A relay assembly robot

Abstract

This invention relates to the field of relay assembly technology, and particularly to a relay assembly robot; it includes a robotic arm and a push-pull section; the end of the robotic arm is equipped with a clamping mechanism; the clamping mechanism includes a frame fixedly connected to the robotic arm, a limiting section, and clamping plates symmetrically mounted on the frame. This invention first uses the clamping plates to press multiple thin-plate relay bases together, eliminating gaps between the bases and achieving continuous tight contact. Then, the limiting section restricts the movement of the relay bases from multiple directions. The combination of the limiting section and the clamping plates continuously ensures the stable and tight position of the relay bases. This invention uses a deflector to rotate the push-pull plate, pulling the latches so that the latch slot width is temporarily larger than the guide rail. This ensures that the latches do not contact the guide rail surface during the entire movement of the relay bases, avoiding excessive frictional resistance that could scratch or break the latches, and preventing any impact on the smoothness of the relay base movement.

Description

Technical Field

[0001] This invention relates to the field of relay assembly technology, and in particular to a relay assembly robot. Background Technology

[0002] While traditional relays can be mounted on DIN rails, their limited thickness and size make high-density arrangement difficult. However, with the increasing demand for efficient space utilization in modular power equipment, compact chip relays have emerged. A chip relay consists of a base and a relay body mounted on it. The base includes clips, screw holes, and contact pins. The chip relay utilizes a flattened structure design and integrated clips (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 thin-film relay rails has become an inevitable choice to improve the space efficiency inside the cabinet.

[0003] However, when a large number of thin-plate relays need to be installed in a single power cabinet, the repetitive manual processes of grasping, moving, and pressing the clips can easily lead to fatigue over time, especially when it is necessary to ensure that multiple relays are always in close contact, which affects assembly efficiency. Traditional robotic arm operation cannot stably grasp multiple closely arranged relays. For power cabinets that require high-density installation of dozens to hundreds of relays, the overall efficiency of thin-plate relay assembly is also low. 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 the installation method, the static friction between the clips and the guide rail is too high, which can easily cause the plastic clips to be scratched, deformed, or broken due to overload. In addition, the smoothness of clip movement is low, which is not conducive to improving the overall efficiency of assembly.

[0004] Therefore, traditional assembly methods cannot achieve synchronous gripping and assembly of multiple relay groups in a continuously close and stable state, resulting in low batch installation efficiency. The static friction is too large when moving after the clips are clamped to the guide rail, which can easily cause structural damage and affect assembly efficiency. This is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention provide a relay assembly robot to solve the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a relay assembly robot, including a robotic arm; 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 part, and clamping plates movably mounted on the frame and symmetrically arranged front and back; the limiting part includes two connecting plates slidably disposed at the lower end of the frame and distributed left and right, two supporting plates distributed left and right are provided at the lower end of the connecting plates, sliders are slidably mounted on the supporting plates, pressure blocks are fixedly mounted on the sliders, and multiple rubber pillars are installed at the lower end of the pressure blocks; the two connecting plates form a V-shaped structure, the clamping plate is located between the two connecting plates, and the connecting plates and the supporting plates are connected in a V-shape. Vertical and parallel to the pressure block; two pressure blocks corresponding to the same connecting plate are staggered vertically; push-pull part, including a movable seat slidably mounted on the slider at the lower left, with a push-pull plate rotatably mounted at the lower end of the movable seat, and a deflector provided on the movable seat; first, multiple bases are clamped by the clamping plate, then the connecting plate moves towards each other and the slider moves down, the pressure block and the support plate cooperate to restrict the base from moving in multiple directions from up and down and left and right, while the rubber column is inserted into the screw hole on the base to form a stable limit; then the deflector causes the push-pull plate to pull the buckle on the base, so that the width of the buckle groove is temporarily greater than the guide rail, eliminating moving friction; before adjacent bases are attached, the clamping plate is away from the attachment range.

[0007] As a preferred embodiment, the clamping mechanism also includes two bearing seats fixedly installed on the frame and located between the two clamping plates. A sleeve is fixedly installed inside the bearing seat, and a shaft column is movably installed inside the sleeve. The opposite ends of the two shaft columns movably pass through the corresponding bearing seats, and the opposite ends of the two shaft columns are fixedly passed through the corresponding clamping plates.

