Full-automatic loose joint assembling equipment and assembling method

Abstract

The invention relates to full-automatic loose joint assembling equipment and an assembling method. The full-automatic loose joint assembling equipment comprises a loose joint feeding mechanism, an O-shaped ring feeding mechanism, a flush joint feeding mechanism, a nut feeding mechanism, an O-shaped ring assembling mechanism, an O-shaped ring grabbing mechanism, a loose joint grabbing and tightening mechanism, a nut and flush joint grabbing mechanism, a loose joint and nut assembling mechanism and a discharging conveying line. The loose joint grabbing and tightening mechanism can carry loose joints of the loose joint feeding mechanism into the O-shaped ring assembling mechanism, carry the loose joints from the O-shaped ring assembling mechanism into the loose joint and nut assembling mechanism and carry the loose joints from the loose joint and nut assembling mechanism into the discharging conveying line. The loose joint grabbing and tightening mechanism stretches across the loose joint feeding mechanism, the O-shaped ring assembling mechanism, the discharging conveying line and the loose joint and nut assembling mechanism, carrying and rotating of loose joints can be rapidly achieved, and the assembling efficiency can be improved conveniently.

Description

Technical Field

[0001] The invention relates to the technical field of flexible joint assembly, in particular to a flexible joint full-automatic assembly device and an assembly method. Background Art

[0002] A union is a type of pipe fitting. The connection form of a union is a fixed joint and a union joint. Both ends are connected to the corresponding pipe threads, and the middle is sealed with a PVC pad or a rubber pad. This design makes the union very convenient to install and disassemble, and also has good sealing performance. Unions play an important role in various construction and engineering projects due to their unique design and wide applicability. Unions are widely used in water pipe connections in kitchens and bathrooms because of their flexible installation and disassembly and excellent leak-proof performance. Whether it is installing a water heater, washing machine or connecting a sink and toilet, unions can provide a reliable connection solution. Hotels, office buildings, shopping malls and other places have extremely high requirements for the stability and reliability of the pipeline system. Unions ensure the normal operation of the water supply and drainage systems in these places through their excellent sealing performance and durability. As an important member of the pipe fittings market, the market demand for unions is also increasing. Especially in some developing countries and regions, with the continuous improvement of infrastructure construction and the development of industrial production, the demand for high-quality pipe fittings is increasing, which also provides a broad space for the development of the union market.

[0003] Existing live joint assembly is mainly performed manually, which has low assembly efficiency and low production capacity. There are also some semi-automatic assemblies, but the assembly efficiency is also not high.

[0004] For this reason, we propose a fully automatic assembly device and method for live joints. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a fully automatic assembly equipment and assembly method for live joints. The live joint grabbing and tightening mechanism spans the live joint feeding mechanism, O-ring assembly mechanism, unloading conveyor line, live joint and nut assembly mechanism, which can quickly realize the transportation and rotation of the live joint, thereby improving the assembly efficiency.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A fully automatic assembly device for movable joints, comprising:

[0008] Live joint feeding mechanism, used for feeding live joints;

[0009] O-ring feeding mechanism, used for feeding O-rings;

[0010] Flat-joint feeding mechanism, used for flat-joint feeding;

[0011] A nut feeding mechanism, used for feeding nuts;

[0012] O-ring assembly mechanism;

[0013] O-ring grabbing mechanism, used to move O-rings from the O-ring feeding mechanism to the O-ring assembly mechanism;

[0014] The flexible joint grabbing and tightening mechanism is used to carry the flexible joint and can drive the flexible joint to rotate to realize the assembly of the flexible joint and the nut;

[0015] Nut and butt gripping mechanism for handling nuts and butts;

[0016] The union and nut assembly mechanism is used to place the nut and the flat joint, and to fix the nut;

[0017] Unloading conveyor line, used to convey assembled products;

[0018] Among them, the flexible joint grabbing and tightening mechanism can move the flexible joint of the flexible joint feeding mechanism to the O-ring assembly mechanism, move the flexible joint from the O-ring assembly mechanism to the flexible joint and nut assembly mechanism, and move the flexible joint from the flexible joint and nut assembly mechanism to the unloading conveyor line.

