A robot special-purpose mutual inductor secondary wiring box automatic door opening and closing device and method

Abstract

The application relates to a robot special-purpose mutual inductor secondary wiring box automatic door opening and closing device and method, and relates to the technical field of mutual inductor testing. The automatic door opening and closing device comprises a frame, the frame is provided with a mounting seat and a suction assembly; the bottom of the frame is provided with a first pushing assembly, the first pushing assembly is used for horizontal pushing in the door opening stage, a stop block guide slope is used for stably lifting a pressure buckle to complete unlocking, a poking assembly is arranged on one side of the spring buckle corresponding to the bottom of the frame, the third pushing assembly is used for adjusting the poking assembly station in the door closing stage, the second pushing assembly is further arranged on the frame, and the second pushing assembly is used for vertically pressing to realize buckle locking. The device realizes full-process automatic operation of the wiring box door opening and closing through step-by-step cooperation of multiple execution mechanisms, improves the overall work efficiency of converter station equipment maintenance and testing, the whole process does not need manual operation, and the safety hidden danger of high-voltage and close-to-live operation on the converter station site is effectively solved.

Description

Technical Field

[0001] This invention relates to the technical field of current transformer testing, and in particular to an automatic opening and closing device and method for a robot-specific current transformer secondary junction box. Background Technology

[0002] Ultra-high voltage instrument transformers require regular high-voltage tests before and after commissioning to ensure that their performance indicators meet the standards of the State Grid and the power industry. During high-voltage testing, the secondary junction box needs to be opened for energization testing. Currently, this operation is entirely manual, requiring workers to climb close to the energized high-voltage equipment area and manually pry open the spring latches on the outside of the secondary junction box to open and close the door. Workers are operating in a high-voltage environment, which greatly increases the risk of electric shock, falls from heights, and mechanical injuries, posing significant personal safety hazards.

[0003] In recent years, the technology of robots in the power industry has developed rapidly, but there is currently a lack of operating devices on the market that can replace manual operation to open the doors of secondary junction boxes, making it impossible to carry out practical operation of opening junction boxes. Summary of the Invention

[0004] To address the problems mentioned above, this invention provides an automatic door opening and closing device and method for a secondary junction box for a robot-specific current transformer.

[0005] The present invention provides an automatic door opening and closing device and method for a secondary junction box of a robot-specific current transformer, which adopts the following technical solution: An automatic opening and closing device for a secondary junction box of a robot-specific current transformer includes a frame, on which a mounting base for docking a robot is provided, and an adsorption assembly for adsorbing the frame onto the junction box body; a first propulsion assembly is provided at the bottom of the frame, which includes a first electric push rod arranged parallel to the surface of the junction box body, and a stop block at the front end of the first electric push rod that can push and open a spring-loaded latch; a toggle assembly is also provided at the bottom of the frame corresponding to the spring-loaded latch side, and the output end of the toggle assembly is connected to a lever that can rotate and close the spring-loaded latch; a second propulsion assembly is also provided on the frame, which includes a second electric push rod arranged perpendicular to the surface of the junction box, and a pressure block at the front end of the second electric push rod that can press the spring-loaded latch.

[0006] As a preferred embodiment of the above scheme, the first propulsion component, the toggle component, and the second propulsion component are each symmetrically arranged in two sets, which are respectively installed on the frame corresponding to the left and right sets of spring latches on the junction box.

[0007] As a preferred embodiment of the above scheme, the bottom of the frame is further provided with a third propulsion component, which includes a third electric push rod. The front end of the third electric push rod is connected to a toggle component and drives the toggle component to move along a direction parallel to the surface of the junction box.

[0008] As a further preferred embodiment of the above solution, the actuating assembly includes a mounting base located at the front end of the third electric push rod, the mounting base being equipped with a rotary motor, and the output shaft of the rotary motor being connected to a lever capable of pressing a pressure ring of a spring latch.

[0009] As a preferred embodiment of the above solution, the adsorption component is an electromagnetic adsorption component. The adsorption component has two sets symmetrically arranged at both ends of the frame, and includes an electromagnet and a universal joint. The electromagnet is connected to the frame through the universal joint.

