system pressure (response time < 20ms);

[0060] b. Signal converter: The clamping force is set to 10-15N (taking into account the protection of the plastic shell and internal circuit board);

[0061] c. Signal transmitter: The clamping force is set to 15-20N (to prevent metal parts from slipping, the safety factor must be greater than 2 times the gravity).

[0062] (2) Load balancing compensation:

[0063] When the six-axis force sensor detects that the radial load deviation of the rotating shaft is greater than 15%, the acceleration of the rotating drive assembly 33 is fine-tuned by the speed changer 332 to offset the vibration caused by the eccentric load (for example, reducing the rotation acceleration to 50° / s 2 , until the load difference is less than 5%).

[0064] Example 3: According to Figure 1 、 Figure 7 、 Figure 8 and Figure 9 As shown, the positioning assembly component 4 includes a multi-joint robotic arm 41, a visual detection component 42 and an electric-controlled clamp 43. The signal output end of the visual detection component 42 is interconnected with the signal input end of the electric-controlled clamp 43. The visual detection component 42 includes an industrial camera, an image processing module and a control module. The signal output end of the control module is interconnected with the signal input end of the electric-controlled clamp 43.

[0065] In this embodiment, when the positioning assembly component 4 assembles the corresponding metering components, the industrial camera in the visual inspection component 42 takes pictures and images of the water metering chamber and the metering components, and is assembled by a field programmable gate array through an image processing module. It identifies the characteristic points, edges or contours of the components, and uses a template matching algorithm to find the area most similar to the standard image in the collected image, calculates the deviation between the actual position and the ideal position of the component, including deviations in translation, rotation and scaling, and sends the control instructions to the interior of the electric-controlled clamp 43 through the control module. The control module is composed of a microprocessor, which receives the control instructions from the image processing module, calculates the control parameters that need to be adjusted for the electric-controlled clamp 43 according to the preset control algorithm, and generates corresponding control instructions, thereby controlling the electric-controlled clamp 43 holding the metering component to perform precise position adjustment, and place the corresponding metering component in the center of the water metering chamber, and the worker performs corresponding assembly operations on the metering component.

[0066] Example 4: According to Figure 1 and Figure 6As shown, the water meter chamber positioning fixture 5 includes two groups of side positioning plates 51 and a No. 3 electric telescopic rod 52. One group of side positioning plates 51 is fixedly installed above the assembly table 1. The driving end of the No. 3 electric telescopic rod 52 is fixedly connected to one side of the other group of side positioning plates 51. The other side of the side positioning plate 51 is fixedly connected with a positioning rod 53. The outer side of the positioning rod 53 is movably sleeved with a positioning ring 54. The positioning rod 53 passes through one end of the water meter chamber and positions the water meter chamber.

[0067] In this embodiment, before assembling the metering components, the water meter metering chamber to be assembled is first placed on one side of a group of side positioning plates 51, so that the positioning rods 53 on one side of a group of side positioning plates 51 extend into one side of the water meter metering chamber, and the water meter metering chamber is preliminarily positioned. Then, the No. 3 electric telescopic rod 52 drives the other group of side positioning plates 51 to slide toward the water meter metering chamber, and the other side of the water meter metering chamber is positioned and clamped. The positioning ring 54 movably sleeved on the outside of the positioning rod 53 is squeezed into the gap between the water meter metering chamber and the positioning rod 53, further improving the stability of the clamping positioning, so that the water metering chamber will not be offset when the positioning assembly component 4 and the rotary multi-station component clamping component 3 are performing the assembly task.

[0068] Example 5: According to Figures 1-10 As shown, the core innovation of this application lies in the systematic integration of multi-station synchronous clamping, vision-guided precise positioning, multi-channel rapid feeding and stable clamping, breaking through the bottleneck of low assembly efficiency and poor precision of traditional volumetric water meter measuring components. The following are the three core innovations and their detailed technical descriptions:

[0069] 1. Rotary multi-station synchronous clamping technology: subverting the traditional single-station serial operation mode

[0070] A multi-station component fixture 35 is designed, which includes three sets of hydraulic fixtures 352. The rotating shaft 353 and the rotary drive assembly 33 can realize 120° indexing rotation, and can simultaneously clamp the three components of the impeller counter, signal converter, and signal transmitter at one time. Figure 4 、 Figure 5 ).