[0019] It is further characterized by:

[0020] The movable feeding mechanism comprises a hopper, a lifting component and a conveying component.

[0021] The O-ring grabbing mechanism comprises a first translation mechanism, a first lifting mechanism, and a first pneumatic clamping jaw, wherein the first pneumatic clamping jaw is arranged on the first lifting mechanism, and the first lifting mechanism is arranged on the first translation mechanism, and the O-ring is clamped by the first pneumatic clamping jaw.

[0022] The O-ring assembly mechanism includes a second translation mechanism, an O-ring lifting mechanism, and a live-jointed positioning mechanism. The O-ring lifting mechanism is arranged on the second translation mechanism, and the O-ring lifting mechanism is driven to move by the second translation mechanism. The O-ring lifting mechanism includes an O-ring placement rack and a lifting component. A placement hole is arranged on the top of the O-ring placement rack. The lifting component is arranged below the O-ring placement rack, and the telescopic end of the lifting component is in the placement hole. The O-ring is grabbed from the O-ring feeding mechanism to the placement hole by the O-ring grabbing mechanism.

[0023] The movable joint grasping and tightening mechanism comprises a third translation mechanism, a second lifting mechanism, a tightening mechanism and a second pneumatic clamp, wherein the second pneumatic clamp is arranged on the tightening mechanism, the tightening mechanism is arranged on the second lifting mechanism, and the second lifting mechanism is arranged on the third translation mechanism.

[0024] The nut and butt-joint grasping mechanism comprises a fourth translation mechanism, a third lifting mechanism, a third pneumatic clamp and a fourth pneumatic clamp. The third pneumatic clamp and the fourth pneumatic clamp are arranged on the third lifting mechanism, and the third lifting mechanism is arranged on the fourth translation mechanism.

[0025] The movable joint and nut assembly mechanism comprises a fifth translation mechanism, a nut and parallel joint positioning frame, and a nut fixing assembly. The nut fixing assembly is arranged on the nut and parallel joint positioning frame, and the nut and parallel joint positioning frame is arranged on the fifth translation mechanism.

[0026] The structures of the O-ring feeding mechanism, the flat joint feeding mechanism and the nut feeding mechanism are the same as the structure of the live joint feeding mechanism.

[0027] The moving directions of the second translation mechanism, the fifth translation mechanism and the first translation mechanism are the same, the moving direction of the third translation mechanism is perpendicular to the moving direction of the second translation mechanism, and the moving direction of the fourth translation mechanism is the same as the moving direction of the third translation mechanism.

[0028] The present invention also provides a fully automatic assembly method for a movable joint, comprising the following steps:

[0029] The live joint is fed through the live joint feeding mechanism, the O-ring is fed through the O-ring feeding mechanism, the flat joint is fed through the flat joint feeding mechanism, and the nut is fed through the nut feeding mechanism;

[0030] The joint is fixed by the second pneumatic clamp of the joint grabbing and tightening mechanism, and then the joint is moved from the joint feeding mechanism to the positioning plate of the O-ring assembly mechanism, and the joint is fixed by the fixing component of the joint positioning mechanism;

[0031] The second translation mechanism drives the O-ring lifting mechanism to move toward the side of the O-ring grabbing mechanism, and the O-ring is moved from the O-ring feeding mechanism to the placement hole of the O-ring lifting mechanism through the O-ring grabbing mechanism; the second translation mechanism drives the O-ring lifting mechanism to move toward the side of the live joint positioning mechanism, so that the placement hole of the O-ring lifting mechanism is aligned with the horn hole of the positioning plate, and the lifting assembly of the O-ring lifting mechanism works to push the O-ring into the live joint;

[0032] The fifth translation mechanism drives the nut and the flat joint positioning frame to move toward the side of the nut and the flat joint grasping mechanism, and the nut and the flat joint are placed in the nut and the flat joint positioning frame through the nut and the flat joint grasping mechanism, and the nut is fixed by the nut fixing assembly;

[0033] The fifth translation mechanism drives the nut and the flat joint positioning frame to move to the other side, and the flexible joint grabbing and tightening mechanism moves the flexible joint after the O-ring is assembled above the nut, and drives the flexible joint to rotate through the tightening mechanism to complete the assembly of the flexible joint and the nut. The flexible joint grabbing and tightening mechanism places the assembled flexible joint on the offline conveyor line, and the offline conveyor line conveys the assembled flexible joint to the collection box.

