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CN119100125A - A new energy ceramic relay automated production carrier and loading method - Google Patents

A new energy ceramic relay automated production carrier and loading method Download PDF

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Publication number
CN119100125A
CN119100125A CN202411487113.9A CN202411487113A CN119100125A CN 119100125 A CN119100125 A CN 119100125A CN 202411487113 A CN202411487113 A CN 202411487113A CN 119100125 A CN119100125 A CN 119100125A
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Prior art keywords
relay
ceramic
loading
carrier
storage
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Chinese (zh)
Inventor
蒋丛
卢恭寅
吴建明
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Loudi Antaeus Electronic Ceramics Co ltd
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Loudi Antaeus Electronic Ceramics Co ltd
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Priority to CN202411487113.9A priority Critical patent/CN119100125A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an automatic production carrier and a loading method of a new energy ceramic relay, comprising the following steps of S1, visual identification and positioning, S2, visual positioning of the ceramic relay, S3, position and angle calculation of a storage grid and the ceramic relay, S4, accurate positioning and dynamic angle adjustment of a mechanical arm, S5, loading and calibration of the ceramic relay, and S6, electrical and mechanical connection test after loading. The ceramic relay loading system has the advantages that the high-precision visual identification and automatic mechanical arm grabbing loading system reduces the participation of manual operation, can realize high-efficiency and continuous loading operation, thereby improving the overall production efficiency, reducing the downtime and the bottleneck of a production line, and can detect the coordinates and the rotation angle of the ceramic relay in real time through the visual system, ensure that each relay can accurately align to the position and the direction of Ji Cunfang grids in the loading process by combining an error correction algorithm and secondary calibration, effectively reduce the deviation in the loading process and improve the loading precision.

Description

Automatic production carrier and loading method for new energy ceramic relay
Technical Field
The invention relates to the field of new energy relay ceramics, in particular to an automatic production carrier and a loading method of a new energy relay.
Background
Currently, the way of manually operating and using traditional plastic baskets dominates the loading and handling of new energy ceramic relays. However, this approach presents a number of technical bottlenecks in practical applications, not only limiting production efficiency, but also increasing operational risks.
Firstly, when a plurality of ceramic relays are manually carried, the plastic basket usually bears a large weight, exceeds the comfortable load range of a human body, is easy to cause excessive fatigue of operators after long-term carrying, increases the risk of industrial injury, and lacks effective protection, so that the relay is easy to damage due to collision, and the quality of products is influenced.
Second, the placement location and number of products in the basket are inconsistent due to the randomness of manual placement, which makes subsequent automated loading and robotic handling difficult. Traditional automated systems rely on standardization of product positions, and irregular placement prevents accurate picking and placing of manipulators, and prevents design and application of automated production lines. Finally, plastic baskets are easy to deform after long-term use, and the structure is unstable at high temperature or under heavy pressure, so that the position of the product is deviated, and the working difficulty of loading and automation equipment is increased.
Disclosure of Invention
The invention aims to provide an automatic production carrier and a loading method for a new energy ceramic relay, which are used for solving the problems in the background technology.
In order to solve the technical problems, the embodiment of the invention provides the following scheme:
a loading method for automatic production of a new energy ceramic relay comprises the following steps:
S1, visual identification and positioning, namely precisely positioning a carrier and a relay through a high-resolution camera and an image processing technology, wherein a plurality of fixed storage grids are vertically and horizontally arranged on the carrier, and the arrangement information of the storage grids is processed in real time through a visual identification system so as to ensure the precise positioning of each storage grid on the carrier;
s2, visual positioning of the ceramic relays, namely acquiring an image of each ceramic relay through a camera, and calculating and outputting a center coordinate (x, y) and a rotation angle theta of each ceramic relay by utilizing an image processing technology;
S3, calculating positions and angles of the storage grids and the ceramic relays, namely determining the current accurate coordinates of each ceramic relay by calculating the accurate coordinates of the storage grids and combining the offset of the ceramic relays in the storage grids of the carrier, and detecting the rotation angles of the ceramic relays in real time by using an image processing system to ensure that the relays are completely aligned with the directions of the storage grids in the loading process;
S4, accurately positioning and dynamically adjusting the angle of the mechanical arm, namely accurately positioning the mechanical arm according to the calculated current accurate coordinate and rotation angle of the ceramic relay, accurately grabbing the ceramic relay by the mechanical arm, and real-time adjusting the angle of the ceramic relay;
And S5, carrying out secondary calibration before loading, accurately checking the angle of the ceramic relay by using a high-precision angle sensor, and fine-adjusting the angle to ensure that the attitude of the ceramic relay is accurate and error-free when necessary, and then accurately placing the ceramic relay in a specified storage grid of a carrier by using a mechanical arm to ensure that the horizontal coordinate, the vertical coordinate and the rotation angle reach the standard.
