A ball joint assembly apparatus

Abstract

The application discloses a ball head assembly equipment, which comprises a rack, a center of the rack is provided with an assembling mechanism, an outer side of the assembling mechanism is provided with a feeding mechanism and a feeding vibrating screen, the assembling mechanism comprises an index plate, four material carriers are arranged in an annular array on the index plate, a first assembling cylinder is arranged at the center of the index plate, and a second assembling cylinder is arranged at the outer side of the first assembling cylinder; the outer side of the feeding mechanism is provided with a first carrying mechanism, a second carrying mechanism and a third carrying mechanism; the ball head assembly equipment realizes automatic feeding through the feeding mechanism and the feeding vibrating screen, carries the material to the assembling mechanism through the first carrying mechanism, the second carrying mechanism and the third carrying mechanism and assembles, realizes automatic assembly of the ball head assembly, improves work efficiency and a good product rate, and saves the production cost of the ball head assembly.

Description

Technical Field

[0001] This invention relates to the field of ball joint assembly technology, specifically to a ball joint assembly equipment. Background Technology

[0002] The ball head assembly mainly consists of the ball head core, button, top cover, inner button, spring plate, pin, elastic clip, buffer pad, slider, and inner button. The assembly of the ball head assembly is complicated and time-consuming. This process requires multiple machines and multiple operators, resulting in large equipment footprint, high labor costs, and low production efficiency. Therefore, we propose a ball head assembly equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a ball joint assembly equipment to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A ball joint assembly assembly equipment includes a frame, an assembly mechanism is arranged at the center of the frame, a feeding mechanism and a feeding vibrating screen are arranged on the outside of the assembly mechanism, the assembly mechanism includes an indexing plate, four material carriers are arranged in a circular array on the indexing plate, a first assembly cylinder is arranged at the center of the indexing plate, and a second assembly cylinder is arranged on the outside of the indexing plate.

[0006] The feeding mechanism includes a button feeding mechanism, an upper cover plate feeding mechanism, and a ball core feeding mechanism. A first conveying mechanism is provided between the feeding mechanism and the assembly mechanism. The feeding vibrating screen includes an elastic card vibrating screen, a pin vibrating screen, a buffer pad vibrating screen, a slider vibrating screen, an inner button vibrating screen, and a spring plate vibrating screen. A second conveying mechanism is provided between the elastic card vibrating screen, the pin vibrating screen, the buffer pad vibrating screen, and the assembly mechanism. A third conveying mechanism is provided between the slider vibrating screen, the inner button vibrating screen, the spring plate vibrating screen, and the assembly mechanism.

[0007] The first handling mechanism includes a three-axis linear slide and a first assembly mechanism. The first assembly mechanism includes a first mounting plate fixed on the output end of the three-axis linear slide. A first lifting cylinder, a second lifting cylinder, and a third lifting cylinder are fixedly mounted on the lower end of the first mounting plate. A first gripper is fixedly mounted on the output end of the first lifting cylinder. A second gripper is fixedly mounted on the output end of the second lifting cylinder. An assembly robot is fixedly mounted on the output end of the third lifting cylinder, and a third gripper is fixedly mounted on one side of the robot.

[0008] The second conveying mechanism includes a three-axis linear slide and a second assembly mechanism. The second assembly mechanism includes a second mounting plate fixed on the output end of the three-axis linear slide. A fourth gripper, a fifth gripper, and a sixth gripper are fixedly mounted on the lower end of the second mounting plate. The second assembly mechanism also includes a third assembly cylinder located on the left side of the material carrier and a fourth assembly cylinder located on the front side of the material carrier. The third assembly cylinder is fixedly mounted on the output end of the fourth lifting cylinder outside the indexing plate. An assembly head is fixedly mounted on the output end of the third assembly cylinder. A first detection camera is fixedly mounted between the fourth assembly cylinder and the material carrier.