[0010] As a further preferred embodiment of the above scheme, the back side of the frame is also provided with an electronic control component, and the electronic control component contains a battery control board. The battery control board is electrically connected to the electromagnet and controls the electromagnet to turn on and off.

[0011] As a preferred embodiment of the above solution, the front side of the stop block is provided with an inclined guide slope, and the buckle slides upward along the guide slope.

[0012] As a preferred embodiment of the above solution, the pressure block has an inwardly recessed clearance groove on the side facing the junction box, and the clearance groove is adapted to the shape of the latch of the spring latch.

[0013] An automatic opening and closing method for a secondary junction box of a robot-specific current transformer, applied to an automatic opening and closing device for a secondary junction box of a robot-specific current transformer, includes the following steps: Step 1: Place the device on the mounting base on the robot clamping frame and put it on the side of the junction box with the spring buckle. Turn off the power to the adsorption assembly so that the device is adsorbed onto the junction box. Step 2: The first push component is controlled by the electronic control component on the back of the frame to extend outward. The first electric push rod drives the stop block to press against the spring buckle. The stop block's inclined surface guides the buckle to slide upward and lift. The first electric push rod continues to extend outward until the buckle is fully unlocked and opened. The mobile robot then opens the junction box door. Step 3: Perform the corresponding secondary wiring tests as required; Step 4: After the secondary wiring test is completed, the mobile robot closes the junction box door; Step 5: Complete the reset and locking of the spring latches in sequence: S1: Control the third propulsion component to extend outward, driving the entire toggle component to move forward to the designated work position. Then, the rotation motor of the toggle component drives the lever to rotate, pressing down the popped-up buckle to the closed position. At this time, the first propulsion component retracts synchronously. S2: Control the second propulsion component to extend outward, the pressure block presses the buckle, and the spring latch locks; S3: The third propulsion component and the third propulsion component retract to their initial standby positions; Step Six: The adsorption component is powered on to demagnetize, and the robot removes the device from the junction box, completing one work cycle.

[0014] In summary, the present invention has the following beneficial technical effects: 1. This device relies on multiple sets of actuators working in steps, employing three independent action logics: horizontal unlocking, rotational reset, and vertical clamping, to achieve fully automated operation of the junction box opening and closing process. During the opening stage, the first propulsion component pushes horizontally, and the stop block guides the inclined surface to smoothly lift the latch and complete the unlocking. During the closing stage, the third propulsion component first adjusts the position of the toggle component, and then the lever rotates and presses down to complete the reset of the pressure ring. Finally, the first propulsion component retracts, and the second propulsion component vertically clamps the latch to achieve locking. Each mechanism has a clear division of labor, which greatly reduces the time for a single opening and closing operation, effectively shortens the equipment downtime for maintenance, and improves the overall work efficiency of converter station equipment maintenance and testing.

[0015] 2. This device is widely applicable to various electrical enclosures with spring latches. It achieves offline autonomous operation through adsorption, propulsion, and toggle components in conjunction with electrical control components. The entire process requires no manual operation and can completely replace manual operation in the high-risk work of opening and closing the secondary junction box of the current transformer. It effectively solves the safety hazards of high-voltage near-electrical work at the converter station site, promotes the intelligent upgrade of high-voltage power testing operations, and provides a solid safety guarantee for high-voltage testing and equipment operation and maintenance at the converter station. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an automatic door opening and closing device for a secondary junction box of a robot-specific current transformer according to Embodiment 1 of the invention; Figure 2 This is a schematic diagram of the structure of the first propulsion component in Embodiment 1 of the invention; Figure 3 This is a schematic diagram of the toggle assembly of Embodiment 1 of the invention; Figure 4 This is a schematic diagram of the structure of the second propulsion component in Embodiment 1 of the invention; Figure 5 This is a schematic diagram of the structure of the electronic control component according to Embodiment 1 of the invention; Figure 6 This is a schematic diagram of the junction box of Embodiment 1 of the invention.