[0008] As a preferred embodiment, the sleeve is provided with a guide for guiding the axial movement and rotation of the shaft column. The guide includes a guide groove formed on the circumferential surface of the sleeve. The guide groove consists of an arc-shaped segment surrounding the sleeve and a straight segment extending axially. The end where the arc-shaped segment connects to the straight segment is inclined toward the direction of the opposite end of the shaft column. A guide post that mates with the corresponding guide groove is rotatably mounted on the shaft column.

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

[0010] As a preferred embodiment, the limiting part also includes sliding rods. Two sliding rods distributed front and rear are fixedly installed at the lower end of the frame via a shaft plate. Two symmetrical sliding blocks are slidably installed on the two sliding rods. The lower end of the sliding blocks is fixedly connected to the upper end of the corresponding connecting plate via a support column. The frame is provided with a drive assembly for driving the two sliding blocks to move.

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

[0012] As a preferred embodiment, the slide is provided with a push-pull assembly, which includes a first cylinder fixedly installed at the lower end of the slide. The telescopic section of the first cylinder extends vertically and is fixedly installed with a connecting seat. A first groove is opened on the connecting plate, and a first roller that slides through the first groove is rotatably installed on the connecting seat.

[0013] As a preferred embodiment, the push-pull section also includes a slot formed on the push-pull plate, and a rotating shaft that is rotatably connected to the movable seat is installed in the slot of the push-pull plate.

[0014] As a preferred embodiment, the deflecting component includes a second cylinder fixedly mounted on a movable seat. A shaft block is fixedly mounted on the telescopic section of the second cylinder. Two second sliding grooves are provided on the two inner walls that are opposite to each other in the slot. A second roller is rotatably mounted on the shaft block, with its two ends respectively slidingly engaging with the corresponding second sliding groove.

[0015] As a preferred embodiment, the drive assembly includes a second bidirectional cylinder fixedly installed at the lower end of the frame, with two telescopic sections of the second bidirectional cylinder being fixedly connected to the corresponding slide blocks.

[0016] The technical solution of the present invention has at least one of the following technical effects: First, the present invention achieves single-batch gripping by squeezing multiple thin-plate relay bases together with the clamping plate; it achieves non-damaging and stable positioning of the screw holes of the thin-plate relay bases by inserting the rubber post of the limiting part into the screw hole; and it achieves the buckle by rotating the push-pull plate through the deflection component, thereby temporarily making the buckle slot width larger than the guide rail, directly eliminating and reducing the friction of the buckle when the base moves on the guide rail.

[0017] Second, this invention first uses a clamping plate to press multiple thin-plate relay bases, eliminating gaps between the bases and ensuring continuous tight contact. This ensures that the bases are stable before the limiting part is activated. Then, the limiting part restricts the movement of the bases from multiple directions. The combination of the limiting part and the clamping plate continuously ensures that the bases are firmly and tightly attached. The clamping plate is released and removed from the contact area only before two thin-plate relay groups are joined, thus avoiding interference with the joining of two adjacent thin-plate relay groups under high-density arrangement.

[0018] Third, the present invention can dynamically expand the width of the buckle slot to a state greater than the width of the guide rail, thereby ensuring that the buckle does not contact the surface of the guide rail during the entire movement of the thin-plate relay base, avoiding the generation of large frictional resistance that could scratch or break the buckle, and affecting the smoothness of the movement of the thin-plate relay base.

[0019] IV. The present invention utilizes a rubber column inserted into a screw hole. The elastic characteristics of the rubber column allow it to adaptively fit the unevenness of the hole wall at a microscale. It locks the thin-film relay base through radial expansion force and enhances the fit between the base and the support plate. The axial pre-compression force enhances the fit between the base and the pressure block. This dual mechanism avoids rigid clamping.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

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

[0024] Figure 3 This is a three-dimensional structural diagram of the clamping mechanism of the present invention.

