A kind of full-automatic assembling equipment and assembling method

Abstract

The application relates to a full-automatic assembling device and a assembling method, which comprise a live joint feeding mechanism, an O-ring feeding mechanism, a flat joint feeding mechanism, a nut feeding mechanism, an O-ring assembling mechanism, an O-ring grabbing mechanism, a live joint grabbing and tightening mechanism, a nut and flat joint grabbing mechanism, a live joint and nut assembling mechanism and a discharging conveying line; the live joint grabbing and tightening mechanism can carry the live joint of the live joint feeding mechanism to the O-ring assembling mechanism, carry the live joint from the O-ring assembling mechanism to the live joint and nut assembling mechanism and carry the live joint from the live joint and nut assembling mechanism to the discharging conveying line; the live joint grabbing and tightening mechanism horizontally spans the live joint feeding mechanism, the O-ring assembling mechanism, the discharging conveying line and the live joint and nut assembling mechanism, can quickly realize the carrying and rotation of the live joint and is convenient for improving the assembling efficiency.

Description

Technical Field

[0001] This invention relates to the field of fitting assembly technology, and in particular to a fully automatic fitting assembly equipment and method. Background Technology

[0002] Unions are a type of pipe fitting. A union connection consists of a fixed fitting and a matching female fitting, with both ends connected to the corresponding pipe threads and sealed with a PVC or rubber gasket. This design makes unions very convenient to install and disassemble, while also providing excellent sealing performance. Due to their unique design and wide applicability, unions play a vital role in various building and engineering projects. Because of their flexible installation and disassembly and superior leak-proof performance, unions are widely used in kitchen and bathroom water pipe connections. Whether installing water heaters, washing machines, or connecting sinks and toilets, unions provide a reliable connection solution. Hotels, office buildings, shopping malls, and other places have extremely high requirements for the stability and reliability of their piping systems. Unions, with their excellent sealing performance and durability, ensure the normal operation of water supply and drainage systems in these places. As an important member of the pipe fittings market, the market demand for unions is constantly 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] The existing assembly of live joints is mainly done manually, which is inefficient and has low production capacity. There is also some semi-automatic assembly, but the efficiency is not high either.

[0004] Therefore, we propose a fully automated assembly equipment and assembly method for live joints. Summary of the Invention

[0005] In response to the shortcomings of the existing production technology, the applicant provides a fully automatic assembly equipment and method for unions. The union gripping and tightening mechanism spans the union feeding mechanism, the O-ring assembly mechanism, the unloading conveyor line, and the union and nut assembly mechanism, which can quickly realize the handling and rotation of the union, thereby improving assembly efficiency.

[0006] The technical solution adopted in this invention is as follows:

[0007] A fully automated assembly equipment for live joints, comprising:

[0008] A fitting feeding mechanism is used for feeding fittings.

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

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

[0011] Nut feeding mechanism, used for feeding nuts;

[0012] O-ring assembly mechanism;

[0013] The O-ring gripping mechanism is used to move O-rings from the O-ring feeding mechanism to the O-ring assembly mechanism;

[0014] The union gripping and tightening mechanism is used to handle the union and can drive the union to rotate, thus assembling the union with the nut.

[0015] Nut and flat-joint gripping mechanism, used for handling nuts and flat-joints;

[0016] The union and nut assembly mechanism is used to place the nut and the flush joint, and to secure the nut.

[0017] The unloading conveyor line is used to transport assembled products.

[0018] Among them, the union gripping and tightening mechanism can transport the union from the union feeding mechanism to the O-ring assembly mechanism, transport the union from the O-ring assembly mechanism to the union and nut assembly mechanism, and transport the union from the union and nut assembly mechanism to the unloading conveyor line.

[0019] Its further features are:

[0020] The live-feeding mechanism includes a hopper, a lifting component, and a conveying component.