[0034] The beneficial effects of the present invention are as follows:

[0035] The present invention has a compact and reasonable structure and is easy to operate. The second translation component drives the O-ring lifting mechanism to the bottom of the positioning plate, so that the placement hole of the O-ring lifting mechanism is aligned with the horn hole of the positioning plate, and the lifting component of the O-ring lifting mechanism works to push the O-ring into the joint; the joint grabbing and tightening mechanism spans the joint feeding mechanism, the O-ring assembly mechanism, the unloading conveyor line, and the joint and nut assembly mechanism, which can quickly realize the transportation and rotation of the joint, thereby improving the assembly efficiency.

[0036] At the same time, the present invention also has the following advantages:

[0037] (1) The fifth translation mechanism drives the nut and flat joint positioning frame to move toward the side of the nut and flat joint grasping mechanism, and the nut and flat joint are placed in the nut and flat joint positioning frame through the nut and flat joint grasping mechanism, and the nut is fixed by the nut fixing assembly.

[0038] (2) The fifth translation mechanism drives the nut and the flat joint positioning frame to move to the other side. The flexible joint grabbing and tightening mechanism moves the flexible joint assembled with the O-ring above the nut, and drives the flexible joint to rotate through the tightening mechanism to complete the assembly of the flexible joint and the nut. The flexible joint grabbing and tightening mechanism places the assembled flexible joint on the offline conveyor line, and the offline conveyor line conveys the assembled flexible joint to the collection box. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the present invention.

[0040] Figure 2 This is a top view after removing the top of the bracket of the present invention.

[0041] Figure 3 It is a schematic diagram of the movable joint feeding mechanism of the present invention.

[0042] Figure 4 It is a schematic diagram of the O-ring assembly mechanism, the flexible joint and the nut assembly mechanism of the present invention.

[0043] Figure 5 It is a schematic diagram of the O-ring assembly mechanism of the present invention.

[0044] Figure 6 It is a schematic diagram of the movable joint and nut assembly mechanism of the present invention.

[0045] Figure 7 It is a schematic diagram of the positioning plate of the present invention.

[0046] Among them: 1. bracket; 2. flexible joint; 3. O-ring; 4. flat joint; 5. nut; 6. flexible joint feeding mechanism; 601. hopper; 602. lifting assembly; 603. conveying assembly; 7. O-ring feeding mechanism; 8. flat joint feeding mechanism; 9. nut feeding mechanism; 10. O-ring grabbing mechanism; 1001. first translation mechanism; 1002. first lifting mechanism; 1003. first pneumatic clamp; 11. O-ring assembly mechanism; 1101. second translation mechanism; 1102. O-ring lifting mechanism; 1103. flexible joint positioning mechanism; 12. Flexible joint grabbing and tightening mechanism; 1201. Third translation mechanism; 1202. Second lifting mechanism; 1203. Tightening mechanism; 1204. Second pneumatic clamp; 13. Nut and butt joint grabbing mechanism; 1301. Fourth translation mechanism; 1302. Third lifting mechanism; 1303. Third pneumatic clamp; 1304. Fourth pneumatic clamp; 14. Flexible joint and nut assembling mechanism; 1401. Fifth translation mechanism; 1402. Nut and butt joint positioning frame; 1403. Nut fixing assembly; 15. Unloading conveyor line; 16. Collection box. DETAILED DESCRIPTION

[0047] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0048] like Figure 1-7 As shown, a fully automatic assembly equipment for live joints includes a bracket 1, a live joint feeding mechanism 6, an O-ring feeding mechanism 7, a butt joint feeding mechanism 8, a nut feeding mechanism 9, an O-ring grabbing mechanism 10, an O-ring assembly mechanism 11, a live joint grabbing and tightening mechanism 12, a nut and butt joint grabbing mechanism 13, a live joint and nut assembly mechanism 14, a downline conveyor line 15 and a collection box 16.

