Relay assembly robot

Abstract

The invention relates to the technical field of relay assembly, in particular to a relay assembly robot. Comprising a mechanical arm and a push-pull part, a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a frame body fixedly connected with the mechanical arm, a limiting part and clamping plates movably installed on the frame body and symmetrical in the front-back direction. According to the invention, the clamping plates extrude the plurality of sheet relay bases, gaps between the plurality of sheet relay bases are eliminated, continuous attaching is realized, then displacement of the sheet relay bases is limited in multiple directions through the limiting parts, and the limiting parts and the clamping plates are matched to continuously ensure that the positions of the plurality of sheet relay bases are stable and the sheet relay bases are tightly attached. According to the invention, the push-pull plate is rotated through the deflection piece to pull the buckle, so that the width of the clamping groove of the buckle is temporarily greater than that of the guide rail, the buckle is not in contact with the surface of the guide rail in the whole moving process of the sheet relay base, and the situation that the buckle is scratched or broken due to large frictional resistance and the moving smoothness of the sheet relay base is influenced is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of relay assembly, and in particular to a relay assembly robot. Background Art

[0002] Although traditional relays can be installed on the guide rail, they are limited by the thickness and volume of the body and it is difficult to achieve high-density arrangement. With the ultimate pursuit of space utilization in modular power equipment, compact thin-film relays have emerged. The thin-film relay includes a base and a relay body mounted thereon. The base is provided with buckles, screw holes and contact pins. The thin-film relay is designed with a flat structure and integrated buckles (such as Figure 8 As shown in the figure, the space occupied by a single device is significantly reduced. Since a single cabinet needs to integrate dozens or even hundreds of control circuits, the high-density arrangement of the thin-film relay rails becomes an inevitable choice to improve the space efficiency within the cabinet.

[0003] However, when a large number of thin-film relays need to be installed in batches in a single power cabinet, manual labor is prone to fatigue due to repeated fixed processes such as grabbing, moving, and pressing the clips. This is especially true when multiple relays need to be kept in a close-fitting arrangement at all times, which affects assembly efficiency. Traditional robotic arms are unable to stably grab multiple closely-fitting relays. This also poses the problem of low overall efficiency in the assembly of thin-film relays, as power cabinets require high-density installation of dozens to hundreds of relays. Secondly, when the clips are already fastened to the guide rail but the relays need to be moved to fit the previous group of relays, regardless of which of the above installation methods is used, the static friction between the clips and the guide rails is too large, which can easily cause the plastic clips to be scratched, deformed, or broken due to overload. In addition, the clips move very smoothly, which is not conducive to improving the overall efficiency of assembly.

[0004] Therefore, the traditional assembly method cannot achieve the synchronous grasping and assembly of multiple relay groups in a continuously close and stable state, resulting in low batch installation efficiency. The static friction force when the guide rail is clamped and then moved is too large, which easily causes the risk of structural damage and affects the assembly efficiency. This is a technical problem that needs to be solved by technical personnel in this field. Summary of the Invention

[0005] In view of the above problems, an embodiment of the present invention provides a relay assembly robot to solve the above-mentioned technical problems.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present invention provides the following technical solutions: a relay assembly robot, comprising a robotic arm; a clamping mechanism is provided at the end of the robotic arm; the clamping mechanism comprises a frame body fixedly connected to the robotic arm, a limiting portion, and a clamping plate movably mounted on the frame body and symmetrical in front and back; the limiting portion comprises two connecting plates slidably arranged at the lower end of the frame body and distributed left and right, two supporting plates distributed left and right are provided at the lower end of the connecting plate, a slider is slidably mounted on the supporting plate, a pressure block is fixedly mounted on the slider, and a plurality of rubber columns are installed at the lower end of the pressure block; the two connecting plates form a regular eight-shaped structure, the clamping plate is located between the two connecting plates, and the supporting plate and the supporting plate are in contact with each other Vertically and parallel to the pressure block; the two pressure blocks corresponding to the same connecting plate are staggered up and down; the push-pull part includes a moving seat slidably installed on the slider on the lower left, the lower end of the moving seat is rotatably installed with a push-pull plate, and a deflection member is provided on the moving seat; first, multiple bases are clamped by the clamping plate, and then the connecting plates are moved toward each other and the slider is moved downward, and the pressure block and the supporting plate cooperate to limit the displacement of the base in multiple directions from top to bottom and left to right, and at the same time, the rubber column is inserted into the screw hole on the base to form a stable limit; then the deflection member causes the push-pull plate to pull the buckle on the base, so that the width of the buckle slot is temporarily larger than the guide rail, eliminating movement friction; before adjacent bases are fitted, the clamping plate is away from the fitting range.