[0021] The O-ring gripping mechanism includes a first translation mechanism, a first lifting mechanism, and a first pneumatic gripper. The first pneumatic gripper is mounted on the first lifting mechanism, and the first lifting mechanism is mounted on the first translation mechanism. The O-ring is clamped by the first pneumatic gripper.

[0022] The O-ring assembly mechanism includes a second translation mechanism, an O-ring lifting mechanism, and a union positioning mechanism. The O-ring lifting mechanism is mounted on the second translation mechanism and moves through the second translation mechanism. The O-ring lifting mechanism includes an O-ring placement frame and a lifting component. The top of the O-ring placement frame has a placement hole, and the lifting component is located below the O-ring placement frame with its telescopic end in the placement hole. The O-ring is picked up from the O-ring feeding mechanism and placed into the placement hole by the O-ring gripping mechanism.

[0023] The live joint gripping and tightening mechanism includes a third translation mechanism, a second lifting mechanism, a tightening mechanism, and a second pneumatic gripper. The second pneumatic gripper is mounted on the tightening mechanism, the tightening mechanism is mounted on the second lifting mechanism, and the second lifting mechanism is mounted on the third translation mechanism.

[0024] The nut and flat gripping mechanism includes a fourth translation mechanism, a third lifting mechanism, a third pneumatic gripper and a fourth pneumatic gripper. The third pneumatic gripper and the fourth pneumatic gripper are mounted on the third lifting mechanism, and the third lifting mechanism is mounted on the fourth translation mechanism.

[0025] The fitting and nut assembly mechanism includes a fifth translation mechanism, a nut and fitting positioning frame, and a nut fixing assembly. The nut fixing assembly is mounted on the nut and fitting positioning frame, and the nut and fitting positioning frame is mounted on the fifth translation mechanism.

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

[0027] The moving direction of the second translation mechanism, the moving direction of the fifth translation mechanism and the moving direction of the first translation structure are the same. The moving direction of the third translation mechanism is perpendicular to the moving direction of the second translation mechanism. 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 live joints, comprising the following steps:

[0029] The fittings are fed through the fitting feeding mechanism, the O-rings are fed through the O-ring feeding mechanism, the flat fittings are fed through the flat fitting feeding mechanism, and the nuts are fed through the nut feeding mechanism.

[0030] The union is fixed by the second pneumatic gripper of the union gripping and tightening mechanism, and then the union is moved from the union feeding mechanism to the positioning plate of the O-ring assembly mechanism. The union is then fixed by the fixing component of the union positioning mechanism.

[0031] The second translation mechanism drives the O-ring lifting mechanism to move towards the O-ring gripping mechanism. The O-ring gripping mechanism moves the O-ring from the O-ring feeding mechanism to the placement hole of the O-ring lifting mechanism. The second translation mechanism drives the O-ring lifting mechanism to move towards the union positioning mechanism, so that the placement hole of the O-ring lifting mechanism is aligned with the flared hole of the positioning plate. The lifting component of the O-ring lifting mechanism then pushes the O-ring into the union.

[0032] The fifth translation mechanism drives the nut and flat joint positioning frame to move towards the nut and flat joint gripping mechanism. The nut and flat joint are placed into the nut and flat joint positioning frame by the nut and flat joint gripping mechanism, and the nut is fixed by the nut fixing component.

[0033] The fifth translation mechanism moves the nut and the flat joint positioning frame to the other side. The union gripping and tightening mechanism moves the union with the O-ring installed above the nut. The tightening mechanism drives the union to rotate, completing the assembly of the union and the nut. The union gripping and tightening mechanism places the assembled union on the lower conveyor line, and the lower conveyor line transports the assembled union to the collection box.

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

[0035] This invention features a compact and reasonable structure, and is easy to operate. The second translation component moves the O-ring lifting mechanism to below the positioning plate, aligning the placement hole of the O-ring lifting mechanism with the flared hole of the positioning plate. The lifting component of the O-ring lifting mechanism then pushes the O-ring into the union. The union gripping and tightening mechanism spans the union feeding mechanism, the O-ring assembly mechanism, the unloading conveyor line, and the union and nut assembly mechanism, enabling rapid handling and rotation of the union, thus improving assembly efficiency.

