Plug-in device for communication cabinet

Abstract

Embodiments of the present disclosure provide a plug-in device of a communication cabinet. The plug-in device comprises a fence frame, which is detachably fixed outside the communication cabinet and carries the communication cabinet; a track movement part, which is fixed outside the fence frame; and a jaw assembly, which is installed on the track movement part and is configured to be movable along an X-axis direction and a Y-axis direction on the track movement part.

Description

Technical Field

[0001] This disclosure relates to the field of communication equipment automation technology, and in particular to a plug-in device for communication cabinets. Background Technology

[0002] In communication equipment testing and maintenance scenarios, the insertion and removal of single boards, optical modules, and optical fibers are routine and frequent procedures. Traditionally, these operations are primarily performed manually. However, manual insertion and removal have significant drawbacks. For example, manual insertion and removal requires repeated adjustments, which is time-consuming, especially in batch testing scenarios where efficiency is very low. Furthermore, manual insertion and removal is susceptible to individual differences, making it difficult to guarantee the accuracy and repeatability of the actions, potentially leading to inaccurate test results.

[0003] Currently, robotic arm-based automation solutions typically employ multi-axis rotation and polar coordinate positioning mechanisms, using high-precision motors to drive the robotic arm to complete insertion and extraction actions. However, the multi-axis design results in excessively long robotic arms, which are prone to positioning misalignment or vibration under dynamic loads, affecting insertion and extraction accuracy. Furthermore, the reliance on complex mechanical structures and precision motors increases design and maintenance costs. Summary of the Invention

[0004] Embodiments of this disclosure provide a plug-in / plug-out device for a communication cabinet, the plug-in / plug-out device comprising:

[0005] A fence-like frame, which is detachably fixed to the outside of the communication cabinet and supports the communication cabinet;

[0006] A track-moving component, said track-moving component being fixed to the outside of the fence-like frame; and

[0007] A gripper assembly is mounted on the track motion unit and configured to move along the X-axis and Y-axis directions on the track motion unit.

[0008] The insertion / removal device according to this embodiment achieves automated insertion and removal of single boards, optical modules, and optical fibers within the communication cabinet by employing a combination of a fence-type frame, a track-moving unit, and a gripper assembly. This insertion / removal device significantly reduces labor costs while ensuring operational consistency and accuracy. Attached Figure Description

[0009] In the accompanying drawings of the embodiments disclosed herein:

[0010] Figure 1 A schematic diagram of a plug-in / plug-out device for a communication cabinet provided in an embodiment of this disclosure;

[0011] Figure 2 A partial enlarged view of the gripper assembly of the insertion / removal device provided in an embodiment of this disclosure;

[0012] Figure 3 A bottom view of the gripper assembly of the insertion / removal device provided in an embodiment of this disclosure with other components removed;

[0013] Figure 4 A perspective view of the gripper assembly of the insertion / removal device provided in an embodiment of this disclosure with other components removed;

[0014] Figure 5 A side view of the gripper assembly of the insertion / removal device provided in an embodiment of this disclosure with other components removed. Detailed Implementation

[0015] To enable those skilled in the art to better understand the technical solutions of this disclosure, the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0016] The present disclosure will be described more fully below with reference to the accompanying drawings; however, the embodiments shown may be embodied in different forms, and the present disclosure should not be construed as limited to the embodiments set forth below. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will enable those skilled in the art to fully understand the scope of the disclosure.

[0017] The accompanying drawings of the embodiments disclosed herein are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the detailed embodiments to explain this disclosure and do not constitute a limitation thereof. The above and other features and advantages will become more apparent to those skilled in the art from the description of the detailed embodiments with reference to the accompanying drawings.

[0018] This disclosure may be described with reference to plan and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances.

[0019] Where there is no conflict, the various embodiments of this disclosure and the features thereof in the embodiments may be combined with each other.

[0020] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the associated enumerated entries. The singular forms "a" and "the" as used in this disclosure are also intended to include the plural forms, unless the context clearly indicates otherwise. The terms "comprising," "made of," etc., as used in this disclosure specify the presence of the stated feature, integral, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof.

[0021] Unless otherwise specified, all terms used in this disclosure (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined in this disclosure.

