Automatic assembly robot

Abstract

The invention relates to the field of automatic assembly equipment, in particular to an automatic assembly robot which comprises a mechanical arm, a claw frame is fixedly installed at the execution end of the mechanical arm, a linkage frame is fixedly installed on the lower portion of the claw frame, and the linkage frame is composed of three supporting arms arranged at equal intervals. The linkage frame is provided with four limiting mechanisms used for clamping the gears in an inner supporting mode, and the robot further comprises a meshing mechanism used for meshing the planet gears and the center gear together in an aligned mode, and inner supporting clamping is conducted on the three planet gears and the center gear through the supporting clamping jaws on the four cylindrical parts; by means of the technical scheme, the three planet gears and the center gear can be assembled into the outer gear ring at the same time, then the assembling efficiency is improved, the power assembly drives the slot piece to automatically position the positions of gear teeth, the three planet gears and the center gear can be assembled together in advance in an aligned mode through the synchronizing assembly, and the assembling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automated assembly equipment, and specifically to an automatic assembly robot. Background Art

[0002] The robotic arm can perform repetitive operations at extremely high speeds and precision, and can quickly and accurately complete the grasping, handling, and assembly of components. Compared with manual operation, it greatly shortens the assembly time of a single product and improves the production rhythm.

[0003] When the robotic arm assembles a planetary gear train, first the central gear is clamped and placed at the inner central position of the external gear ring. Subsequently, three planetary gears are successively placed and assembled between the central gear and the external gear ring. During the assembly process of the planetary gears, the planetary gears need to be intermittently rotated so that the teeth of the planetary gears mesh with both the central gear and the external gear ring simultaneously. Also, it is necessary to ensure that the three planetary gears are arranged at circumferential intervals along the central gear, and when the number of planetary gears in the planetary gear train is three, the number of teeth of the central gear is a multiple of three.

[0004] However, the existing assembly method can only move and align the central gear and the planetary gears one by one for assembly, reducing the assembly efficiency. And when assembling the planetary gears between the central gear and the external gear ring, it is necessary to intermittently rotate and adjust the direction of the teeth of the planetary gears, and each time it rotates, the planetary gear needs to be moved downward once until the teeth of the planetary gear mesh with both the central gear and the external gear ring in alignment, further reducing the assembly efficiency.

[0005] In summary, there is an urgent need for an automatic assembly robot that can simultaneously clamp three planetary gears and one central gear and quickly align and mesh the three planetary gears with one central gear. Summary of the Invention

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: an automatic assembly robot, including a robotic arm. A claw frame is fixedly installed at the execution end of the robotic arm. A linkage frame is fixedly installed at the lower part of the claw frame. The linkage frame is composed of three equally spaced arms. Four limiting mechanisms for clamping gears by means of internal support are arranged on the linkage frame. The robot also includes a meshing mechanism for aligning and meshing the planetary gear with the central gear together.

[0007] The limiting mechanism includes a disc block. A cube block is fixedly installed on the upper part of the disc block through a connecting bracket. Among them, three cube blocks are slidably connected to the lower part of the linkage frame along the length direction of the arms of the linkage frame, and the other cube block is fixedly installed at the lower part of the central position of the linkage frame. A linkage shaft rod is slidably arranged up and down inside the cube block. A cylinder member is rotatably arranged at the lower part of the linkage shaft rod. Support claws that slide radially are arranged at equal intervals along the circumferential direction of the cylinder member. A driving component for moving the support claws is arranged on the cylinder member.

[0008] The meshing mechanism includes a sliding frame arranged on the disc block through a power component. A slot component is slidably arranged inside the sliding frame along the radial direction of the corresponding disc block. An abutting component for abutting against the cylindrical body is arranged inside the disc block. The meshing mechanism further includes a synchronization component for synchronously moving three cube blocks slidably connected to the linkage frame.

[0009] Preferably, the driving component includes a convex column fixedly installed on the upper part of the support jaw. A driving disc plate is rotatably arranged in the middle of the cylindrical body. A first pneumatic push rod is jointly hinged between the driving disc plate and the cylindrical body. Guide inclined slots corresponding to the convex columns one by one are equidistantly arranged on the driving disc plate. The convex column is slidably connected inside the corresponding guide inclined slot.