[0071] The specific innovations are:

[0072] 1. Parallel clamping replaces serial clamping. Traditional equipment requires "clamping → assembly → return and clamping again", and a single assembly requires three round trips. This technology uses three sets of clamps to clamp synchronously, and only one clamping is required to complete the sequential assembly of three parts, shortening the clamping time by 66.7% ( Figure 10 process comparison).

[0073] 2. Rotation switching for quick positioning: After the impeller counter is assembled, the rotary drive assembly 33 drives the fixture to rotate 120° and directly switches the signal converter to the top of the metering chamber ( Figure 8 ), eliminating the idle travel time of traditional robotic arms in feeding materials back and forth, and shortening the single batch assembly cycle.

[0074] Structural support:

[0075] 1. Single axis adjustment assembly 32: The linear movement of the clamp is achieved through the screw rod 322 and the slide rod 324 to ensure that the clamped parts are accurately aligned with the metering chamber ( Figure 4 ).

[0076] 2. Hydraulic clamp pressure balance design: Adaptive clamping of different components is achieved through pressure sensors to avoid damage to lightweight components (such as the impeller counter clamping force is controlled at 5-8N).

[0077] Technical advantages:

[0078] 1. Efficiency breakthrough: The daily production capacity of a single device has been increased by more than two times, significantly reducing the frequency of manual intervention (reducing clamping operations by 70%).

[0079] 2. Process simplification: The integrated design of the multi-station fixture reduces the complexity of the robot arm's movements and reduces the difficulty of control system development.

[0080] 2. Vision-guided dynamic positioning system: building millimeter-level precision closed-loop control

[0081] The integrated visual inspection component 42 achieves precise positioning throughout the entire process through "industrial camera imaging → image processing → position compensation". The core innovation lies in:

[0082] 1. Real-time deviation compensation: The industrial camera takes pictures of the metering chamber and components, identifies feature points (such as the positioning boss of the impeller counter and the mounting groove of the metering chamber), and calculates the deviation between the actual position and the ideal position ( Figure 7 、 Figure 9 For example, when the impeller counter is detected to be offset by 0.3 mm, the multi-joint robotic arm 41 drives the electric-controlled gripper 43 to fine-tune the error to less than 0.1 mm.

[0083] 2. Multi-dimensional positioning control: Not only does it detect X / Y axis translation deviation, but it also calculates rotation angle deviation through edge profile matching (for example, correction is triggered when the angle deviation between the signal converter pin and the metering chamber interface is greater than 1°), ensuring that the coaxiality error of component installation is less than 0.05mm.

[0084] Algorithm support

[0085] 1. Template matching algorithm: Establish a CAD model template of a standard component, calculate the similarity between the real-time image and the template through grayscale correlation, and the positioning accuracy can reach ±0.08mm ( Figure 9 Detection range indication).

[0086] 2. Coordinate conversion model: This model converts the camera pixel coordinate system into the robotic arm motion coordinate system. The eye-in-hand calibration algorithm eliminates hardware installation errors and achieves precise mapping of visual signals to mechanical motions.

[0087] Technological advantages

[0088] 1. Accuracy guarantee: It solves the installation misalignment problem caused by component tolerance in traditional mechanical positioning (such as the machining error of the inner wall of the measuring chamber of ±0.5mm), and reduces the defective rate.

[0089] 2. Flexible adaptation: There is no need to adjust the mechanical fixture for different batches of parts. The visual algorithm automatically adapts to small size changes (for example, the impeller counter can still accurately position when the diameter fluctuates by ±0.2mm).