[0022] This disclosure is not limited to the embodiments shown in the accompanying drawings, but includes modifications to the configuration based on the manufacturing process. Therefore, the areas illustrated in the drawings are schematic, and the shapes of the areas shown illustrate specific shapes of the areas of an element, but are not intended to be limiting.

[0023] In some related technologies, communication cabinets primarily rely on multi-axis robotic arm systems (such as six-axis robotic arms) to perform the insertion and removal of single boards or optical modules through polar coordinate positioning mechanisms. These devices typically use high-precision servo motors to drive multiple rotary axes, utilizing grippers at the end of the robotic arm to simulate human hand movements. However, multi-axis robotic arm systems rely on complex mechanical structures and precision motors, resulting in high equipment costs. The multi-axis design makes the robotic arm excessively long, prone to vibration during high-speed movement. Furthermore, the fixed base of the robotic arm is difficult to adjust flexibly, making it impossible to quickly adapt to cabinets or enclosures of different sizes. Additionally, some simplified solutions attempt to use linear guides. However, linear guides lack overall frame support, leading to uneven stress on the cabinet during insertion and removal, easily causing wear on the single board slots.

[0024] The embodiments disclosed herein provide an automated plug-in / plug-out device for communication cabinets based on a Cartesian coordinate system slide rail system and a gripper assembly, which aims to solve the problems of low efficiency of manual operation and high cost and insufficient stability of robotic arm systems in the prior art.

[0025] In a first aspect, embodiments of this disclosure provide a plug-in / plug-out device 100 for a communication cabinet. Figure 1 This is a schematic diagram of a plug-in / plug-out device for a communication cabinet provided in an embodiment of this disclosure. Figure 1 As shown, the insertion / removal device 100 includes:

[0026] A fence-type frame 110 is detachably fixed to the outside of the communication cabinet 200 and supports the communication cabinet 200.

[0027] Track movement unit 120, said track movement unit 120 being fixed to the outside of the fence-type frame 110; and

[0028] A gripper assembly 130 is mounted on the track motion unit 120 and configured to move along the X-axis and Y-axis directions on the track motion unit 120.

[0029] In this embodiment, the plug-in / plug-out device 100 of the communication cabinet can perform efficient and automated plug-in / plug-out operations on the single boards, optical modules, and optical fibers inside the communication cabinet. The plug-in / plug-out device 100 includes: a fence-type frame 110, a track moving part 120, and a gripper assembly 130.

[0030] In one embodiment, the fence-like frame 110 is configured to be detachably fixed to the exterior of the communication cabinet 200 and effectively support the entire communication cabinet 200. This design not only ensures a stable connection between the device and the cabinet but also provides convenience for any subsequent adjustments or replacements that may be needed. The fence-like frame 110 is constructed using high-strength aluminum profiles such as 4040 or 4080, ensuring the stability and durability of the overall structure. The frame 110 can be fastened to the cabinet 200 with screws and T-nuts, providing support and bearing the weight of the cabinet, ensuring the stability of the overall structure. The frame 110 can also be modularly designed, allowing the profile length to be adjusted according to different sizes of cabinets 200, thereby adapting to various specifications of communication equipment.

[0031] In one embodiment, the track motion unit 120 is configured to be fixed to the outside of the fence-like frame 110 and not interfere with the internal structure of the cabinet, thus avoiding affecting the normal insertion and removal of single boards. The track motion unit 120, as the moving component of the insertion and removal device 100, allows the gripper assembly 130 to move freely in the X-axis direction (horizontal direction) and the Y-axis direction (vertical direction). In this way, the gripper assembly 130 can accurately reach any position within the communication cabinet 200 to perform the insertion and removal tasks of single boards or modules. The design of the track motion unit 120 is based on a dual-axis positioning mechanism in a Cartesian coordinate system, which has higher stability and lower cost compared to multi-axis robotic arms. The track motion unit 120 can be driven by a servo motor, suitable for high-frequency insertion and removal operations. The range of motion of the track motion unit 120 covers the entire front panel of the cabinet, ensuring that single boards or modules in different positions can be operated.