[0017] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Mounting base; 3. Adsorption components; 4. First propulsion assembly; 41. First electric push rod; 42. Stop block; 43. Guide ramp; 44. Propulsion block; 45. First push rod fixing seat; 5. Actuating assembly; 51. Lever; 52. Mounting base; 53. Rotating motor; 6. Second propulsion assembly; 61. Second electric push rod; 62. Pressure block; 63. Clearance groove; 7. Third propulsion assembly; 71. Third electric push rod; 72. Third push rod mounting base; 8. Electrical control components; 81. Control box housing; 82. Control box top cover; 9. Spring hook and loop; 91. Press buckle; 92. Locking nose; 93. Base; 94. Pressure ring. Detailed Implementation

[0018] The following combination Figures 1-4 The present invention will be described in further detail below.

[0019] Invention Embodiment 1 Embodiment 1 of the invention discloses an automatic door opening and closing device and method for a secondary junction box for a robot-specific current transformer.

[0020] Reference Figure 1 An automatic opening and closing device for a secondary junction box for a robot-specific current transformer includes a frame 1, which serves as the supporting base for the entire actuator and undertakes the installation, fixing, and force transmission of all actuator components. The frame 1 is provided with a mounting base 2 for docking with the robot and an adsorption component 3 for adsorbing the frame 1 onto the junction box body.

[0021] The mounting base 2 is fixed to the frame 1 by through screws. The mounting base 2 is set as a standard clamping base that can be clamped or connected and fixed by the robot. The mounting base 2 is provided with handles on its periphery.

[0022] Among them, the adsorption component 3 is an electromagnetic adsorption component. The adsorption component 3 is provided in two sets and symmetrically arranged at both ends of the frame 1 to ensure that the overall force of the device is balanced. It includes an electromagnet and a universal joint. The electromagnet is connected to the frame 1 through the universal joint.

[0023] In this embodiment, one end of the universal joint is connected to the electromagnet via a thread, and the other end is connected to the frame 1 via a thread.

[0024] The back side of the frame 1 is also provided with an electronic control component 8. The electronic control component 8 contains a battery control board, which is electrically connected to the electromagnet and controls the electromagnet to turn on and off.

[0025] Regarding electronic control component 8, in conjunction with... Figure 5It includes a control box housing 81, which is fixed to the frame 1 by screws. A battery control board is bonded inside the control box housing 81. It is equipped with a battery or power supply that can realize the control function of the battery control board, a signal receiving and transmitting module, and a signal module that can receive and transmit signals from remote control devices. A control box cover 82 is provided on the top of the control box housing 81.

[0026] Reference Figure 1 , Figure 2 The bottom of the frame 1 is provided with a first push assembly 4, which includes a first electric push rod 41 arranged parallel to the surface of the junction box. The front end of the first electric push rod 41 is provided with a stop block 42 that can push and open the spring latch 91.

[0027] In this embodiment, the stop block 42 is fixed to the push block 44 by screws, the push block 44 is fixed to the front end of the first electric push rod 41 by screws, the tail end of the first electric push rod 41 is fixed to the first push rod fixing seat 45 by screws, the first push rod fixing seat 45 is fixed to the frame 1 by screws, the stop block 42 can follow the output of the first electric push rod 41, thereby pushing and lifting the buckle 91 of the spring buckle 9 to complete the unlocking of the spring buckle 9.

[0028] As a preferred embodiment of the above structure, the front side of the stop block 42 is provided with an inclined guide slope 43. The snap fastener 91 slides and rises upward along the guide slope 43, which can effectively reduce the pushing force used to open the snap fastener 91 of the spring snap fastener 9, which is conducive to opening the snap fastener 91 and will not cause jamming when opening the snap fastener 91. The bottom of the stop block 42 is also provided with a groove structure to smoothly pass through the lock nose 92 part of the spring snap fastener 9.

[0029] Reference Figure 1 , Figure 3 The bottom of the frame 1 is also provided with a toggle assembly 5 on the side corresponding to the spring buckle 9. The output end of the toggle assembly 5 is connected to a lever 51 that can press the pressure ring 94 of the spring buckle 9.

[0030] The actuating component 5 includes a mounting base 52 located at the front end of the third electric push rod 71. A rotary motor 53 is mounted on the mounting base 52. The output shaft of the rotary motor 53 is perpendicularly connected to the lever 51 and drives the lever 51 to rotate around the axis of the output shaft of the rotary motor 53. The end of the lever 51 away from the output shaft of the rotary motor 53 can rotate and swing under the drive of the rotary motor 53. By rotating and pressing down, the pressure ring 94 after being unlocked and popped up is pressed back to the initial closed position, completing the initial reset of the spring buckle 9.