[0007] As a preferred solution, the clamping mechanism also includes two axle seats fixedly mounted on the frame and located between the two clamping plates, a sleeve fixedly mounted in the axle seat, a shaft column movably mounted in the sleeve, the opposite ends of the two shaft columns movably pass through the corresponding axle seats, and the opposite ends of the two shaft columns fixedly pass through the corresponding clamping plates.

[0008] As a preferred embodiment, a guide member for guiding the axial movement and rotation of the shaft column is provided on the sleeve, and the guide member includes a guide groove opened on the circumferential surface of the sleeve, and the guide groove is composed of an arc segment surrounding the sleeve and a straight segment extending along the axial direction. The end where the arc segment is connected to the straight segment is inclined toward the direction of the opposite end of the shaft column, and a guide column that cooperates with the corresponding guide groove is rotatably installed on the shaft column.

[0009] As a preferred solution, the frame is provided with an actuator for driving the movement of the shaft column, and the actuator includes a No. 1 bidirectional cylinder fixedly mounted on the frame. The two telescopic sections of the No. 1 bidirectional cylinder are fixedly mounted with drive plates, and the opposite ends of the two shaft columns rotate through the corresponding drive plates respectively.

[0010] As a preferred solution, the limiting part also includes a sliding rod, and two sliding rods distributed front and back are fixedly installed on the lower end of the frame through an axis plate. Two left-right symmetrical sliding seats are slidably installed on the two sliding rods. The lower end of the sliding seat is fixedly connected to the upper end of the corresponding connecting plate through a support, and a driving component for driving the two sliding seats to move is provided on the frame.

[0011] As a preferred solution, a pushing piece is provided on the supporting plate, which includes a pushing rod fixedly mounted on the slider. The upper ends of the two pushing rods corresponding to the same connecting plate slide through the connecting plate and are then fixedly mounted with a connecting plate. The pushing rods are perpendicular to the connecting plate.

[0012] As a preferred solution, a push-pull assembly is provided on the slide, and the push-pull assembly includes a No. 1 cylinder fixedly installed at the lower end of the slide, the telescopic section of the No. 1 cylinder extends vertically and is fixedly installed with a connecting seat, a No. 1 slide groove is provided on the connecting plate, and a No. 1 roller is rotatably installed on the connecting seat to slide and pass through the corresponding No. 1 slide groove.

[0013] As a preferred solution, the push-pull portion further includes a notch provided on the push-pull plate, and a rotating shaft rotatably connected to the movable seat is installed in the notch of the push-pull plate.

[0014] As a preferred solution, the deflection member includes a No. 2 cylinder fixedly mounted on a movable seat, the telescopic section of the No. 2 cylinder is fixedly mounted with an axis block, and No. 2 slide grooves are provided on the two inner walls facing each other in the front and rear of the slot, and a No. 2 roller is rotatably mounted on the axis block, with both ends respectively slidingly engaged with the corresponding No. 2 slide grooves.

[0015] As a preferred solution, the drive assembly includes a No. 2 bidirectional cylinder fixedly installed at the lower end of the frame, and the two telescopic sections of the No. 2 bidirectional cylinder are distributed and fixedly connected to the corresponding slides.

[0016] The technical solution of the present invention has at least one of the following technical effects: 1. The present invention squeezes multiple thin-film relay bases through the clamping plate and makes the multiple thin-film relay bases close together, thereby realizing single-time batch grabbing; the rubber column of the limiting part is inserted into the screw hole to realize damage-free and stable limiting of the screw hole of the thin-film relay base; the push-pull plate is rotated by the deflection member to pull the buckle, so that the width of the buckle's slot is temporarily larger than the guide rail, directly eliminating and reducing the friction of the buckle when the base moves on the guide rail.

