Operation and maintenance robot, operation and maintenance robot control method and device, and storage medium

Abstract

The application discloses an operation and maintenance robot, an operation and maintenance robot control method and device and a storage medium, and relates to the field of robots. The operation and maintenance robot 10 comprises a mobile chassis 11, a storage rack 12, a lifting frame 13, a rotating assembly 14 and a grabbing assembly 15. The storage rack 12 is fixed to the mobile chassis 11, and a driving unit is arranged in the mobile chassis 11 and used for driving the mobile chassis 11 to move. The first frame body of the lifting frame 13 is fixedly connected with the storage rack 12, one side of the storage rack 12 facing the lifting frame 13 is provided with an opening, and at least one storage grid is arranged on the storage rack 12. The second frame body of the lifting frame 13 is fixedly connected with the rotating assembly 14, the rotating assembly 14 is movably connected with the grabbing assembly 15, the grabbing assembly 15 performs at least one of rotating motion and telescopic motion relative to the rotating assembly 14, and the rotating axis of the grabbing assembly 15 is perpendicular to the telescopic direction of the grabbing assembly 15.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to an operation and maintenance robot, an operation and maintenance robot control method, device and storage medium. BACKGROUND

[0002] In the process of managing a machine room, it is often necessary to load and unload servers in a cabinet. The process of loading a server in a grid of the cabinet can be referred to as server shelving, and the process of unloading a server from the grid of the cabinet can be referred to as server de-shelving.

[0003] In related technologies, due to the large weight and size of the server and the high matching precision requirement, the server shelving and de-shelving are mainly completed manually by manpower. The manual server shelving and de-shelving is time-consuming and laborious, thereby reducing the management efficiency of the machine room. SUMMARY

[0004] Embodiments of the present application provide an operation and maintenance robot, an operation and maintenance robot control method, device and storage medium, which are used to realize server carrying and autonomous shelving and de-shelving, thereby improving the management efficiency of the machine room. The technical solution at least includes the following solutions:

[0005] According to an aspect of the present application, an operation and maintenance robot is provided, which includes a mobile chassis, a storage rack, a lifting frame, a rotating assembly and a grabbing assembly.

[0006] The storage rack is fixed to the mobile chassis, and a driving unit is arranged in the mobile chassis, which is used to drive the mobile chassis to move.

[0007] The first frame body of the lifting frame is fixedly connected with the storage rack, and the side of the storage rack facing the lifting frame has an opening. At least one storage grid is arranged on the storage rack.

[0008] The second frame body of the lifting frame is fixedly connected with the rotating assembly, the rotating assembly is movably connected with the grabbing assembly, the grabbing assembly makes at least one of rotating motion and telescopic motion relative to the rotating assembly, and the rotating axis of the grabbing assembly is perpendicular to the telescopic direction of the grabbing assembly.

[0009] According to an aspect of the present application, an operation and maintenance robot control method is provided, which is applied to the operation and maintenance robot as described above, and the method includes:

[0010] Driving the mobile chassis to move to the side of the cabinet;

[0011] Controlling the grabbing assembly to make first rotating motion relative to the rotating assembly, so as to align the grabbing assembly with the server placed on the lifting frame;

[0012] controlling the grabbing component to make a first extension motion relative to the rotating component so as to pick up the server;

[0013] controlling the grabbing component to make a second rotation motion relative to the rotating component so as to align the grabbing component with the grid of the cabinet, the rotation directions of the first rotation motion and the second rotation motion being opposite;

[0014] controlling the grabbing component to make a second extension motion relative to the rotating component so as to push the server into the grid of the cabinet.

[0015] According to an aspect of the present application, there is provided a robot control device for operation and maintenance, the device comprising:

[0016] a driving module configured to drive the mobile chassis to travel to a periphery side of the cabinet;

[0017] a control module configured to control the grabbing component to make a first rotation motion relative to the rotating component so as to align the grabbing component with the server placed on the lifting frame;

[0018] the control module is further configured to control the grabbing component to make a first extension motion relative to the rotating component so as to pick up the server;

[0019] the control module is further configured to control the grabbing component to make a second rotation motion relative to the rotating component so as to align the grabbing component with the grid of the cabinet, the rotation directions of the first rotation motion and the second rotation motion being different;

[0020] the control module is further configured to control the grabbing component to make a second extension motion relative to the rotating component so as to push the server into the grid of the cabinet.

[0021] According to an aspect of the present application, there is provided a computer device, the computer device comprising a processor;

[0022] the processor is configured to drive the mobile chassis to travel to a periphery side of the cabinet;

[0023] controlling the grabbing component to make a first rotation motion relative to the rotating component so as to align the grabbing component with the server placed on the lifting frame;

[0024] controlling the grabbing component to make a first extension motion relative to the rotating component so as to pick up the server;

[0025] controlling the grabbing component to make a second rotation motion relative to the rotating component so as to align the grabbing component with the grid of the cabinet, the rotation directions of the first rotation motion and the second rotation motion being different;

[0026] controlling the grabbing component to make a second extension motion relative to the rotating component so as to push the server into the grid of the cabinet.

[0027] According to an aspect of the present application, a computer readable storage medium is provided, the storage medium storing a computer program, the computer program being configured to be executed by a processor to implement the operation and maintenance robot control method as described above.

[0028] According to an aspect of the present application, a chip is provided, the chip comprising programmable logic circuitry and / or program instructions, when the chip is running, being configured to implement the operation and maintenance robot control method as described above.

[0029] According to an aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium, the processor reading and executing the computer instructions from the computer readable storage medium to implement the operation and maintenance robot control method as described above.

[0030] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0031] An operation and maintenance robot is provided, the server to be loaded can be placed on a storage rack, and the server is carried to the side of the target cabinet by moving the chassis; the rotation and / or extension movement of the grabbing assembly relative to the rotating assembly can complete the loading and unloading of the server between the storage rack and the target cabinet, realize the autonomous loading and unloading of the server, and improve the management efficiency of the computer room. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical schemes in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0033] Figure 1 is a schematic diagram of an operation and maintenance robot provided by an exemplary embodiment of the present application;

[0034] Figure 2 is a schematic diagram of an operation and maintenance robot provided by an exemplary embodiment of the present application;

[0035] Figure 3 is a schematic diagram of a rotating assembly provided by an exemplary embodiment of the present application;

[0036] Figure 4 is a schematic diagram of an operation and maintenance robot provided by an exemplary embodiment of the present application;

[0037] Figure 5 is a schematic diagram of an operation and maintenance robot provided by an exemplary embodiment of the present application;

[0038] Figure 6 is a local schematic view of an operation and maintenance robot provided by an example embodiment of the present application;

[0039] Figure 7 is a flow chart of an operation and maintenance robot control method provided by an example embodiment of the present application;

[0040] Figure 8 is a flow chart of an operation and maintenance robot control method provided by an example embodiment of the present application;

[0041] Figure 9 is a schematic view of an operation and maintenance robot control device provided by an example embodiment of the present application;

[0042] Figure 10 is a block diagram of an electronic device provided by an example embodiment of the present application.