[0010] Preferably, the guide inclined slot has a linear waist-shaped groove structure, and there is an included angle between the length direction of the guide inclined slot and the corresponding radial direction on the driving disc plate. When the driving disc plate rotates, the convex column is pushed away from the axis direction of the driving disc plate through the guide inclined slot.

[0011] Preferably, the sliding frame on the disc block corresponding to the cube block slidably connected to the linkage frame is located on one side of the disc block close to the center of the linkage frame. The sliding frame on the disc block corresponding to the cube block fixedly connected to the linkage frame is located on one side of the disc block far from the center of the linkage frame and corresponds to one of the arms of the linkage frame.

[0012] Preferably, one end of the slot component close to the axis of the corresponding disc block has a pointed structure arranged symmetrically in two. Distance measuring sensors are fixedly installed at the positions of the two symmetrically arranged pointed structures of the slot component. A second pneumatic push rod is arranged between the slot component and the corresponding sliding frame.

[0013] Preferably, the abutting component includes an abutting friction block slidably arranged radially inside the disc block. A pushing spring is arranged between the abutting friction block and the disc block. A through slot for the cylindrical body to enter is opened in the middle of the disc block.

[0014] Preferably, the synchronization component includes a linkage disc rotatably arranged on the upper part of the linkage frame. Three articulated support plates are equidistantly hinged along the circumferential direction of the linkage disc. The end of the articulated support plate far from the linkage disc is sleeved outside the corresponding linkage shaft rod. A hydraulic rod is arranged between one of the three cube blocks slidably connected to the linkage frame and the linkage frame.

[0015] Preferably, a rectangular plate is fixedly installed at the upper end of the linkage shaft rod. An electric telescopic rod is fixedly installed on the inner top wall of the claw frame. A synchronization frame is fixedly installed at the lower part of the electric telescopic rod. The synchronization frame has the same shape as the linkage frame. The rectangular plate at the position of the cube block sliding on the linkage frame is slidably connected to the synchronization frame. The rectangular plate at the center position of the synchronization frame is fixedly connected to the synchronization frame.

[0016] Preferably, the power assembly includes a driven ring rotatably arranged on the disc block. The side of the driven ring is fixedly connected to the corresponding sliding frame through an L-shaped support arm. An actuator motor is fixedly installed at the lower part of the connecting bracket, and the actuator motor is connected to the driven ring by means of a gear connection.

[0017] Preferably, a limiting post is fixedly installed at the upper edge position of the disc block. The limiting post on the disc block far from the center of the claw frame is located on the side close to the center of the claw frame. The limiting post on the disc block at the center position of the claw frame corresponds to one of the arms of the linkage frame, and a limiting groove is provided on the horizontal section of the L-shaped support arm.

[0018] The beneficial effects of the present invention are as follows: First, the present invention uses the support claws on the four cylindrical parts to respectively perform internal support clamping on three planet gears and a central gear, so that the three planet gears and a central gear can be assembled into the inner part of the external tooth ring at the same time, thereby increasing the assembly efficiency. And the power assembly drives the slot part to automatically locate the position of the gear teeth, so as to position the angles of the three planet gears and a central gear. Then, through the synchronization assembly, the three planet gears and a central gear can be pre-positioned and assembled together without assembling the gears one by one, improving the assembly efficiency.

[0019] Second, the present invention uses the support claws on the four cylindrical parts to respectively perform internal support clamping on three planet gears and a central gear, and determines the position of the gear teeth through the slot part on the disc block, so that the steps of clamping the gear and positioning the teeth can be carried out synchronously, thereby further improving the assembly efficiency. And the synchronization assembly can drive the three planet gears to move to the position of the central gear at the same time, which can ensure that the three planet gears are arranged at equal intervals, thus ensuring the assembly accuracy, so that the three planet gears can be assembled onto the central gear at one time, further improving the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the drawings and embodiments.

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 is a first schematic diagram of the present invention after removing the robotic arm.

[0023] Figure 3 is a second schematic diagram of the present invention after removing the robotic arm.

[0024] Figure 4 is a schematic diagram of the linkage frame, disc block, cube block, drive disc plate, hydraulic rod, limiting post and connecting bracket in the present invention.