[0031] The lever 51 has a Z-shaped structure, with its front end bent in the Z direction and abutting against the spring-up pressure ring 94. The rear end of the lever 51 is connected by a thread and is vertically mounted on the output shaft of the rotating motor 53. The lever 51 adopts a cylindrical structure and achieves line contact with the pressure ring, so as not to cause jamming.

[0032] As an optional implementation, the bottom of the frame 1 is also provided with a third propulsion assembly 7, which includes a third electric push rod 71. The front end of the third electric push rod 71 is connected to the toggle assembly 5 and drives the toggle assembly 5 to move horizontally in a direction parallel to the surface of the junction box. This can drive the toggle assembly 5 to move horizontally in a direction parallel to the surface of the junction box, accurately adjust the relative position between the toggle rod 51 and the pressure ring 94, adapt to spring latches with different installation tolerances, and improve the fault tolerance of the device.

[0033] The mounting base 52 is fixed to the front end of the third electric push rod 71 by screws, the tail end of the third electric push rod 71 is fixed to the third push rod fixing seat 72 by screws, and the third push rod fixing seat 72 is fixed to the frame 1 by screws.

[0034] Reference Figure 1 , Figure 4 The frame 1 is also provided with a second propulsion assembly 6, which includes a second electric push rod 61 disposed perpendicular to the surface of the junction box, and a pressure block 62 at the front end of the second electric push rod 61 that can press the spring latch 91.

[0035] As a preferred embodiment of the above structure, the pressure block 62 has an inwardly recessed clearance groove 63 on the side facing the junction box body. The clearance groove 63 can avoid the lock lug 92, so that the second electric push rod 61 presses against the buckle 91, realizes the spring latch closure, and locks the junction box door.

[0036] In this embodiment, the pressure block 62 is fixed to the front end of the second electric push rod 61 by screws, and the tail end of the second electric push rod 61 is fixed to the frame 1 by screws.

[0037] In this embodiment, the battery control board is also electrically connected to the drive mechanism. The battery control board uniformly controls the power supply to the adsorption component 3, the extension and retraction of the three sets of electric push rods, the start and stop of the rotating motor and the rotation angle, and strictly limits the action sequence of each mechanism to ensure that the unlocking, toggle reset, pressing and demagnetizing actions are connected in an orderly manner.

[0038] Reference Figure 1 Conventional secondary junction boxes typically have two spring latches 9 at the box door. Therefore, the first push assembly 4, the toggle assembly 5, and the second push assembly 6 are symmetrically arranged in two sets, corresponding one to one on the left and right, to simultaneously complete the unlocking and locking actions of the two spring latches 9. The two sets of spring latches 9 on the left and right sides of the junction box are respectively installed on the frame 1.

[0039] Reference Figure 6The spring latch 9 on the secondary junction box includes a base 93 and a snap fastener 91 mounted on the box body, and a hook on the box door. The base 93 is fixed to the box body of the secondary junction box. The base 93 is rotatably connected to the snap fastener 91 via a pivot and a spring. The snap fastener 91 also has a pressure ring 94 on the side facing the box door. When the snap fastener 91 is pressed against the base 93, the pressure ring 94 is engaged with the hook. The base 93 also has a lock lug 92 that can pass through the snap fastener 91. The lock lug 92 has a lock hole and can be used for padlocking.

[0040] There are two common types of spring latches 9 on the market: one is a spring latch without a lock lug 92, and the other is a spring latch with a lock lug 92 that can be used for locking. The automatic door opening and closing device described in this embodiment can accommodate both types of structures.

[0041] The robot includes a patrol vehicle, on which a robotic arm and a sensing module are mounted. The front end of the robotic arm is equipped with a mounting mechanism that cooperates with the mounting base 2 to clamp or install the robot.

[0042] The implementation principle of the automatic opening and closing device for the secondary junction box of a robot-specific current transformer in Embodiment 1 is as follows: This device relies on multiple sets of actuators working in steps, and adopts three independent action logics of horizontal unlocking, rotational reset, and vertical pressing to realize the fully automated operation of the junction box opening and closing.

