Automatic assembly and intelligent detection system and method for gas meter gas chamber diaphragm

Abstract

The present application relates to a diaphragm automatic assembly and intelligent detection system, comprising a main conveying and positioning unit, a diaphragm feeding unit, a movement core feeding unit, a diaphragm assembly execution unit, a central control unit and a finished product discharging unit. The detection method applied to the above system comprises the following steps: movement core feeding, diaphragm pre-alignment and assembly, online intelligent visual detection and automatic sorting. The present application system and method have the following effects: (1) high precision and high reliability; (2) full-process quality closed loop; (3) high efficiency and automation: no manual intervention is required in the whole process, the beat is stable, the total assembly and detection time of a single piece can be controlled within 15 seconds, the production efficiency is improved by more than 300% compared with manual operation, and the system can run continuously for 24 hours; (4) intelligentization: the visual detection algorithm can quantitatively evaluate the installation quality, not only judging "right or wrong", but also detecting "skew", "wrinkle", "micro-hole" and other subtle defects, and the detection capability is far superior to manual visual inspection.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology for gas meters, specifically relating to an automated assembly and intelligent testing system and method for gas meter diaphragms. Background Technology

[0002] Diaphragm gas meters are the main instruments for measuring household gas, and their core metering component is the gas chamber mechanism. The mechanism relies on the reciprocating oscillation of a flexible diaphragm within a fixed chamber to form a fixed metering volume and drive a counter to measure the gas. The installation accuracy, sealing performance, and integrity of the diaphragm directly determine the metering accuracy and long-term operational reliability of the gas meter.

[0003] Traditional diaphragm assembly mainly relies on manual or semi-automatic equipment, which has the following significant drawbacks:

[0004] (1) Precision depends on human experience: The positioning and locking actions of the diaphragm and the mechanism require high accuracy. The consistency of manual operation is poor, which can easily lead to defects such as misalignment and wrinkles.

[0005] (2) Uncontrollable installation quality: It is impossible to judge in real time whether the diaphragm is installed in place, whether it is damaged or missing during the assembly process. Quality problems are often only discovered in subsequent airtightness tests or even after leaving the factory, resulting in high repair costs.

[0006] (3) Production efficiency bottleneck: Manual operation is slow and affected by fatigue, making it difficult to meet the needs of modern large-scale, high-quality production.

[0007] Therefore, it is necessary to provide a system and method that can achieve high-precision, high-efficiency, and high-quality automatic installation of diaphragms and integrate online real-time detection functions. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an automated system and method for gas meter diaphragm assembly that integrates precision positioning, automated assembly, intelligent visual inspection, and automatic sorting. This system ensures zero misalignment and zero damage during diaphragm assembly and removes defective products in real time, significantly improving production efficiency and product qualification rate.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows.

[0010] An automated assembly and intelligent testing system for gas meter diaphragm chambers includes a main conveying and positioning unit, a diaphragm feeding unit, a mechanism feeding unit, a diaphragm assembly execution unit, a central control unit, and a finished product unloading unit.

[0011] The main conveying and positioning unit includes a programmable control, intermittently rotating turntable platform with a diameter of 1000mm. It has four evenly distributed workstations around it: a workstation for receiving the core components to be assembled, a workstation for performing precise alignment and pressing of the diaphragms, a visual inspection workstation for performing multi-dimensional quality inspection on the assembled components, and a finished product unloading workstation for sorting qualified and unqualified products to different production lines.

[0012] The diaphragm feeding unit includes a diaphragm assembly conveyor line for conveying diaphragm assemblies consisting of an outer parallel plate, an inner parallel plate, and diaphragms fixed together by heat riveting; below the diaphragm assembly is a turnover tray arranged according to its shape to help convey the diaphragm assembly to the pick-up point in a fixed posture;

[0013] The movement loading unit includes a movement conveyor line and a movement loading robot. The robot is a four-axis robot with a repeatability of ±0.2mm. It is responsible for picking up the movement from the conveyor line and accurately placing it on the movement loading station of the turntable platform.

[0014] The diaphragm assembly execution unit includes: (1) a diaphragm assembly robot: using a high-precision electric gripper with an integrated vacuum suction cup, used to pick up diaphragm components, with a repeatability of ±0.1mm. (2) a mechanism attitude adjustment device: located below the diaphragm assembly station, including a linearly extendable rotating shaft. This device can extend forward, clamp the center rotating shaft of the mechanism, and precisely rotate it 45°, causing the mechanism's folded plate to rise and expose the male end of the docking slide rail. (3) a vision inspection unit: mounted above the vision inspection station using a vision inspection bracket, including: an industrial camera: 12 million pixels resolution, equipped with square LED shadowless light sources on the left and right to ensure uniform imaging. An image processing module: equipped with a dedicated image processing algorithm for performing the following inspections.