[0032] In one embodiment, the gripper assembly 130 is mounted on the track motion unit 120 and is configured to move freely along the X-axis and Y-axis to align with the wrench or plug-in interface of the target board. The gripper assembly 130 employs a mechanical gripping structure that can simulate human hand movements and is suitable for performing operations such as unlocking, pulling out, inserting, and locking of boards.

[0033] The plug-in / plug-out device 100 according to this embodiment achieves automated plug-in / plug-out of single boards, optical modules, and optical fibers in the communication cabinet by employing a combination of a fence-type frame 110, a track moving part 120, and a gripper assembly 130. The plug-in / plug-out device 100 according to this embodiment significantly reduces labor costs while ensuring consistency and accuracy of operation.

[0034] In some embodiments, the track motion unit 120 includes at least two slide rails 121a and 121b arranged in the X-axis direction and at least four slide rails 122a, 122b, 122c and 122d arranged in the Y-axis direction. The at least four slide rails arranged in the Y-axis direction are fixed to the fence-like frame 110. The at least two slide rails arranged in the X-axis direction are mounted on the at least four slide rails arranged in the Y-axis direction and configured to slide along the Y-axis direction on the at least four slide rails arranged in the Y-axis direction. The track motion unit 120 also includes extension arms 123a and 123b, which are mounted on the at least two slide rails arranged in the X-axis direction and configured to slide along the X-axis direction. The gripper assembly 130 is mounted on the extension arms 123a and 123b.

[0035] Here, the slide rail system formed by the track motion unit 120 includes at least two slide rails 121a and 121b arranged along the X-axis and at least four slide rails 122a, 122b, 122c and 122d arranged along the Y-axis. These slide rails work together to achieve high-precision position control.

[0036] In one embodiment, four parallel Y-axis slide rails 122a, 122b, 122c, and 122d are fixedly installed on the outside of the enclosure frame 110. These slide rails extend vertically (Y-axis), providing basic support for the entire motion system. Compared to traditional single-rail or double-rail systems, this improves the torsional stiffness and load-bearing capacity of the slide rail system, effectively preventing track deformation caused by uneven load. Two X-axis slide rails 121a and 121b are mounted on the sliders of the Y-axis slide rails 122a, 122b, 122c, and 122d. These two slide rails are parallel to each other horizontally (X-axis) and orthogonal to the Y-axis slide rails 122a, 122b, 122c, and 122d. The X-axis slide rails are linked to the Y-axis slide rails via sliders, allowing the entire X-axis slide rail to move as a whole along the Y-axis direction, covering the entire height range of the cabinet. This design allows the X-axis slide rail to move over a wide range in the Y-axis direction while maintaining high stability and positioning accuracy. Furthermore, the track motion unit 120 includes a pair of extension arms 123a and 123b, which are mounted on two X-axis-oriented slide rails 121a and 121b via sliders and can slide along the X-axis. The extension arms allow the gripper assembly 130 to reach the target position more precisely. Since the gripper assembly 130 is directly mounted on the extension arms, it can move with the extension arms, thus achieving precise positioning in both the X and Y axes. Advantageously, the extension arms are made of lightweight aluminum alloy, which reduces motion inertia while maintaining rigidity, thus improving acceleration and response speed.

[0037] With its bidirectional slide rail design (X-axis and Y-axis), the gripper assembly can achieve highly precise positioning in three-dimensional space, improving the accuracy of automated insertion and removal processes and reducing the risk of operational failures due to inaccurate positioning. The use of at least four Y-axis slide rails as a support structure enhances the structural strength and stability of the entire track movement section.

[0038] In some embodiments, the track motion unit 120 may further include: a temperature sensor configured to monitor the temperature of the track motion unit; and a heat sink configured to cool the track motion unit if the temperature of the track motion unit exceeds a threshold.