And S6, carrying out electric and mechanical connection testing after loading, namely automatically carrying out electric and mechanical connection testing after loading, and using a high-precision sensor and testing equipment to ensure that each relay accords with the quality standard after loading and detect the electric performance and mechanical stability of the relay.
As a further scheme of the present invention, in the step S3, the specific way of calculating the positions and angles of the storage cell and the ceramic relay is as follows:
S31, calculating storage grid coordinates, namely calculating the accurate coordinates of each storage grid by combining the reference points provided by a vision system through the arrangement rule of the storage grids of the carrier:
Setting the central coordinate of the first storage lattice as (x 0,y0), and calculating the horizontal and vertical coordinates of each storage lattice by the following formula of x n＝x0+n·dx,ym＝y0 +n·dy;
Wherein dx and dy are distances between two adjacent storage cells in the horizontal direction and the vertical direction respectively, and n and m are horizontal indexes and vertical indexes of the storage cells respectively;
S32, calculating the position of the relay, namely combining the coordinates of the storage grid and the offset of the relay to obtain the accurate position coordinates (x c,yc) of the relay, wherein x c＝xn+Δx,yc＝yn +deltay, deltax and deltay are the offset of the component center relative to the center of the storage grid.
S33, calculating the rotation angle, namely calculating the rotation angle of the current ceramic relay in real time by using an image processing system, determining the direction of the assembly relative to the storage grid, and ensuring the angle alignment in the loading process.
As a further scheme of the invention, in the step S4, the specific mode of the accurate positioning and dynamic angle adjustment of the mechanical arm is as follows
S41, positioning the mechanical arm, namely transmitting the information to a mechanical arm control system according to the central coordinate (x c,yc) and the rotation angle theta c of the ceramic relay obtained by detection and calculation, and moving the mechanical arm to a designated position;
S42, grabbing and angle adjusting, namely accurately grabbing the ceramic relay by the mechanical arm, adjusting the gesture of the relay according to the detected rotation angle theta, and carrying out dynamic angle adjustment by utilizing real-time feedback of a sensor to ensure that the angle of the relay is kept accurate in the grabbing and loading processes.
The embodiment of the invention also provides an automatic production carrier for the new energy ceramic relay, which is used for realizing the loading method of any one of the above steps, and comprises a carrier body, wherein a plurality of storage grids are arranged above the carrier body, a plurality of positioning separation grooves are uniformly distributed in the storage grids, the side surfaces of the storage grids adopt a sunken arc design, and a bearing buckle seat is arranged on the outer side of the carrier body.
As a further aspect of the present invention, the storage cells are arranged vertically and horizontally on the carrier body to form a grid-like layout.
As a further aspect of the present invention, the depth of the storage compartment is 1/2 of the height of the carrier body.
As a further scheme of the invention, the displacement precision of the central axis of the storage grid is 0-0.2mm.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the loading method, through the high-precision visual identification and automatic mechanical arm grabbing loading system, the participation of manual operation is reduced, and high-efficiency and continuous loading operation can be realized, so that the overall production efficiency is improved, and the downtime and the production line bottleneck are reduced;
2. According to the loading method, the coordinates and the rotation angle of the ceramic relays are detected in real time through the vision system, and the position and the direction of each relay can be accurately aligned to Ji Cunfang grids in the loading process by combining an error correction algorithm and secondary calibration, so that the deviation in the loading process is effectively reduced, and the loading precision is improved;
3. The loading method adopts a full-automatic operation flow, including visual positioning of the relay, grabbing and dynamic adjustment of the mechanical arm and automatic loading confirmation, so that the manual operation error is eliminated, the loading process is more stable and reliable, and the consistency can be ensured especially in mass production.