[0009] The third handling mechanism includes a three-axis linear slide and a third assembly mechanism. The third assembly mechanism includes a third mounting plate fixed on the output end of the three-axis linear slide. A first rotary cylinder and a second rotary cylinder are fixedly mounted on the third mounting plate. The output end of the first rotary cylinder is set downwards, and a seventh gripper is fixedly mounted on it. The output end of the second rotary cylinder is set to the right, and an oiling mechanism is fixedly mounted on it. A second detection camera is fixedly mounted between the first rotary cylinder and the second rotary cylinder.

[0010] Preferably, the three-axis linear slides of the first and fourth conveying mechanisms have the same structure. The three-axis linear slide includes a first X-axis linear module, a guide rail, a first Y-axis linear module, and a first Z-axis linear module. The first X-axis linear module and the guide rail are arranged in parallel. One end of the first Y-axis linear module is fixed to the output end of the first X-axis linear module, and the other end is mounted on the guide rail via a slider. The first Z-axis linear module is fixed to the output end of the first Y-axis linear module.

[0011] Preferably, the three-axis linear slides of the second and third conveying mechanisms have the same structure, including a second X-axis linear module, a second Y-axis linear module and a second Z-axis linear module, the first X-axis linear module and the guide rail are arranged in parallel, the first Y-axis linear module is fixed on the output end of the first X-axis linear module, and the first Z-axis linear module is fixed on the output end of the first Y-axis linear module.

[0012] Preferably, a material table is also provided on the outside of the assembly mechanism. The material table includes a waste chute provided on the outside of the assembly mechanism, an X-axis conveyor belt and a Y-axis conveyor belt fixed on the frame, an assembly table between the X-axis conveyor belt and the Y-axis conveyor belt, and a finished product table at the end of the Y-axis conveyor belt.

[0013] Preferably, a testing mechanism is provided on one side of the material table, and a fourth conveying mechanism is provided between the material table and the testing mechanism. The fourth conveying mechanism includes a three-axis guide rail linear slide and a fourth mounting plate. A fifth lifting cylinder and a third rotating cylinder are fixedly installed on the fourth mounting plate. An eighth gripper is fixedly installed on the output end of the fifth lifting cylinder, and a ninth gripper is fixedly installed on the output end of the third rotating cylinder.

[0014] Preferably, the testing mechanism includes several test cylinders, a third inspection camera, and a marking machine. A test head is fixedly installed on the output end of the test cylinder. The third inspection camera and the marking machine are located on one side of the test cylinder. A waste port and a finished product unloading table are also provided on the outside of the marking machine.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention achieves automatic feeding through the setting of a feeding mechanism and a feeding vibrating screen, avoiding potential material interruptions caused by manual feeding and thus improving production capacity. The materials are transported to the assembly mechanism by the first, second, and third transport mechanisms for assembly, realizing automatic assembly of the ball head assembly, improving work efficiency and yield, effectively reducing the footprint of the assembly device, and saving production costs for ball head assembly. In addition, manual inspection and assembly are carried out through the material table, and the finished product is transported to the testing mechanism for testing through the fourth transport mechanism, ensuring product quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the feeding mechanism and the feeding vibrating screen of the present invention;

[0019] Figure 3 This is a schematic diagram of the first handling mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the enlarged structure of region A of the present invention;

[0021] Figure 5 This is a schematic diagram of the structure of the second handling mechanism of the present invention;

[0022] Figure 6 This is a schematic diagram of the enlarged structure of region B of the present invention;

[0023] Figure 7 This is a schematic diagram of the enlarged structure of region C of the present invention;

[0024] Figure 8 This is a schematic diagram of the fourth handling mechanism of the present invention;

[0025] Figure 9 This is a schematic diagram of the enlarged structure of region D of the present invention;

[0026] Figure 10 This is a schematic diagram of the testing mechanism structure of the present invention.