[0039] In one embodiment, a temperature sensor is integrated into the track motion unit 120. This temperature sensor monitors the operating temperature of key components of the track motion unit in real time and promptly feeds back temperature changes to the control system. For example, the temperature sensor can be embedded in the contact surface between the slide rail and the slider, the servo motor housing, and the ball bearing circulation area of ​​the linear guide. Under high load conditions, the servo motor and slide rail system may generate additional heat, and the temperature sensor can detect temperature fluctuations in real time and report the temperature data to the control system. This real-time monitoring mechanism can effectively prevent equipment failure due to overheating. When the temperature sensor detects that the temperature of the track motion unit exceeds a preset safety threshold, the heat sink will automatically start to reduce the temperature of the track motion unit. The heat sink can typically employ forced convection fans or liquid cooling systems to quickly remove excess heat. By incorporating a temperature sensor and a heat sink, the track motion unit can maintain a safe operating temperature range during operation. This not only extends the reliability and durability of the plug-in device but also significantly reduces the accidental failure rate caused by overheating, ensuring the stable operation of automated plug-in tasks for single boards, optical modules, and optical fibers within the communication cabinet.

[0040] In some embodiments, the gripper assembly 130 includes a pair of insertion / removal modules 131 mounted on a fixed base plate 139. The fixed base plate 139 is configured to fix the gripper assembly 130 to the track motion portion 120. The pair of insertion / removal modules are configured to perform single-board insertion / removal, and each of the pair of insertion / removal modules includes: a wrench switch push-pull mechanism 132 configured to open or close a single-board wrench switch; a rack and pinion limit rail 133 configured to constrain the travel of the wrench switch push-pull mechanism; an electromagnetic push-pull mechanism 134 configured to drive the wrench switch push-pull mechanism; and a servo drive gear 135 configured to control the rotational displacement of the wrench switch push-pull mechanism.

[0041] In one embodiment, to achieve efficient and precise automated insertion and removal operations for boards, optical modules, and optical fibers, such as Figure 2-5 As shown, the gripper assembly 130 includes a pair of insertion / removal modules 131, each mounted on a fixed base plate 139 and connected to the track motion unit 120 via the fixed base plate 139, ensuring that the gripper assembly 130 can move freely in the X and Y axis directions. The spacing between the insertion / removal modules can be adjusted according to the wrench spacing of the single board. The insertion / removal modules 131 are disposed on the front side of the fixed base plate 139 for direct contact with the single board to perform actual insertion / removal actions. The insertion / removal modules can adopt a biomimetic finger structure and are designed to simulate the operation of a human hand. Advantageously, the surface of the gripper is coated with a polyurethane anti-slip layer, which can adapt to the edges of single boards of different thicknesses (e.g., 5-15 mm). A wrench switch push-pull 132 is used to dock with the single board wrench switch to open or close the single board wrench. The wrench switch push-pull is driven by a servo motor-driven gear, simulating the way a human opens the single board wrench, achieving a rotational displacement of approximately 30° to open the single board wrench and release the single board. To ensure that the movement range of the wrench switch push-pull mechanism 132 does not exceed the predetermined safety limit, a rack and pinion limit rail 133 is used to constrain the movement stroke. An electromagnetic push-pull mechanism 134 provides power to the wrench switch push-pull mechanism 132, driving it to perform necessary opening and closing actions via electromagnetic force. After being energized, the electromagnetic push-pull mechanism 134 pushes the wrench switch push-pull mechanism 132, causing it to open the unlocking switch of the single-plate wrench and lock the single-plate wrench. In this situation, the servo drive gear 135 drives the wrench switch push-pull mechanism 132 to open the wrench. Once the set position is reached, the movement of the servo drive gear 135 stops. The rack 136 meshes with the servo drive gear 135 to ensure that the wrench switch push-pull mechanism 132 can move along a predetermined trajectory. When the electromagnetic push-pull device 134 drives the wrench switch push-pull device 132 to lock the single-plate wrench, the wrench clamp fixing block 137 cooperates with the wrench switch push-pull device 132, so that when the wrench switch push-pull device opens the single-plate wrench switch, the wrench clamp fixing block 137 is fixed to the single-plate wrench. In order to enhance the overall structural strength of the gripper assembly, a fixing reinforcing plate 138 can also be provided on the back of the fixing base plate 139. The fixing reinforcing plate 138 and the fixing base plate 139 can form a torque-resistant box structure, thereby enhancing the overall structural strength of the gripper assembly.

[0042] The process of removing a single board using the plug-in / plug-out device according to an embodiment of the present disclosure will be described in detail below. It is understood that the process of inserting a single board using the plug-in / plug-out device according to an embodiment of the present disclosure can be regarded as the reverse process of the removal process.