[0015] Central control unit: It adopts a programmable logic controller to communicate with each robot arm, sensor, turntable driver and vision system, and coordinate all units to work synchronously according to the preset process and timing.

[0016] Finished product unloading unit: includes a finished product unloading robot, which is used to remove the tested core from the turntable and place it into the qualified product conveyor line or the unqualified product recycling bin according to the test results.

[0017] An automated assembly and intelligent testing method for the gas meter chamber diaphragm, applied to the above system, includes the following steps:

[0018] Step S1: Movement loading. The movement conveyor line transports the movement to the loading point. The movement loading robot grips the movement with its claws and precisely places it into the positioning fixture at the movement loading station on the turntable platform.

[0019] Step S2: Diaphragm pre-alignment and assembly, specifically:

[0020] S2.1: The turntable rotates 90° clockwise to deliver the mechanism to the diaphragm assembly station.

[0021] S2.2: The movement attitude adjustment device is activated. Its rotating shaft extends forward and clamps the central rotating shaft of the movement, driving it to rotate precisely 45°±0.5°, causing the folding plate to rise. The male end of the cylindrical slide rail with a diameter of approximately φ5mm at the end of the folding plate is fixed at the upper position to be docked.

[0022] S2.3: Simultaneously, the diaphragm assembly robot picks up the diaphragm assembly from a fixed position on the diaphragm assembly conveyor line. The inner parallel plate at the bottom of the diaphragm assembly has a guide groove with a tapered opening at its center.

[0023] S2.4: The robotic arm carries the diaphragm assembly to the top of the mechanism. Through turntable positioning and vision-assisted positioning, the opening of the tapered guide groove of the diaphragm assembly is roughly aligned with the male groove of the slide rail of the mechanism's folding plate.

[0024] S2.5: The robot performs active compliant assembly action: it drives the guide groove to nest in the direction of the male part of the slide rail. When the two come into contact, the robot applies a force in the direction of the male part of the slide rail. Under the small contact force (monitored by force sensor or current feedback, with the threshold set to 2N) and the guiding action of the conical surface, the end of the folded plate produces compliant fine adjustment to ensure that the male part of the slide rail slides smoothly into the guide groove.

[0025] S2.6: At this point, the movement attitude adjustment device drives the rotating shaft to release the central rotating shaft of the movement. As the robotic arm continues to descend, the folding plate, guided by the guide groove, rotates downward around the central rotating shaft. During this process, the male guide rail slides along the inner wall of the guide groove. Finally, when the diaphragm assembly is fully seated on the movement, the folding plate returns to a horizontal position, and the male guide rail and the guide groove complete a depth ≥8mm of engagement. Simultaneously, the four positioning holes around the diaphragm are also simultaneously fitted onto the corresponding four positioning posts on the movement.

[0026] Step S3: Online intelligent visual inspection.

[0027] The turntable rotates 90° clockwise again, delivering the assembly to the vision inspection station. The industrial camera takes a picture within 300ms, and the image processing module completes three analyses within 2 seconds.

[0028] ① Installation in place detection: Identify whether all four positioning posts on the mechanism are clearly visible in the image and not obscured by the edge of the diaphragm. Use an edge detection algorithm to determine whether the circular outline at the top of each positioning post is complete.

[0029] ② Positional accuracy and flatness inspection: Calculate the distance (d1, d2, d3, d4) between the center of each positioning post and the image center. Theoretically, the four distances should be equal for a qualified product (allowable tolerance ±0.2mm). By comparing the differences between d1, d2, d3, and d4, it can be determined whether the diaphragm is misaligned. Simultaneously, by analyzing the image grayscale uniformity in the four quadrants of the diaphragm coverage area, it can be indirectly determined whether the diaphragm has wrinkles.

[0030] ③ Diaphragm Integrity Detection: Under a shadowless white light source, an intact diaphragm appears as a uniform dark gray (grayscale value approximately 50) in the image. Utilizing the principle of light transmittance detection: a grayscale threshold is set (e.g., >120). If the diaphragm has cracks, holes, or is too thin, that area will become brighter (transparent) under backlighting, exceeding the grayscale value threshold, and the system will determine it as a fracture defect. The detection results are transmitted to the central control unit in real time.