[0025] Figure 5 It is a cross-sectional view of the disc block, cube block, cylinder part, support jaw, drive assembly, connection bracket and abutting assembly in the present invention.

[0026] Figure 6 It is a cross-sectional view of the disc block, cube block, linkage shaft rod, cylinder part, connection bracket, sliding frame, slot part and power assembly in the present invention.

[0027] Figure 7 It is a schematic structural diagram of the slot part in the present invention.

[0028] In the figure: 1, robotic arm; 2, claw frame; 3, linkage frame; 4, limiting mechanism; 5, meshing mechanism; 41, disc block; 42, cube block; 44, linkage shaft rod; 45, cylinder part; 46, support jaw; 47, drive assembly; 48, connection bracket; 52, sliding frame; 53, slot part; 54, abutting assembly; 55, power assembly; 56, synchronization assembly; 411, limiting column; 412, limiting groove; 441, rectangular plate; 442, electric telescopic rod; 443, synchronization frame; 471, protruding column; 472, drive disc plate; 473, first pneumatic push rod; 474, guiding inclined groove; 521, second pneumatic push rod; 541, abutting friction block; 551, driven ring; 552, actuating motor; 553, L-shaped support arm; 561, linkage disc; 562, articulated support plate; 563, hydraulic rod. Specific Embodiments

[0029] The embodiments of the present invention will be described in detail below. The embodiments described below are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention. For those technologies or conditions not specified in the embodiments, they shall be carried out according to the technologies or conditions described in the literature in the art or according to the product specifications.

[0030] Refer to Figure 1 , Figure 2 and Figure 3 , an automatic assembly robot, including a robotic arm 1, a claw frame 2 is fixedly installed at the execution end of the robotic arm 1, a linkage frame 3 is fixedly installed at the lower part of the claw frame 2, the linkage frame 3 is composed of three equally spaced arms, and four limiting mechanisms 4 for clamping gears in an inner support manner are arranged on the linkage frame 3. The robot further includes a meshing mechanism 5 for aligning and meshing the planet gear and the central gear together.

[0031] When it is necessary to assemble the central gear and the planetary gears inside the external gear ring, first, the mechanical arm 1 moves the limiting mechanism 4 to the positions of the central gear and the planetary gears, so that the limiting mechanism 4 holds and grabs the central gear and the planetary gears one by one. At the same time, the meshing mechanism 5 positions and moves the tooth positions of the central gear and the planetary gears. Then, the central gear and the planetary gears are assembled in alignment through the meshing mechanism 5. Next, the mechanical arm 1 moves the assembled central gear and planetary gears to the position of the external gear ring, and then the central gear and the planetary gears are moved downward and assembled inside the external gear ring.

[0032] Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the limiting mechanism 4 includes a disc block 41. A cubic block 42 is fixedly installed on the upper part of the disc block 41 through a connecting bracket 48. Among them, three cubic blocks 42 are slidably connected to the lower part of the linkage 3 along the length direction of the arms of the linkage 3, and the other cubic block 42 is fixedly installed on the lower part of the central position of the linkage 3. A linkage shaft rod 44 is slidably arranged up and down inside the cubic block 42. A cylindrical part 45 is rotatably arranged at the lower part of the linkage shaft rod 44. Support claws 46 that slide radially along its circumference are equidistantly arranged on the cylindrical part 45. A through slot for the cylindrical part 45 to enter is opened in the middle of the disc block 41.

[0033] Refer to Figure 2 and Figure 5 , a driving assembly 47 for moving the support claws 46 is arranged on the cylindrical part 45. The driving assembly 47 includes a convex column 471 fixedly installed on the upper part of the support claw 46. A driving disc plate 472 is rotatably arranged in the middle of the cylindrical part 45. A first pneumatic push rod 473 is jointly hinged between the driving disc plate 472 and the cylindrical part 45. Guide inclined slots 474 corresponding one by one to the convex columns 471 are equidistantly arranged on the driving disc plate 472. The convex column 471 is slidably connected inside the corresponding guide inclined slot 474.