[0027] In the diagram: 1 Assembly mechanism, 11 Indexing plate, 12 Material carrier, 13 First assembly cylinder, 14 Second assembly cylinder, 2 Feeding mechanism, 21 Button feeding mechanism, 22 Upper cover plate feeding mechanism, 23 Ball core feeding mechanism, 3 First handling mechanism, 31 First X-axis linear module, 32 Guide rail, 33 First Y-axis linear module, 34 First Z-axis linear module, 35 First assembly mechanism, 351 First mounting plate, 352 First lifting cylinder, 353 First gripper, 354 Second lifting cylinder, 355 Second gripper, 356 Third lifting cylinder, 357 Assembly robot, 358 Third gripper, 4 Feeding vibrating screen, 41 Elastic clamp vibrating screen, 42 Pin vibrating screen, 43 Buffer pad vibrating screen, 44 Slider vibrating screen, 45 Inner button vibrating screen, 46 Spring plate vibrating screen, 5 Second handling mechanism, 51 Second X-axis linear module, 52 Second Y-axis linear module, 53 Second Z-axis linear module Module, 54 Second Assembly Mechanism, 541 Second Mounting Plate, 542 Fourth Gripper, 543 Fifth Gripper, 544 Sixth Gripper, 545 Third Assembly Cylinder, 546 Fourth Lifting Cylinder, 547 Assembly Head, 548 Fourth Assembly Cylinder, 549 First Inspection Camera, 6 Third Handling Mechanism, 61 Third Assembly Mechanism, 611 Third Mounting Plate, 612 First Rotary Cylinder, 613 Seventh Gripper, 614 Second Rotary Cylinder, 615 Oiling Mechanism, 616 Second Inspection Camera, 7 Material Table, 71 Waste Slide, 72 X-axis Conveyor Belt, 73 Assembly Table, 74 Y-axis Conveyor Belt, 75 Finished Product Table, 8 Fourth Handling Mechanism, 81 Fourth Mounting Plate, 82 Fifth Lifting Cylinder, 83 Eighth Gripper, 84 Third Rotary Cylinder, 85 Ninth Gripper, 9 Testing Mechanism, 91 Testing Cylinder, 92 Testing Head, 93 Third Inspection Camera, 94 Marking Machine, 95 Waste Inlet, 10 Finished Product Unloading Table. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1 —10. This invention provides a technical solution:

[0030] A ball head assembly assembly equipment includes a frame, an assembly mechanism 1 is arranged at the center of the frame, a feeding mechanism 2 and a feeding vibrating screen 4 are arranged on the outside of the assembly mechanism 1, the assembly mechanism 1 includes an indexing plate 11, four material carriers 12 are arranged in a circular array on the indexing plate 11, a first assembly cylinder 13 is arranged at the center of the indexing plate 11, and a second assembly cylinder 14 is arranged on the outside of it.

[0031] The feeding mechanism 2 includes a button feeding mechanism 21, an upper cover plate feeding mechanism 22, and a ball core feeding mechanism 23. A first conveying mechanism 3 is provided between it and the assembly mechanism 1. The feeding vibrating screen 4 includes an elastic card vibrating screen 41, a pin vibrating screen 42, a buffer pad vibrating screen 43, a slider vibrating screen 44, an inner button vibrating screen 45, and a spring plate vibrating screen 46. A second conveying mechanism 5 is provided between the elastic card vibrating screen 41, the pin vibrating screen 42, the buffer pad vibrating screen 43 and the assembly mechanism 1. A third conveying mechanism 6 is provided between the slider vibrating screen 44, the inner button vibrating screen 45, the spring plate vibrating screen 46 and the assembly mechanism 1.

[0032] The first handling mechanism 3 includes a three-axis linear slide and a first assembly mechanism 35. The first assembly mechanism 35 includes a first mounting plate 351 fixed on the output end of the three-axis linear slide. A first lifting cylinder 352, a second lifting cylinder 354 and a third lifting cylinder 356 are fixedly mounted on the lower end of the first mounting plate 351. A first gripper 353 is fixedly mounted on the output end of the first lifting cylinder 352. A second gripper 355 is fixedly mounted on the output end of the second lifting cylinder 354. An assembly robot 357 is fixedly mounted on the output end of the third lifting cylinder 356, and a third gripper 358 is fixedly mounted on one side of it.