[0025] Figure 4 for Figure 3 Enlarged view of the structure at point A in the image.

[0026] Figure 5 for Figure 3 Enlarged view of the structure at point B in the image.

[0027] Figure 6 This is a three-dimensional structural diagram of the connecting plate, pressure block, support plate, and rubber column of the present invention.

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

[0029] Figure 8 This is a schematic diagram showing the state of a single thin-plate relay connected to a 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. Support plate; 262. Slider; 263. Pressure block; 264. Rubber column; 265. Slide rod; 266. Slide seat; 267. No. 2 double-acting cylinder; 27. Push-pull part; 28 0. Moving seat; 271. Push-pull plate; 272. Rotating shaft; 3. Guide component; 30. Guide groove; 31. Guide post; 4. Actuator; 40. No. 1 bidirectional cylinder; 41. Drive plate; 5. Deflector; 50. No. 2 cylinder; 51. No. 2 slide groove; 52. No. 2 roller; 6. Pushing component; 60. Push rod; 61. Connecting plate; 62. No. 1 cylinder; 63. No. 1 slide groove; 64. No. 1 roller. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit 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, with a clamping mechanism 2 at the end of the robotic arm 1.

[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. The frame is provided with a limiting part 26 and two clamping plates 22 that are movably mounted symmetrically. One of the limiting parts 26 is provided with a push-pull part 27. The frame includes an inverted concave connecting frame 20 fixedly mounted on the robotic arm 1. The lower ends of the two vertical sections of the connecting frame 20 are fixedly mounted with a fixing plate 21. The clamping plate 22 is movably mounted on the fixing plate 21, and the limiting part 26 is provided on the fixing plate 21.

[0034] like Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, the limiting part 26 includes two left-right distributed connecting plates 260 slidably disposed at the lower end of the fixed plate 21. The two connecting plates 260 form an upright figure-eight structure. The clamping plates 22 are both located between the two connecting plates 260. Two left-right distributed support plates 261 are provided at the lower end of the connecting plates 260. A rectangular groove is opened on the support 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 support plate 261 facing the clamping plate 22. Multiple rubber pillars 264 are installed at the lower end of the pressure block 263. The rubber pillars 264 are located on the side of the pressure block 263 facing away from the corresponding connecting plate 260. Of the two support plates 261 on the same connecting plate 260, the lower support plate 261 is longer than the upper support plate 261, and the pressure block 263 on the lower support plate 261 is lower than the pressure block 263 on the upper support plate 261. The two pressure blocks 263 on the same connecting plate 260 are staggered vertically.

[0035] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, the push-pull part 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. A push-pull plate 271 is rotatably mounted on the lower end of the movable seat 270, and a deflector 5 is provided on the movable seat 270. The push-pull part 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 actual operation, the relay body is inserted into the base to form a thin-film relay. The external conveying mechanism transports the assembly of multiple thin-film relays as a group and the power cabinet of the thin-film relays to be assembled to the relay assembly robot position. Then, the robotic arm 1 drives the clamping mechanism 2 to move to the position of the multiple thin-film relays that have been transported, and clamps the group of thin-film relays through the clamping plate 22 to make the thin-film relays fit tightly together to reduce the space occupied.

[0037] Next, the support plate 261 approaches and abuts against the base of the thin-film relay. Then, the pressure block 263 moves towards the base of the thin-film relay, pushing the base tightly against the support plate 261. Simultaneously, the rubber post 264 inserts into the screw hole on the corresponding thin-film relay base, thus limiting and aligning the thin-film relay. At this point, the push-pull plate 271 is in the latching position. The deflector 5 then drives the push-pull plate 271 to rotate, pulling the latch to move. The latch deforms, increasing the latch's slot area, preventing contact between the latch and the guide rail, facilitating subsequent adjustment of the base position on the guide rail. Then, the clamping plate 22 releases its grip on the thin-film relay and rotates to one side away from the end face of the thin-film relay. The slot area is the area between the right end face of the latch and the base. When the latch deforms, the tilt of the right end face changes, increasing the slot area.