[0031] Step S4: Automatic sorting. The steps are as follows: The turntable rotates 90° for the last time, sending the assembly to the finished product unloading station.

[0032] If all the tests in S3 are passed, the finished product unloading robot will pick it up and place it on the qualified product conveyor line, so that it can flow into the next process.

[0033] If any detection item in S3 fails, the central control unit records the product as unqualified. The turntable still rotates it to the unloading station, but the robotic arm picks it up and places it in a dedicated non-conforming product recycling bin. At the same time, the system triggers an audible and visual alarm to prompt the operator to handle the situation. Alarm information (such as "positioning column missing" or "diaphragm broken") is displayed on the human-machine interface.

[0034] The beneficial effects of this invention are as follows: The system and method of this invention have the following effects:

[0035] (1) High precision and high reliability: Through the combination of mechanical guidance design of “slide rail male joint - guide groove” and robot compliant assembly, millimeter-level precision alignment is achieved, eliminating random errors in manual installation and ensuring that every installation is accurate.

[0036] (2) Full-process quality closed loop: The installation and testing are seamlessly integrated, and the entire process from installation to judgment is completed within 15 seconds. This achieves 100% online testing, removes defective products in time, avoids defects from flowing into subsequent processes, and greatly improves the first pass rate of products.

[0037] (3) High efficiency and automation: The entire process requires no manual intervention, the cycle time is stable, the total time for single-piece assembly and inspection can be controlled within 15 seconds, the production efficiency is increased by more than 300% compared with manual labor, and it can run continuously for 24 hours.

[0038] (4) Intelligent: The visual inspection algorithm can quantitatively evaluate the installation quality, not only judging "right or wrong", but also detecting minor defects such as "skew", "wrinkles" and "microholes", with detection capabilities far exceeding manual visual inspection. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the system layout used in the embodiments of the present invention.

[0040] Figure 2 This is a schematic diagram of the membrane assembly structure in an embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of the other side of the membrane assembly in an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of the movement structure in an embodiment of the present invention.

[0043] Figure 5 This is a schematic diagram of the exploded structure of the movement in an embodiment of the present invention.

[0044] Figure 6 This is a side view after the diaphragm has been successfully installed in an embodiment of the present invention.

[0045] Figure 7 This is a side view of the membrane after successful installation in an embodiment of the present invention.

[0046] Figure 8 This is a front view of the membrane for visual inspection in an embodiment of the present invention.

[0047] The markings in the diagram are as follows: 1. Mechanism conveyor line; 11. Diaphragm assembly conveyor line; 12. Qualified product conveyor line; 2. Vision inspection bracket; 21. Diaphragm assembly robot; 22. Mechanism loading robot; 23. Finished product unloading robot; 3. Mechanism posture adjustment device; 4. Vision inspection station; 41. Diaphragm assembly station; 42. Mechanism loading station; 43. Finished product unloading station; 5. Vision inspection unit; 6. Diaphragm assembly; 63. Diaphragm; 61. Outer parallel plate; 62. Inner parallel plate; 621. Guide groove; 7. Mechanism; 71. Central rotating shaft; 72. Folding plate; 721. Slide rail male connector; 8. Turntable platform. Detailed Implementation

[0048] The specific embodiments of the present invention will now be described in conjunction with the accompanying drawings and examples to provide a better understanding of the invention.

[0049] Example

[0050] like Figure 1The automated assembly and intelligent testing system for the gas meter chamber diaphragm shown includes a main conveying and positioning unit, a diaphragm feeding unit, a mechanism feeding unit, a diaphragm assembly execution unit, a central control unit, and a finished product unloading unit.

[0051] The main conveying and positioning unit includes a programmable, intermittently rotating turntable platform 8 with a diameter of 1000mm. It has four evenly distributed workstations around it, namely: (1) Mechanism loading station 42: used to receive the mechanism to be assembled. (2) Diaphragm assembly station 41: used to perform precision alignment and pressing of the diaphragm. (3) Visual inspection station 4: used to perform multi-dimensional quality inspection on the assembled components. (4) Finished product unloading station 43: used to sort qualified and unqualified products.

[0052] The diaphragm loading unit includes a diaphragm assembly conveyor line 11 for conveying diaphragm assemblies 6, which are fixed together by heat riveting using an outer parallel plate 61, an inner parallel plate 62, and a diaphragm 63. Below the diaphragm assembly 6 is a shaped transfer tray to help convey the diaphragm assembly 6 to the pick-up point in a fixed posture. The structure of the diaphragm assembly 6 is as follows... Figure 2 , Figure 3 As shown.