[0017] 2. The present invention first squeezes multiple thin-film relay bases through a clamping plate to eliminate gaps between the multiple thin-film relay bases to achieve continuous close contact, and ensures that the multiple thin-film relay bases are in a stable state before the limiting part takes effect. The limiting part then limits the displacement of the thin-film relay bases in multiple directions. The limiting part and the clamping plate cooperate to continuously ensure that the positions of the multiple thin-film relay bases are stable and close contact. Before the two thin-film relay groups are attached, the clamping plate is released and withdrawn from the attachment range to avoid interference with the attachment of two adjacent thin-film relay groups in a high-density arrangement.

[0018] 3. The present invention can dynamically expand the width of the clip slot to a state larger than the width of the guide rail, thereby ensuring that the clip does not contact the surface of the guide rail during the entire movement of the thin-film relay base, avoiding the generation of large friction resistance that may cause the clip to be scratched or broken, and affecting the smoothness of the movement of the thin-film relay base.

[0019] 4. The present invention utilizes a rubber column to be inserted into a screw hole. The elastic characteristics of the rubber column enable it to adaptively fit the unevenness of the hole wall at a microscopic scale. The radial expansion force is used to lock the base of the thin-film relay and enhance the fit between the base and the support plate. The axial pre-compression force enhances the fit between the base and the pressure block, and a dual mechanism is used to avoid rigid clamping.

[0020] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention when clamping and transporting a thin-film relay.

[0023] Figure 2 It is a cross-sectional view of the limiting portion of the present invention.

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention.

[0025] Figure 4 for Figure 3 A magnified view of the structure in Figure 2.

[0026] Figure 5 for Figure 3 A magnified view of the structure at point B in FIG.

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the connecting plate, pressing block, supporting plate and rubber column of the present invention.

[0028] Figure 7 for Figure 6 Enlarged view of the structure at point C in the figure.

[0029] Figure 8 This is a schematic diagram of the state when a single thin-film relay is connected to the guide rail.

[0030] Reference numerals: 1, robotic arm; 2, clamping mechanism; 20, connecting frame; 21, fixing plate; 22, clamping plate; 23, shaft seat; 24, sleeve; 25, shaft column; 26, limiting part; 260, connecting plate; 261, supporting plate; 262, slider; 263, pressure block; 264, rubber column; 265, slide rod; 266, slide seat; 267, No. 2 two-way cylinder; 27, push-pull part; 27 0. Moving seat; 271. Push-pull plate; 272. Rotating shaft; 3. Guide member; 30. Guide groove; 31. Guide column; 4. Actuator; 40. No. 1 bidirectional cylinder; 41. Driving plate; 5. Deflection member; 50. No. 2 cylinder; 51. No. 2 slide; 52. No. 2 roller; 6. Push member; 60. Push rod; 61. Connecting plate; 62. No. 1 cylinder; 63. No. 1 slide; 64. No. 1 roller. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] like Figure 1 As shown, a relay assembly robot includes a robotic arm 1 , at the end of which a clamping mechanism 2 is provided.

[0033] like Figure 1 、 Figure 2 and Figure 3 As shown, the clamping mechanism 2 includes a frame fixedly mounted on the robotic arm 1, on which a limiting portion 26 and two front-to-back symmetrical clamping plates 22 are movably mounted, one of which is provided with a push-pull portion 27. The frame includes an inverted concave connecting frame 20 fixedly mounted on the robotic arm 1, and a fixing plate 21 is fixedly mounted on the lower ends of the two vertical sections of the connecting frame 20. The clamping plate 22 is movably mounted on the fixing plate 21, and the limiting portion 26 is provided on the fixing plate 21.

[0034] like Figure 2 、 Figure 3 、 Figure 4 and Figure 6As shown, the limiting portion 26 includes two connecting plates 260 distributed left and right and slidably arranged at the lower end of the fixed plate 21. The two connecting plates 260 form an upright eight-shaped structure. The clamping plates 22 are located between the two connecting plates 260. Two supporting plates 261 distributed left and right are provided at the lower end of the connecting plate 260. A rectangular groove is provided on the supporting plate 261, and a slider 262 is slidably installed in the rectangular groove through a guide rod. A pressure block 263 is fixedly installed on the slider 262. The pressure block 263 is located on the side of the supporting plate 261 facing the clamping plate 22. A plurality of rubber columns 264 are installed at the lower end of the pressure block 263. The rubber columns 264 are located on the side of the pressure block 263 facing away from the corresponding connecting plate 260. Of the two supporting plates 261 on the same connecting plate 260, the length of the supporting plate 261 located below is greater than the supporting plate 261 located above, and the height of the pressure block 263 on the supporting plate 261 located below is lower than the pressure block 263 on the supporting plate 261 located above. The two pressure blocks 263 corresponding to the same connecting plate 260 are staggered in the upper and lower directions.