[0038] Then, the robotic arm 1 moves the multiple tightly fitted thin-plate relays to their corresponding positions inside the power cabinet, and then engages the latch slots with the corresponding positions on the guide rail. The deflector 5 then releases the push-pull plate 271 from the latch, and the latch, under its own elastic force, resets and locks itself onto the guide rail (e.g., ...). Figure 8 As shown, the thin-plate relay is fixed to the guide rail. When installing the next set of thin-plate relays, since the clamping plate 22 is far from the end face of the thin-plate relays, interference with the fit between the end face of the current set of thin-plate relays and the previous set is avoided. When adjusting the position of the base on the guide rail, since the clip does not contact the guide rail, the contact pressure and frictional resistance of relative movement between the two are eliminated, avoiding the risk of clip scratches, deformation, or overload breakage, and also efficiently ensuring the smooth movement of the base on the guide rail. This, in turn, ensures the efficiency of the overall assembly.

[0039] like Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, the clamping mechanism 2 also includes two bearing seats 23 fixedly installed on the upper end of the fixed plate 21 and located between the two clamping plates 22. A sleeve 24 is fixedly installed inside the bearing seat 23, and a shaft post 25 is movably installed inside the sleeve 24. The opposite ends of the two shaft posts 25 movably pass through the corresponding bearing seat 23, and the back ends of the two shaft posts 25 are fixedly passed through the corresponding clamping plate 22.

[0040] like Figure 6 and Figure 7As shown, the sleeve 24 is provided with a guide 3 for guiding the axial movement and rotation of the shaft post 25. The guide 3 includes a guide groove 30 formed on the circumferential surface of the sleeve 24. The guide groove 30 is composed of an arc-shaped segment surrounding the sleeve 24 and a straight segment extending axially. The end where the arc-shaped segment and the straight segment are connected is inclined towards the opposite end of the shaft post 25. A guide post 31 that cooperates with the corresponding guide groove 30 is rotatably mounted on the shaft post 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 first bidirectional cylinder 40 fixedly installed on the upper end of the fixed plate 21. Both telescopic sections of the first bidirectional cylinder 40 are fixedly installed with drive plates 41. The opposite ends of the two shaft columns 25 rotate through the corresponding drive plates 41 respectively.

[0042] like Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, during actual operation, the first bidirectional cylinder 40 pulls the two shafts 25 to move towards each other via the drive plate 41. Since the guide post 31 is located within the arc-shaped section of the guide groove 30, as the first bidirectional cylinder 40 pulls, the shaft 25 rotates while moving horizontally in cooperation with the guide post 31 and the arc-shaped section of the guide groove 30. Subsequently, the clamping plate 22 rotates while moving with the shaft post 25 until the clamping plate 22 rotates to a vertical state. At this time, the guide post 31 is located at the connection between the arc-shaped section and the straight section of the guide groove 30. As the first bidirectional cylinder 40 continues to pull, the guide post 31 moves along the straight section of the guide groove 30 under the drive of the shaft post 25. The shaft post 25 only moves horizontally, thereby keeping the clamping plate 22 in a vertical state and moving horizontally. The two clamping plates 22 simultaneously squeeze multiple thin-plate relays from the front and rear directions, causing the multiple thin-plate relays to stick tightly to each other.

[0043] Then, multiple thin-plate relays are limited and constrained by the limiting part 26. After the limiting constraint is completed, the first bidirectional cylinder 40 pulls the two shafts 25 to move towards each other through the drive plate 41. With the cooperation of the straight section and arc section of the guide post 31 and the guide groove 30, the clamping plate 22 first moves horizontally away from the thin-plate relays, and then rotates away from the end face range of the thin-plate relays, so as to avoid interfering with the contact between the end face of this group of thin-plate relays and the previous group of thin-plate relays.

[0044] like Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, the limiting part 26 also includes a slide rod 265. Two slide rods 265 distributed front and back are fixedly installed on the lower end of the fixing plate 21 through a shaft plate. Two left and 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 support column. The fixing plate 21 is provided with a driving component for driving the two slide seats 266 to move.

[0045] like Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the drive assembly includes a second bidirectional cylinder 267 fixedly installed at the lower end of the fixed plate 21, and the two telescopic sections of the second bidirectional cylinder 267 are distributed and fixedly connected to the corresponding slides 266.