[0036] In addition, the present invention also has the following advantages:

[0037] (1) The fifth translation mechanism drives the nut and flat joint positioning frame to move to the side of the nut and flat joint gripping mechanism. The nut and flat joint are placed into the nut and flat joint positioning frame by the nut and flat joint gripping mechanism, and the nut is fixed by the nut fixing component.

[0038] (2) The fifth translation mechanism drives the nut and the flat joint positioning frame to move to the other side. The union gripping and tightening mechanism moves the union after the O-ring is assembled above the nut. The tightening mechanism drives the union to rotate, completing the assembly of the union and the nut. The union gripping and tightening mechanism places the assembled union on the lower conveyor line. The lower conveyor line transports the assembled union to the collection box. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the present invention.

[0040] Figure 2 The top view of the bracket is shown after removing the top of the bracket in this invention.

[0041] Figure 3 This is a schematic diagram of the live-joint feeding mechanism of the present invention.

[0042] Figure 4 This is a schematic diagram of the O-ring assembly mechanism and the union and nut assembly mechanism of the present invention.

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

[0044] Figure 6 This is a schematic diagram of the union and nut assembly mechanism of the present invention.

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

[0046] The components include: 1. Bracket; 2. Union; 3. O-ring; 4. Flat joint; 5. Nut; 6. Union 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 gripping mechanism; 1001. First translation mechanism; 1002. First lifting mechanism; 1003. First pneumatic gripper; 11. O-ring assembly mechanism; 1101. Second translation mechanism; 1102. O-ring lifting mechanism; 1103. Union positioning mechanism. 12. Union gripping and tightening mechanism; 1201. Third translation mechanism; 1202. Second lifting mechanism; 1203. Tightening mechanism; 1204. Second pneumatic gripper; 13. Nut and flat joint gripping mechanism; 1301. Fourth translation mechanism; 1302. Third lifting mechanism; 1303. Third pneumatic gripper; 1304. Fourth pneumatic gripper; 14. Union and nut assembly mechanism; 1401. Fifth translation mechanism; 1402. Nut and flat joint positioning frame; 1403. Nut fixing assembly; 15. Material feeding conveyor line; 16. Collection box. Detailed Implementation

[0047] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0048] like Figure 1-7 As shown, a fully automatic assembly equipment for unions includes a support 1, a union feeding mechanism 6, an O-ring feeding mechanism 7, a flat joint feeding mechanism 8, a nut feeding mechanism 9, an O-ring gripping mechanism 10, an O-ring assembly mechanism 11, a union gripping and tightening mechanism 12, a nut and flat joint gripping mechanism 13, a union and nut assembly mechanism 14, an offline conveyor line 15, and a collection box 16.

[0049] The following mechanisms are installed in the bracket 1: 6 (joint feeding mechanism), 7 (O-ring feeding mechanism), 8 (flat joint feeding mechanism), 9 (nut feeding mechanism), 10 (O-ring gripping mechanism), 11 (O-ring assembly mechanism), 12 (joint gripping and tightening mechanism), 13 (nut and flat joint gripping mechanism), and 14 (joint and nut assembly mechanism).

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

[0051] The live joint feeding mechanism 6 is used for feeding live joint 2. The live joint feeding mechanism 6 includes a hopper 601, a lifting component 602, and a conveying component 603.

[0052] In one embodiment, the O-ring feeding mechanism 7 and the live joint feeding mechanism 6 have essentially the same structure. The O-ring feeding mechanism 7 is used for feeding O-rings 3.

[0053] In one embodiment, the flat-joint feeding mechanism 8 and the sliding-joint feeding mechanism 6 have essentially the same structure. The flat-joint feeding mechanism 8 is used for feeding the flat-joint 4.