[0035] like Figure 2 、 Figure 3 、 Figure 5 and Figure 6 As shown, the push-pull portion 27 includes a movable seat 270 slidably mounted on the slider 262 at the lower left, and the movable seat 270 is located on the side of the slider 262 away from the corresponding pressure block 263, and a push-pull plate 271 is rotatably mounted on the lower end of the movable seat 270, and a deflection member 5 is provided on the movable seat 270; the push-pull portion 27 also includes a slot opened on the push-pull plate 271, and a rotating shaft 272 rotatably connected to the movable seat 270 is installed in the slot of the push-pull plate 271.

[0036] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 8 As shown, during specific operation, the relay body has been inserted into the base to form a thin-film relay. The external conveying mechanism conveys the assembly of multiple thin-film relays as a group and the power cabinet to be assembled with the thin-film relays to the position of the relay assembly robot. Then the robot arm 1 drives the clamping mechanism 2 to move to the position of the multiple thin-film relays conveyed, and clamps the group of thin-film relays through the clamping plate 22, so that the thin-film relays are tightly attached to each other to reduce the occupied space.

[0037] Next, the support plate 261 approaches the thin-film relay and engages with its base. The pressure block 263 then moves toward the thin-film relay base, pushing the base against the support plate 261. Simultaneously, the rubber column 264 inserts into the corresponding screw hole on the thin-film relay base, thereby limiting and aligning the thin-film relay. At this point, the push-pull plate 271 is in the snap-in position. The deflection member 5 then drives the push-pull plate 271 to rotate, which in turn pulls the snap-in, causing it to deform. This enlarges the snap-in slot area, freeing the snap-in from contact with the guide rail, facilitating subsequent adjustment of the base position on the guide rail. The clamping plate 22 then releases its grip on the thin-film relay and rotates to the side, away from the end face of the thin-film relay. The snap-in slot area is the area between the right end face of the snap-in and the base. When the snap-in deforms, the tilt of the right end face of the snap-in changes, enlarging the snap-in slot area.

[0038] Then, the mechanical arm 1 moves the multiple tightly-fitting thin-film relays to the corresponding positions in the power cabinet, and then engages the card slot of the buckle with the corresponding position on the guide rail. Then, the push-pull plate 271 is released from pushing and pulling the buckle by the deflection member 5, and the buckle is reset and clamped on the guide rail under the action of its own elastic force (such as Figure 8 (as shown) to secure the thin-film relays to the guide rail. When installing the next set of thin-film relays, the clamping plate 22 is positioned away from the end faces of the thin-film relays, preventing interference between the end faces of the current set of thin-film relays and the previous set. When adjusting the position of the base on the guide rail, the clips do not contact the rail, eliminating contact pressure and frictional resistance between them. This reduces the risk of scratches, deformation, or overload fractures caused by the clips, while also ensuring smooth movement of the base on the rail. This, in turn, ensures overall assembly efficiency.

[0039] like Figure 1 、 Figure 3 、 Figure 6 and Figure 7 As shown, the clamping mechanism 2 also includes two shaft seats 23 fixedly mounted on the upper end of the fixed plate 21 and located between the two clamping plates 22. A sleeve 24 is fixedly mounted in the shaft seat 23, and a shaft column 25 is movably mounted in the sleeve 24. The opposite ends of the two shaft columns 25 movably penetrate the corresponding shaft seats 23, and the opposite ends of the two shaft columns 25 are fixedly penetrate the corresponding clamping plates 22.

[0040] like Figure 6 and Figure 7As shown, the sleeve 24 is provided with a guide member 3 for guiding the axial movement and rotation of the shaft column 25. The guide member 3 includes a guide groove 30 opened on the circumferential surface of the sleeve 24. The guide groove 30 is composed of an arc segment surrounding the sleeve 24 and a straight segment extending along the axial direction, and the end where the arc segment is connected to the straight segment is inclined toward the direction of the opposite end of the shaft column 25. A guide column 31 that cooperates with the corresponding guide groove 30 is rotatably installed on the shaft column 25.