4. The side surface of the carrier storage grid adopts a sinking arc with an ergonomic design, is convenient for taking and placing by a manual and mechanical arm, enhances the strength of a box, is convenient for controlling the loading quantity and checking, realizes accurate positioning of products by the design of the storage grid, supports the automatic operation of the mechanical arm, and has a semi-leakage structure which is convenient for taking and placing by the mechanical arm and provides a positioning and fixing function, thereby effectively preventing the ceramics from being damaged by each other.
Drawings
Fig. 1 is a method flow chart of a loading method for the automatic production of the new energy ceramic relay.
FIG. 2 is a schematic diagram of an automated new energy ceramic relay production carrier according to the present invention;
FIG. 3 is a second schematic diagram of the automated production carrier for the new energy ceramic relay of the present invention;
FIG. 4 is a third schematic diagram of the automated production carrier for the new energy ceramic relay of the present invention;
in the figure, 1, a carrier body, 2, a storage grid, 3, a positioning partition groove, and 4, a bearing buckle seat.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a loading method for automatic production of a new energy ceramic relay includes the following steps:
S1, visual identification and positioning, namely precisely positioning the carrier and the relay through a high-resolution camera and an image processing technology, wherein a plurality of fixed storage grids are vertically and horizontally arranged on the carrier, and the arrangement information of the storage grids is processed in real time through a visual identification system so as to ensure the precise positioning of each storage grid on the carrier. Through high-resolution cameras and advanced image processing technology, high-precision positioning of the relay and the carrier can be realized, possible positioning errors in manual operation are reduced, and an automatic visual recognition system can rapidly recognize and process arrangement information of the storage grids and is much faster than manual vision, so that the processing speed and throughput of a production line are remarkably improved.
And S2, visual positioning of the ceramic relays, namely acquiring an image of each ceramic relay through a camera, and calculating and outputting a center coordinate (x, y) and a rotation angle theta of the ceramic relay by utilizing an image processing technology. Through obtaining the image of each ceramic relay to calculate its central coordinate and rotation angle, ensure that follow-up arm can accurately snatch and place, reduce the production defect because of position or angle are incorrect.
S3, calculating positions and angles of the storage grids and the ceramic relays, namely determining the current accurate coordinates of each ceramic relay by calculating the accurate coordinates of the storage grids and combining the offset of the ceramic relay in the storage grids of the carrier, and detecting the rotation angle of the ceramic relay in real time by using an image processing system to ensure that the relay is completely aligned with the direction of the storage grids in the loading process, wherein the specific mode is as follows:
S31, calculating storage grid coordinates, namely calculating the accurate coordinates of each storage grid by combining the reference points provided by a vision system through the arrangement rule of the storage grids of the carrier:
Setting the central coordinate of the first storage lattice as (x 0,y0), and calculating the horizontal and vertical coordinates of each storage lattice by the following formula of x n＝x0+n·dx,ym＝y0 +n·dy;
Wherein dx and dy are distances between two adjacent storage cells in the horizontal direction and the vertical direction respectively, and n and m are horizontal indexes and vertical indexes of the storage cells respectively;
S32, calculating the position of the relay, namely combining the coordinates of the storage grid and the offset of the relay to obtain the accurate position coordinates (x c,yc) of the relay, wherein x c＝xn+Δx,yc＝yn +deltay, deltax and deltay are the offset of the component center relative to the center of the storage grid.
S33, calculating the rotation angle, namely calculating the rotation angle theta c of the current ceramic relay in real time by using an image processing system, determining the direction of the component relative to the storage grid, and ensuring the angle alignment in the loading process.
By accurately calculating the positions and angles of the relays and the storage grids, each relay can be ensured to be aligned and loaded correctly, physical interference and potential damage are reduced, automatic calculation and correction are realized, steps requiring manual intervention are reduced, and production cost and time are reduced.