[0090] 3. Multi-channel rapid feeding and stable clamping system: building an efficient collaborative work unit

[0091] Technological innovation 1: Multi-channel feeding component

[0092] 1. Three independent synchronous feeding bins: Three groups of parts clamping bins 21 store different parts respectively, and are quickly reset through the No. 1 electric telescopic rod 311 and the No. 2 electric telescopic rod 24 and the slide rail 22 ( Figure 2 、 Figure 3 ). When the multi-station fixture grabs the parts, the feeding bin is immediately reset and prepared for the next batch of parts, forming a parallel process of "gripping-assembly-reset", and the feeding waiting time is reduced to 0.

[0093] 2. Anti-interference design: When the clamping bin is reset, the distance to the clamp is detected by an infrared sensor (supplementary technology) to avoid movement collision and ensure a safe and reliable feeding process.

[0094] Technological innovation 2: Water meter measuring room positioning fixture 5

[0095] 1. Double rigid positioning: The positioning plates 51 on both sides form a composite positioning of "axial limit + radial clamping" through the positioning rods 53 and positioning rings 54 ( Figure 6 For example, after the positioning rod is inserted into the positioning hole of the metering chamber, the third electric telescopic rod 52 drives the positioning plate on the other side to clamp, ensuring that the displacement error of the metering chamber during assembly is less than 0.05mm.

[0096] 2. Quick clamping: After the metering chamber is manually placed, the fixture automatically recognizes and clamps, and the clamping time is less than 5 seconds, which is 3 times more efficient than traditional manual positioning.

[0097] Table 1 Comparison of core value of innovation points (vs traditional equipment)

[0098]

[0099] The core innovation of this application lies in breaking through the traditional "single-station serial operation" mindset of assembly equipment. Through multi-station hardware integration (parallelism in the spatial dimension) + visual algorithm empowerment (closed-loop in the precision dimension) + multi-component collaborative control (synchronization in the temporal dimension), an integrated solution of "efficient gripping, precise positioning, and stable clamping" has been constructed. Its technical value lies not only in the improvement of a single component, but also in the leapfrog improvement in assembly efficiency, precision, and stability achieved through system-level innovation, providing a replicable intelligent equipment paradigm for the automated production of volumetric water meters.

[0100] How to use and working principle of this device:

[0101] Step 1: Pretreatment of the water meter room - Bidirectional positioning clamping

[0102] 1. Initial positioning

[0103] The water meter chamber to be assembled is placed on the assembly table 1, and the positioning rods 53 of a set of side positioning plates 51 are inserted into the positioning holes at one end of the water meter chamber. The initial position is fixed by the rigid limit of the positioning rods 53 ( Figure 6 ).

[0104] 2. Two-way clamping

[0105] The third electric telescopic rod 52 drives the other set of side positioning plates 51 to move toward the water meter chamber. The positioning ring 54 outside the positioning rod 53 squeezes the gap between the water meter chamber and the positioning rod, forming a composite positioning of axial limit and radial clamping, ensuring that the displacement error of the meter chamber is less than 0.05mm ( Figure 6 ).

[0106] Step 2: Synchronous gripping of multiple parts and resetting of feeding components - parallel gripping technology

[0107] 1. Synchronous gripping

[0108] The multi-station component clamp 35 of the rotary multi-station component clamping assembly 3 extends into the three groups of component clamping bins 21 of the multi-channel component feeding assembly 2 through three groups of hydraulic clamps 352. The hydraulic clamp 352 synchronously clamps the impeller counter, signal converter, signal transmitter ( Figure 2-4 ).

[0109] 2. Feeding bin reset

[0110] After the clamping is completed, the No. 1 electric telescopic rod 311 drives the upper component clamping bin 21 to reset upward, and the component clamping bins 21 on both sides are reset outward along the slide rail 22 under the driving action of the No. 2 electric telescopic rod 24, leaving space for the clamp to move ( Figure 2 、 Figure 10 ).

[0111] 3. Fixture displacement

[0112] The single-axis adjustment assembly 32 is started: the first drive motor 321 drives the screw 322 to rotate, driving the drive block 323 to slide linearly along the slide rod 324, so that the multi-station component fixture 35 is moved as a whole to the assembly area above the water meter chamber ( Figure 4 、 Figure 10 ).