[0043] First, the controller moves the two-axis slide (X-axis and Y-axis directions) to the initial position of the target single-board wrench. During this process, the insertion / removal device guides the gripper to the designated position according to pre-set coordinate information. Once in position, the electromagnetic push-pull mechanism is energized, pushing the wrench switch push-pull mechanism to begin the unlocking action of the single-board wrench. At this point, a fixed connection is established between the wrench gripper fixing block and the single-board wrench. Subsequently, the sensor inside the communication cabinet detects that the wrench has been unlocked and sends an confirmation signal to the controller.

[0044] After receiving a confirmation signal that the wrench has been successfully unlocked, the controller immediately sends a command to the servo motor to initiate the wrench opening procedure. The servo drive gear begins to operate, driving the wrench gripper fixing block and the wrench to move along the wrench's center point, gradually opening the wrench. When the wrench reaches the preset angle position, the servo motor stops operating and sends a signal to the controller that the wrench is fully open.

[0045] Upon receiving the signal that the wrench is fully open, the controller sends a signal to the X-axis section of the two-axis slide to pull the board outward, causing the board to be pulled out of the cabinet to the predetermined position. During this process, the insertion / removal device continuously monitors the position change of the board until the board is fully pulled out and reaches the predetermined position. At this point, the two-axis slide stops moving and reports the status of the board being pulled out to the controller.

[0046] Next, upon receiving the signal that the board has been pulled out to its final position, the electromagnetic push-pull mechanism is de-energized, releasing the previously established connection between the wrench clamp and the board wrench. Then, the controller instructs the Y-axis portion of the two-axis slide to exit the current operating area and move to a safe position to avoid any potential interference or damage. After the Y-axis of the two-axis slide has returned to the set safe position, the controller instructs the X-axis slide to return to its starting position, awaiting the next task instruction.

[0047] In some embodiments, the gripper assembly 130 is connected to the fence frame 110 via a T-nut.

[0048] The T-nut, as a fastener, can be embedded in a T-slot of a profile (such as an aluminum profile) and locked in position by rotation. In the insertion and removal device of this embodiment, the T-nut secures the gripper assembly 130 to the fence frame 110.

[0049] In some embodiments, the wrench switch push-pull device 132 achieves a movement stroke of 0-30° under the drive of the servo drive gear 135.

[0050] In one embodiment, a servo drive gear 135 controls the movement of the wrench switch push-pull mechanism 132. By receiving commands from the controller, the servo drive gear 135 can precisely drive the wrench switch push-pull mechanism 132 to rotate at a predetermined angle. The wrench switch push-pull mechanism 132 directly engages with the wrench unlock switch on the single board and performs the action of opening or closing the unlock switch. The wrench switch push-pull mechanism can rotate between 0 and 30 degrees along a track to meet the operational requirements of opening or closing the unlock switch.

[0051] In some embodiments, the gripper assembly 130 further includes a force sensor configured to monitor the contact force between the plug-in module and the single-plate wrench in real time.

[0052] The force sensor can be integrated into the gripper assembly 130, located at the contact point between the wrench clamping block 137 and the single-plate wrench. This force sensor can monitor the contact force between the wrench clamping block and the single-plate wrench in real time and feed this data back to the controller. Once the wrench clamping block and the single-plate wrench establish contact, the force sensor continuously monitors the contact force between them. If the detected force value exceeds a preset safety range, the controller will immediately take measures to adjust it. For example, if the force value is too low, the controller may increase the power output of the servo drive gear to ensure that the wrench can be unlocked smoothly; conversely, if the force value is too high, the controller will appropriately reduce the power output to avoid damage to the single plate or the single-plate wrench.

[0053] In some embodiments, the gripper assembly 130 further includes a power interface and a control interface, the control interface being directly connected to a host computer.

[0054] In some embodiments, the servo drive gear 135 includes a harmonic reducer.

[0055] Harmonic reducers are transmission devices widely used in applications requiring high precision and compact design. They utilize elastic deformation to transmit torque, offering advantages such as high reduction ratio, low backlash, and high efficiency. In this embodiment, the servo drive gear 135 integrates a harmonic reducer, enabling the gripper assembly 130 to provide more precise and smooth power transmission when performing complex movements.