[0054] In one embodiment, the nut feeding mechanism 9 has a structure that is basically the same as the union feeding mechanism 6. The nut feeding mechanism 9 is used for feeding the nut 5.

[0055] The O-ring gripping mechanism 10 includes a first translation mechanism 1001, a first lifting mechanism 1002, and a first pneumatic gripper 1003. The first pneumatic gripper 1003 is mounted on the first lifting mechanism 1002, which in turn is mounted on the first translation mechanism 1001. The first lifting mechanism 1002 drives the first pneumatic gripper 1003 to rise and fall, while the first translation mechanism 1001 drives the first pneumatic gripper 1003 to translate via the first lifting mechanism 1002. The first pneumatic gripper 1003 is used to clamp the O-ring 3.

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

[0057] The O-ring assembly mechanism 11 includes a second translation mechanism 1101, an O-ring lifting mechanism 1102, and a union positioning mechanism 1103. The O-ring lifting mechanism 1102 is mounted on the second translation mechanism 1101. The second translation mechanism 1101 drives the O-ring lifting mechanism 1102 to move. 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 frame and a lifting component. The top of the O-ring placement frame is provided with a placement hole. The lifting component is located below the O-ring placement frame, and the telescopic end of the lifting component is in the placement hole. The O-ring 3 is picked up from the O-ring feeding mechanism 7 and placed into the placement hole by the O-ring gripping mechanism 10.

[0058] The live joint positioning mechanism 1103 includes a positioning plate and a live joint fixing component. The positioning plate is located above one end of the second translation mechanism 1101, and the live joint fixing component is located on the positioning plate. The live joint 2 is fixed by the live joint fixing component. The top of the positioning plate is provided with a positioning hole, and the bottom of the positioning plate is provided with a flared hole communicating with the positioning hole.

[0059] The second translation component 1101 moves the O-ring lifting mechanism 1102 to below 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 component of the O-ring lifting mechanism 1102 pushes the O-ring 3 into the live joint 2.

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

[0061] In one embodiment, the live-fitting fixing assembly includes a cylinder and a fixing claw, etc.

[0062] The third translation mechanism 1201 and the second lifting mechanism 1202 drive the second pneumatic gripper 1204 to move, thereby transporting the live joint 2 in the live joint feeding mechanism 6 to the positioning plate of the live joint positioning mechanism 1103. Then, the live joint is fixed by the fixing component of the live joint positioning mechanism 1103, and then the O-ring 3 is pushed in by 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 drive mechanism, etc.

[0064] The nut and flat-joint gripping mechanism 13 includes a fourth translation mechanism 1301, a third lifting mechanism 1302, a third pneumatic gripper 1303, and a fourth pneumatic gripper 1304. The third pneumatic gripper 1303 and the fourth pneumatic gripper 1304 are mounted on the third lifting mechanism 1302, which drives them to rise and fall. The third lifting mechanism 1302 is mounted on the fourth translation mechanism 1301, which drives them to move. The direction of movement of the fourth translation mechanism 1301 is the same as that of the third translation mechanism 1301. The third pneumatic gripper 1303 and the fourth pneumatic gripper 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 drive mechanism, etc.

[0066] The union and nut assembly mechanism 14 includes a fifth translation mechanism 1401, a nut and flush joint positioning frame 1402, and a nut fixing assembly 1403. The nut fixing assembly 1403 is mounted on the nut and flush joint positioning frame 1402, and the nut 5 and flush joint 4 are placed on the nut and flush joint positioning frame 1402. The nut 5 and flush joint 4 are positioned by the nut and flush joint positioning frame 1402. The nut is fixed by the nut fixing assembly 1403. The nut and flush joint positioning frame 1402 is mounted on the fifth translation mechanism 1401, and the fifth translation mechanism 1401 drives the nut and flush joint positioning frame 1402 to move. 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, etc.