[0034] Refer to Figure 5 , the guide inclined slot 474 has a linear waist-shaped groove structure, and there is an included angle between the length direction of the guide inclined slot 474 and the corresponding radial direction on the driving disc plate 472. When the driving disc plate 472 rotates, the convex column 471 is pushed away from the axis direction of the driving disc plate 472 through the guide inclined slot 474.

[0035] Continue to refer to Figure 5 , an abutting assembly 54 for abutting against the cylindrical part 45 is arranged inside the disc block 41. The abutting assembly 54 includes an abutting friction block 541 that slides radially inside the disc block 41. A pushing spring is arranged between the abutting friction block 541 and the disc block 41.

[0036] In the initial state, the three slidably arranged cube blocks 42 are all located at positions far from the center of the linkage 3, and the cylindrical member 45 is located inside the through slot of the disc block 41. At the same time, the support claws 46 on the same cylindrical member 45 are in positions close to each other. The pushing spring pushes the abutting friction block 541 against the outer side of the cylindrical member 45 through its own elastic force, thereby fixing the rotation angle of the cylindrical member 45.

[0037] When assembling the central gear and the planetary gears, the robotic arm 1 is moved to drive the claw holder 2, the linkage 3 and the disc block 41 to move synchronously, so that the disc block 41 fixedly connected to the linkage 3 moves directly above the central gear.

[0038] Subsequently, the robotic arm 1 is moved downward to drive the support claws 46 at the position of the disc block 41 fixedly connected to the linkage 3 to insert into the central gear. Then, the first pneumatic push rod 473 is extended to drive the driving disc plate 472 to rotate relative to the cylindrical member 45, so that the driving disc plate 472 synchronously pushes the support claws 46 away from the axis of the cylindrical member 45 through the guiding inclined slots 474 thereon, thereby enabling the support claws 46 inserted into the central gear to perform an internal support clamping on the central gear.

[0039] Then, the robotic arm 1 is moved to drive the support claws 46 at the position of the disc block 41 slidably connected to the linkage 3 to insert into the corresponding planetary gear. Similarly, the support claws 46 perform an internal support clamping on the planetary gear, and through the synchronous internal support clamping of the support claws 46, the positions of the central gear and the planetary gears can be centered and corrected, so that the central gear and the planetary gears are arranged coaxially with the corresponding disc block 41.

[0040] Refer to Figure 2 、 Figure 3 and Figure 6 As shown in

[0041] Refer to Figure 2 、 Figure 3 、 Figure 6 and Figure 7, the sliding frame 52 on the disc block 41 corresponding to the cubic block 42 slidably connected to the linkage 3 is located on the side of the disc block 41 close to the center of the linkage 3, and the sliding frame 52 on the disc block 41 corresponding to the cubic block 42 fixedly connected to the linkage 3 is located on the side of the disc block 41 away from the center of the linkage 3 and corresponds to one of the arms of the linkage 3. One end of the slotting member 53 close to the axis of the corresponding disc block 41 has two symmetrically arranged pointed structures. Distance measuring sensors are fixedly installed at the positions of the two symmetrically arranged pointed structures of the slotting member 53. A second pneumatic push rod 521 is provided between the slotting member 53 and the corresponding sliding frame 52.

[0042] In the initial state, the telescopic section of the second pneumatic push rod 521 pushes the slotting member 53, so that the two symmetrically arranged pointed structures on the slotting member 53 are located at the position of the sliding frame 52. When the support jaw 46 clamps and limits the gear, the actuating motor 552 is started to drive the driven ring 551 to rotate reciprocally, so that the driven ring 551 drives the sliding frame 52 to rotate reciprocally through the L-shaped arm 553. The sliding frame 52 synchronously moves the slotting member 53, so that the slotting member 53 detects the distance from itself to the gear through the distance measuring sensor thereon.

[0043] When the pointed structure of the slotting member 53 moves to the tooth groove position of the corresponding gear, the distance measuring sensor detects that the slotting member 53 is the farthest from the gear. When the pointed structure of the slotting member 53 moves to the tooth top position of the corresponding gear, the distance measuring sensor detects that the slotting member 53 is the closest to the gear. The positions of the gear tooth top and tooth groove are determined according to the data of the distance measuring sensor. The application of the distance measuring sensor is prior art and will not be elaborated here.