[0056] In some embodiments, the plugging and unplugging device further includes a controller configured to send commands to control the movement of the track motion section 120 and the gripper assembly 130.

[0057] The controller is used to control the operation of the entire plug-in / plug-out device. The controller receives instructions from the host computer software or user interface and generates corresponding control signals based on these instructions, thereby directing the track motion unit 120 and the gripper assembly 130 to perform specific actions. The controller is typically composed of a high-performance microprocessor (such as a microcontroller or FPGA), capable of handling complex logic operations and real-time data feedback, ensuring high precision and reliability of the system. Whether using a microcontroller or FPGA as the main control chip, the controller supports online upgrades. This means that users can directly update the firmware in the controller via a network or other communication interface without disassembling the device or interrupting service. The host computer software is an application running on a PC or other advanced computing device, primarily used to monitor and control the overall workflow of the plug-in / plug-out device. Furthermore, the host computer software can provide a user-friendly interface for easy operator setup and diagnostics. The host computer software can communicate with the controller using methods including, but not limited to, URAT and Ethernet.

[0058] This disclosure has disclosed exemplary embodiments, and although specific terminology has been used, it is for general illustrative purposes only and should not be construed as limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this disclosure as set forth by the appended claims.

Claims

1. A plug-in / plug-out device for a communication cabinet, characterized in that, The insertion / removal device includes: A fence-like frame, which is detachably fixed to the outside of the communication cabinet and supports the communication cabinet; A track-moving component, said track-moving component being fixed to the outside of the fence-like frame; and A gripper assembly is mounted on the track motion unit and configured to move along the X-axis and Y-axis directions on the track motion unit.

2. The insertion / removal device according to claim 1, wherein, The track movement unit includes at least two slide rails arranged in the X-axis direction and at least four slide rails arranged in the Y-axis direction. The at least four slide rails arranged in the Y-axis direction are fixed to the fence-like frame. The at least two slide rails arranged in the X-axis direction are mounted on the at least four slide rails arranged in the Y-axis direction and are configured to slide along the Y-axis direction on the at least four slide rails arranged in the Y-axis direction. The track movement unit further includes an extension arm, which is mounted on the at least two slide rails arranged in the X-axis direction and configured to slide along the X-axis direction. The gripper assembly is mounted on the extension arm.

3. The insertion / removal device according to claim 1 or 2, wherein, The track motion unit also includes: Temperature sensor, configured to monitor the temperature of the track moving part; and A radiator configured to cool the track moving part when the temperature of the track moving part exceeds a threshold.

4. The insertion / removal device according to claim 1, wherein, The gripper assembly includes a pair of plug-in modules mounted on a fixed base plate configured to secure the gripper assembly to the track moving part, and each of the pair of plug-in modules includes: A wrench switch push-pull mechanism, the wrench switch push-pull mechanism being configured to open or close a single-plate wrench switch; A rack and pinion limit rail is configured to constrain the travel of the wrench switch push-pull mechanism; An electromagnetic push-pull mechanism, configured to drive the wrench switch push-pull mechanism; A servo drive gear, configured to control the rotational displacement of the wrench switch push-pull mechanism; A wrench clamp fixing block is configured to establish a fixed connection with the single-plate wrench when the wrench switch push-pull device opens the single-plate wrench switch.

5. The insertion / removal device according to claim 1 or 4, wherein, The gripper assembly is connected to the fence frame via a T-nut.

6. The insertion / removal device according to claim 4, wherein, The wrench switch push-pull mechanism achieves a movement stroke of 0-30° under the drive of the servo drive gear.

7. The insertion / removal device according to claim 4, wherein, The gripper assembly further includes: A force sensor is configured to monitor the contact force between the plug-in module and the single-board wrench in real time.

8. The insertion / removal device according to claim 4, wherein, The servo drive gear includes a harmonic reducer.

9. The insertion / removal device according to claim 1, wherein, The insertion / removal device further includes: A controller configured to send commands to control the movement of the track motion unit and the gripper assembly.

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