[0043] The following describes each reference numeral in the drawings:

[0044] 10 - operation and maintenance robot;

[0045] 11 - mobile chassis;

[0046] 12 - storage rack;

[0047] 13 - lifting rack;

[0048] 14 - rotating assembly:

[0049] 141 - rotating motor; 142 - rotating reducer;

[0050] 15 - grabbing assembly:

[0051] 151 - first gripper; 152 - second gripper;

[0052] 16 - material frame:

[0053] 161 - rotating connecting piece;

[0054] 17 - positioning assembly:

[0055] 171 - positioning frame;

[0056] 172 - fixed support;

[0057] 173 - adjusting part;

[0058] 1741 - fixed block; 1742 - first compression spring; 1743 - second compression spring; 1744 - sliding block; 1745 - guide rail;

[0059] 1751 - rotating center; 1752 - first tension spring; 1753 - second tension spring;

[0060] 176-wedge block;

[0061] 20-cabinet;

[0062] 01-server. DETAILED DESCRIPTION

[0063] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by one of ordinary skill in the art.

[0064] In the embodiments of the present application, “front” and “back” are based on the front and back shown in the drawings. “First end” and “second end” are two opposite ends.

[0065] To make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0066] Taking an Internet Data Center (IDC) room as an example, there are multiple cabinets in the IDC room, and multiple servers are loaded in the cabinets, which are used to provide large-scale, high-quality, safe and reliable professional server hosting, space rental, network wholesale bandwidth and ASP, EC and other services to Internet users.

[0067] In order to meet the business needs, the servers need to be put on and taken off in the management process of the IDC room. The embodiments of the present application provide a maintenance robot which can be used to realize the carrying and autonomous putting on and taking off of the servers.

[0068] Figure 1 A schematic diagram of a maintenance robot 10 provided by an example embodiment of the present application is shown, which includes a mobile chassis 11, a storage rack 12, a lifting frame 13, a rotating assembly 14 and a grabbing assembly 15.

[0069] Illustratively, the storage rack 12 is fixed on the mobile chassis 11, and a driving unit is arranged in the mobile chassis 11, which is used to drive the mobile chassis 11 to move;

[0070] The first frame body of the lifting frame 13 is fixedly connected with the storage rack 12, and the side of the storage rack 12 facing the lifting frame 13 has an opening, and at least one storage grid is arranged on the storage rack 12;

[0071] The second frame body of the lifting frame 13 is fixedly connected with the rotating assembly 14, the rotating assembly 14 is movably connected with the grabbing assembly 15, the grabbing assembly 15 makes at least one of rotating motion and telescopic motion relative to the rotating assembly 14, and the rotating axis of the grabbing assembly 15 is perpendicular to the telescopic direction of the grabbing assembly 15.

[0072] The mobile chassis 11 is used to carry the storage rack 12, the lifting frame 13, the rotating assembly 14 and the grabbing assembly 15, and is used to move the operation and maintenance robot 10 to a target position. A driving unit is arranged in the mobile chassis 11, which is used to provide driving force to the operation and maintenance robot 10 to drive the mobile chassis 11 to move, so that the operation and maintenance robot 10 can move to the target position through the mobile chassis 11.

[0073] Optionally, the driving unit includes an electric control device and a power supply system, and the electric control device is used to provide the driving force. For example, the driving unit is electrically connected with a controller of the operation and maintenance robot 10, and the controller drives the mobile chassis 11 to move through the electric control device, so as to control the movement of the operation and maintenance robot 10. Optionally, the operation and maintenance robot 10 can realize omnidirectional movement through the omnidirectional steering wheel group on the mobile chassis 11.

[0074] The shape, structure, material, size and dimension of the mobile chassis 11 can be set according to actual needs, which are not limited herein.

[0075] Optionally, an implementation manner of the mobile chassis 11 is given herein:

[0076] The mobile chassis 11 is in a two-step ladder shape;

[0077] The storage rack 12 is fixed to the high step of the mobile chassis 11;

[0078] The extension direction of the grabbing assembly 15 is parallel to the mobile chassis 11, and the grabbing assembly 15 is above the low step of the mobile chassis 11 in the vertical direction.

[0079] The mobile chassis 11 is in a two-step ladder shape; Figure 1 The mobile chassis 11 is in a two-step ladder shape;

[0080] Taking the direction of the low step as the forward direction as an example, the mobile chassis 11 is in a structure of low front and high back, the storage rack 12 is fixed to the high step of the mobile chassis 11, and the grabbing assembly 15 is above the low step of the mobile chassis 11 in the vertical direction.

[0081] The mobile chassis 11 adopts a Z-shaped design, and an adjustable omnidirectional steering wheel group is arranged at the bottom of the mobile chassis 11, which can meet the large load requirement of the server 01 carrying and can also adapt to the possible uneven ground of the computer room. It should be understood that the above content is only an exemplary example of the present application, and cannot limit the present application.

[0082] Illustratively, the storage grid on the storage rack 12 is used to store the server 01 to be loaded.

[0083] Wherein, the storage rack 12 is provided with at least one storage grid. For example, the storage rack 12 is provided with n storage grids, and the n storage grids are distributed in parallel. The n storage grids are used to temporarily store the server 01 to be loaded.

[0084] The storage rack 12 is fixed to the mobile chassis 11, and the storage rack 12 is connected with the lifting frame 13, the rotating assembly 14 and the grabbing assembly 15 to realize the grabbing and placing of the server 01 by the grabbing assembly 15.

