Multifunctional plug-in robot based on positioning pins

Abstract

The invention relates to the technical field of robots, and particularly discloses a multifunctional plug-in robot based on positioning pins, a placing plate is placed at the top of a rack, a mechanical arm is fixedly connected to the side face of the rack, the top of a plug-in component is fixedly connected with the tail end of the mechanical arm, and the plug-in component comprises a connecting frame; the top of the connecting frame is fixedly connected with a connecting shaft, and the middle of the connecting shaft is fixedly connected with a fixing plate. According to the multifunctional plug-in robot based on the positioning pin, the mounting assembly is arranged, so that the positioning pin and the electromagnetic adsorption suite can ensure the position consistency of the clamping plate assembly after each time of mounting no matter the clamping plate assembly of the same type is replaced or the clamping plate assemblies with different functions are replaced in different tasks; therefore, when a robot or automatic equipment carries out repeated operation, the stable working precision can be kept, and the product quality and the production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a multi-functional plug-in robot based on positioning pins. Background Art

[0002] In modern manufacturing, the production of electronic devices requires precise insertion of various electronic components onto circuit boards. The traditional manual plug-in method is inefficient, inaccurate, and prone to errors, making it difficult to meet the requirements of large-scale and high-quality production. With the development of automation technology, plug-in robots have emerged. This project aims to develop a multi-functional plug-in robot based on positioning pins, which can achieve rapid and accurate insertion of electronic components through a high-precision positioning system and diverse plug-in tools, improve production efficiency and product quality, and reduce production costs.

[0003] In the field of industrial automation, robot plug-in technology is widely used in the assembly process of electronic components. However, the existing technology has the following problems: the recognition accuracy of plug-in hole positions and angles is insufficient, resulting in a relatively high failure rate of plug-ins; the process of replacing grippers is complex and time-consuming, affecting production efficiency. Summary of the Invention

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: A multi-functional plug-in robot based on positioning pins, comprising: A frame, on the top of which a placement board is placed, and a robotic arm is fixedly connected to the side of the frame; A plug-in component for the assembly work of electronic components, the top of which is fixedly connected to the end of the robotic arm; The plug-in component includes a connecting frame, at the top of which a connecting shaft is fixedly connected, in the middle of which a fixing plate is fixedly connected. The connecting shaft is fixedly connected to the end of the robotic arm on one side of the top of the fixing plate. A motor is fixedly connected to the inner side of the connecting frame, baffles are fixedly connected to both sides of the connecting frame, a clamping mechanism is arranged at the bottom of the connecting frame, and the output end of the motor is fixedly connected to the top of the clamping mechanism; By providing a plurality of clamping mechanisms with different shapes on the connecting frame, it is possible to process various specifications of components simultaneously, avoiding restricting the versatility of the robot. The control system drives the robotic arm to move to the pickup position of the component along a predetermined movement trajectory, and drives the clamping mechanism to move downward through the output end of the motor, so that the clamping mechanism picks up the component; The clamping mechanism includes a rotating assembly, the rotating assembly adopts high-precision gear transmission, the top of the rotating assembly is fixedly connected to a connecting block, the top of the connecting block is fixedly connected to the output end of the motor, the output end of the rotating assembly is fixedly connected to a limiting frame, the bottom of the limiting frame is movably installed with a mounting assembly, and the bottom of the mounting assembly is fixedly connected to a clamping plate assembly; Preferably, the mounting assembly includes a mounting frame, the top of the mounting frame is connected to the bottom of the limit frame through an electromagnetic adsorption kit, positioning pins are arranged on both sides of the top of the mounting frame, an electromagnetic adsorption kit is arranged on the side of the mounting frame away from the positioning pin, a cylinder is fixedly connected to the inner side of the mounting frame, the output end of the cylinder is fixedly connected to the top of the connecting plate, and a positioning hole is opened on the bottom of the limit frame near the positioning pin; When installing and replacing the clamping plate assembly, align the positioning pin on the mounting frame with the positioning hole on the limiting frame, slowly install the adsorption surface of the electromagnetic adsorption kit on the limiting frame to accurately position it, turn on the power of the electromagnetic adsorption kit, and fix the clamping plate assembly; Preferably, the clamping plate assembly comprises a clamping plate frame, the top of the clamping plate frame is fixedly connected to the bottom of the mounting frame, both sides of the clamping plate frame are slidably connected with a clamping claw set, the inner side of the clamping claw set is rotatably connected with a connecting rod, the other end of the connecting rod is rotatably connected with a connecting plate, both sides of the connecting plate are fixedly connected with visual sensors, and the inner side of the clamping claw set is fixedly connected with a buffer set; When plug-in is being performed, the output end of the motor drives the connection block and the rotating assembly to move downward, and then the height of the clamping jaw is appropriately adjusted. Then, a rotation command is issued through the visual sensor, so that the rotating assembly drives the limit frame to perform appropriate rotation adjustment, so that it is aligned with the plug-in hole, thereby clamping the components; When clamping components, the visual sensor sends out instructions, so that the output end of the cylinder drives the connecting plate to move upward, so that the connecting plate drives the clamping claws on both sides to move relatively inside the clamping plate frame through the connecting rod, thereby clamping the components; Preferably, the clamping jaw set comprises a clamping jaw member, an angle sensor is installed at the connection between the clamping jaw member and the connecting rod, a clearance groove is provided on the side of the clamping jaw member, both sides of the inner wall of the clearance groove are slidably connected to the inner side of the clamping plate frame, the inner side of the clearance groove is rotatably connected to the end of the connecting rod away from the connecting plate, a transverse groove is provided on the side of the clamping jaw member away from the clearance groove, and wave-shaped buffer grooves are provided on both sides of the clamping jaw member close to the transverse groove; Preferably, the buffer kit comprises a round rod, one end of which is fixedly connected to a round plate 1, a round plate 2 is sleeved on the round rod, a side of the round rod located between the round plates 1 and 2 is fixedly connected to the inner side of the give way groove, an end of the round rod away from the round plate 1 is slidably connected to a buffer plate, rubber blocks are evenly arranged on the inner side of the buffer plate, a connecting spring is sleeved on the round rod, one end of the connecting spring is fixedly connected to the round plate 2, and the other end of the connecting spring is fixedly connected to the side of the buffer plate; At the same time, when the clamping jaws are clamping larger components, a buffer plate is provided on the upper part of the clamping jaws, and a rubber block is provided on the inner side of the buffer plate. Therefore, when the clamping jaws are clamping larger components, the clamping jaws are used to clamp and contact the larger components, and a connecting spring is provided on the side of the buffer plate away from the rubber block.