[0053] The movement loading unit includes a movement conveyor line 1 and a movement loading robot 22. The robot is a four-axis robot with a repeatability of ±0.2mm. It is responsible for picking up the movement from the conveyor line and accurately placing it on the movement loading station 42 of the turntable platform.

[0054] The diaphragm assembly execution unit includes: (1) a diaphragm assembly robot 21: employing a high-precision electric gripper and integrating a vacuum suction cup, used to pick up the diaphragm assembly 6, with a repeatability of ±0.1mm. (2) a mechanism attitude adjustment device 3: located below the diaphragm assembly station 41, including a linearly extendable rotating shaft. This device can extend forward to grip the diaphragm assembly assembly 6. Figure 4 , Figure 5 The central pivot 71 of the mechanism 7 shown is rotated precisely by 45°, causing the folding plate 72 of the mechanism 7 to rise, exposing the male end of the docking slide rail 721. (3) Visual inspection unit 5: The visual inspection bracket 2 is installed above the visual inspection station 4, including: Industrial camera: 12 million pixels resolution, equipped with square LED shadowless light sources on the left and right to ensure uniform imaging. Image processing module: Equipped with a dedicated image processing algorithm for performing quality inspection.

[0055] Central control unit: It adopts a programmable logic controller to communicate with each robot arm, sensor, turntable driver and vision system, and coordinate all units to work synchronously according to the preset process and timing.

[0056] Finished product unloading unit: includes a finished product unloading robot 23, used to remove the tested core from the turntable and place it into the qualified product transmission line 12 or the unqualified product recycling bin according to the test results.

[0057] The automated assembly and intelligent testing method for the gas meter chamber diaphragm in this embodiment is applied to the above system and includes the following steps:

[0058] Step S1: Movement loading. Movement conveyor line 1 transports the movement to the loading point. Movement loading robot 22 picks up the movement with its grippers and precisely places it into the positioning fixture of movement loading station 42 on the turntable platform.

[0059] Step S2: Diaphragm pre-alignment and assembly, specifically:

[0060] S2.1: The turntable rotates 90° clockwise to deliver the mechanism to the diaphragm assembly station 41.

[0061] S2.2: The movement attitude adjustment device 3 is activated, its rotating shaft extends forward and clamps the central rotating shaft of the movement, driving it to rotate precisely 45°±0.5°, causing the folding plate to rise. The cylindrical slide rail male end (approximately φ5mm in diameter) at the end of the folding plate is fixed in the upper position to be docked.

[0062] S2.3: Simultaneously, the diaphragm assembly robot 21 picks up the diaphragm assembly from a fixed position on the diaphragm assembly conveyor line 11. The inner parallel plate at the bottom of the diaphragm assembly has a guide groove with a tapered opening at its center.

[0063] S2.4: The robotic arm carries the diaphragm assembly to the top of the mechanism. Through turntable positioning and vision-assisted positioning, the opening of the tapered guide groove of the diaphragm assembly is roughly aligned with the male groove of the slide rail of the mechanism's folding plate.

[0064] S2.5: The robotic arm performs an active compliant assembly action: it drives the guide groove 621 to nest in the direction of the male rail 721. When the two come into contact, the robotic arm applies a force in the direction of the male rail 721. Under the small contact force (monitored by force sensor or current feedback, with the threshold set to 2N) and the guiding action of the conical surface, the end of the folded plate 72 produces a compliant fine adjustment to ensure that the male rail 721 slides smoothly into the guide groove 621.

[0065] S2.6: At this point, the movement attitude adjustment device 3 drives the rotating shaft to release the central rotating shaft 721 of the movement. As the robotic arm continues to descend, the folding plate 72, guided by the guide groove 621, rotates downward around the central rotating shaft. During this process, the male slide rail 721 slides along the inner wall of the guide groove 621. Finally, when the diaphragm assembly 6 is fully seated on the movement, the folding plate 72 returns to a horizontal position, and the male slide rail and the guide groove complete a depth ≥8mm of engagement. Simultaneously, the four positioning holes around the diaphragm are also simultaneously fitted onto the corresponding four positioning posts on the movement.

[0066] Step S3: Online intelligent visual inspection.

[0067] The turntable rotates 90° clockwise again, sending the assembly to vision inspection station 4. The industrial camera takes a picture within 300ms, and the image processing module completes three analyses within 2 seconds.