[0085] Wherein, the lifting frame 13 is used to drive the grabbing assembly 15 to move in the vertical direction. For example, the lifting frame 13 is electrically connected with the controller of the operation and maintenance robot 10. In the case that the horizontal position of the server 01 is different from that of the grabbing assembly 15, the horizontal position of the server 01 is unchanged, and the lifting frame 13 drives the grabbing assembly 15 to move in the vertical direction, so that the grabbing assembly 15 is lifted or lowered to the horizontal position of the server 01.

[0086] Taking the two-stage lifting structure of the lifting frame 13 as an example, the first-stage lifting frame and the second-stage lifting frame of the two-stage lifting structure have a guide rail, and the second-stage lifting frame can slide up and down relative to the first-stage lifting frame in the vertical direction.

[0087] Optionally, the first-stage lifting frame of the two-stage lifting structure is fixedly connected with the storage rack 12, and the side of the storage rack 12 facing the lifting frame 13 has an opening; the rotating assembly 14 is fixed to the top of the second-stage lifting frame of the two-stage lifting structure, and the rotating assembly 14 is movably connected with the grabbing assembly 15, so that the grabbing assembly 15 can rotate and / or stretch relative to the rotating assembly 14.

[0088] Wherein, the opening provided on the side of the storage rack 12 facing the lifting frame 13 is used to facilitate the grabbing assembly 15 to grab or place the server 01 from the opening.

[0089] The two-stage lifting structure can enhance the stability of the operation and maintenance robot 10 while ensuring the compactness of the overall size of the operation and maintenance robot 10, and realize large-range coverage from low cabinets to high cabinets.

[0090] Illustratively, the rotating assembly 14 is used to drive the grabbing assembly 15 to rotate.

[0091] For example, the rotating assembly 14 is electrically connected with the controller of the maintenance robot 10, and the controller controls the rotating assembly 14 to control the rotating of the grabbing assembly 15. In this embodiment, the rotating of the rotating assembly 14 to drive the rotating of the grabbing assembly 15 can be realized by a rotating motor, and the controller controls the rotating motor to rotate, so as to drive the rotating movement of the grabbing assembly 15 relative to the grabbing assembly 15 until the grabbing assembly 15 rotates to the required direction.

[0092] For example, the rotating assembly 14 is electrically connected with the controller of the maintenance robot 10, and the controller controls the rotating assembly 14 to control the rotating of the grabbing assembly 15. In this embodiment, the rotating of the rotating assembly 14 to drive the rotating of the grabbing assembly 15 can be realized by a rotating motor, and the controller controls the rotating motor to rotate, so as to drive the rotating movement of the grabbing assembly 15 relative to the grabbing assembly 15 until the grabbing assembly 15 rotates to the required direction.

[0093] In the process of the server 01 being put on or taken off, since the server 01 has a large mass, in order to ensure that the server 01 can be moved safely, the server 01 can be placed on a certain bearing object after being grabbed, so as to avoid the server 01 from falling or being damaged.

[0094] Optionally, referring to Figure 1 The maintenance robot 10 provided by the embodiment of the present application further comprises a material frame 16. The grabbing assembly 15 is arranged in the material frame 16, and the material frame 16 is movably connected with the rotating assembly 14, and the grabbing assembly 15 moves relative to the material frame 16.

[0095] For example, the grabbing assembly 15 is electrically connected with the controller of the maintenance robot 10, and the controller controls the grabbing assembly 15 to move relative to the material frame 16, and the grabbing assembly 15 moves out of the discharging opening of the material frame 16 to grab and move the server 01.

[0096] Optionally, the rotating movement of the grabbing assembly 15 relative to the rotating assembly 14 can also be realized by the rotating movement of the material frame 16. In this embodiment, the rotating angle range of the material frame 16 is 0-200 degrees, so that the maintenance robot 10 can realize the putting on and taking off of the server 01 on the two sides of the cabinet without turning around, thereby improving the efficiency of the maintenance robot 10.

[0097] For example, the maintenance robot 10 comprises a mobile chassis 11, a storage rack 12, a lifting frame 13, a rotating assembly 14, a grabbing assembly 15 and a material frame 16, and the target cabinet is a cabinet 20. Figure 2 The operation schematic diagram of the maintenance robot 10 provided by the embodiment of the present application is shown.

[0098] Illustratively, the storage rack 12 is fixed on the mobile chassis 11, and the mobile chassis 11 is provided with a driving unit. The storage rack 12 is movably connected with the lifting frame 13, the rotating assembly 14 and the material frame 16 through the driving unit. The grabbing assembly 15 is arranged in the material frame 16, and the material frame 16 is movably connected with the rotating assembly 14.

[0099] In the embodiment, the grabbing assembly 15 rotates relative to the rotating assembly 14, and / or the grabbing assembly 15 extends and retracts relative to the material frame 16. The rotation axis of the grabbing assembly 15 is perpendicular to the extension direction of the grabbing assembly 15.

[0100] The process of the operation and maintenance robot 10 realizing the autonomous shelving of the server 01 is as follows.

[0101] (1) The driving mobile chassis 11 advances to the periphery of the cabinet 20.

[0102] Illustratively, the mobile chassis 11 is provided with a driving unit. The driving unit is used to drive the mobile chassis 11 to advance, so that the operation and maintenance robot 10 can advance to the periphery of the cabinet 20.

[0103] Optionally, the mobile chassis 11 is provided with at least one positioning sensor.

[0104] The positioning sensor is electrically connected with the driving unit, and the positioning sensor is used to provide the driving unit with first position information of the operation and maintenance robot 10 relative to the cabinet 20.

[0105] Taking the case that the mobile chassis 11 is in a two-step shape and the direction of the lower step of the mobile chassis 11 is the advancing direction, the positioning sensor is arranged at the front and rear ends of the mobile chassis 11. The first position information of the operation and maintenance robot 10 relative to the cabinet 20 is obtained through the positioning sensor, so that the driving unit can drive the movement of the mobile chassis 11 according to the first position information.

[0106] For example, the positioning sensor is a laser radar. The first position information obtained by the laser radar, inertial sensor (IMU) data and a two-dimensional code map to which the cabinet 20 belongs are combined to realize high-precision positioning and navigation control of the operation and maintenance robot 10. The driving unit controls the mobile chassis 11 to advance to the periphery of the cabinet 20. Optionally, the positioning accuracy of the positioning sensor reaches 5±2mm.

[0107] After the operation and maintenance robot 10 advances to the periphery of the cabinet 20, the position of the operation and maintenance robot 10 can also be finely adjusted to make the grabbing assembly 15 align with the grid of the cabinet 20.