[0005] The present invention provides a multifunctional plug-in robot based on positioning pins. It has the following beneficial effects: 1. This multifunctional plug-in robot based on positioning pins is provided with an installation component. Whether it is replacing the same type of splint components or replacing splint components with different functions in different tasks, the positioning pins and electromagnetic adsorption kit can ensure the position consistency of each splint component after installation. This enables the robot or automated equipment to maintain stable working accuracy during repetitive operations, thereby improving product quality and production efficiency.

[0006] 2. The multifunctional plug-in robot based on positioning pins is provided with a buffer groove. The contact area between the arc-shaped groove and the components is relatively large, which helps to disperse the clamping force and reduce the pressure on the surface of the components. Taking glass electron tubes as an example, excessive pressure may cause cracks or even breakage on the surface of the electron tubes. The arc-shaped groove increases the contact area, which can effectively protect the components from damage while ensuring firm clamping.

[0007] 3. The multifunctional plug-in robot based on positioning pins is provided with a buffer plate. The arc-shaped groove is used to fit the side of the component to provide stable support, while the buffer plate above protects the top of the component. The two cooperate with each other to achieve all-round buffering protection for the components. For example, when carrying a large cylindrical capacitor, the arc-shaped groove hugs the side of the capacitor, and the buffer plate plays a buffering and shock-absorbing role at the top to prevent the electrode on the top of the capacitor from being damaged due to collision.

[0008] 4. The multifunctional plug-in robot based on the positioning pin is provided with a buffer plate. The buffer plate provided on the upper plate will not affect the normal opening and closing action of the clamping jaws, and the clamping jaws can still smoothly grasp and release components. This makes the clamping jaws more flexible during operation and can adapt to different working scenes and task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 Schematic diagram of the structure of the multi-functional plug-in robot based on positioning pins according to the present invention; Figure 2 Schematic diagram of the structure of the robotic arm according to the present invention; Figure 3 Schematic diagram of the structure of the plug-in component according to the present invention; Figure 4 Schematic diagram of the structure of the connecting frame according to the present invention; Figure 5 Schematic diagram of the structure of the clamping mechanism according to the present invention; Figure 6 Schematic diagram of the structure of the mounting assembly according to the present invention; Figure 7 Schematic diagram of the structure of the jaw kit according to the present invention; Figure 8 Schematic diagram of the structure of the buffer kit according to the present invention.