[0068] ① Installation in place detection: Identify whether all four positioning posts on the mechanism are clearly visible in the image and not obscured by the edge of the diaphragm. Use an edge detection algorithm to determine whether the circular outline at the top of each positioning post is complete.

[0069] ② Positional accuracy and flatness inspection: Calculate the distance (d1, d2, d3, d4) between the center of each positioning post and the image center. Theoretically, the four distances should be equal for a qualified product (allowable tolerance ±0.2mm). By comparing the differences between d1, d2, d3, and d4, it can be determined whether the diaphragm is misaligned. Simultaneously, by analyzing the image grayscale uniformity in the four quadrants of the diaphragm coverage area, it can be indirectly determined whether the diaphragm has wrinkles.

[0070] ③ Diaphragm Integrity Detection: Under a shadowless white light source, an intact diaphragm appears as a uniform dark gray (grayscale value approximately 50) in the image. Utilizing the principle of light transmittance detection: a grayscale threshold is set (e.g., >120). If the diaphragm has cracks, holes, or is too thin, that area will become brighter (transparent) under backlighting, exceeding the grayscale value threshold, and the system will determine it as a fracture defect.

[0071] The test results are transmitted to the central control unit in real time.

[0072] Step S4: Automatic sorting, the steps are as follows:

[0073] The turntable rotates 90° for the last time, sending the assembly to the finished product unloading station 43.

[0074] If all the tests in S3 are passed, the finished product unloading robot will pick it up and place it on the qualified product conveyor line, so that it can flow into the next process.

[0075] If any detection item in S3 fails, the central control unit records the product as unqualified. The turntable still rotates it to the unloading station, but the robotic arm picks it up and places it in a dedicated non-conforming product recycling bin. At the same time, the system triggers an audible and visual alarm to prompt the operator to handle the situation. Alarm information (such as "positioning column missing" or "diaphragm broken") is displayed on the human-machine interface.

[0076] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An automated assembly and intelligent testing system for gas meter diaphragm, characterized in that: It includes a main conveying and positioning unit, a diaphragm feeding unit, a core feeding unit, a diaphragm assembly execution unit, a central control unit, and a finished product unloading unit, among which, The main conveying and positioning unit includes a programmable, intermittently rotating turntable platform with four evenly distributed workstations around it: a core loading workstation for receiving cores to be assembled, a diaphragm assembly workstation for performing precision alignment and pressing of diaphragms, a vision inspection workstation for performing multi-dimensional quality inspection of assembled components, and a finished product unloading workstation for sorting qualified and unqualified products to different production lines. The diaphragm feeding unit includes a diaphragm assembly conveyor line for conveying diaphragm assemblies consisting of an outer parallel plate, an inner parallel plate, and diaphragms fixed together by heat riveting; below the diaphragm assembly is a turnover tray arranged according to its shape to help convey the diaphragm assembly to the pick-up point in a fixed posture; The movement loading unit includes a movement conveyor line and a movement loading robot, which is a four-axis robot responsible for picking up the movement from the conveyor line and accurately placing it into the movement loading station on the turntable platform. The diaphragm assembly execution unit includes: (1) a diaphragm assembly robot: using a high-precision electric gripper with an integrated vacuum suction cup for picking up diaphragm components; (2) a mechanism posture adjustment device: located below the diaphragm assembly station, including a linearly telescopic rotating shaft; the device can extend forward, clamp the center rotating shaft of the mechanism, and precisely rotate it 45° so that the folding plate of the mechanism rises up, exposing the male end of the docking slide rail; (3) a vision inspection unit: using a vision inspection bracket installed above the vision inspection station, including: an industrial camera: 12 million pixels resolution, equipped with square LED shadowless light sources on the left and right to ensure uniform imaging; an image processing module: equipped with a dedicated image processing algorithm for performing quality inspection; Central control unit: It adopts a programmable logic controller to communicate with each robot arm, sensor, turntable driver and vision system, and coordinate all units to work synchronously according to the preset process and timing. Finished product unloading unit: includes a finished product unloading robot, which is used to remove the tested core from the turntable and place it into the qualified product conveyor line or the unqualified product recycling bin according to the test results.