[0108] Optionally, the operation and maintenance robot 10 provided by the embodiments of the present application is provided with a camera on the circumferential side of the rotating assembly 14. The camera is electrically connected to the driving unit, and the camera is configured to provide the driving unit with second position information of the grabbing assembly 15 relative to the grid of the cabinet 20.

[0109] In the case where the operation and maintenance robot 10 includes the material frame 16, the camera is arranged on the top of the material frame 16, and is configured to obtain second position information of the discharge port of the material frame 16 relative to the grid of the cabinet 20.

[0110] Optionally, the at least one positioning sensor and the camera constitute a positioning mechanism of the operation and maintenance robot 10, so that the operation and maintenance robot 10 can travel to the circumferential side of the cabinet 20 according to the positioning sensor, and the grabbing assembly 15 can be aligned with the grid of the cabinet 20 according to the image information obtained by the camera, thereby realizing accurate positioning of the operation and maintenance robot 10 in the computer room and accurate positioning of the grabbing assembly 15 and the grid.

[0111] For example, by fusing the first position information of the operation and maintenance robot 10 relative to the cabinet 20 obtained by the laser radar, the IMU data and the information of the two-dimensional code map, high-precision positioning and navigation control of the operation and maintenance robot 10 are realized, and the positioning accuracy reaches 5 mm; the second position information of the grabbing assembly 15 relative to the grid of the cabinet 20 obtained by the camera enables the operation and maintenance robot 10 to accurately reach the position of the target cabinet (i.e., the cabinet 20), so that the grabbing assembly 15 is aligned with the grid.

[0112] (2) The grabbing assembly 15 grabs the server 01 to be loaded from the storage rack 12.

[0113] The rotating assembly 14 is controlled to rotate, so as to drive the material frame 16 to perform a first rotating motion relative to the rotating assembly 14. Since the grabbing assembly 15 is arranged in the material frame 16, the grabbing assembly 15 rotates together with the material frame 16, so that the discharge port of the material frame 16 is aligned with the storage rack 12.

[0114] Subsequently, the grabbing assembly 15 is controlled to perform a first extension and contraction motion relative to the material frame 16, so that the grabbing assembly 15 extends out of the discharge port of the material frame 16, and the grabbing assembly 15 can grab the server 01 placed on the storage rack 12. After the grabbing assembly 15 grabs the server 01, the grabbing assembly 15 is controlled to retract into the material frame 16, so as to pull the server 01 back from the storage rack 12 into the material frame 16.

[0115] (3) The grabbing assembly 15 loads the server 01 into the grid of the cabinet 20.

[0116] The rotating assembly 14 is controlled to rotate to drive the material frame 16 to make a second rotating movement relative to the rotating assembly 14. Since the grabbing assembly 15 is arranged in the material frame 16, the grabbing assembly 15 rotates with the material frame 16 to make the material outlet of the material frame 16 align with the grid on the cabinet 20 where the server 01 needs to be placed.

[0117] Subsequently, the grabbing assembly 15 is controlled to make a second telescopic movement relative to the material frame 16 to drive the server 01 to extend out of the material outlet of the material frame 16, and the grabbing assembly 15 pushes the server 01 into the grid of the cabinet 20. After the server 01 is placed on the grid, the grabbing assembly 15 is released and retracted into the material frame 16.

[0118] Illustratively, the server 01 is placed in the storage rack 12 in a similar manner as the server 01 is placed in the cabinet 20, which can be referred to.

[0119] Optionally, the operation and maintenance robot 10 provided by the embodiments of the present application further includes a sensor for acquiring a control parameter. The operation and maintenance robot 10 can acquire the control parameter of the computer room in real time through the sensor, and feed back the control parameter. The control parameter includes at least one of temperature, humidity, voltage, current, switch state, and water leakage condition. For example, the temperature and humidity parameters of the computer room are acquired in real time through the sensor, and the temperature and humidity parameters are fed back through the cloud data platform.

[0120] Optionally, the operation and maintenance robot 10 provided by the embodiments of the present application further includes a teleoperation assembly for realizing remote control. The staff of the computer room can acquire the running state of the operation and maintenance robot 10 through the teleoperation assembly. In the case of failure of the operation and maintenance robot 10, the staff can realize fault elimination in a remote cooperative manner through the teleoperation assembly.

[0121] In summary, the operation and maintenance robot 10 provided by the embodiments of the present application can place the server 01 to be loaded on the storage rack 12, and move the server 01 to the side of the target cabinet through the moving chassis 11; the server 01 can be loaded and unloaded between the storage rack 12 and the target cabinet through the rotating movement and / or telescopic movement of the grabbing assembly 15 relative to the rotating assembly 14, so as to realize the self-loading and unloading of the server 01, thereby improving the management efficiency of the computer room.

[0122] According to the foregoing, the grabbing assembly 15 can make a rotating movement relative to the rotating assembly 14 to make the grabbing assembly 15 face the storage rack 12 or the cabinet 20. The following provides an optional implementation manner of the operation and maintenance robot 10, which can realize the rotating movement of the grabbing assembly 15.

[0123] Figure 3 A schematic diagram of the rotating assembly 14 provided by an exemplary embodiment of the present application is shown.

[0124] The rotating assembly 14 includes a rotating motor 141 and a rotating reducer 142.

[0125] The rotating motor 141 is fixedly connected with the second frame body of the lifting frame 13, and is configured to drive the rotating reducer 142 to rotate relative to the rotating motor 141.

[0126] One end of the rotating reducer 142 is electrically connected with the rotating motor 141, and the other end of the rotating reducer 142 is fixedly connected with the grabbing assembly 15.

[0127] The fixed connection of the rotating motor 141 with the second frame body of the lifting frame 13 can be achieved by a connecting piece. Figure 3 The rotating motor 141 is fixedly installed on a frame of the rotating assembly 14, and the frame of the rotating assembly 14 is fixedly connected with the second frame body of the lifting frame 13 through a left rectangular connecting piece.

[0128] The rotating motor 141 provides a rotating driving force to the rotating reducer 142, so that the rotating reducer 142 can rotate relative to the rotating motor 141.

[0129] The rotating motor 141 provides a rotating driving force to the rotating reducer 142, so that the rotating reducer 142 can rotate relative to the rotating motor 141. Figure 1 Figure 3 The rotating motor 141 provides a rotating driving force to the rotating reducer 142, so that the rotating reducer 142 can rotate relative to the rotating motor 141.