[0010] In the figure: 1, frame; 2, placement plate; 3, robotic arm; 4, plug-in component; 41, connecting frame; 42, connecting shaft; 43, fixing plate; 45, baffle; 46, motor; 47, clamping mechanism; 471, rotating assembly; 472, connecting block; 473, mounting assembly; 4731, mounting frame; 4732, positioning pin; 4733, cylinder; 4734, electromagnetic adsorption kit; 474, splint assembly; 4741, splint frame; 4742, connecting plate; 4743, visual sensor; 4744, connecting rod; 4745, jaw kit; 47451, jaw piece; 47452, relief groove; 47453, transverse groove; 47454, buffer groove; 4746, buffer kit; 47461, buffer plate; 47462, rubber block; 47463, round rod; 47464, first round plate; 47465, second round plate; 47466, connecting spring; 475, limiting frame. Detailed implementation manners

[0011] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0012] Please refer to Figure 1 - Figure 2 , the present invention provides a technical solution: a multi-functional plug-in robot based on positioning pins, including: A frame 1, on the top of the frame 1 is placed a placement plate 2, and on the side of the frame 1 is fixedly connected a robotic arm 3; The plug-in component 4 is used for the assembly work of electronic components, and the top of the plug-in component 4 is fixedly connected to the end of the robotic arm 3; Please refer to Figure 1 - Figure 4 , the plug-in component 4 includes a connecting frame 41, a connecting shaft 42 is fixedly connected to the top of the connecting frame 41, a fixing plate 43 is fixedly connected to the middle of the connecting shaft 42, the connecting shaft 42 is fixedly connected to the end of the robotic arm 3 on one side of the top of the fixing plate 43, a motor 46 is fixedly connected to the inner side of the connecting frame 41, baffles 45 are fixedly connected to both sides of the connecting frame 41, a clamping mechanism 47 is arranged at the bottom of the connecting frame 41, and the output end of the motor 46 is fixedly connected to the top of the clamping mechanism 47; By providing a plurality of clamping mechanisms 47 with different shapes on the connecting frame 41, various specifications of components can be processed simultaneously, avoiding limiting the versatility of the robot. The control system drives the robotic arm 3 to move to the picking position of the component according to a predetermined movement trajectory. Driven by the output end of the motor 46, the clamping mechanism 47 moves downward, so that the clamping mechanism 47 picks up the component; Please refer to Figure 1 - Figure 5 , the clamping mechanism 47 includes a rotating assembly 471. The rotating assembly 471 adopts high-precision gear transmission. A connecting block 472 is fixedly connected to the top of the rotating assembly 471. The top of the connecting block 472 is fixedly connected to the output end of the motor 46. A limiting frame 475 is fixedly connected to the output end of the rotating assembly 471. An installation assembly 473 is movably installed at the bottom of the limiting frame 475. A clamping plate assembly 474 is fixedly connected to the bottom of the installation assembly 473; Please refer to Figure 1 - Figure 6 , the installation assembly 473 includes an installation frame 4731. The top of the installation frame 4731 is connected to the bottom of the limiting frame 475 through an electromagnetic adsorption kit 4734. Positioning pins 4732 are arranged on both sides of the top of the installation frame 4731. An electromagnetic adsorption kit 4734 is arranged on one side of the installation frame 4731 away from the positioning pins 4732. A cylinder 4733 is fixedly connected to the inner side of the installation frame 4731. The output end of the cylinder 4733 is fixedly connected to the top of the connecting plate 4742. A positioning hole is opened on one side of the bottom of the limiting frame 475 close to the positioning pins 4732; When installing and replacing the clamping plate assembly 474, align the positioning pins 4732 on the installation frame 4731 with the positioning holes on the limiting frame 475, slowly install the adsorption surface of the electromagnetic adsorption kit 4734 on the limiting frame 475 to make it accurately in place, and turn on the power of the electromagnetic adsorption kit 4734 to fix and limit the clamping plate assembly 474; The positioning pin 4732 can quickly cooperate with the corresponding positioning holes on the mounting bracket 4731 and the limiting bracket 475. When replacing the gripper, the operator only needs to align the positioning pin 4732 on the mounting component 473 with the positioning hole on the limiting bracket 475 and insert it, then the approximate position of the gripper can be quickly determined, without spending a lot of time on alignment adjustment; The electromagnetic adsorption component provides a convenient adsorption and fixing method. There is no need to use complex mechanical fastening devices or tools to install