[0049] A live joint feeding mechanism 6, an O-ring feeding mechanism 7, a flat joint feeding mechanism 8, a nut feeding mechanism 9, an O-ring grabbing mechanism 10, an O-ring assembling mechanism 11, a live joint grabbing and tightening mechanism 12, a nut and flat joint grabbing mechanism 13, and a live joint and nut assembling mechanism 14 are arranged in the bracket 1.

[0050] In one embodiment, the bracket 1 is provided with control buttons, indicator lights, etc.

[0051] The articulated feeding mechanism 6 is used for feeding the articulated joint 2. The articulated feeding mechanism 6 comprises a hopper 601, a lifting assembly 602, and a conveying assembly 603.

[0052] In one embodiment, the structure of the O-ring feeding mechanism 7 is substantially the same as that of the movable joint feeding mechanism 6. The O-ring feeding mechanism 7 is used to feed the O-ring 3.

[0053] In one embodiment, the structure of the flat joint feeding mechanism 8 is substantially the same as that of the movable joint feeding mechanism 6. The flat joint feeding mechanism 8 is used for feeding the flat joint 4.

[0054] In one embodiment, the structure of the nut feeding mechanism 9 is substantially the same as that of the movable joint feeding mechanism 6. The nut feeding mechanism 9 is used for feeding the nut 5.

[0055] The O-ring grabbing mechanism 10 includes a first translation mechanism 1001, a first lifting mechanism 1002, and a first pneumatic clamp 1003. The first pneumatic clamp 1003 is arranged on the first lifting mechanism 1002, and the first lifting mechanism 1002 is arranged on the first translation mechanism 1001. The first pneumatic clamp 1003 is driven to rise and fall by the first lifting mechanism 1002, and the first translation mechanism 1001 drives the first pneumatic clamp 1003 to translate through the first lifting mechanism 1002. The first pneumatic clamp 1003 is used to clamp the O-ring 3.

[0056] In one embodiment, the first translation mechanism 1001 and the first lifting mechanism 1002 both include a slide rail, a slider, a driving mechanism, and the like.

[0057] The O-ring assembly mechanism 11 includes a second translation mechanism 1101, an O-ring lifting mechanism 1102, and a live joint positioning mechanism 1103. The O-ring lifting mechanism 1102 is arranged on the second translation mechanism 1101, and the O-ring lifting mechanism 1102 is driven to move by the second translation mechanism 1101. The moving direction of the second translation mechanism 1101 is the same as the moving direction of the first translation structure 1001. The O-ring lifting mechanism 1102 includes an O-ring placement rack and a lifting component. A placement hole is arranged on the top of the O-ring placement rack. The lifting component is arranged below the O-ring placement rack, and the telescopic end of the lifting component is in the placement hole. The O-ring 3 is grabbed from the O-ring feeding mechanism 7 to the placement hole by the O-ring grabbing mechanism 10.

[0058] The articulated positioning mechanism 1103 includes a positioning plate and an articulated fixing assembly. The positioning plate is arranged above one end of the second translation mechanism 1101. The articulated fixing assembly is arranged on the positioning plate. The articulated joint 2 is fixed by the articulated fixing assembly. A positioning hole is arranged at the top of the positioning plate, and a speaker hole connected to the positioning hole is arranged at the bottom of the positioning plate.

[0059] The second translation assembly 1101 drives the O-ring lifting mechanism 1102 to the bottom of the positioning plate so that the placement hole of the O-ring lifting mechanism 1102 is aligned with the horn hole of the positioning plate, and the lifting assembly of the O-ring lifting mechanism 1102 works to push the O-ring 3 into the joint 2.

[0060] In one embodiment, the second translation mechanism 1101 includes a slide rail, a slider, a driving mechanism, etc.

[0061] In one embodiment, the movable joint fixing assembly includes a cylinder, a fixing claw, and the like.

[0062] The third translation mechanism 1201 and the second lifting mechanism 1202 drive the second pneumatic clamp 1204 to move, thereby moving the joint 2 in the joint feeding mechanism 6 to the positioning plate of the joint positioning mechanism 1103, and then fixing the joint through the fixing component of the joint positioning mechanism 1103, and then pushing the O-ring 3 into place through the O-ring lifting mechanism 1102.