[0113] Step 3: Visual Positioning and Position Calibration – Closed-Loop Control

[0114] 1. Image acquisition and feature recognition

[0115] The industrial camera of the visual inspection component 42 takes pictures of the water meter chamber and the clamped impeller counter, and the image processing module uses a template matching algorithm (such as grayscale correlation calculation) to identify the feature points of the components (such as the positioning boss of the impeller counter and the installation groove of the meter chamber), edge contours and other information ( Figure 7 、 Figure 9 ).

[0116] 2. Deviation calculation and adjustment

[0117] Calculate the deviation between the actual position and the ideal position, including the X / Y axis translation and rotation angle (if the deviation is greater than 0.3mm or the angle deviation is greater than 1°, the correction is triggered). The control module sends instructions based on the deviation value to adjust the linear displacement of the single-axis adjustment component 32 and the angular rotation of the rotary drive component 33, so that the hydraulic clamp 352 holding the impeller counter is accurately aligned with the center of the water meter chamber (error <0.1mm) ( Figure 9 ).

[0118] Step 4: Impeller counter positioning and assembly - precise installation and mechanical fixation

[0119] 1. Parts transfer

[0120] Driven by the multi-joint mechanical arm 41, the electric-controlled gripper 43 grabs the impeller counter from the hydraulic clamp 352, and the hydraulic clamp 352 releases the clamp ( Figure 7 ).

[0121] 2. Positioning assembly

[0122] The multi-joint robot arm 41 places the impeller counter into the center of the water meter chamber according to the three-dimensional coordinate information output by the visual detection component 42. Manual mechanical fixation (such as screw locking) and circuit connection are completed to complete the single component assembly ( Figure 7 、 Figure 10 ).

[0123] Step 5: Rotate and switch parts and repeat assembly - multi-station rapid switching

[0124] 1. Widget switching

[0125] The second drive motor 331 of the rotary drive assembly 33 drives the rotary shaft 353 to rotate 120 degrees through the speed changer 332, so that the hydraulic clamp 352 holding the signal converter is rotated to the top of the water meter chamber ( Figure 5 、 Figure 8 ).

[0126] 2. Loop assembly

[0127] Repeat steps 3 and 4: visually inspect the position deviation between the signal converter and the metering chamber and calibrate it, then the electric-controlled gripper 43 grabs and installs the signal converter; rotate 120° again and complete the positioning and assembly of the signal transmitter using the same process ( Figure 10 ).

[0128] Step 6: Multi-batch cycle processing - continuous batch production

[0129] After a single batch of assembly is completed, the multi-station component fixture 35 is driven by the single-axis adjustment component 32 to return to the multi-channel component feeding component 2, and steps 2 to 5 are repeated to achieve continuous batch production. The feeding component completes the preparation of the next batch of components before the fixture returns, forming a parallel process of "gripping-assembly-reset", and the feeding waiting time is reduced to 0 ( Figure 10 ).

[0130] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for assembling measuring components of a volumetric water meter, comprising an assembly table (1), characterized in that: The upper end of the assembly table (1) is respectively fixedly mounted with a multi-channel component feeding assembly (2), a rotary multi-station component clamping assembly (3), a positioning assembly assembly (4) and a water meter metering chamber positioning fixture (5); the rotary multi-station component clamping assembly (3) is arranged in the middle of the multi-channel component feeding assembly (2); the multi-channel component feeding assembly (2) is used to temporarily store the impeller counter, signal converter and signal transmitter required for assembly; the rotary multi-station component clamping assembly (3) synchronously clamps the impeller counter, signal converter and signal transmitter of the multi-channel component feeding assembly (2); the positioning assembly assembly (4) sequentially performs positioning detection and assembly on the metering components clamped by the rotary multi-station component clamping assembly (3); and the water meter metering chamber positioning fixture (5) is used to position and clamp the water meter metering chamber; The rotary multi-station component clamping assembly (3) comprises a No. 1 mounting frame (31), a single-axis adjustment assembly (32), a rotary drive assembly (33), a No. 2 mounting frame (34) and a multi-station component fixture (35). The single-axis adjustment assembly (32) is fixedly mounted on one side of the No. 1 mounting frame (31), a driving end of the single-axis adjustment assembly (32) is fixedly connected to one side of the No. 2 mounting frame (34), the multi-station component fixture (35) is rotatably connected to the inside of the No. 2 mounting frame (34), and one end of the multi-station component fixture (35) is transmission-connected to the driving end of the rotary drive assembly (33).