the gripper. When the gripper approaches the installation position, the electromagnetic adsorption kit 4734 will automatically adsorb on the limiting bracket 475, enabling the clamping plate component 474 to be quickly fixed on the limiting bracket 475, reducing the installation steps and time; Please refer to Figure 1 - Figure 6 , the clamping plate component 474 includes a clamping plate frame 4741. The top of the clamping plate frame 4741 is fixedly connected to the bottom of the mounting bracket 4731. Clamping jaw kits 4745 are slidably connected to both sides of the clamping plate frame 4741. A connecting rod 4744 is rotatably connected to the inner side of the clamping jaw kit 4745. The other end of the connecting rod 4744 is rotatably connected to a connecting plate 4742. Visual sensors 4743 are fixedly connected to both sides of the connecting plate 4742. A buffer kit 4746 is fixedly connected to the inner side of the clamping jaw kit 4745; When performing the plug-in operation, the output end of the motor 46 drives the connecting block 472 and the rotating component 471 to move downward, and then after appropriately adjusting the height of the clamping jaw part 47451, through the visual sensor 4743, a rotation instruction is issued, so that the rotating component 471 drives the limiting bracket 475 to perform an appropriate rotation adjustment operation to align it with the plug-in hole position, and then the component is clamped; When clamping the component, through the instruction issued by the visual sensor 4743, the output end of the air cylinder 4733 drives the connecting plate 4742 to move upward, so that the connecting plate 4742 drives the clamping jaw kits 4745 on both sides to move relative to each other inside the clamping plate frame 4741 through the connecting rod 4744, and then the component is clamped; Please refer to Figure 1 - Figure 7 , the clamping jaw kit 4745 includes a clamping jaw part 47451. An angle sensor is installed at the connection between the clamping jaw part 47451 and the connecting rod 4744. A relief groove 47452 is formed on the side of the clamping jaw part 47451. Both sides of the inner wall of the relief groove 47452 are slidably connected to the inner side of the clamping plate frame 4741. The inner side of the relief groove 47452 is rotatably connected to the end of the connecting rod 4744 far from the connecting plate 4742. A transverse groove 47453 is formed on the side of the clamping jaw part 47451 far from the relief groove 47452. Wave-shaped buffer grooves 47454 are formed on both sides of the clamping jaw part 47451 close to the transverse groove 47453; By providing an arc-shaped groove on the jaw member 47451, when the jaw member 47451 clamps components, it can better conform to the shape of the components. Especially for components with cylindrical or arc-shaped surfaces, in electronic manufacturing, for some cylindrical capacitors, resistors and other components, the arc-shaped groove on the jaw member 47451 can tightly wrap the components, providing stable support and clamping, and preventing the components from rolling or displacing during operation due to unstable clamping. Please refer to Figure 1 - Figure 8 , the buffer kit 4746 includes a round rod 47463. One end of the round rod 47463 is fixedly connected with a first round plate 47464. A second round plate 47465 is sleeved on the round rod 47463. One side of the round rod 47463 between the first round plate 47464 and the second round plate 47465 is fixedly connected with the inner side of the relief groove 47452. The end of the round rod 47463 away from the first round plate 47464 is slidably connected with a buffer plate 47461. Rubber blocks 47462 are evenly arranged on the inner side of the buffer plate 47461. A connecting spring 47466 is sleeved on the round rod 47463. One end of the connecting spring 47466 is fixedly connected with the second round plate 47465, and the other end of the connecting spring 47466 is fixedly connected with the side surface of the buffer plate 47461; At the same time, when the jaw member 47451 clamps larger components, by providing a buffer plate 47461 on the upper half of the jaw member 47451 and rubber blocks 47462 on the inner side of the buffer plate 47461, when the jaw member 47451 clamps larger components, the jaw member 47451 makes contact with the larger components for clamping. At the same time, a connecting spring 47466 is provided on the side of the buffer plate 47461 away from the rubber blocks 47462; When larger components are clamped, their tops are usually more fragile. The buffer plate 47461 is located above the arc-shaped groove and can directly buffer and protect the tops of the components. When clamping a large integrated circuit board, the buffer plate 47461 can prevent the jaw member 47451 from directly squeezing the electronic components on the upper board part, preventing the component pins from deforming or the chips from being damaged.