[0041] like Figure 3 、 Figure 6 and Figure 7 As shown, the fixed plate 21 is provided with an actuator 4 for driving the shaft column 25 to move. The actuator 4 includes a No. 1 two-way cylinder 40 fixedly installed on the upper end of the fixed plate 21. The two telescopic sections of the No. 1 two-way cylinder 40 are fixedly installed with a driving plate 41, and the opposite ends of the two shaft columns 25 rotate through the corresponding driving plates 41 respectively.

[0042] like Figure 1 、 Figure 3 、 Figure 6 and Figure 7 As shown, during specific operation, the No. 1 two-way cylinder 40 pulls the two shaft columns 25 toward each other through the driving plate 41. At this time, the guide column 31 is located in the arc section of the guide groove 30. Therefore, with the pulling of the No. 1 two-way cylinder 40, under the cooperation of the guide column 31 and the arc section of the guide groove 30, the shaft column 25 will rotate while moving horizontally, and then the clamping plate 22 will move and rotate with the shaft column 25 until the clamping plate 22 rotates to a vertical state. At this time, the guide column 31 is located at the connection between the arc section and the straight section of the guide groove 30. As the No. 1 two-way cylinder 40 continues to pull, the guide column 31 moves along the straight section of the guide groove 30 driven by the shaft column 25, and the shaft column 25 only moves horizontally axially, and then the clamping plate 22 maintains the vertical section state and moves horizontally. The two clamping plates 22 squeeze multiple thin-film relays from the front and back directions at the same time, so that the multiple thin-film relays are close to each other.

[0043] Then, multiple thin-film relays are limited and constrained by the limiting part 26. After the limitation and constraint are completed, the No. 1 bidirectional cylinder 40 pulls the two shaft columns 25 toward each other through the driving plate 41. With the cooperation of the straight section and arc section of the guide column 31 and the guide groove 30, the clamping plate 22 first moves horizontally away from the thin-film relay, and then rotates away from the end face range of the thin-film relay to avoid interfering with the end face of this group of thin-film relays and fitting with the previous group of thin-film relays.

[0044] like Figure 2 、 Figure 3 、 Figure 4 and Figure 6As shown, the limiting portion 26 also includes a slide rod 265. Two slide rods 265 distributed front and back are fixedly installed on the lower end of the fixed plate 21 through an axis plate. Two left-right symmetrical slide seats 266 are slidably installed on the two slide rods 265. The lower end of the slide seat 266 is fixedly connected to the upper end of the corresponding connecting plate 260 through a pillar. A driving component for driving the two slide seats 266 to move is provided on the fixed plate 21.

[0045] like Figure 2 、 Figure 3 、 Figure 4 and Figure 6 As shown, the driving assembly includes a No. 2 bidirectional cylinder 267 fixedly mounted on the lower end of the fixed plate 21 , and the two telescopic sections of the No. 2 bidirectional cylinder 267 are distributed and fixedly connected to the corresponding slide 266 .

[0046] like Figure 2 、 Figure 3 、 Figure 4 and Figure 6 As shown, the support plate 261 is provided with a push member 6, which includes a push rod 60 fixedly mounted on a slider 262. The upper ends of the two push rods 60 corresponding to the same connecting plate 260 slide through the connecting plate 260 and are then fixedly mounted on the connecting plate 61. The guide rod, push rod 60, and support plate 261 are all perpendicular to the connecting plate 260, and the pressure block 263 is parallel to the connecting plate 260.

[0047] like Figure 2 、 Figure 3 、 Figure 5 and Figure 6 As shown, the deflection member 5 includes a No. 2 cylinder 50 fixedly mounted on the movable seat 270, the telescopic section of the No. 2 cylinder 50 is fixedly mounted with an axis block, and No. 2 slide grooves 51 are provided on the two inner walls opposite to each other in the front and rear of the slot, and a No. 2 roller 52 is rotatably mounted on the axis block, with both ends respectively slidingly engaged with the corresponding No. 2 slide grooves 51.

[0048] like Figure 3 、 Figure 5 and Figure 6 As shown, a push-pull assembly is provided on the slide 266, and the push-pull assembly includes a No. 1 cylinder 62 fixedly installed at the lower end of the slide 266, the telescopic section of the No. 1 cylinder 62 extends vertically and is fixedly installed with a connecting seat, a No. 1 slide groove 63 is provided on the connecting plate 61, and a No. 1 roller 64 is rotatably installed on the connecting seat to slide and pass through the corresponding No. 1 slide groove 63.