2. The measuring component assembly device for a volumetric water meter according to claim 1, characterized in that: The single-axis adjustment component (32) includes a No. 1 driving motor (321), a screw rod (322), a driving block (323) and a slide rod (324). The driving end of the No. 1 driving motor (321) is transmission-connected to one end of the screw rod (322). The screw rod (322) is threadedly connected to the interior of the driving block (323). The slide rod (324) movably passes through the interior of the driving block (323). One side of the driving block (323) is fixedly connected to one side of the No. 2 mounting bracket (34).

3. The measuring component assembly device of a volumetric water meter according to claim 1, characterized in that: The multi-station component fixture (35) comprises a mounting block (351), three groups of hydraulic clamps (352) and a rotating shaft (353). The rotating shaft (353) is fixedly mounted inside the mounting block (351). Both ends of the rotating shaft (353) are rotatably connected inside the second mounting frame (34). One end of the rotating shaft (353) is transmission-connected to the driving end of the rotating drive assembly (33). The rotating drive assembly (33) comprises a second driving motor (331) and a speed changer (332). The output end of the second driving motor (331) is transmission-connected to the input end of the speed changer (332). The output end of the speed changer (332) is transmission-connected to one end of the rotating shaft (353). Pressure sensors are fixedly mounted on the clamping jaws of the three groups of hydraulic clamps (352). Six-dimensional force sensors are mounted on both ends of the rotating shaft (353). The signal output ends of the pressure sensors and the six-dimensional force sensors are connected to a central controller. The central controller is signal-connected to the speed changer (332).

4. The measuring component assembly device for a volumetric water meter according to claim 1, characterized in that: The multi-channel component feeding assembly (2) comprises three groups of component clamping bins (21) respectively arranged on both sides and the upper end of the rotary multi-station component clamping assembly (3); the three groups of component clamping bins (21) respectively clamp an impeller counter, a signal converter and a signal transmitter; a number of number one electric telescopic rods (311) are fixedly installed on one side of a number one mounting frame (31) in a centrally symmetrical manner; the driving ends of the number one electric telescopic rods (311) are fixedly connected to one side of one group of component clamping bins (21); a slide rail (22) is provided on one side of the other two groups of component clamping bins (21); a slider (23) is slidably connected to the outer side of the slide rail (22); one side of the slider (23) is fixedly connected to one side of the component clamping bin (21); a number two electric telescopic rod (24) is provided on one side of the slide rail (22); the driving end of the number two electric telescopic rod (24) is fixedly connected to the side of the component clamping bin (21); 5. The measuring component assembly device for a volumetric water meter according to claim 4, characterized in that: The component clamping bin (21) comprises an installation bin (211) and a plurality of hydraulic clamps (352). A groove (212) is provided on one side of the installation bin (211). The plurality of hydraulic clamps (352) are fixedly installed on one side of the installation bin (211). The clamping ends of the plurality of hydraulic clamps (352) pass through the interior of the groove (212).

6. The measuring component assembly device for a volumetric water meter according to claim 1, characterized in that: The positioning assembly component (4) comprises a multi-joint mechanical arm (41), a visual detection component (42) and an electric-controlled clamping claw (43), wherein the signal output end of the visual detection component (42) and the signal input end of the electric-controlled clamping claw (43) are connected to each other.

7. The measuring component assembly device for a volumetric water meter according to claim 6, characterized in that: The visual detection component (42) comprises an industrial camera, an image processing module and a control module, wherein a signal output end of the control module is connected to a signal input end of the electric-controlled clamping claw (43).