[0063] In one embodiment, the third translation mechanism 1201 and the second lifting mechanism 1202 include a slide rail, a slider, a driving mechanism, etc.

[0064] The nut and flat joint grasping mechanism 13 includes a fourth translation mechanism 1301, a third lifting mechanism 1302, a third pneumatic clamp 1303 and a fourth pneumatic clamp 1304. The third pneumatic clamp 1303 and the fourth pneumatic clamp 1304 are arranged on the third lifting mechanism 1302, and the third pneumatic clamp 1303 and the fourth pneumatic clamp 1304 are driven to rise and fall by the third lifting mechanism 1302. The third lifting mechanism 1302 is arranged on the fourth translation mechanism 1301, and the third pneumatic clamp 1303 and the fourth pneumatic clamp 1304 are driven to move by the fourth translation mechanism 1301. The moving direction of the fourth translation mechanism 1301 is the same as the moving direction of the third translation mechanism 1201. The third pneumatic clamp 1303 and the fourth pneumatic clamp 1304 are used to fix the flat joint 4 and the nut 5, respectively.

[0065] In one embodiment, the fourth translation mechanism 1301 and the third lifting mechanism 1302 include a slide rail, a slider, a driving mechanism, and the like.

[0066] The movable joint and nut assembly mechanism 14 includes a fifth translation mechanism 1401, a nut and flat joint positioning frame 1402, and a nut fixing assembly 1403. The nut fixing assembly 1403 is arranged on the nut and flat joint positioning frame 1402. The nut 5 and the flat joint 4 are placed on the nut and flat joint positioning frame 1402. The nut 5 and the flat joint 4 are positioned by the nut and flat joint positioning frame 1402. The nut is fixed by the nut fixing assembly 1403. The nut and flat joint positioning frame 1402 are arranged on the fifth translation mechanism 1401. The nut and the flat joint positioning frame 1402 are driven to move by the fifth translation mechanism 1401. The moving direction of the fifth translation mechanism 1401 is the same as the moving direction of the second translation mechanism 1201.

[0067] In one embodiment, the nut fixing assembly 1403 includes a cylinder, a fixing claw, and the like.

[0068] In one embodiment, the fifth translation mechanism 1401 includes a slide rail, a slider, a driving mechanism, etc.

[0069] The unloading conveying line 15 is arranged between the O-ring assembly mechanism 11 and the flexible joint and nut assembly mechanism 14 , and the collecting box 16 is arranged at the conveying end of the unloading conveying line 15 .

[0070] The live joint grabbing and tightening mechanism 12 spans the live joint feeding mechanism 6, the O-ring assembly mechanism 11, the unloading conveyor line 15, and the live joint and nut assembly mechanism 14, and can quickly realize the transportation and rotation of the live joint, thereby improving the assembly efficiency.

[0071] The present invention also provides a fully automatic assembly method for a movable joint, comprising the following steps:

[0072] The live joint 2 is fed through the live joint feeding mechanism 6, the O-ring 3 is fed through the O-ring feeding mechanism 7, the flat joint 4 is fed through the flat joint feeding mechanism 8, and the nut 5 is fed through the nut feeding mechanism 9;

[0073] The joint 2 is fixed by the second pneumatic clamp 1204 of the joint grabbing and tightening mechanism 12, and then the joint 2 is moved from the joint feeding mechanism 6 to the positioning plate of the O-ring assembly mechanism 11, and the joint 2 is fixed by the fixing component of the joint positioning mechanism 1103;

[0074] The second translation mechanism 1101 drives the O-ring lifting mechanism 1102 to move toward the side of the O-ring grabbing mechanism 10, and moves the O-ring 3 from the O-ring feeding mechanism 7 to the placement hole of the O-ring lifting mechanism 1102 through the O-ring grabbing mechanism 10; the second translation mechanism 1101 drives the O-ring lifting mechanism 1102 to move toward the side of the live joint positioning mechanism 1103, so that the placement hole of the O-ring lifting mechanism 1102 is aligned with the horn hole of the positioning plate, and the lifting assembly of the O-ring lifting mechanism 1102 works to push the O-ring 3 into the live joint 2;