[0013] Specific working process: Place the circuit board to be plugged on the placement board and fix the circuit board in the accurate position; According to the type of electronic components to be plugged, select the appropriate plugging component 4 and install it at the end of the robotic arm 3; The robotic arm 3 is equipped with a high-precision vision sensor, which is installed at the end of the robotic arm 3. The vision sensor identifies and analyzes the feature marks on the electronic components and circuit boards, obtains the position and attitude information of the components, and transmits this information to the control system. The control system adjusts the motion trajectory of the robotic arm 3 in real time according to the visual feedback information to achieve high-precision plug-in operations; The vision sensor identifies and analyzes the positioning marks on the circuit board and the electronic components to be plugged in, and obtains the position and attitude information of the components; The vision system transmits the recognition results to the control system, and the control system calculates the motion trajectory of the robotic arm 3 and the plug-in position based on this information; The control system drives the robotic arm 3 to move to the pickup position of the component along the predetermined motion trajectory; The plug-in component 4 picks up the component using a suitable gripper according to the type of the component; The robotic arm 3 moves the picked-up component to the plug-in position on the circuit board, and precisely adjusts the position and attitude of the plug-in tool through the visual feedback information to accurately insert the component into the circuit board; After the plug-in is completed, the robotic arm 3 returns to the initial position to prepare for the plug-in operation of the next component; By providing a plurality of clamping mechanisms 47 with different shapes on the connecting frame 41, it is possible to process components of multiple specifications simultaneously, avoiding restricting the versatility of the robot. The control system drives the robotic arm 3 to move to the pickup position of the component along the predetermined motion trajectory. Driven by the output end of the motor 46, the clamping mechanism 47 moves downward, so that the clamping mechanism 47 picks up the component; When installing and replacing the clamping plate assembly 474, align the positioning pin 4732 on the mounting bracket 4731 with the positioning hole on the limiting bracket 475, and slowly install the adsorption surface of the electromagnetic adsorption kit 4734 on the limiting bracket 475 to make it accurately in place. Turn on the power of the electromagnetic adsorption kit 4734 to fix and limit the clamping plate assembly 474; When the gripper kit 4745 performs the clamping and plugging work on the component, by providing vision sensors 4743 on both sides of the connecting plate 4742, the recognition unit starts to work. The vision sensors 4743 take pictures of the component to obtain its image information, and analyze the two-dimensional position coordinates and other data of the component plug-in hole positions through image processing algorithms. At the same time, the angle sensor measures the current angle information of the component. For example, for a rectangular chip, the vision sensors 4743 determine the positions of the four corners of the chip, and then calculate the plug-in hole positions, and the angle sensor measures the rotation angle of the chip relative to the reference direction; The visual sensor 4743 and the angle sensor transmit the collected hole position and angle data to the control unit in real time. The control unit integrates, analyzes, and processes this data to accurately calculate key information such as the current state of the component and the angle deviation required for the target plug hole position; When the angle adjustment of the component is completed and it is precisely aligned with the plug hole position, the control unit sends an insertion instruction to the plug-in module. The jaw kit 4745 drives the component towards the plug hole on the circuit board and inserts the component accurately into the hole. During the insertion process, the control unit will fine-tune the position and movement trajectory of the jaw kit 4745 in combination with the real-time feedback of the visual sensor 4743 to ensure the accuracy of the insertion; After completing a round of insertion tasks, if the subsequent tasks require replacing the clamping plate assembly 474 type, the control unit first sends an instruction to the electromagnetic unit. The electromagnetic adsorption kit 4734 is powered off and the adsorption force disappears. Then, the positioning pin 4732 is unlocked, and at this time, the clamping plate assembly 474 can be removed from the limit frame 475; When performing plug-in work, the output end of the motor 46 drives the connecting block 472 and the rotating assembly 471 to move downward. After appropriately adjusting the height of the jaw part 47451, through the visual sensor 4743, a rotation instruction is issued, so that the rotating assembly 471 drives the limit frame 475 to perform an appropriate rotation adjustment work to align it with the plug hole position, and then the component is clamped; When clamping the component, an instruction is issued through the visual sensor 4743, so that the output end of the cylinder 4733 drives the connecting plate 4742 to move upward, so that the connecting plate 4742 drives the two sides of the jaw kit 4745 to move relatively inside the clamping plate frame 4741, and then the component is clamped; Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art and related fields without creative work shall fall within the protection scope of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention, unless otherwise specified and limited, are implemented according to the conventional means in the art.