[0033] The second conveying mechanism 5 includes a three-axis linear slide and a second assembly mechanism 54. The second assembly mechanism 54 includes a second mounting plate 541 fixed on the output end of the three-axis linear slide. A fourth gripper 542, a fifth gripper 543, and a sixth gripper 544 are fixedly mounted on the lower end of the second mounting plate 541. The second assembly mechanism 54 also includes a third assembly cylinder 545 located on the left side of the material carrier 12 and a fourth assembly cylinder 548 located on the front side of the material carrier 12. The third assembly cylinder 545 is fixedly mounted on the output end of the fourth lifting cylinder 546 outside the indexing plate 11. An assembly head 547 is fixedly mounted on the output end of the third assembly cylinder 545. A first detection camera 549 is fixedly mounted between the fourth assembly cylinder 548 and the material carrier 12.

[0034] The third conveying mechanism 6 includes a three-axis linear slide and a third assembly mechanism 61. The third assembly mechanism 61 includes a third mounting plate 611 fixed on the output end of the three-axis linear slide. A first rotary cylinder 612 and a second rotary cylinder 614 are fixedly mounted on the third mounting plate 611. The output end of the first rotary cylinder 612 is oriented downwards, and a seventh gripper 613 is fixedly mounted on it. The output end of the second rotary cylinder 614 is oriented to the right, and an oiling mechanism 615 is fixedly mounted on it. A second detection camera 616 is fixedly mounted between the first rotary cylinder 612 and the second rotary cylinder 614.

[0035] The three-axis linear slides of the first transport mechanism 3 and the fourth transport mechanism 8 have the same structure. The three-axis linear slide includes a first X-axis linear module 31, a guide rail 32, a first Y-axis linear module 33 and a first Z-axis linear module 34. The first X-axis linear module 31 and the guide rail 32 are arranged in parallel. One end of the first Y-axis linear module 33 is fixed on the output end of the first X-axis linear module 31, and the other end is mounted on the guide rail 32 by a slider. The first Z-axis linear module 34 is fixed on the output end of the first Y-axis linear module 33.

[0036] The three-axis linear slides of the second transport mechanism 5 and the third transport mechanism 6 have the same structure, including a second X-axis linear module 51, a second Y-axis linear module 52 and a second Z-axis linear module 53. The first X-axis linear module 31 and the guide rail 32 are arranged in parallel. The first Y-axis linear module 33 is fixed on the output end of the first X-axis linear module 31 and the first Z-axis linear module 34 is fixed on the output end of the first Y-axis linear module 33.

[0037] A material table 7 is also provided on the outside of the assembly mechanism 1. The material table 7 includes a waste chute 71 provided on the outside of the assembly mechanism 1, an X-axis conveyor belt 72 and a Y-axis conveyor belt 74 fixed on the frame, an assembly table 73 is provided between the X-axis conveyor belt 72 and the Y-axis conveyor belt 74, and a finished product table 75 is provided at the end of the Y-axis conveyor belt 74.

[0038] A testing mechanism 9 is provided on one side of the material table 7. A fourth conveying mechanism 8 is provided between the material table 7 and the testing mechanism 9. The fourth conveying mechanism 8 includes a three-axis guide rail linear slide and a fourth mounting plate 81. A fifth lifting cylinder 82 and a third rotating cylinder 84 are fixedly installed on the fourth mounting plate 81. An eighth gripper 83 is fixedly installed on the output end of the fifth lifting cylinder 82, and a ninth gripper 85 is fixedly installed on the output end of the third rotating cylinder 84.

[0039] The testing mechanism 9 includes several test cylinders 91, a third inspection camera 93, and a marking machine 94. A test head 92 is fixedly installed on the output end of the test cylinder 91. The third inspection camera 93 and the marking machine 94 are located on one side of the test cylinder 91. A waste port 95 and a finished product unloading table 10 are also provided on the outside of the marking machine 94.