[0046] like Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, a pushing member 6 is provided on the support plate 261. The pushing member 6 includes a pushing rod 60 fixedly installed on the slider 262. The upper ends of two pushing rods 60 corresponding to the same connecting plate 260 slide through the connecting plate 260 and are then fixedly installed together on the connecting plate 61. The guide rod, the pushing rod 60 and the 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 deflecting component 5 includes a second cylinder 50 fixedly installed on the movable seat 270. A shaft block is fixedly installed on the telescopic section of the second cylinder 50. A second sliding groove 51 is opened on the two inner walls that are opposite to each other in the slot. A second roller 52 is rotatably installed on the shaft block, with its two ends slidingly engaged with the corresponding second sliding groove 51.

[0048] like Figure 3 , Figure 5 and Figure 6 As shown, a push-pull assembly is provided on the slide block 266. The push-pull assembly includes a first cylinder 62 fixedly installed at the lower end of the slide block 266. The telescopic section of the first cylinder 62 extends vertically and is fixedly installed with a connecting seat. A first slide groove 63 is opened on the connecting plate 61. A first roller 64 that slides through the first slide groove 63 is rotatably installed on the connecting seat.

[0049] like Figures 1 to 8As shown, during operation, the second bidirectional cylinder 267 pulls the two slide blocks 266 closer together. The slide blocks 266, through the support column and connecting plate 260, drive the corresponding support plate 261 to fit against the thin relay base. Then, the first cylinder 62, through the cooperation of the first roller 64 and the first slide groove 63, pushes the connecting plate 61 downward. The connecting plate 61, through the corresponding two push rods 60, pushes the two sliders 262 to move towards the thin relay base (the sliders 262 move along the guide rod, and the movement path of the sliders 262 is an inclined line from top to bottom towards the middle of the thin relay base). The sliders 262 drive the pressure block 263 and the moving seat 270 to move synchronously. First, the rubber post 264 is inserted into the screw hole on the corresponding thin-plate relay base. When the rubber post 264 is inserted into the screw hole on the thin-plate relay base, it will undergo radial elastic compression, which will then generate a continuous reverse expansion force, causing the rubber post 264 to form a strong static friction force between the rubber post 264 and the screw hole wall. This effectively resists the front and rear displacement of the thin-plate relay, thereby ensuring that after the clamping plate 22 releases the clamping plate from the thin-plate relay, the thin-plate relays can continue to maintain a close fit through the rubber post 264. In addition, the rubber post 264 can also adaptively fit the uneven parts of the screw hole wall to increase the contact area, further stabilize and limit the thin-plate relay, and avoid damage to the thin-plate relay.

[0050] As the rubber column 264 moves into position, the opposing pressure blocks 263 press against the lateral inclined surface of the thin-plate relay base, causing the thin-plate relay base to fit tightly against the support plate 261. The support plate 261 and the corresponding pressure block 263 restrict the vertical freedom of the thin-plate relay base, while the support plates 261 on both sides restrict the horizontal freedom of the thin-plate relay base. Simultaneously, the moving seat 270 moves the push-pull plate 271 to the left end of the latch. Then, the second cylinder 50 controls the shaft block to move downwards. The shaft block, through the cooperation of the second roller 52 and the second slide groove 51, drives the push-pull plate 271 to rotate to the left around the axis of the rotating shaft 272. The rotating push-pull plate 271 pushes and pulls the latch, making the width of the latch area greater than the width of the guide rail. The robotic arm 1 moves the thin-plate relay in its limited position into the power cabinet and engages the slot with the guide rail. At this time, the push-pull plate 271 is kept in contact with the latch to prevent the latch from contacting the guide rail, thus ensuring smooth movement of the thin-plate relay base on the guide rail and avoiding excessive friction that could damage the latch or affect the moving efficiency of the thin-plate relay base. When this group of thin-plate relays is installed in place or engaged with the previous group, the second cylinder 50 controls the shaft block to move in the reverse direction. The shaft block, through the engagement of the second roller 52 and the second slide groove 51, drives the push-pull plate 271 to rotate in the reverse direction around the axis of the rotating shaft 272 as the rotation reference line. This releases the push-pull plate 271 from the latch, and the latch, under its own elastic force, resets and locks onto the guide rail, thereby fixing the group of thin-plate relays on the guide rail (e.g., ...). Figure 8 (As shown).