[0075] The fifth translation mechanism 1401 drives the nut and butt joint positioning frame 1402 to move toward the side of the nut and butt joint grasping mechanism 13, and places the nut 5 and the butt joint 4 into the nut and butt joint positioning frame 1402 through the nut and butt joint grasping mechanism 13, and fixes the nut 5 through the nut fixing assembly 1403;

[0076] The fifth translation mechanism 1401 drives the nut and the flat joint positioning frame 1402 to move to the other side, and the flexible joint grabbing and tightening mechanism 12 moves the flexible joint 2 after the O-ring 3 is assembled above the nut 5, and drives the flexible joint 2 to rotate through the tightening mechanism 1203 to complete the assembly of the flexible joint 2 and the nut 5, and the flexible joint grabbing and tightening mechanism 12 places the assembled flexible joint 2 on the offline conveyor line 15, and the offline conveyor line 15 conveys the assembled flexible joint 2 to the collection box 16.

[0077] It can realize the full-automatic assembly of the joint 2, with high assembly efficiency, compact structure, smooth whole beat and high production and sales volume.

[0078] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A fully automatic assembly equipment for movable joints, characterized in that: include: A live joint feeding mechanism (6) for feeding the live joint (2); An O-ring feeding mechanism (7) for feeding the O-ring (3); A flat joint feeding mechanism (8) is used for feeding the flat joint (4); A nut feeding mechanism (9) for feeding nuts (5); O-ring assembly mechanism (11); An O-ring grabbing mechanism (10) is used to move the O-ring (3) from the O-ring feeding mechanism (7) to the O-ring assembling mechanism (11); The movable joint grabbing and tightening mechanism (12) is used to carry the movable joint (2) and can drive the movable joint (2) to rotate to achieve the assembly of the movable joint (2) and the nut (5); A nut and butt gripping mechanism (13) for handling the nut (5) and butt (4); A flexible joint and nut assembly mechanism (14) is used to place the nut (5) and the flat joint (4) and to fix the nut (5); A material unloading conveyor line (15) for conveying assembled products; The movable joint grabbing and tightening mechanism (12) is capable of moving the movable joint (2) of the movable joint feeding mechanism (6) to the O-ring assembly mechanism (11), moving the movable joint (2) from the O-ring assembly mechanism (11) to the movable joint and nut assembly mechanism (14), and moving the movable joint (2) from the movable joint and nut assembly mechanism (14) to the unloading conveying line (15).

2. A fully automatic assembly device for movable joints as claimed in claim 1, characterized in that: The movable feeding mechanism (6) comprises a hopper (601), a lifting component (602), and a conveying component (603).

3. The fully automatic assembly equipment for movable joints according to claim 1, characterized in that: The O-ring grabbing mechanism (10) comprises a first translation mechanism (1001), a first lifting mechanism (1002), and a first pneumatic clamp (1003); the first pneumatic clamp (1003) is arranged on the first lifting mechanism (1002), and the first lifting mechanism (1002) is arranged on the first translation mechanism (1001); the O-ring (3) is clamped by the first pneumatic clamp (1003).

4. A fully automatic assembly device for movable joints as claimed in claim 3, characterized in that: The O-ring assembly mechanism (11) comprises a second translation mechanism (1101), an O-ring lifting mechanism (1102), and a movable positioning mechanism (1103). The O-ring lifting mechanism (1102) is arranged on the second translation mechanism (1101), and the O-ring lifting mechanism (1102) is driven to move by the second translation mechanism (1101). The O-ring lifting mechanism (1102) comprises an O-ring placement rack and a lifting assembly. A placement hole is arranged at the top of the O-ring placement rack. The lifting assembly is arranged below the O-ring placement rack, and the telescopic end of the lifting assembly is located in the placement hole. The O-ring grabbing mechanism (10) grabs the O-ring (3) from the O-ring feeding mechanism (7) and puts it into the placement hole.

5. A fully automatic assembly device for movable joints as claimed in claim 4, characterized in that: The movable grasping and tightening mechanism (12) comprises a third translation mechanism (1201), a second lifting mechanism (1202), a tightening mechanism (1203) and a second pneumatic clamp (1204); the second pneumatic clamp (1204) is arranged on the tightening mechanism (1203), the tightening mechanism (1203) is arranged on the second lifting mechanism (1202), and the second lifting mechanism (1202) is arranged on the third translation mechanism (1201).