S4, accurately positioning and dynamically adjusting the angle of the mechanical arm, wherein the mechanical arm accurately positions according to the calculated current accurate coordinate and rotation angle of the ceramic relay, and the mechanical arm accurately grabs and real-time adjusts the angle of the ceramic relay in the following specific modes:
S41, positioning the mechanical arm, namely transmitting the information to a mechanical arm control system according to the central coordinate (x c,yc) and the rotation angle theta c of the ceramic relay obtained by detection and calculation, and moving the mechanical arm to a designated position;
S42, grabbing and angle adjusting, namely accurately grabbing the ceramic relay by the mechanical arm, adjusting the gesture of the relay according to the detected rotation angle theta, and carrying out dynamic angle adjustment by utilizing real-time feedback of a sensor to ensure that the angle of the relay is kept accurate in the grabbing and loading processes.
The mechanical arm can accurately grasp and adjust the angle of the relay according to real-time data, and dynamically adjust the angle by using the feedback of the sensor to ensure high precision and low error rate in the grasping process, and can flexibly adjust the angle to the optimal position and the optimal position, thereby reducing the production problem caused by position deviation.
And S5, carrying out secondary calibration before loading, accurately checking the angle of the ceramic relay by using a high-precision angle sensor, and fine-adjusting the angle to ensure that the attitude of the ceramic relay is accurate and error-free when necessary, and then accurately placing the ceramic relay in a specified storage grid of a carrier by using a mechanical arm to ensure that the horizontal coordinate, the vertical coordinate and the rotation angle reach the standard. The quality and consistency of the final product are improved through rechecking of the high-precision angle sensor, the defect rate of the final product is reduced through accurate loading, the cost is saved, and the customer satisfaction is improved.
And S6, carrying out electric and mechanical connection testing after loading, namely automatically carrying out electric and mechanical connection testing after loading, and using a high-precision sensor and testing equipment to ensure that each relay accords with the quality standard after loading and detect the electric performance and mechanical stability of the relay. By using the high-precision sensor and the testing equipment, the electrical performance and the mechanical stability of each relay after being loaded are ensured to meet strict quality standards, possible defects and problems are detected early, and possible fault products in the market are reduced.
Example 2
Referring to fig. 2-4, an automatic production carrier for a new energy ceramic relay for implementing the loading method according to the first embodiment includes a carrier body 1, a plurality of storage compartments 2 are provided above the carrier body 1, a plurality of positioning isolation grooves 3 are uniformly distributed in the storage compartments 2, a submerged arc design is adopted on the side surface of the storage compartments 2, and a load bearing buckle 5 is provided on the outer side of the carrier body 1.
Specifically, the storage compartments 2 are arranged vertically and horizontally on the carrier body 1 to form a grid-like layout. The grid-like layout formed by the longitudinal and transverse arrangement can maximize the space utilization of the carrier body. The layout ensures that a single carrier can simultaneously place more relays, simplifies the process of material handling, reduces the production time and the cost, thereby improving the production efficiency,
Specifically, the depth of the storage grid is 1/2 of the height of the carrier body. A plurality of positioning separation grooves are arranged in each storage grid, so that each relay can be accurately fixed at the correct position and posture. This is particularly important to the automatic assembly and the welding of relay, can reduce assembly error, has promoted uniformity and the quality of product, has reduced the defective rate that causes because of the position deviation.