[0049] like Figures 1 to 8As shown, during operation, the No. 2 bidirectional cylinder 267 pulls the two slides 266 closer to each other, and the slide 266 drives the corresponding supporting plate 261 to fit with the thin relay base through the pillar and the connecting plate 260, and then the No. 1 cylinder 62 pushes the connecting plate 61 downward through the cooperation of the No. 1 roller 64 and the No. 1 slide groove 63, and the connecting plate 61 pushes the two slides 262 toward the thin relay base through the corresponding two pushing rods 60 (the slide 262 moves along the guide rod, and the movement route of the slide 262 is an inclined line inclined from top to bottom toward the middle of the thin relay base), the slide 262 drives the pressure block 263 and the moving seat 270 to move synchronously, and the pressure block 263 First, the rubber column 264 is driven to be inserted into the corresponding screw hole on the base of the thin-film relay. When the rubber column 264 is inserted into the screw hole on the base of the thin-film relay, radial elastic compression will occur, and then a continuous reverse expansion force will be generated to form a strong static friction between the rubber column 264 and the wall of the screw hole, effectively resisting the forward and backward displacement of the thin-film relay, thereby ensuring that after the subsequent clamping plate 22 releases the clamping of the thin-film relay, the thin-film relays can continue to maintain a fit state through the rubber column 264. In addition, the rubber column 264 can also adaptively fit the unevenness of the screw hole wall to increase the contact area, further stabilize the limited thin-film relay, and avoid damage to the thin-film relay.

[0050] When the rubber column 264 moves into place, the left and right relative pressure blocks 263 cooperate to squeeze the lateral inclined surface of the thin-film relay base, so that the thin-film relay base is tightly attached to the supporting plate 261. The supporting plate 261 and the corresponding pressure block 263 cooperate to limit the vertical freedom of the thin-film relay base, and the supporting plates 261 on the left and right sides cooperate to limit the left and right freedom of the thin-film relay base. At the same time, the moving seat 270 drives the push-pull plate 271 to move to the left end of the buckle, and then the No. 2 cylinder 50 controls the shaft block to move downward. The shaft block drives the push-pull plate 271 to rotate to the left with the axis of the rotating shaft 272 as the rotation reference line through the cooperation of the No. 2 roller 52 and the No. 2 slide 51. The rotating push-pull plate 271 pushes and pulls the buckle, so that the width of the slot area is greater than the width of the guide rail, and then the machine The mechanical arm 1 moves the thin-film relay in the limited state into the power cabinet and makes the card slot cooperate with the guide rail. At this time, the push-pull plate 271 is kept against the card buckle so that the card buckle does not contact the guide rail, thereby ensuring the smooth movement of the thin-film relay base on the guide rail, avoiding excessive friction that causes damage to the card buckle and affects the movement efficiency of the thin-film relay base. When the group of thin-film relays is installed in place or fits with the previous group of thin-film relays, the No. 2 cylinder 50 controls the shaft block to move in the opposite direction, and the shaft block drives the push-pull plate 271 to rotate in the opposite direction with the axis of the rotating shaft 272 as the rotation reference line through the cooperation of the No. 2 roller 52 and the No. 2 slide groove 51, so that the push-pull plate 271 releases the push and pull of the card buckle, and the card buckle is reset and clamped on the guide rail under the action of its own elastic force, thereby fixing the group of thin-film relays on the guide rail (such as Figure 8 shown).