[0130] In the case that the operation robot 10 includes the material frame 16, the movable connection of the grabbing assembly 15 with the rotating assembly 14 can be achieved by that the grabbing assembly 15 is arranged in the material frame 16, and the other end of the rotating reducer 142 is fixedly connected with the top of the material frame 16.

[0131] Figure 4 A partial schematic view of an operation robot provided by an example embodiment of the present application is shown.

[0132] In the case that the rotating assembly 14 includes the rotating motor 141 and the rotating reducer 142, the operation robot 10 further includes a rotating connecting piece 161; the rotating reducer 142 is fixedly connected with the grabbing assembly 15 through the rotating connecting piece 161.

[0133] The rotating connecting piece 161 is fixedly connected with the grabbing assembly 15, and the rotating reducer 142 is fixedly connected with the rotating connecting piece 161.

[0134] ​Optionally, in the case that the operation robot 10 comprises the material frame 16, the fixed buckling of the rotary reducer 142 and the grabbing assembly 15 can be achieved as follows: the grabbing assembly 15 is arranged in the material frame 16, the rotary connecting piece 161 is fixedly arranged on the top of the material frame 16, the rotary reducer 142 is fixedly buckled with the rotary connecting piece 143, and the rotary reducer 142 can drive the material frame 16 to rotate through the rotary connecting piece 143, so that the grabbing assembly 15 rotates with the material frame 16.

[0135] Reference Figure 4 Optionally, the grabbing assembly 15 comprises a first clamping jaw 151 and a second clamping jaw 152; the first clamping jaw 151 and the second clamping jaw 152 are telescopically arranged below the rotating assembly 14.

[0136] For example, the first clamping jaw 151 and the second clamping jaw 152 are electrically connected with the controller of the operation robot 10. Reference Figure 2 In the case that the server 01 needs to be clamped, the controller controls the first clamping jaw 151 and the second clamping jaw 152 to telescopically move to the periphery of the server 01 relative to the material frame 16, and then controls the first clamping jaw 151 and the second clamping jaw 152 to tighten to clamp the server 01; in the case that the server 01 needs to be placed, the controller controls the first clamping jaw 151 and the second clamping jaw 152 to telescopically move to the periphery of the grid on the cabinet 20 where the server 01 needs to be placed relative to the material frame 16, and then controls the first clamping jaw 151 and the second clamping jaw 152 to loosen to place the server 01 into the corresponding grid.

[0137] In summary, the operation robot 10 provided by the embodiment of the present application provides a way for the grabbing assembly 15 to realize rotary motion: the operation robot 10 can drive the rotary reducer 142 to rotate through the rotary motor 141, thereby driving the grabbing assembly 15 to rotate.

[0138] Optionally, the rotary reducer 142 can be fixedly buckled with the grabbing assembly 15 through the rotary connecting piece 161, so as to ensure the rotation accuracy of the grabbing assembly 15.

[0139] In the process of loading and unloading the server 01, the grabbing assembly 15 needs to be aligned with the grid of the cabinet 20, and then the server 01 is pushed into the corresponding grid or the server 01 is detached from the corresponding grid. Reference Figure 4 Taking the loading process of the server 01 as an example, the operation robot 10 provided by the embodiment of the present application further comprises a material frame 16 and a positioning assembly 17.

[0140] Illustratively, the grabbing assembly 15 is arranged in the material frame 16, the material frame 16 is movably connected with the rotating assembly 14, and the grabbing assembly 15 telescopically moves relative to the material frame 16;

[0141] The positioning assembly 17 is movably connected with the material frame 16, and is configured to drive the material frame 16 to perform translational movement and / or rotational movement relative to the rotating assembly 14 during the movement of the material frame 16, so as to position the material frame 16 at a target working position.

[0142] The target working position can be used to indicate a target placement position of the server 01 on the cabinet 20, such as a certain grid of the cabinet 20.

[0143] In the case that the positioning assembly 17 physically contacts the grid of the cabinet 20, the positioning assembly 17 is subjected to resistance of the grid to generate left-right translation and / or rotation; based on the movable connection between the positioning assembly 17 and the material frame 16, the positioning assembly 17 drives the material frame 16 to perform translational movement and / or rotational movement, so as to align the material frame 16 with the grid of the server 01.

[0144] Optionally, referring to Figure 4 , the positioning assembly 17 comprises a positioning frame 171, a fixed support 172 and an adjusting part 173.

[0145] The positioning frame 171 is adapted to the discharge port of the material frame 16.

[0146] The fixed support 172 is fixedly arranged above the positioning frame 171, and the adjusting part 173 is movably arranged between the fixed support 172 and the material frame 16.

[0147] In the case that the positioning frame 171 is subjected to external force, the fixed support 172 drives the material frame 16 to perform translational movement and / or rotational movement relative to the rotating assembly 14 through the adjusting part 173; or in the case that the positioning frame 171 is not subjected to external force, the adjusting part 173 drives the material frame 16 to return to the initial state.

[0148] Illustratively, the length and width of the positioning frame 171 are adapted to the discharge port of the material frame 16, so that the server 01 can smoothly pass between the positioning frame 171 and the discharge port of the material frame 16; the fixed support 172 is fixedly connected with the positioning frame 171, so that the fixed support 172 can move with the positioning frame 171; and the adjusting part 173 is movably arranged between the fixed support 172 and the material frame 16, so that the material frame 16 can adjust the position following the movement of the positioning frame 172.

[0149] Referring to Figure 2 and Figure 4In the process of the server 01 being put on the rack 20, the positioning assembly 17 makes physical contact with the grid of the rack 20. Specifically, the positioning frame 171 makes contact with the grid, so that the forward movement of the grid against the positioning frame 171 is resisted. Based on the fixed connection between the fixed support 172 and the positioning frame 171, the resistance to the positioning frame 171 causes the positioning frame 171 to translate leftward and / or rightward and / or to swing, which causes the fixed support 172 to simultaneously translate leftward and / or rightward and / or to swing. Based on the movable arrangement of the adjusting part 173, the translation and / or swinging of the fixed support 172 is transmitted to the material frame 16 through the adjusting part 173, so that the material frame 16 moves relative to the rotating assembly 14.