[0044] It should be noted that when the support jaw 46 clamps and limits the gear, the positions of the gear teeth and tooth grooves can be determined through the distance measuring sensor on the slotting member 53, so that the steps of the support jaw 46 clamping the next gear and determining the positions of the teeth and tooth grooves of the already clamped gear can be carried out synchronously, thereby shortening the assembly time and improving the assembly efficiency.

[0045] When the data of the distance measuring sensor on the slotting member 53 corresponding to the central gear is the largest, stop the actuating motor 552 at the corresponding position, and then contract the telescopic section of the second pneumatic push rod 521 to drive the slotting member 53 at the corresponding position to move towards the central gear, so that the two pointed structures on the slotting member 53 are inserted into the tooth grooves of the central gear. Similarly, the position between the two pointed structures on the slotting member 53 corresponding to the planetary gear is inserted into the tooth top position of the planetary gear. At this time, the slotting member 53 corresponding to the central gear corresponds to the tooth groove position of the central gear, and the slotting member 53 corresponding to the planetary gear corresponds to the tooth top position of the planetary gear.

[0046] Continue to refer to Figure 2 、 Figure 3And Figure 6 On the upper edge position of the disk block 41, a limit post 411 is fixedly installed. The limit post 411 on the disk block 41 away from the center position of the claw holder 2 is located on the side close to the center of the claw holder 2. The limit post 411 on the disk block 41 at the center position of the claw holder 2 corresponds to one of the arms of the linkage 3. A limit slot 412 is provided on the horizontal section of the L-shaped arm 553.

[0047] After the slotting member 53 determines the position of the tooth tip of the planet gear and the tooth groove of the sun gear, start the actuating motor 552 to drive the horizontal section of the L-shaped arm 553 to move towards the corresponding limit post 411, so that the L-shaped arm 553 drives the limit slot 412 to move to the outside of the limit post 411. At the same time, the L-shaped arm 553 drives the planet gear and the sun gear to rotate synchronously through the slotting member 53. The planet gear and the sun gear drive the corresponding cylindrical member 45 to rotate. At this time, the abutting friction block 541 changes the friction force on the cylindrical member 45 from static friction to sliding friction.

[0048] When the limit slot 412 abuts against the limit post 411, the L-shaped arm 553 corresponds to the arm at the corresponding position of the linkage 3, so that the position of the tooth tip of the planet gear corresponds to the tooth groove of the sun gear, and further aligns the angles of the planet gear and the sun gear.

[0049] Refer to Figure 2 、 Figure 3 And Figure 6 On the upper end of the linkage shaft rod 44, a rectangular plate 441 is fixedly installed. On the inner top wall of the claw holder 2, an electric telescopic rod 442 is fixedly installed. At the lower part of the electric telescopic rod 442, a synchronous frame 443 is fixedly installed. The synchronous frame 443 has the same shape as the linkage 3. The rectangular plate 441 corresponding to the position of the cubic block 42 sliding on the linkage 3 is slidably connected to the synchronous frame 443. The rectangular plate 441 at the center position of the synchronous frame 443 is fixedly connected to the synchronous frame 443.

[0050] When the position of the tooth tip of the planet gear corresponds to the tooth groove of the sun gear, extend the telescopic section of the electric telescopic rod 442 to drive the synchronous frame 443 to move downward. The synchronous frame 443 drives the linkage shaft rod 44 to move downward synchronously through the rectangular plate 441. The linkage shaft rod 44 drives the planet gear and the sun gear to move to the lower part of the slotting member 53 through the cylindrical member 45, and then start the actuating motor 552 to drive the slotting member 53 to be arranged in a staggered manner to prevent the slotting members 53 from abutting against each other and generating interference.

[0051] It should be noted that when the planet gear and the sun gear move to the lower part of the slotting member 53, the cylindrical member 45 does not completely move to the lower part of the disk block 41, so that the abutting friction block 541 still abuts against the outer side surface of the cylindrical member 45, thereby preventing the cylindrical member 45 from rotating without external force, and further preventing the planet gear and the sun gear from rotating when moving downward, ensuring accurate alignment.