2. A method for automated assembly and intelligent testing of a gas meter diaphragm, characterized in that: When applied to the above system, the following steps are included: Step S1: Movement loading: The movement conveyor line transports the movement to the loading point. The movement loading robot grabs the movement with its grippers and precisely places it into the positioning fixture of the movement loading station on the turntable platform. Step S2: Diaphragm pre-alignment and assembly, specifically: S2.1: The turntable rotates 90° clockwise to deliver the mechanism to the diaphragm assembly station; S2.2: The movement attitude adjustment device is activated, its rotating shaft extends forward and clamps the central rotating shaft of the movement, driving it to rotate precisely 45°±0.5°, causing the folding plate to rise; the male end of the cylindrical slide rail with a diameter of about φ5mm at the end of the folding plate is fixed at the upper position to be docked. S2.3: At the same time, the diaphragm assembly robot picks up the diaphragm assembly from a fixed position on the diaphragm assembly conveyor line; the inner parallel plate at the bottom of the diaphragm assembly is provided with a guide groove with a tapered opening at its center; S2.4: The robotic arm carries the diaphragm assembly to the top of the mechanism. Through turntable positioning and vision-assisted positioning, the opening of the tapered guide groove of the diaphragm assembly is roughly aligned with the male end of the slide rail of the mechanism's folding plate. S2.5: The robot arm performs active compliant assembly action: it drives the guide groove to nest in the direction of the male part of the slide rail. When the two come into contact, the robot arm applies a force in the direction of the male part of the slide rail. Under the small contact force and the guiding action of the conical surface, the end of the folded plate produces compliant fine adjustment to ensure that the male part of the slide rail slides smoothly into the guide groove. S2.6: At this time, the mechanism attitude adjustment device drives the rotating shaft to release the central rotating shaft of the mechanism. As the robot continues to descend, the folding plate rotates downward around the central rotating shaft under the guidance of the guide slide. During this process, the male part of the slide rail slides along the inner wall of the guide slide. Finally, when the diaphragm assembly is completely seated on the mechanism, the folding plate returns to the horizontal position, and the male part of the slide rail and the guide slide complete the engagement with a depth of ≥8mm. At the same time, the four positioning holes around the diaphragm are also simultaneously fitted into the corresponding four positioning posts on the mechanism. Step S3: Online Intelligent Vision Inspection: The turntable rotates 90° clockwise again, sending the assembly to the vision inspection station. The industrial camera takes a picture within 300ms, and the image processing module completes three analyses within 2 seconds. ① Installation in place detection: Identify whether the four positioning posts on the mechanism in the image are all clearly visible and not obscured by the edge of the diaphragm; use an edge detection algorithm to determine whether the circular outline at the top of each positioning post is complete; ② Positional accuracy and flatness inspection; ③ Diaphragm integrity detection; the detection results are transmitted to the central control unit in real time; Step S4: Automatic sorting. The steps are as follows: The turntable rotates 90° for the last time, sending the assembly to the finished product unloading station; if all the inspection items in S3 pass, the finished product unloading robot grabs it and places it on the qualified product conveyor line to flow into the next process; if any inspection item in S3 fails, the central control unit records the product as unqualified; the turntable still rotates it to the unloading station, but after the robot grabs it, it places it in a dedicated unqualified product recycling bin, and at the same time the system triggers an audible and visual alarm to prompt the operator to handle it; the alarm information is displayed on the human-machine interface.

3. The automated assembly and intelligent testing method for the gas meter chamber diaphragm according to claim 2, characterized in that: In step 2.5, the minute contact force is monitored by a force sensor or current feedback, and the threshold is set to 2N.

4. The automated assembly and intelligent testing method for the gas meter chamber diaphragm according to claim 2, characterized in that: In step 3, the method for detecting position and flatness is as follows: calculate the distance (d1, d2, d3, d4) between the center of each positioning post and the center of the image; theoretically, the four distances of a qualified product should be equal (allowable tolerance ±0.2mm); by comparing the differences of d1, d2, d3, and d4, it can be determined whether the diaphragm is installed crookedly; at the same time, by analyzing the image grayscale uniformity of the four quadrants of the diaphragm coverage area, it can be indirectly determined whether the diaphragm has wrinkles.

5. The automated assembly and intelligent testing method for the gas meter chamber diaphragm according to claim 2, characterized in that: In step 3, the membrane integrity detection method is as follows: under a shadowless white light source, an intact membrane appears as a uniform dark gray (grayscale value of about 50) in the image; using the principle of light transmittance detection: set a grayscale threshold (e.g., >120); if the membrane has cracks, holes or the material is too thin, the area will become brighter (transparent) under backlighting, and the grayscale value will exceed the standard, and the system will determine it as a fracture defect.

Images