[0150] In the process of the server 01 being taken off the rack 20, the positioning assembly 17 is not in physical contact with the grid of the rack 20, and the resistance to the positioning frame 171 disappears. At this time, the adjusting part 173 can drive the material frame 16 to return to the initial state.

[0151] Illustratively, the adjusting part 173 is configured to adjust the position of the material frame 16 relative to the grid of the rack 20 according to the translation and / or rotation of the positioning frame 171, and the adjusting part 173 is capable of adjusting at least one of the translation error and the rotation error of the material frame 16.

[0152] Figure 5 and Figure 6 Different partial schematic views of the operation and maintenance robot provided by an exemplary embodiment of the present application are shown respectively, and the adjusting effect of the adjusting part 173 on the material frame 16 can be specifically described as follows:

[0153] 1. The adjusting part 173 realizes the adjustment of the translation error of the material frame 16.

[0154] Optionally, the adjusting part 173 further comprises a fixed block 1741, a first compression spring 1742, and a second compression spring 1743.

[0155] The fixed block 1741 is fixed to the material frame 16 and the positioning frame 171 respectively, and the rod of the fixed support 172 passes through the middle part of the fixed block 1741, so that the fixed support 172 moves relative to the fixed block 1741.

[0156] The first compression spring 1742 and the second compression spring 1743 are movably sleeved on the rod of the fixed support 172, and the first compression spring 1742 and the second compression spring 1743 are respectively located on the two sides of the fixed block 1741.

[0157] The positioning frame 171 is fixedly connected to the fixed support 172, and the fixed block 1741 is fixedly connected to the material frame 16 and the positioning frame 171 respectively. The positioning frame 171 exerts pressure on the first compression spring 1742 or the second compression spring 1743 through the fixed support 172, so as to push the material frame 16 to move leftward and / or rightward, so as to adjust the translation error of the material frame 16, and make the material frame 16 align with the grid of the rack 20.

[0158] The fixed block 1741 is used to fix the relative position of the material frame 16 and the positioning frame 171, so that the displacement of the positioning frame 171 can affect the position change of the material frame 16; the middle part of the fixed block 1741 is provided with an opening, so that the rod of the fixed support 172 can pass through, and the rod of the fixed support 172 does not contact the fixed block 1741, so that the fixed support 172 can realize the translational motion relative to the fixed block 1741.

[0159] Reference Figure 2 And Figure 5 After the positioning frame 171 contacts the grid of the cabinet 20, the positioning frame 171 is displaced by an external force, and based on the fact that the first compression spring 1742 and the second compression spring 1743 are sleeved on the rod of the fixed support 172, the positioning frame 171 drives the fixed support 172 to translate left and right, so that the rod of the fixed support 172 also performs the translational motion of translating left and right.

[0160] Based on the setting positions of the first compression spring 1742, the fixed block 1741 and the second compression spring 1743, the rod of the fixed support 172 exerts a pressure on the first compression spring 1742 or the second compression spring 1743, and when the rod of the fixed support 172 translates left, the first compression spring 1742 is extruded, and when the rod of the fixed support 172 translates right, the second compression spring 1743 is extruded.

[0161] Based on the fact that the fixed block 1741 is fixedly connected with the material frame 16 and the positioning frame 171, the first compression spring 1742 or the second compression spring 1743 is compressed, and the extrusion generated external force is transmitted to the fixed block 1741, and through the mutual offset of the pushing and pulling forces among the first compression spring 1742, the second compression spring 1743 and the fixed block 1741, the translational error of the material frame 16 can be adjusted.

[0162] Optionally, the adjusting part 173 further comprises a guide rail 1744 and a sliding block 1745.

[0163] The guide rail 1744 is fixed to the material frame 16; the sliding block 1745 is fixedly connected with the fixed support 172, and the sliding block 1745 performs the translational motion on the guide rail 1744 relative to the fixed block 1741.

[0164] After the positioning frame 171 contacts the grid of the cabinet 20, the positioning frame 171 is displaced by an external force, and based on the fact that the positioning frame 171, the fixed support 172 and the sliding block 1744 are sequentially fixedly connected, the displacement of the positioning frame 171 drives the sliding block 1744 to slide on the guide rail 1745.

[0165] 2. The adjusting part 173 realizes the adjustment of the rotation error of the material frame 16.

[0166] Optionally, the adjusting part 173 further comprises a rotating center 1751, a first tension spring 1752 and a second tension spring 1753.

[0167] The rotating center 1751 is fixed on the fixed support 172, and the rotating center 1751 is movably connected with the positioning frame 171, so that the positioning frame 171 drives the rotating center 1751 to rotate relative to the fixed support 172.

[0168] The first ends of the first tension spring 1752 and the second tension spring 1753 are fixedly connected with the positioning frame 171, and the second ends of the first tension spring 1752 and the second tension spring 1753 are fixedly connected with the material frame 16. The first tension spring 1752 and the second tension spring 1753 are respectively located on the two sides of the rotating center 1751.

[0169] The rotating center 1751 is fixed on the fixed support 172, and the rotating center 1751 is movably connected with the positioning frame 171, so that the positioning frame 171 drives the rotating center 1751 to rotate relative to the fixed support 172. During the rotation of the positioning frame 171, based on the fixed connection between the first tension spring 1752 and the second tension spring 1753 and the positioning frame 171 and the material frame 16, the pushing and pulling force of the first tension spring 1752 and the second tension spring 1753 will cause the material frame 16 to produce left and right rotation displacement, so as to adjust the rotation error of the material frame 16, and make the material frame 16 align with the grid of the cabinet 20.

[0170] Reference Figure 2 and Figure 5 After the positioning frame 171 contacts with the grid of the cabinet 20, the positioning frame 171 is subjected to external force and rotates left and right. The left and right rotation of the positioning frame 171 enables the rotating center 1751 to rotate relative to the fixed support 172.

[0171] At the same time, the left and right rotation of the positioning frame 171 can generate a pushing and pulling force on the first tension spring 1752 and the second tension spring 1753. Based on the fixed connection of the first tension spring 1752 and the second tension spring 1753 with the material frame 16 and the positioning frame 171 respectively, the pushing and pulling force can be offset between the material frame 16 and the positioning frame 171, so as to adjust the rotation error of the material frame 16.