[0051] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours 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 technical features indicated. Thus, a feature defined as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[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: The robotic arm is equipped with a gripping mechanism at its end; The clamping mechanism includes a frame fixedly connected to the robotic arm, a limiting part, and a clamping plate movably mounted on the frame and symmetrically arranged front and back. The limiting part includes two connecting plates that are slidably disposed at the lower end of the frame and distributed on the left and right. Two support plates distributed on the left and right are provided at the lower end of the connecting plates. A slider is slidably installed on the support plate, and a pressure block is fixedly installed on the slider. Multiple rubber columns are installed at the lower end of the pressure block. The two connecting plates form a V-shape, with the clamping plate located between the two connecting plates. The connecting plates are perpendicular to the support plate and parallel to the pressure block; the two pressure blocks corresponding to the same connecting plate are staggered vertically. The push-pull part includes a movable seat that is slidably mounted on the slider at the lower left, a push-pull plate that is rotatably mounted on the lower end of the movable seat, and a deflector provided on the movable seat; First, multiple bases are clamped by the clamping plate. Then, the connecting plate moves towards each other and the slider moves down. The pressure block and the support plate work together to restrict the movement of the bases from multiple directions, including up and down and left and 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 component causes the push-pull plate to pull the buckle on the base, so that the width of the buckle groove is temporarily greater than the guide rail, eliminating moving friction. Before the adjacent bases are attached, the clamping plate is away from the attachment range.

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

3. A relay assembly robot according to claim 2, characterized in that: The sleeve is provided with a guide for guiding the axial movement and rotation of the shaft. The guide includes a guide groove formed on the circumferential surface of the sleeve. The guide groove is composed of an arc-shaped segment that surrounds the sleeve and a straight segment that extends axially. The end where the arc-shaped segment connects to the straight segment is inclined toward the opposite end of the shaft. A guide post that mates with the corresponding guide groove is rotatably mounted on the shaft.

4. A relay assembly robot according to claim 2, characterized in that: The frame is equipped with actuators for driving the movement of the shaft columns. The actuators include a No. 1 bidirectional cylinder fixedly installed on the frame. Both telescopic sections of the No. 1 bidirectional cylinder are fixedly installed with drive plates. The opposite ends of the two shaft columns rotate through the corresponding drive plates.

5. A relay assembly robot according to claim 1, characterized in that: The limiting part also includes sliding rods. Two sliding rods distributed front and rear are fixedly installed at the lower end of the frame through a shaft plate. Two symmetrical sliding blocks are slidably installed on the two sliding rods. The lower end of the sliding blocks is fixedly connected to the upper end of the corresponding connecting plate through a support column. The frame is equipped with a drive assembly for driving the two sliding blocks to move.

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

7. A relay assembly robot according to claim 6, characterized in that: The slide is equipped with a push-pull assembly, 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 opened on the connecting plate. A No. 1 roller that slides through the No. 1 slide groove is rotatably installed on the connecting seat.

8. A relay assembly robot according to claim 1, characterized in that: The push-pull section also includes a slot on the push-pull plate, and a rotating shaft that is rotatably connected to the movable seat is installed in the slot of the push-pull plate.

9. A relay assembly robot according to claim 8, characterized in that: The deflection component includes a second cylinder fixedly mounted on a movable seat. A shaft block is fixedly mounted on the telescopic section of the second cylinder. Two sliding grooves are opened on the two inner walls that are opposite to each other in the slot. A second roller is rotatably mounted on the shaft block, with its two ends slidingly engaging with the corresponding second sliding grooves.

10. A relay assembly robot according to claim 5, characterized in that: The drive assembly includes a second bidirectional cylinder fixedly installed at the lower end of the frame, with two telescopic sections of the second bidirectional cylinder being fixedly connected to the corresponding slide blocks.

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