[0040] The workflow of this invention is as follows:

[0041] a. The button feeding mechanism 21, the upper cover plate feeding mechanism 22 and the ball core feeding mechanism 23 of the feeding mechanism 2 each include a tray for placing materials. The tray has a rectangular array of placement slots, and each placement slot holds one material. The first conveying mechanism 3 moves its position via a three-axis linear slide, causing the first gripper 353, the second gripper 355, and the third gripper 358 to grip the ball core, the top cover plate, and the button respectively. The first lifting cylinder 352, the second lifting cylinder 354, and the third lifting cylinder 356 control the height of the first gripper 353, the second gripper 355, and the third gripper 358, and place the ball core, the top cover plate, and the button flat on a material carrier 12. The assembly robot 357 fixes the ball core, the top cover plate, and the button on the material carrier 12, preventing the ball core from shaking in any direction. The indexing plate 11 rotates 90 degrees clockwise, causing the material carrier 12 to rotate to the position of the second assembly cylinder 14. The piston rod of the second assembly cylinder 14 extends and retracts to pre-assemble the ball core, the top cover plate, and the button.

[0042] b. Using the feeding vibrating screen 4, the elastic clips, pins, buffer pads, sliders, inner buttons and spring sheets are placed in the designated positions in an oriented and ordered manner;

[0043] c. The indexing plate 11 rotates 90 degrees clockwise, and the three-axis linear slide of the third conveying mechanism 6 and the seventh gripper 613 place the slider, inner button assembly and spring plate on the tooling, and adjust the placement angle through the first rotary cylinder 612 to facilitate assembly.

[0044] d. The oil spraying device of the oiling mechanism 615 of the third conveying mechanism 6 sprays 0.3g of grease into the ball core hole around the ball core hole (or drills φ1 holes around the oiling nozzle, 5mm away from the end). The second rotary cylinder 614 controls the oiling angle of the oiling mechanism 615 and detects the oiling position through the second detection camera 616 to make the oiling more accurate.

[0045] e. The first assembly cylinder 13 sends the slider into the ball core hole. The second detection camera 616 detects whether the slider is missing or reversed, and detects whether the spring sheet is missing. If there is an error, an alarm is triggered.

[0046] g. The indexing plate 11 rotates 90 degrees clockwise. The second conveying mechanism 5 uses a three-axis linear slide, a fourth gripper 542, a fifth gripper 543, and a sixth gripper 544 to clamp the elastic card, pin, and buffer pad, clamping and positioning the inner button. The second Z-axis linear module 53 presses the inner button down into place. The fourth assembly cylinder 548 presses the pin into the ball core hole. A signal is displayed when the cylinder is pressed into place. The fourth lifting cylinder 546 adjusts the height of the third assembly cylinder 545. The piston rod of the third assembly cylinder 545 extends and pushes the elastic card into the ball core slot through the assembly head 547. The assembly head 547 is used to constrain the elastic card to prevent deformation and facilitate assembly. The first detection camera 549 checks whether the buffer pad is reversed or missing, whether the pin is missing or not in place, and whether the elastic card is missing or not in place. An alarm is triggered if any error is found.

[0047] h. The indexing plate 11 rotates 90 degrees clockwise to return to the initial position. Then, the assembly robot 357 assembles the button. The third lifting cylinder 356 presses down to assemble the button into place. The cylinder position is identified. An alarm is triggered if the button is not placed. The device alarms if the button is not installed in place.

[0048] i. After the ball head assembly is completed, the first conveying mechanism 3 takes out the assembled ball head assembly and transfers it to the next workstation, namely the material table 7. If an alarm is triggered, the ball head assembly is placed into the waste chute 71 for recycling. After installation, the ball head assembly is placed into the X-axis conveyor belt 72, and the X-axis conveyor belt 72 transports the ball head assembly to the assembly table 73.