Specifically, the offset precision of the central axis of the storage grid is 0-0.2mm. The relay can be effectively protected from external impact, and meanwhile, the upper-layer automation equipment can be conveniently operated. The offset precision of the central shaft is controlled within 0-0.2mm, so that extremely high component positioning precision is ensured, the high-precision configuration ensures the correct assembly of the relay in the automatic production process, reduces the production defects caused by the alignment errors, and improves the reliability and repeatability of the production process.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1.一种新能源陶瓷继电器自动化生产的装载方法，其特征在于，包括以下步骤：1. A loading method for automated production of new energy ceramic relays, characterized in that it comprises the following steps: S1、视觉识别与定位：通过高分辨率摄像头和图像处理技术，精确定位载具和继电器，载具上纵横排列着若干固定存放格，通过视觉识别系统实时处理存放格的排列信息，确保对载具上各个存放格进行精确定位；S1. Visual recognition and positioning: The carrier and relay are accurately positioned through high-resolution cameras and image processing technology. There are several fixed storage compartments arranged vertically and horizontally on the carrier. The arrangement information of the storage compartments is processed in real time through the visual recognition system to ensure accurate positioning of each storage compartment on the carrier. S2：陶瓷继电器的视觉定位：通过摄像头获取每个陶瓷继电器的图像，利用图像处理技术，计算并输出陶瓷继电器的中心坐标(x,y)和旋转角度θ；S2: Visual positioning of ceramic relays: The image of each ceramic relay is acquired through a camera, and the center coordinates (x, y) and rotation angle θ of the ceramic relay are calculated and output using image processing technology; S3、存放格与陶瓷继电器位置及角度计算：通过计算存放格的精确坐标，结合陶瓷继电器在载具的存放格中的偏移量，确定每个陶瓷继电器当前的精确坐标，利用图像处理系统实时检测陶瓷继电器的旋转角度，确保继电器在装载过程中与存放格的方向完全对齐；S3. Calculation of the position and angle of the storage grid and the ceramic relay: by calculating the precise coordinates of the storage grid and combining the offset of the ceramic relay in the storage grid of the carrier, the precise coordinates of each ceramic relay are determined, and the rotation angle of the ceramic relay is detected in real time using the image processing system to ensure that the relay is completely aligned with the direction of the storage grid during loading; S4、机械臂精确定位与动态角度调整：机械臂根据计算出的陶瓷继电器当前的精确坐标和旋转角度进行精准定位，机械臂执行精准抓取并实时陶瓷继电器的角度；S4, precise positioning and dynamic angle adjustment of the robotic arm: The robotic arm is precisely positioned according to the calculated current precise coordinates and rotation angle of the ceramic relay, and the robotic arm performs precise grasping and real-time angle adjustment of the ceramic relay; S5、陶瓷继电器装载和校准：在装载前实施二次校准，利用高精度角度传感器精确复核陶瓷继电器的角度，必要时微调以确保其姿态精准无误；随后，机械臂精确无误地将陶瓷继电器安放于载具的指定存放格内，确保水平、垂直坐标及旋转角度均达标。S5. Ceramic relay loading and calibration: A secondary calibration is performed before loading, using a high-precision angle sensor to accurately check the angle of the ceramic relay and make fine adjustments when necessary to ensure its posture is accurate. Subsequently, the robotic arm accurately places the ceramic relay in the designated storage compartment of the carrier, ensuring that the horizontal, vertical coordinates and rotation angles meet the standards. 2.根据权利要1所述的一种新能源陶瓷继电器自动化生产的装载方法，其特征在于，还包括S6、装载后电气和机械连接测试：在装载完成后，自动进行电气和机械连接测试，使用高精度传感器和测试设备，确保每个继电器在装载后均符合质量标准，检测其电气性能和机械稳定性。2. A loading method for automated production of new energy ceramic relays according to claim 1, characterized in that it also includes S6, electrical and mechanical connection test after loading: after loading is completed, electrical and mechanical connection tests are automatically performed, using high-precision sensors and testing equipment to ensure that each relay meets quality standards after loading, and to detect its electrical performance and mechanical stability. 3.