6. A fully automatic assembly device for movable joints as claimed in claim 5, characterized in that: The nut and butt-jointed grasping mechanism (13) comprises a fourth translation mechanism (1301), a third lifting mechanism (1302), a third pneumatic clamp (1303) and a fourth pneumatic clamp (1304); the third pneumatic clamp (1303) and the fourth pneumatic clamp (1304) are arranged on the third lifting mechanism (1302), and the third lifting mechanism (1302) is arranged on the fourth translation mechanism (1301).

7. A fully automatic assembly device for movable joints as claimed in claim 6, characterized in that: The movable joint and nut assembly mechanism (14) comprises a fifth translation mechanism (1401), a nut and a butt joint positioning frame (1402), and a nut fixing assembly (1403). The nut fixing assembly (1403) is arranged on the nut and the butt joint positioning frame (1402), and the nut and the butt joint positioning frame (1402) is arranged on the fifth translation mechanism (1401).

8. The fully automatic assembly equipment for movable joints according to claim 7, characterized in that: The structures of the O-ring feeding mechanism (7), the flat joint feeding mechanism (8) and the nut feeding mechanism (9) are the same as the structure of the movable joint feeding mechanism (6).

9. The fully automatic assembly equipment for movable joints according to claim 7, characterized in that: The moving direction of the second translation mechanism (1101), the moving direction of the fifth translation mechanism (1401) and the moving direction of the first translation mechanism (1001) are the same, the moving direction of the third translation mechanism (1201) is perpendicular to the moving direction of the second translation mechanism (1101), and the moving direction of the fourth translation mechanism (1301) is the same as the moving direction of the third translation mechanism (1201).

10. A fully automatic assembly method for a flexible joint, using a fully automatic assembly device for a flexible joint according to any one of claims 1 to 9, characterized in that: The steps include: The movable joint (2) is fed through a movable joint feeding mechanism (6), the O-ring (3) is fed through an O-ring feeding mechanism (7), the flat joint (4) is fed through a flat joint feeding mechanism (8), and the nut (5) is fed through a nut feeding mechanism (9); The movable joint (2) is fixed by the second pneumatic clamp (1204) of the movable joint grabbing and tightening mechanism (12), and then the movable joint (2) is moved from the movable joint feeding mechanism (6) to the positioning plate of the O-ring assembly mechanism (11), and the movable joint (2) is fixed by the fixing component of the movable joint positioning mechanism (1103); The second translation mechanism (1101) drives the O-ring lifting mechanism (1102) to move toward the side of the O-ring grabbing mechanism (10), and moves the O-ring (3) from the O-ring feeding mechanism (7) to the placement hole of the O-ring lifting mechanism (1102) through the O-ring grabbing mechanism (10); the second translation mechanism (1101) drives the O-ring lifting mechanism (1102) to move toward the side of the articulated positioning mechanism (1103), so that the placement hole of the O-ring lifting mechanism (1102) is aligned with the horn hole of the positioning plate, and the lifting assembly of the O-ring lifting mechanism (1102) works to push the O-ring (3) into the articulated joint (2); The fifth translation mechanism (1401) drives the nut and butt joint positioning frame (1402) to move toward the side of the nut and butt joint grasping mechanism (13), and the nut (5) and the butt joint (4) are placed in the nut and butt joint positioning frame (1402) through the nut and butt joint grasping mechanism (13), and the nut (5) is fixed by the nut fixing assembly (1403); The fifth translation mechanism (1401) drives the nut and the flat joint positioning frame (1402) to move to the other side, and the flexible joint grasping and tightening mechanism (12) moves the flexible joint (2) after the O-ring (3) is assembled to the top of the nut (5), and drives the flexible joint (2) to rotate through the tightening mechanism (1203), completing the assembly of the flexible joint (2) and the nut (5), and the flexible joint grasping and tightening mechanism (12) places the assembled flexible joint (2) on the offline conveyor line (15), and the offline conveyor line (15) conveys the assembled flexible joint (2) to the collection box (16).

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