[0052] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in FIGS. , , , , , , the meshing mechanism 5 further includes a synchronization component 56 for synchronously moving three cube blocks 42 slidably connected to the linkage frame 3. The synchronization component 56 includes a linkage disc 561 rotatably provided on the upper part of the linkage frame 3. Three articulated support plates 562 are equally spaced along the circumferential direction of the linkage disc 561. The end of the articulated support plate 562 far from the linkage disc 561 is sleeved on the outer side of the corresponding linkage shaft rod 44. A hydraulic rod 563 is provided between one of the three cube blocks 42 slidably connected to the linkage frame 3 and the linkage frame 3.

[0053] When the planet gear and the central gear move to the lower part of the slot member 53, the telescopic section of the hydraulic rod 563 is contracted, so that the cube block 42 connected to the hydraulic rod 563 moves towards the center of the linkage frame 3. The cube block 42 connected to the hydraulic rod 563 pushes the linkage disc 561 to rotate through the corresponding articulated support plate 562. The linkage disc 561 pulls all the cube blocks 42 to synchronously move towards the center of the linkage frame 3 through the other two articulated support plates 562, so that the cube block 42 drives the planet gear to move towards the central gear through the disc block 41, and further enables the planet gear to be assembled in place on the outer side of the central gear.

[0054] Then, the assembled planet gear and central gear are moved and assembled into the inner part of the external tooth ring by the robotic arm 1, thus completing the assembly of the planetary gear train.

[0055] Refer to Figures 1 - 7 As shown in FIG. , when the present invention assembles the planetary gear train, it further includes the following steps: First step, the robotic arm 1 is moved to drive the disc block 41 fixedly connected to the linkage frame 3 to move directly above the central gear, and then the robotic arm 1 is moved downward to drive the support jaw 46 to insert into the interior of the central gear, and the first pneumatic push rod 473 is extended to drive the support jaw 46 to perform an internal support clamping on the central gear.

[0056] Second step, the actuating motor 552 is started to drive the driven ring 551 to rotate reciprocally, so that the distance measuring sensor data on the slot member 53 corresponding to the central gear is maximized. The actuating motor 552 is stopped, and the telescopic section of the second pneumatic push rod 521 is contracted to drive the slot member 53 to insert into the tooth slot of the central gear.

[0057] Third step, the robotic arm 1 is moved to drive the support jaw 46 at the position of the disc block 41 slidably connected to the linkage frame 3 to insert into the interior of the corresponding planet gear, so that the support jaw 46 performs an internal support clamping on the planet gear.

[0058] Step 4: Start the actuating motor 552 to drive the driven ring 551 to rotate reciprocally, so that the data of the distance measuring sensor on the slot member 53 of the corresponding planet gear is minimized. Stop the actuating motor 552, and contract the telescopic section of the second pneumatic push rod 521 to drive the slot member 53 to insert to the tooth tip of the planet gear.

[0059] Step 5: Extend the telescopic section of the electric telescopic rod 442 to drive the synchronous frame 443 to move downward. The synchronous frame 443 drives the linkage shaft rod 44 to move downward synchronously through the rectangular plate 441. The linkage shaft rod 44 drives the planet gear and the sun gear to move to the lower part of the slot member 53 through the cylindrical member 45, and then start the actuating motor 552 to drive the slot member 53 to be arranged in a staggered manner.

[0060] Step 6: Contract the telescopic section of the hydraulic rod 563, so that the planet gear moves towards the sun gear, and further makes the planet gear be assembled in place on the outer side surface of the sun gear. Then, move and assemble the assembled planet gear and sun gear into the inner part of the external tooth ring through the robotic arm 1, thus completing the assembly of the planetary gear train.

[0061] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention, and still be covered by the protection scope of the present invention.