[0172] Optionally, the first tension spring 1752 and the second tension spring 1753 are distributed in a V-shaped angle. The first tension spring 1752 and the second tension spring 1753 are distributed in a V-shaped angle, so that the two tension springs are arranged in a non-parallel manner, so that the adjusting part 173 can more accurately adjust the rotation error of the material frame 16.

[0173] 3. The adjusting part 173 realizes the adjustment of the translation error and the rotation error of the material frame 16.

[0174] The adjustment of the translation error and the rotation error of the material frame 16 can refer to the foregoing content, and will not be described again.

[0175] It should be noted that, in the case where the adjusting part 173 includes the fixed block 1741 and the rotation center 1751, the fixed block 1741 and the rotation center 1751 are both connected with the fixed support 172, but the fixed block 1741 and the rotation center 1751 are not in contact, so as to ensure that the adjustment of the translation error and the rotation error of the material frame 16 by the adjusting part 173 does not interfere with each other.

[0176] Optionally, referring to Figure 5 , the adjusting part 173 further includes a wedge-shaped block 176.

[0177] The wedge-shaped block 176 is fixedly arranged on the positioning frame 171, and the wedge-shaped block 176 is used for bearing the external force received by the positioning frame 171.

[0178] During the process of placing the server 01 on the rack, the wedge-shaped block 176 is in physical contact with the grid of the cabinet 20, so as to fix the positioning frame 171 with the grid in the cabinet 20. The width of the positioning frame 171 is the same as the width of the grid of the cabinet 20, so as to ensure the accurate alignment of the positioning frame 171 with the grid.

[0179] Optionally, the wedge-shaped block 176 is fixedly connected with the positioning frame 171 or is integrally formed with the positioning frame 171.

[0180] Referring to Figure 2 , Figure 5 and Figure 6 , the positioning assembly includes the positioning frame 171, the fixed support 172, the fixed block 1741, the first compression spring 1742, the second compression spring 1743, the rotation center 1751, the first tension spring 1752, the second tension spring 1753, and the wedge-shaped block 176.

[0181] During the process of placing the server 01 on the rack, the wedge-shaped block 176 is in physical contact with the grid of the cabinet 20, so as to fix the positioning frame 171 with the grid in the cabinet 20. The width of the positioning frame 171 is the same as the width of the grid of the cabinet 20, so as to ensure the accurate alignment of the positioning frame 171 with the grid.

[0182] When the positioning frame 171 is translated leftward or rightward, the positioning frame 171 drives the fixed support 172 to be translated leftward or rightward, so that the rod of the fixed support 172 presses the first compression spring 1742 or the second compression spring 1743. The first compression spring 1742 or the second compression spring 1743 transmits the external force generated by the pressing to the fixed block 1741, and the mutual offset of the pushing and pulling forces among the first compression spring 1742, the second compression spring 1743, and the fixed block 1741 realizes the adjustment of the translation error of the material frame 16.

[0183] When the positioning frame 171 rotates left or right, the rotation range of the positioning frame 171 is limited by the joint action of the rotation center 1751, the first tension spring 1752 and the second tension spring 1753. At the same time, based on the fixed connection of the first tension spring 1752 with the material frame 16 and the positioning frame 171 respectively and the fixed connection of the second tension spring 1753 with the material frame 16 and the positioning frame 171 respectively, the pushing and pulling force of the first tension spring 1752 and the second tension spring 1753 can be offset between the material frame 16 and the positioning frame 171, the positioning frame 171 drives the material frame 16 to rotate until the positioning frame 171 accurately corresponds to the grid in the cabinet 20, thereby realizing the adjustment of the rotation error of the material frame 16.

[0184] Optionally, based on the action of the adjusting part 173, the operation and maintenance robot 10 provided in the embodiments of the present application can realize accurate positioning of the material frame 16 without relying on high-precision sensors, thereby improving the efficiency of the server 01 in the process of loading and unloading. Optionally, the translation error of the material frame 16 is between ±25mm, and the rotation error is between ±7.5 degrees. Optionally, the loading and unloading of the server 01 can be completed within one minute.

[0185] In the process of loading the server 01, the wedge-shaped block 176 is in physical contact with the grid of the cabinet 20 at all times.

[0186] After placing the server 01, the grabbing assembly 15 releases the server 01, and the material frame 16 moves away from the cabinet 20, so that the wedge-shaped block 176 is no longer in contact with the cabinet 20. At this time, the elastic force of the first compression spring 1742, the second compression spring 1743, the first tension spring 1752 and the second tension spring 1753 can make the material frame 16 return to the initial state.

[0187] In summary, the operation and maintenance robot 10 provided in the embodiments of the present application further includes the material frame 16 and the positioning assembly 17, which realizes accurate positioning of the grabbing assembly 15 and the grid of the cabinet 20 through the positioning assembly 17, thereby improving the efficiency and accuracy of the operation and maintenance robot 10 in the process of loading and unloading.

[0188] Optionally, the positioning assembly 17 adjusts the translation error and / or rotation error of the material frame 16 through the adjusting part 173. The adjustment of the translation error can be realized by the fixed block 1741, the first compression spring 1742 and the second compression spring 1743; the adjustment of the rotation error can be realized by the rotation center 1751, the first tension spring 1752 and the second tension spring 1753.

[0189] It should be understood that the above embodiments can be combined to implement; and the structure of the operation and maintenance robot 10 given in the above embodiments is only exemplary and does not limit the present application, and any adaptive improvement to the shape, size, structure, etc. of one or more parts of the operation and maintenance robot 10 based on the above embodiments is within the scope of protection of the present application.

[0190] Figure 7 A flow chart of the control method of the operation and maintenance robot according to an example embodiment of the present application is shown. The control method is applied to the operation and maintenance robot 10 as described above. The description of the operation and maintenance robot 10 can refer to the foregoing description and will not be repeated. Illustratively, the control method of the operation and maintenance robot according to an example embodiment of the present application includes:

[0191] Step 101: driving the mobile chassis 11 to travel to the periphery of the cabinet 20.

[0192] The mobile chassis 11 is provided with a driving unit for driving the mobile chassis 11 to travel. For example, the omni-directional steering wheel set of the mobile chassis 11 can be controlled by the driving unit to drive the operation and maintenance robot 10 to travel to the periphery of the cabinet 20.

[0193] Step 102: controlling the first rotation of the grabbing assembly 15 relative to the rotating assembly 14 to align the grabbing assembly 15 with the server 01 placed on the lifting frame 13.