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

[0069] The feeding conveyor line 15 is located between the O-ring assembly mechanism 11 and the union and nut assembly mechanism 14, and the collection box 16 is located at the end of the feeding conveyor line 15.

[0070] The union gripping and tightening mechanism 12 spans the union feeding mechanism 6, the O-ring assembly mechanism 11, the unloading conveyor line 15, and the union and nut assembly mechanism 14, which can quickly realize the handling and rotation of the union, thus improving assembly efficiency.

[0071] The present invention also provides a fully automatic assembly method for live joints, 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 second pneumatic gripper 1204 of the live joint gripping and tightening mechanism 12 fixes the live joint 2, and then moves the live joint 2 from the live joint feeding mechanism 6 to the positioning plate of the O-ring assembly mechanism 11. The live joint 2 is then fixed by the fixing component of the live joint positioning mechanism 1103.

[0074] The second translation mechanism 1101 drives the O-ring lifting mechanism 1102 to move towards the O-ring gripping mechanism 10. The O-ring gripping mechanism 10 moves the O-ring 3 from the O-ring feeding mechanism 7 to the placement hole of the O-ring lifting mechanism 1102. The second translation mechanism 1101 drives the O-ring lifting mechanism 1102 to move towards the union positioning mechanism 1103, so that the placement hole of the O-ring lifting mechanism 1102 is aligned with the flared hole of the positioning plate. The lifting component of the O-ring lifting mechanism 1102 pushes the O-ring 3 into the union 2.

[0075] The fifth translation mechanism 1401 drives the nut and flat joint positioning frame 1402 to move towards the nut and flat joint gripping mechanism 13. The nut 5 and flat joint 4 are placed into the nut and flat joint positioning frame 1402 by the nut and flat joint gripping mechanism 13, and the nut 5 is fixed by 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. The union gripping and tightening mechanism 12 moves the union 2 after the O-ring 3 is assembled above the nut 5. The tightening mechanism 1203 drives the union 2 to rotate, completing the assembly of the union 2 and the nut 5. The union gripping and tightening mechanism 12 places the assembled union 2 on the lower conveyor line 15. The lower conveyor line 15 transports the assembled union 2 to the collection box 16.

[0077] It can achieve fully automated assembly of live joint 2, with high assembly efficiency, compact structure, smooth cycle, and high production and sales volume.

[0078] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A fully automatic assembly equipment for live joints, characterized in that, include: The live joint feeding mechanism (6) is used for feeding the live joint (2); O-ring feeding mechanism (7) is used for feeding O-rings (3); The flat-joint feeding mechanism (8) is used for feeding the flat-joint (4); Nut feeding mechanism (9) is used for feeding nuts (5); O-ring assembly mechanism (11); O-ring gripping mechanism (10) is used to move O-rings (3) from O-ring feeding mechanism (7) to O-ring assembly mechanism (11); The union gripping and tightening mechanism (12) is used to transport the union (2) and can drive the union (2) to rotate, so as to realize the assembly of the union (2) and the nut (5); Nut and flat-joint gripping mechanism (13) for handling nut (5) and flat-joint (4); The union and nut assembly mechanism (14) is used to place the nut (5) and the flush joint (4), and to fix the nut (5); The unloading conveyor line (15) is used to transport assembled products; Among them, the union gripping and tightening mechanism (12) can transport the union (2) of the union feeding mechanism (6) to the O-ring assembly mechanism (11), transport the union (2) from the O-ring assembly mechanism (11) to the union and nut assembly mechanism (14), and transport the union (2) from the union and nut assembly mechanism (14) to the unloading conveyor line (15); the union gripping and tightening mechanism (12) includes a third translation mechanism (1201), a second lifting mechanism (1202), a tightening mechanism (1203) and a third... Two pneumatic grippers (1204) are mounted on a tightening mechanism (1203), which is mounted on a second lifting mechanism (1202) and a third translation mechanism (1201). The union gripping and tightening mechanism (12) moves the union (2) after the O-ring (3) is assembled above the nut (5), and drives the union (2) to rotate through the tightening mechanism (1203) to complete the assembly of the union (2) and the nut (5).