[0049] j. Manually assemble the cover, switch, decorative cover, and front cover. First, manually inspect and assemble the ball core. Manually align the switch pins with the ball core assembly holes and install them onto the ball core. Wind the connector wires according to the drawing. Assemble the decorative cover and front cover onto the ball head. After assembly, place the ball head on the mounting bracket and insert it into the connector. Check that there is no shaking between the ball head and the shifter. Transport the ball head assembly to the assembly platform 75 via the Y-axis transmission belt 74.

[0050] k. The ball head assembly is transported from the platform 75 to the testing mechanism 9 via the fourth conveying mechanism 8. The position and angle of the ball head are adjusted by the fifth lifting cylinder 82, the third rotating cylinder 84, the eighth gripper 83, and the ninth gripper 85. The ball head is then inserted into the handle rod and the quick-connect connector, and the ball head is clamped by the clamps of the testing mechanism 9. First, the stroke is checked. The test cylinder 91, equipped with a pressure sensor, is pressed once. If the stroke and button force are qualified, the test cylinder 91 will retract. Otherwise, the test cylinder 91 will not retract. After the test cylinder 91 retracts, the resistance is manually checked by pressing the front unlock button. If the operation is smooth and without resistance, the high and low currents are checked for compliance. If they are qualified, the fixture will automatically eject the ball head. If the testing sequence is incorrect or the test is unqualified, the fixture will automatically alarm and not eject the ball head, which cannot be pulled out. If the ball head stroke is qualified, the marking machine 94 will automatically print a label. If the stroke is unqualified, no label will be printed and the ball head will be placed in the waste inlet 95.

[0051] 1. After the ball head is inspected, the equipment automatically attaches a label to the ball head, then assembles the envelope onto the ball head. After assembling the envelope, the ball head is installed on the inspection frame to check for any missing envelopes. If it passes the inspection, the cylinder ejects it.