Claims

1. An automatic assembly robot, comprising a robotic arm, characterized in that, The execution end of the robotic arm is fixedly installed with a claw frame. A linkage frame is fixedly installed at the lower part of the claw frame. The linkage frame is composed of three arms arranged at equal intervals. Four limiting mechanisms for clamping gears by means of internal support are arranged on the linkage frame. The robot also includes an engaging mechanism for aligning and meshing the planet gear and the central gear together; The limiting mechanism includes a disc block. A cube block is fixedly installed on the upper part of the disc block through a connecting bracket. Among them, three cube blocks are slidably connected to the lower part of the linkage frame along the length direction of the arms of the linkage frame, and the other cube block is fixedly installed at the lower part of the central position of the linkage frame. A linkage shaft rod is slidably arranged up and down inside the cube block. A cylinder part is rotatably arranged at the lower part of the linkage shaft rod. Support claws that slide radially along its circumference are arranged at equal intervals on the cylinder part. A driving component for moving the support claws is arranged on the cylinder part; The engaging mechanism includes a sliding frame arranged on the disc block through a power component. A slotting part is slidably arranged inside the sliding frame along the radial direction corresponding to the disc block. An abutting component for abutting against the cylinder part is arranged inside the disc block. The engaging mechanism also includes a synchronization component for synchronously moving the three cube blocks slidably connected to the linkage frame.

2. The automatic assembly robot according to claim 1, wherein The driving component includes a convex column fixedly installed on the upper part of the support claw. A driving disc plate is rotatably arranged in the middle of the cylinder part. A first pneumatic push rod is jointly hinged between the driving disc plate and the cylinder part. Guide inclined slots corresponding one by one to the convex columns are arranged at equal intervals on the driving disc plate. The convex column is slidably connected inside the corresponding guide inclined slot.

3. The automatic assembly robot according to claim 2, wherein, The guide inclined slot has a linear waist-shaped slot structure, and there is an included angle between the length direction of the guide inclined slot and the corresponding radial direction on the driving disc plate. The driving disc plate rotates to push the convex column away from the axis of the driving disc plate through the guide inclined slot.

4. An automatic assembly robot according to claim 1, characterized in that, The sliding frame on the disc block corresponding to the cube block slidably connected to the linkage frame is located on one side of the disc block close to the central position of the linkage frame. The sliding frame on the disc block corresponding to the cube block fixedly connected to the linkage frame is located on one side of the disc block far from the central position of the linkage frame and corresponds to one of the arms of the linkage frame.

5. An automatic assembly robot according to claim 1, characterized in that, One end of the slotting part close to the axis of the corresponding disc block has two symmetrically arranged pointed structures. Distance measuring sensors are fixedly installed at the positions of the two symmetrically arranged pointed structures of the slotting part. A second pneumatic push rod is arranged between the slotting part and the corresponding sliding frame.

6. An automatic assembly robot according to claim 1, characterized in that, The abutting component includes an abutting friction block slidably arranged radially inside the disc block. A pushing spring is arranged between the abutting friction block and the disc block. A through slot for the cylinder part to enter is opened in the middle of the disc block.

7. An automatic assembly robot according to claim 1, characterized in that, The synchronization component includes a linkage disc rotatably arranged on the upper part of the linkage frame. Three articulated support plates are hinged at equal intervals along the circumference of the linkage disc. The end of the articulated support plate far from the linkage disc is sleeved outside the linkage shaft rod at the corresponding position. A hydraulic rod is arranged between one of the three cube blocks slidably connected to the linkage frame and the linkage frame.

8. An automatic assembly robot according to claim 1, characterized in that, A rectangular plate is fixedly installed at the upper end of the linkage shaft rod. An electric telescopic rod is fixedly installed on the inner top wall of the claw frame. A synchronous frame is fixedly installed at the lower part of the electric telescopic rod. The synchronous frame has the same shape as the linkage frame. The rectangular plate at the position of the cube block sliding on the linkage frame is slidably connected to the synchronous frame. The rectangular plate at the central position of the synchronous frame is fixedly connected to the synchronous frame.

9. An automatic assembly robot according to claim 1, characterized in that, The power assembly includes a driven ring rotatably arranged on the disc block. The side surface of the driven ring is fixedly connected to the corresponding sliding frame through an L-shaped support arm. An actuator motor is fixedly installed at the lower part of the connection bracket. The actuator motor is connected to the driven ring by means of gear connection.

10. An automatic assembly robot according to claim 9, characterized in that, Limit columns are fixedly installed at the upper edge position of the disc block. The limit column on the disc block far from the center of the claw frame is located on the side close to the center of the claw frame. The limit column on the disc block at the center of the claw frame corresponds to one of the arms of the linkage frame. A limit groove is provided on the horizontal section of the L-shaped support arm.

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