[0051] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0052] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature designated as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0053] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0054] The embodiments of this specific implementation method are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A relay assembly robot, comprising a robotic arm; characterized in that: A clamping mechanism is provided at the end of the robotic arm; The clamping mechanism includes a frame fixedly connected to the robotic arm, a limiting portion, and a clamping plate movably mounted on the frame and symmetrical in front and back; The limiting part includes two connecting plates slidably arranged at the lower end of the frame and distributed on the left and right. The lower end of the connecting plate is provided with two supporting plates distributed on the left and right. Sliders are slidably installed on the supporting plates, and pressure blocks are fixedly installed on the sliders. Multiple rubber columns are installed at the lower end of the pressure blocks. The two connecting plates form a right-angled structure, the clamping plate is located between the two connecting plates, the connecting plates are perpendicular to the supporting plates and parallel to the pressing blocks; the two pressing blocks corresponding to the same connecting plate are staggered up and down; The push-pull part includes a moving seat slidably mounted on the slider at the lower left, a push-pull plate rotatably mounted on the lower end of the moving seat, and a deflecting member provided on the moving seat; First, multiple bases are clamped by the clamping plate, and then the connecting plate is moved toward each other and the slider is moved downward. The pressure block and the supporting plate cooperate to limit the displacement of the base in multiple directions from top to bottom and left to right. At the same time, the rubber column is inserted into the screw hole on the base to form a stable limit. Then the deflection part causes the push-pull plate to pull the buckle on the base, so that the width of the buckle's slot is temporarily larger than the guide rail to eliminate movement friction. Before adjacent bases are fitted, the clamping plate moves away from the fitting range.

2. A relay assembly robot according to claim 1, characterized in that: The clamping mechanism also includes two shaft seats fixedly mounted on the frame and located between the two clamping plates, a sleeve fixedly mounted in the shaft seat, a shaft column movably mounted in the sleeve, the opposite ends of the two shaft columns movably pass through the corresponding shaft seats, and the opposite ends of the two shaft columns fixedly pass through the corresponding clamping plates.

3. The relay assembly robot according to claim 2, characterized in that: The sleeve is provided with a guide member for guiding the axial movement and rotation of the shaft column. The guide member includes a guide groove opened on the circumferential surface of the sleeve. The guide groove is composed of an arc segment surrounding the sleeve and a straight segment extending along the axial direction. The end where the arc segment is connected to the straight segment is inclined toward the direction of the opposite end of the shaft column. A guide column that cooperates with the corresponding guide groove is rotatably installed on the shaft column.

4. The relay assembly robot according to claim 2, characterized in that: The frame is provided with an actuator for driving the movement of the shaft column. The actuator includes a No. 1 two-way cylinder fixedly mounted on the frame. The two telescopic sections of the No. 1 two-way cylinder are fixedly mounted with drive plates, and the opposite ends of the two shaft columns rotate through the corresponding drive plates respectively.

5. The relay assembly robot according to claim 1, characterized in that: The limiting part also includes a sliding rod. Two sliding rods distributed front and back are fixedly installed on the lower end of the frame through an axis plate. Two left-right symmetrical sliding seats are slidably installed on the two sliding rods. The lower end of the sliding seat is fixedly connected to the upper end of the corresponding connecting plate through a support. A driving component for driving the two sliding seats to move is provided on the frame.

6. The relay assembly robot according to claim 5, characterized in that: A pushing piece is provided on the supporting plate, which includes a pushing rod fixedly mounted on the slider. The upper ends of the two pushing rods corresponding to the same connecting plate slide through the connecting plate and are fixedly mounted with a connecting plate together. The pushing rods are perpendicular to the connecting plate.

7. The relay assembly robot according to claim 6, characterized in that: A push-pull assembly is provided on the slide, which includes a No. 1 cylinder fixedly installed at the lower end of the slide. The telescopic section of the No. 1 cylinder extends vertically and is fixedly installed with a connecting seat. A No. 1 slide groove is provided on the connecting plate, and a No. 1 roller is rotatably installed on the connecting seat to slide and pass through the corresponding No. 1 slide groove.

8. The relay assembly robot according to claim 1, characterized in that: The push-pull portion further comprises a notch provided on the push-pull plate, wherein a rotating shaft rotatably connected to the movable seat is installed in the notch of the push-pull plate.

9. The relay assembly robot according to claim 8, characterized in that: The deflection member includes a No. 2 cylinder fixedly mounted on a movable seat, a shaft block fixedly mounted on the telescopic section of the No. 2 cylinder, a No. 2 slide groove being provided on the two inner walls facing each other in the front and rear of the slot, and a No. 2 roller rotatably mounted on the shaft block, the two ends of which are respectively slidably engaged with the corresponding No. 2 slide grooves.

10. The relay assembly robot according to claim 5, characterized in that: The driving assembly includes a No. 2 bidirectional cylinder fixedly installed at the lower end of the frame, and the two telescopic sections of the No. 2 bidirectional cylinder are distributed and fixedly connected to the corresponding slides.

Images