[0052] m. Remove the ball head from the equipment. If the part is undamaged, place it in the finished product unloading table 10 for packaging.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ball joint assembly assembly equipment, comprising a frame, wherein an assembly mechanism (1) is disposed at the center of the frame, and a feeding mechanism (2) and a feeding vibrating screen (4) are disposed on the outer side of the assembly mechanism (1), characterized in that: The assembly mechanism (1) includes an indexing plate (11), on which four material carriers (12) are arranged in a circular array. A first assembly cylinder (13) is arranged at the center of the indexing plate (11), and a second assembly cylinder (14) is arranged on its outer side. The feeding mechanism (2) includes a button feeding mechanism (21), an upper cover plate feeding mechanism (22) and a ball core feeding mechanism (23). A first conveying mechanism (3) is provided between it and the assembly mechanism (1). The feeding vibrating screen (4) includes an elastic card vibrating screen (41), a pin vibrating screen (42), a buffer pad vibrating screen (43), a slider vibrating screen (44), an inner button vibrating screen (45) and a spring plate vibrating screen (46). A second conveying mechanism (5) is provided between the elastic card vibrating screen (41), the pin vibrating screen (42), the buffer pad vibrating screen (43) and the assembly mechanism (1). A third conveying mechanism (6) is provided between the slider vibrating screen (44), the inner button vibrating screen (45), the spring plate vibrating screen (46) and the assembly mechanism (1). The first handling mechanism (3) includes a three-axis linear slide and a first assembly mechanism (35). The first assembly mechanism (35) includes a first mounting plate (351) fixed on the output end of the three-axis linear slide. A first lifting cylinder (352), a second lifting cylinder (354) and a third lifting cylinder (356) are fixedly mounted on the lower end of the first mounting plate (351). A first gripper (353) is fixedly mounted on the output end of the first lifting cylinder (352). A second gripper (355) is fixedly mounted on the output end of the second lifting cylinder (354). An assembly robot (357) is fixedly mounted on the output end of the third lifting cylinder (356), and a third gripper (358) is fixedly mounted on one side of it. The second conveying mechanism (5) includes a three-axis linear slide and a second assembly mechanism (54). The second assembly mechanism (54) includes a second mounting plate (541) fixed on the output end of the three-axis linear slide. The lower end of the second mounting plate (541) is fixedly mounted with a fourth gripper (542), a fifth gripper (543) and a sixth gripper (544). The second assembly mechanism (54) also includes a third assembly cylinder (545) disposed on the left side of the material carrier (12) and a fourth assembly cylinder (548) disposed on the front side of the material carrier (12). The third assembly cylinder (545) is fixedly disposed on the output end of the fourth lifting cylinder (546) outside the indexing plate (11). An assembly head (547) is fixedly mounted on the output end of the third assembly cylinder (545). A first detection camera (549) is fixedly mounted between the fourth assembly cylinder (548) and the material carrier (12). The third transport mechanism (6) includes a three-axis linear slide and a third assembly mechanism (61). The third assembly mechanism (61) includes a third mounting plate (611) fixed on the output end of the three-axis linear slide. A first rotary cylinder (612) and a second rotary cylinder (614) are fixedly mounted on the third mounting plate (611). The output end of the first rotary cylinder (612) is set downward, and a seventh gripper (613) is fixedly mounted on it. The output end of the second rotary cylinder (614) is set to the right, and an oiling mechanism (615) is fixedly mounted on it. A second detection camera (616) is fixedly mounted between the first rotary cylinder (612) and the second rotary cylinder (614). A material table (7) is also provided on the outside of the assembly mechanism (1). The material table (7) includes a waste chute (71) provided on the outside of the assembly mechanism (1), an X-axis conveyor belt (72) and a Y-axis conveyor belt (74) fixed on the frame. An assembly table (73) is provided between the X-axis conveyor belt (72) and the Y-axis conveyor belt (74). A finished product table (75) is provided at the end of the Y-axis conveyor belt (74). A testing mechanism (9) is provided on one side of the material table (7), and a fourth conveying mechanism (8) is provided between the material table (7) and the testing mechanism (9). The fourth conveying mechanism (8) includes a three-axis guide rail linear slide and a fourth mounting plate (81). A fifth lifting cylinder (82) and a third rotary cylinder (84) are fixedly installed on the fourth mounting plate (81). An eighth gripper (83) is fixedly installed on the output end of the fifth lifting cylinder (82), and a ninth gripper (85) is fixedly installed on the output end of the third rotary cylinder (84). The testing mechanism (9) includes several test cylinders (91), a third detection camera (93) and a marking machine (94). The test cylinders (91) are equipped with pressure sensors. A test head (92) is fixedly installed on the output end of the test cylinders (91). The third detection camera (93) and the marking machine (94) are located on one side of the test cylinders (91). A waste port (95) and a finished product unloading table (10) are also provided on the outside of the marking machine (94).

2. The ball joint assembly equipment according to claim 1, characterized in that: The three-axis linear slides of the first transport mechanism (3) and the fourth transport mechanism (8) have the same structure. The three-axis linear slide includes a first X-axis linear module (31), a guide rail (32), a first Y-axis linear module (33) and a first Z-axis linear module (34). The first X-axis linear module (31) and the guide rail (32) are arranged in parallel. One end of the first Y-axis linear module (33) is fixed on the output end of the first X-axis linear module (31), and the other end is mounted on the guide rail (32) by a slider. The first Z-axis linear module (34) is fixed on the output end of the first Y-axis linear module (33).

3. The ball joint assembly equipment according to claim 2, characterized in that: The three-axis linear slides of the second transport mechanism (5) and the third transport mechanism (6) have the same structure. The three-axis linear slide includes a second X-axis linear module (51), a second Y-axis linear module (52) and a second Z-axis linear module (53). The first X-axis linear module (31) and the guide rail (32) are arranged in parallel. The first Y-axis linear module (33) is fixed on the output end of the first X-axis linear module (31), and the first Z-axis linear module (34) is fixed on the output end of the first Y-axis linear module (33).

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