Claims

1. A multi-functional plug-in robot based on a positioning pin, characterized in that Including: A frame (1), on the top of the frame (1) is placed a placing plate (2), and a robotic arm (3) is fixedly connected to the side of the frame (1); A plug-in component (4), which is used for the assembly work of electronic components, and the top of the plug-in component (4) is fixedly connected to the end of the robotic arm (3); The plug-in component (4) includes a connecting frame (41), on the top of the connecting frame (41) is fixedly connected a connecting shaft (42), in the middle of the connecting shaft (42) is fixedly connected a fixing plate (43), one side of the connecting shaft (42) located at the top of the fixing plate (43) is fixedly connected to the end of the robotic arm (3), inside the connecting frame (41) is fixedly connected a motor (46), on both sides of the connecting frame (41) are fixedly connected baffles (45), at the bottom of the connecting frame (41) is provided a clamping mechanism (47), and the output end of the motor (46) is fixedly connected to the top of the clamping mechanism (47).

2. The multifunctional plug-in robot based on a positioning pin according to claim 1, wherein: The clamping mechanism (47) includes a rotating component (471), on the top of the rotating component (471) is fixedly connected a connecting block (472), the output end of the rotating component (471) is fixedly connected to a limiting frame (475), at the bottom of the limiting frame (475) is movably installed an installation component (473), and at the bottom of the installation component (473) is fixedly connected a clamping plate component (474).

3. The multifunctional plug-in robot based on a positioning pin according to claim 2, wherein: The rotating component (471) adopts high-precision gear transmission, and the top of the connecting block (472) is fixedly connected to the output end of the motor (46).

4. A multifunctional plug-in robot based on a positioning pin according to claim 2, characterized in that: The installation component (473) includes an installation frame (4731), on both sides of the top of the installation frame (4731) are provided positioning pins (4732), on one side of the installation frame (4731) away from the positioning pins (4732) is provided an electromagnetic adsorption kit (4734), inside the installation frame (4731) is fixedly connected a cylinder (4733), and a positioning hole is opened on one side of the bottom of the limiting frame (475) close to the positioning pins (4732).

5. The multifunctional plug-in robot based on a positioning pin according to claim 4, wherein: The clamping plate component (474) includes a clamping plate frame (4741), the top of the clamping plate frame (4741) is fixedly connected to the bottom of the installation frame (4731), on both sides of the clamping plate frame (4741) are slidably connected clamping jaw kits (4745), inside the clamping jaw kits (4745) is rotatably connected a connecting rod (4744), the other end of the connecting rod (4744) is rotatably connected to a connecting plate (4742), on both sides of the connecting plate (4742) are fixedly connected visual sensors (4743), and inside the clamping jaw kits (4745) is fixedly connected a buffer kit (4746).

6. The multifunctional plug-in robot based on a positioning pin according to claim 5, characterized in that: The top of the installation frame (4731) is connected to the bottom of the limiting frame (475) through the electromagnetic adsorption kit (4734), and the output end of the cylinder (4733) is fixedly connected to the top of the connecting plate (4742).

7. The multifunctional plug-in robot based on a positioning pin according to claim 6, characterized in that: The jaw kit (4745) includes a jaw member (47451). A relief groove (47452) is formed on the side surface of the jaw member (47451). A transverse groove (47453) is formed on the side of the jaw member (47451) away from the relief groove (47452). Wave-shaped buffer grooves (47454) are formed on both sides of the jaw member (47451) near the transverse groove (47453).

8. A multi-functional plug-in robot based on a positioning pin according to claim 7, characterized in that: The buffer kit (4746) includes a round rod (47463). One end of the round rod (47463) is fixedly connected with a first round plate (47464). A second round plate (47465) is sleeved on the round rod (47463). One side of the round rod (47463) between the first round plate (47464) and the second round plate (47465) is fixedly connected with the inner side of the relief groove (47452). A buffer plate (47461) is slidably connected to the end of the round rod (47463) away from the first round plate (47464). Rubber blocks (47462) are evenly arranged on the inner side of the buffer plate (47461). A connecting spring (47466) is sleeved on the round rod (47463).

9. The multifunctional plug-in robot based on a positioning pin according to claim 8, wherein: Both sides of the inner wall of the relief groove (47452) are slidably connected with the inner side of the clamping plate frame (4741). The inner side of the relief groove (47452) is rotatably connected with the end of the connecting rod (4744) away from the connecting plate (4742). An angle sensor is installed at the connection between the jaw member (47451) and the connecting rod (4744). One end of the connecting spring (47466) is fixedly connected with the second round plate (47465). The other end of the connecting spring (47466) is fixedly connected with the side surface of the buffer plate (47461).

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