[0043] First, the device is rigidly connected to the robot through the ring-shaped mounting base 2. After the robot drives the device to the working position of the junction box, the two sets of symmetrical adsorption components 3 are simultaneously de-energized to generate magnetic attraction force. With the help of the universal joint, the magnetic surface is completely attached to the metal outer wall of the box, realizing rapid positioning and fixing without tooling assistance.

[0044] The horizontal unlocking action relies on the first push assembly 4 arranged parallel to the box body as the core unlocking mechanism. The first electric push rod 41 moves forward horizontally, and the stop block 42 contacts the buckle 91 through the front guide slope 43, smoothly lifting the buckle 91 to complete the buckle unlocking of the spring buckle 9.

[0045] Secondly, the rotational reset action relies on the third propulsion component 7 to drive the toggle component 5 to move forward and align, and the rotation motor 53 drives the lever 51 to rotate and press down, pressing the popped-up pressure ring 94 to the closed position; the vertical pressing action relies on the second propulsion component 6 to move forward vertically, and the pressure block 62 relies on the avoidance groove 63 to avoid the lock nose 92, and vertically presses the buckle 91 to complete the mechanical locking of the spring latch 9. The two-stage action is executed in steps to prevent the pressure ring 94 from being unable to be hooked on the door latch due to direct hard pressing of the spring latch 9, which greatly improves the reliability of the door closing and locking.

[0046] In addition, the device is equipped with an electrical control component 8 to achieve fully automated logic control of the entire process. This device can be applied not only to secondary junction boxes, but also to all enclosure equipment with spring latches 9 installed.

[0047] Invention Embodiment 2 Based on Embodiment 1, Embodiment 2 discloses an automatic opening and closing method for a secondary junction box for a robot-specific current transformer.

[0048] Reference Figures 1-6 An automatic opening and closing method for a robot-specific instrument transformer secondary junction box, applied to an automatic opening and closing device for a robot-specific instrument transformer secondary junction box, includes the following steps: Step 1: The robot gripping frame 1 is mounted on the mounting base 2. The adsorption component 3 is powered on and demagnetized. The device is placed on the side of the junction box with the spring buckle 9. The adsorption component 3 is powered off so that the device is adsorbed on the junction box under the action of the electromagnet. Step 2: The first push component 4 is controlled to extend outward by the electronic control component 8 on the back of the frame 1. The first electric push rod 41 drives the stop block 42 to abut against the buckle 91 of the spring latch 9. With the help of the guide slope 43 of the stop block 42, the buckle 91 is guided to slide and lift upward. The first electric push rod 41 continues to extend outward until the buckle 91 is fully unlocked and opened. At this time, the pressure ring 94 of the junction box door connected to the spring latch 9 pops up, and the mobile robot opens the junction box door. Step 3: Perform the corresponding secondary wiring tests as required; Step 4: After the secondary wiring test is completed, the mobile robot closes the junction box door by using a mobile patrol vehicle or operating a robotic arm. Step 5: Complete the reset and locking of spring latch 9 in sequence: S1: Control the third propulsion component 7 to extend outward, driving the entire toggle component 5 to move forward to the designated work position. Then, the rotation motor 53 of the toggle component 5 drives the lever 51 to rotate, causing the lever to press the popped-up pressure ring 94 down onto the hook in the closed position. At this time, the first propulsion component 4 retracts synchronously. S2: Control the second propulsion component 6 to extend outward, the pressure block 62 presses the buckle 91, and the inner clearance groove 63 of the pressure block 62 avoids the lock nose 92, thus completing the locking of the spring buckle 9; S3: The third propulsion component 7 and the second propulsion component 6 retract to their initial standby positions; Step Six: The adsorption component 3 is energized and demagnetized. The robot then removes the device from the junction box, completing one work cycle.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention; any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic door opening and closing device for a secondary junction box of a robot-specific current transformer, characterized in that: The system includes a frame (1), on which a mounting base (2) for docking robots is provided, and an adsorption assembly (3) for adsorbing the frame (1) onto the junction box. The frame (1) has a first push assembly (4) at the bottom, which includes a first electric push rod (41) arranged parallel to the surface of the junction box. The front end of the first electric push rod (41) has a stop (42) that can push and open the spring latch (9) of the buckle (91). The bottom of the frame (1) is also provided with a toggle assembly (5) on the side corresponding to the spring latch (9). The output end of the toggle assembly (5) is connected to a lever (51) that can press the pressure ring (94) of the spring latch (9). The frame (1) is also provided with a second push assembly (6), which includes a second electric push rod (61) set perpendicular to the surface of the junction box. The front end of the second electric push rod (61) is provided with a pressure block (62) that can press the latch (91) of the spring latch (9).

2. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 1, characterized in that: The first propulsion component (4), the toggle component (5), and the second propulsion component (6) are each symmetrically provided with two sets, which are respectively installed on the frame (1) corresponding to the left and right sets of spring latches (9) on the junction box.

3. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 1, characterized in that: The bottom of the frame (1) is also provided with a third propulsion component (7), which includes a third electric push rod (71). The front end of the third electric push rod (71) is connected to the toggle component (5) and drives the toggle component (5) to move as a whole in a direction parallel to the surface of the junction box.

4. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 3, characterized in that: The actuation assembly (5) includes a mounting base (52) located at the front end of the third electric push rod (71), a rotating motor (53) is provided on the mounting base (52), and the output shaft of the rotating motor (53) is connected to a lever (51) that can press the pressure ring (94) of the spring buckle (9).

5. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 1, characterized in that: The adsorption component (3) is an electromagnetic adsorption component. The adsorption component (3) has two sets and is symmetrically arranged at both ends of the frame (1). It includes an electromagnet and a universal joint. The electromagnet is connected to the frame (1) through the universal joint.

6. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 5, characterized in that: The frame (1) is also provided with an electronic control component (8) on the back side. The electronic control component (8) is provided with a battery control board inside. The battery control board is electrically connected to the electromagnet and controls the electromagnet to turn on and off.

7. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 1, characterized in that: The front side of the stop (42) is provided with an inclined guide slope (43), and the buckle (91) slides and rises upward along the guide slope (43).

8. The automatic opening and closing device for a robot-specific current transformer secondary junction box according to claim 1, characterized in that: The pressure block (62) has an inwardly recessed relief groove (63) on the side facing the junction box, and the relief groove (63) is adapted to the shape of the latch (92) of the spring latch (9).

9. A method for automatically opening and closing a secondary junction box for a robot-specific current transformer, applied to an automatic opening and closing device for a secondary junction box for a robot-specific current transformer as described in any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Place the device on the mounting base (2) on the robot clamping frame (1) and put it on the side of the junction box with the spring buckle (9). Turn off the power to the adsorption component (3) so that the device can be adsorbed onto the junction box. Step 2: Control the first propulsion component (4) to extend outward through the electronic control component (8) on the back of the frame (1). The first electric push rod (41) drives the stop (42) to abut against the buckle (91) of the spring latch (9). With the help of the guide slope (43) of the stop (42), the buckle (91) is guided to slide and lift upward. The first electric push rod (41) continues to extend outward until the buckle (91) is fully unlocked and opened. At this time, the pressure ring (94) of the junction box door connected to the spring latch (9) pops up, and the mobile robot opens the junction box door. Step 3: Perform the corresponding secondary wiring tests as required; Step 4: After the secondary wiring test is completed, the mobile robot closes the junction box door; Step 5: Complete the reset and locking of the spring latch (9) in sequence: S1: Control the third propulsion component (7) to extend outward, driving the toggle component (5) to move forward to the designated work position. Then the rotation motor (53) of the toggle component (5) drives the lever (51) to rotate, pressing down the popped pressure ring (94) to the closed position. At this time, the first propulsion component (4) retracts synchronously. S2: Control the second propulsion component (6) to extend outward, the pressure block (62) presses the buckle (91), and the avoidance groove (63) on the inner side of the pressure block (62) avoids the lock nose (92), thus completing the locking of the spring buckle (9); S3: The third propulsion component (7) and the second propulsion component (6) retract to their initial standby positions; Step 6: The adsorption component (3) is powered on and demagnetized. The robot removes the device from the junction box, completing one work cycle.

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