8. The measuring component assembly device for a volumetric water meter according to claim 1, characterized in that: The water meter chamber positioning fixture (5) comprises two sets of side positioning discs (51) and three electric telescopic rods (52), one set of side positioning discs (51) is fixedly mounted above the assembly table (1), and the driving end of the three electric telescopic rods (52) is fixedly connected to one side of the other set of side positioning discs (51).

9. The measuring component assembly device for a volumetric water meter according to claim 8, characterized in that: The other side of the side positioning plate (51) is fixedly connected with a positioning rod (53), the outer side of the positioning rod (53) is movably sleeved with a positioning ring (54), and the positioning rod (53) passes through one end of the water meter measuring chamber and positions the water meter measuring chamber.

10. A method for detecting the positioning of a measuring component of a volumetric water meter, characterized in that: An assembly device for measuring components of a volumetric water meter using any one of claims 1 to 9 comprises the following steps: S1. Pretreatment of the water meter chamber: placing the water meter chamber to be assembled on the assembly table (1), and positioning and clamping it using the water meter chamber positioning fixture (5); A set of positioning rods (53) of the side positioning plates (51) are inserted into the positioning holes at one end of the water meter chamber to initially fix its position; The third electric telescopic rod (52) drives the other set of side positioning plates (51) close to the water metering chamber, and the positioning ring (54) on the outside of the positioning rod (53) squeezes the gap to complete the two-way clamping and fixing; S2, multi-component synchronous gripping and feeding assembly reset: the rotary multi-station component gripping assembly (3) synchronously grips the metering components in the multi-channel component feeding assembly (2); The three groups of hydraulic clamps (352) of the multi-station component clamp (35) extend into the three groups of component clamping bins (21) respectively to synchronously clamp the impeller counter, the signal converter, and the signal transmitter; After the clamping is completed, the first electric telescopic rod (311) drives the upper component clamping bin (21) to reset upward, and the component clamping bins (21) on both sides are reset outward along the slide rail (22) under the driving action of the second electric telescopic rod (24); The single-axis adjustment assembly (32) is started: the first drive motor (321) drives the screw (322) to rotate, driving the drive block (323) to slide linearly along the slide bar (324), so that the multi-station component fixture (35) moves as a whole to the assembly area above the water meter chamber; S3, visual positioning and position calibration: the visual detection component (42) performs spatial positioning on the metering component and the water metering chamber; The industrial camera captures images of the water meter chamber and the clamped impeller counter. The image processing module uses a template matching algorithm to identify component feature points and edge contours, and calculates the deviation between the actual position and the ideal position, including translation and rotation angle. The control module sends instructions according to the deviation value to adjust the linear displacement of the single-axis adjustment component (32) and the angular rotation of the rotary drive component (33), so that the hydraulic clamp (352) holding the impeller counter is accurately aligned above the center of the water meter measuring chamber; S4. Positioning assembly components (4) to accurately install the impeller counter: The electric-controlled clamp (43) is driven by the multi-joint mechanical arm (41) to clamp the impeller counter from the hydraulic clamp (352) in the multi-station component clamp (35), and the hydraulic clamp (352) releases the clamp at the same time; The multi-joint robotic arm (41) places the impeller counter into the central mounting position of the water meter chamber according to the three-dimensional coordinate information output by the visual detection component (42), and the worker completes the mechanical fixation and circuit connection to complete the single component assembly; S5, rotating the switching component and repeatedly assembling the rotary drive assembly (33) to switch the components to be assembled: The second drive motor (331) drives the rotating shaft (353) to rotate 120 degrees through the speed changer (332), so that the hydraulic clamp (352) holding the signal converter is rotated to the top of the water meter measuring chamber, and steps S3-S4 are repeated to complete the assembly of the signal converter; Rotate 120° again to align the hydraulic fixture (352) corresponding to the signal transmitter with the center, and repeat the positioning detection and assembly process until all metering components are installed; S6. Multi-batch cycle processing After a single batch of assembly is completed, the multi-station component fixture (35) returns to the multi-channel component feeding assembly (2) and repeats steps S2-S5 to achieve continuous batch production.

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