2. The fully automatic assembly equipment for live joints as described in claim 1, characterized in that: The live feed mechanism (6) includes a hopper (601), a lifting component (602), and a conveying component (603).

3. The fully automatic assembly equipment for live joints as described in claim 1, characterized in that: The O-ring gripping mechanism (10) includes a first translation mechanism (1001), a first lifting mechanism (1002), and a first pneumatic gripper (1003). The first pneumatic gripper (1003) is mounted on the first lifting mechanism (1002), and the first lifting mechanism (1002) is mounted on the first translation mechanism (1001). The first pneumatic gripper (1003) clamps the O-ring (3).

4. The fully automatic assembly equipment for live joints as described in claim 3, characterized in that: 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 mounted on the second translation mechanism (1101). The second translation mechanism (1101) drives the O-ring lifting mechanism (1102) to move. The O-ring lifting mechanism (1102) includes an O-ring placement frame and a lifting component. The top of the O-ring placement frame is provided with a placement hole. The lifting component is located below the O-ring placement frame, and the telescopic end of the lifting component is in the placement hole. The O-ring (3) is picked up from the O-ring feeding mechanism (7) and placed into the placement hole by the O-ring gripping mechanism (10).

5. The fully automatic assembly equipment for live joints as described in claim 1, characterized in that: The nut and flat gripping mechanism (13) includes a fourth translation mechanism (1301), a third lifting mechanism (1302), a third pneumatic gripper (1303) and a fourth pneumatic gripper (1304). The third pneumatic gripper (1303) and the fourth pneumatic gripper (1304) are mounted on the third lifting mechanism (1302), and the third lifting mechanism (1302) is mounted on the fourth translation mechanism (1301).

6. The fully automatic assembly equipment for live joints as described in claim 5, characterized in that: The live 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 mounted on the nut and flat joint positioning frame (1402), and the nut and flat joint positioning frame (1402) is mounted on the fifth translation mechanism (1401).

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

8. The fully automatic assembly equipment for live joints as described in claim 6, 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 structure (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).

9. A fully automatic assembly method for union joints, using the fully automatic assembly equipment for union joints as described in any one of claims 1-8, characterized in that, Includes the following steps: 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). The live joint (2) is fixed by the second pneumatic gripper (1204) of the live joint gripping and tightening mechanism (12), and then the live joint (2) is moved from the live joint feeding mechanism (6) to the positioning plate of the O-ring assembly mechanism (11), and the live joint (2) is fixed by the fixing component of the live joint positioning mechanism (1103); The second translation mechanism (1101) drives the O-ring lifting mechanism (1102) to move towards the O-ring gripping mechanism (10), and the O-ring (3) is moved from the O-ring feeding mechanism (7) to the placement hole of the O-ring lifting mechanism (1102) through the O-ring gripping mechanism (10); the second translation mechanism (1101) drives the O-ring lifting mechanism (1102) to move towards the union 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 component of the O-ring lifting mechanism (1102) pushes the O-ring (3) into the union (2); The fifth translation mechanism (1401) drives the nut and flat joint positioning frame (1402) to move towards the nut and flat joint gripping mechanism (13). The nut (5) and flat joint (4) are placed into the nut and flat joint positioning frame (1402) by the nut and flat joint gripping 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 positioning frame (1402) to move to the other side. The union gripping and tightening mechanism (12) moves the union (2) after the O-ring (3) is assembled above the nut (5). The tightening mechanism (1203) drives the union (2) to rotate, completing the assembly of the union (2) and the nut (5). The union gripping and tightening mechanism (12) places the assembled union (2) on the lower conveyor line (15). The lower conveyor line (15) transports the assembled union (2) to the collection box (16).

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