根据权利要1所述的一种新能源陶瓷继电器自动化生产的装载方法，其特征在于，所述步骤S3中，存放格与陶瓷继电器位置及角度计算的具体方式为：3. A loading method for automatic production of new energy ceramic relays according to claim 1, characterized in that in step S3, the specific method of calculating the position and angle of the storage grid and the ceramic relay is: S31、存放格坐标计算：通过载具的存放格的排列规则，结合视觉系统提供的参考点，计算每个存放格的精确坐标：S31. Calculation of storage grid coordinates: Calculate the precise coordinates of each storage grid based on the arrangement rules of the storage grid of the carrier and the reference points provided by the visual system: 设定第一个存放格的中心坐标为(x0,y0)，计算每个存放格的水平和垂直坐标，通过以下公式：xn＝x0+n·dx，ym＝y0+n·dy；Set the center coordinates of the first storage cell to (x 0 , y 0 ), and calculate the horizontal and vertical coordinates of each storage cell using the following formulas: x n = x 0 + n·dx, y m = y 0 + n·dy; 其中，dx和dy分别为相邻两个存放格在水平方向上和垂直方向上的距离,n和m分别为存放格的水平和垂直索引；Where dx and dy are the distances between two adjacent cells in the horizontal and vertical directions, respectively, and n and m are the horizontal and vertical indexes of the cells, respectively; S32、继电器位置计算：结合存放格的坐标及继电器的偏移量，得出继电器的精确位置坐标(xc，yc)；其中，xc＝xn+Δx,yc＝yn+Δy，Δx和Δy为组件中心相对于存放格中心的偏移量。S32. Relay position calculation: Combine the coordinates of the storage grid and the offset of the relay to obtain the precise position coordinates ( xc , yc ) of the relay; wherein xc = xn + Δx, yc = yn + Δy, Δx and Δy are the offsets of the component center relative to the storage grid center. S33、旋转角度计算：使用图像处理系统实时计算当前陶瓷继电器的旋转角度θc，确定组件相对于存放格的方向，确保装载过程中角度对齐。S33, rotation angle calculation: use the image processing system to calculate the current rotation angle θ c of the ceramic relay in real time, determine the direction of the component relative to the storage grid, and ensure angle alignment during loading. 4.根据权利要1所述的一种新能源陶瓷继电器自动化生产的装载方法，其特征在于，所述步骤S4中，机械臂精确定位与动态角度调整的具体方式为4. A loading method for automated production of new energy ceramic relays according to claim 1, characterized in that in step S4, the specific method of precise positioning and dynamic angle adjustment of the robot arm is as follows: S41、机械臂定位：根据检测计算得到的陶瓷继电器的中心坐标(xc,yc)和旋转角度θc，将这些信息传递给机械臂控制系统，机械臂移动到指定位置；S41, robot arm positioning: according to the center coordinates (x c , y c ) and the rotation angle θ c of the ceramic relay obtained by detection and calculation, these information are transmitted to the robot arm control system, and the robot arm moves to the specified position; S42、抓取与角度调整：机械臂精确抓取陶瓷继电器，并根据检测的旋转角度θ调整继电器的姿态，利用传感器的实时反馈进行动态角度调整，确保在抓取和装载过程中继电器的角度保持精准。S42. Grasping and angle adjustment: The robot arm accurately grasps the ceramic relay and adjusts the posture of the relay according to the detected rotation angle θ. It uses the real-time feedback from the sensor to perform dynamic angle adjustment to ensure that the angle of the relay remains accurate during the grasping and loading process. 5.一种新能源陶瓷继电器自动化生产载具，用于实现以上权利要求1-4任意一项所述的装载方法，其特征在于，包括载具本体(1)，所述载具本体(1)上方开设有若干个存放格(2)，所述存放格(2)内均布设有多个定位隔槽(3)，存放格(2)侧面采用下沉式圆弧设计，载具本体(1)外侧开设有承重扣座(4)。5. An automated production carrier for new energy ceramic relays, used to implement the loading method described in any one of claims 1 to 4 above, characterized in that it comprises a carrier body (1), a plurality of storage compartments (2) are provided above the carrier body (1), a plurality of positioning grooves (3) are evenly distributed in the storage compartments (2), the sides of the storage compartments (2) adopt a sunken arc design, and a load-bearing buckle seat (4) is provided on the outside of the carrier body (1). 6.根据权利要求5所述的一种新能源陶瓷继电器自动化生产载具，其特征在于，所述存放格(2)在载具本体(1)上呈纵横排列，形成网格状的布局。6. The automatic production carrier for new energy ceramic relays according to claim 5 is characterized in that the storage compartments (2) are arranged vertically and horizontally on the carrier body (1) to form a grid-like layout. 7.根据权利要求5所述的一种新能源陶瓷继电器自动化生产载具，其特征在于，所述存放格(2)深度为载具本体(1)高度的1/2。7. An automated production carrier for new energy ceramic relays according to claim 5, characterized in that the depth of the storage compartment (2) is 1/2 of the height of the carrier body (1). 8.根据权利要求5所述的一种新能源陶瓷继电器自动化生产载具及装载方法，其特征在于，所述存放格(2)中心轴偏移精度为0-0.2mm。8. An automated production carrier and loading method for new energy ceramic relays according to claim 5, characterized in that the center axis offset accuracy of the storage compartment (2) is 0-0.2 mm.
CN202411487113.9A 2024-10-23 2024-10-23 A new energy ceramic relay automated production carrier and loading method Pending CN119100125A (en)

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