[0194] Optionally, in the case where the rotating assembly 14 includes a rotating motor 141 and a rotating reducer 142, step 102 can be implemented as follows:

[0195] The rotating reducer 142 is controlled by the rotating motor 141 to make the first rotation, and the rotating reducer 142 drives the grabbing assembly 15 to make the first rotation to align with the server 01.

[0196] Step 103: controlling the first extension and retraction of the grabbing assembly 15 relative to the rotating assembly 14 to clamp the server 01.

[0197] Optionally, in the case where the grabbing assembly 15 includes a first clamping jaw 151 and a second clamping jaw 152, step 103 can be implemented as follows:

[0198] The first extension and retraction of the grabbing assembly 15 relative to the rotating assembly 14 is controlled to make the first clamping jaw 151 and the second clamping jaw 152 extend out, and the first clamping jaw 151 and the second clamping jaw 152 clamp the server 01.

[0199] In the case where the operation and maintenance robot 10 includes the material frame 16, the control method of the operation and maintenance robot according to an example embodiment of the present application further includes: after the grabbing assembly 15 clamps the server 01, controlling the grabbing assembly 15 to carry the server 01 back into the material frame 16.

[0200] Step 104: controlling the second rotation of the grabbing assembly 15 relative to the rotating assembly 14 to align the grabbing assembly 15 with the grid of the cabinet 20.

[0201] The first rotation motion and the second rotation motion are in different rotation directions. For example, the first rotation motion is a rotation motion of the grabbing assembly 15 towards the storage rack 12, and the second rotation motion is a rotation motion of the grabbing assembly 15 towards the cabinet 20.

[0202] Optionally, in the case where the rotating assembly 14 comprises the rotating motor 141 and the rotating reducer 142, the step 104 can be implemented as follows:

[0203] The rotating reducer 142 is controlled by the rotating motor 141 to make the second rotation motion, and the rotating reducer 142 drives the grabbing assembly 15 to make the second rotation motion to align with the grid of the cabinet 20.

[0204] Step 105: Control the grabbing assembly 15 to make a second extension motion relative to the rotating assembly 14, so as to push the server 01 into the grid of the cabinet 20.

[0205] Optionally, in the case where the grabbing assembly 15 comprises the first gripper 151 and the second gripper 152, the step 105 can be implemented as:

[0206] The grabbing assembly 15 is controlled to make the second extension motion relative to the rotating assembly 14, so that the first gripper 151 and the second gripper 152 extend out, and the first gripper 151 and the second gripper 152 push the server 01 into the grid of the cabinet 20.

[0207] Based on Figure 7 , Figure 8 A flowchart of a control method of an operation and maintenance robot is shown, and the control method comprises the following steps:

[0208] Step 1011: Obtain first position information of the operation and maintenance robot 10 relative to the cabinet 20 through the at least one positioning sensor.

[0209] Illustratively, the first position information comprises at least one of the following information: coordinate information of the cabinet 20, coordinate information of the operation and maintenance robot 10, straight-line distance between the operation and maintenance robot 10 and the cabinet 20, and actual distance of the operation and maintenance robot 10 advancing to the side of the cabinet 20.

[0210] Optionally, the first position information can be obtained by a laser radar.

[0211] Step 1012: Control the mobile chassis 11 to advance to the side of the cabinet 20 according to the first position information.

[0212] The first position information can refer to the foregoing content and will not be described again.

[0213] After obtaining the first position information, the movement of the operation and maintenance robot 10 can be controlled through the driving unit arranged in the moving chassis 11, so that the operation and maintenance robot 10 travels to the periphery of the cabinet 20.

[0214] For example, the first position information includes coordinate information of the cabinet 20 and coordinate information of the operation and maintenance robot 10, and the relative positional relationship between the operation and maintenance robot 10 and the cabinet 20 can be determined based on the two coordinate information; then the moving chassis 11 can be driven to travel by the driving unit, so that the operation and maintenance robot 10 travels to the periphery of the cabinet 20.

[0215] Step 1061: Obtain second position information of the grabbing assembly 15 relative to the grid of the cabinet 20 through the camera.

[0216] Illustratively, the second position information includes at least one of the following information: the vertical height of the grabbing assembly 15, the vertical height of the grid of the cabinet 20, and the height difference between the grabbing assembly 15 and the grid of the cabinet 20 in the vertical direction.

[0217] Step 1062: According to the second position information, control the grabbing assembly 15 to align with the grid of the cabinet 20.

[0218] The second position information can refer to the foregoing content and will not be described again.

[0219] After obtaining the second position information, the grabbing assembly 15 can be controlled to align with the grid of the cabinet 20. The alignment of the grabbing assembly 15 and the grid can be achieved through the positioning assembly 17, and the related description of the positioning assembly 17 can refer to the foregoing content and will not be described again.

[0220] Optionally, step 1062 can be implemented as follows:

[0221] In the case that the vertical height of the grid of the cabinet 20 is different from the vertical height of the grabbing assembly 15, according to the second position information, the second frame body of the lifting frame 13 is driven to slide upward or downward until the grabbing assembly 15 aligns with the grid of the cabinet 20.

[0222] For example, the second position information includes a height difference of the grabbing component 15 and the grid of the cabinet 20 in the vertical direction. In the case that the vertical height of the grid of the cabinet 20 is higher than the vertical height of the grabbing component 15, according to the height difference, the second frame body of the lifting frame 13 is driven to slide upward to make the grabbing component 15 rise until the grabbing component 15 is aligned with the grid of the cabinet 20; in the case that the vertical height of the grid of the cabinet 20 is lower than the vertical height of the grabbing component 15, according to the height difference, the second frame body of the lifting frame 13 is driven to slide downward to make the grabbing component 15 descend until the grabbing component 15 is aligned with the grid of the cabinet 20.

[0223] In summary, the embodiment of the present application provides a robot control method, which can be applied to the robot 10 provided in the above embodiment to realize the carrying and autonomous loading and unloading of the server 01, thereby improving the management efficiency of the machine room.

[0224] The following is a device embodiment of the present application. For details not described in detail in the device embodiment, reference can be made to the corresponding description in the above method embodiment, which will not be described herein.

[0225] Figure 9 A schematic diagram of a robot control device provided by an example embodiment of the present application is shown.

[0226] The driving module 920 is configured to drive the mobile chassis 11 to travel to the side of the cabinet 20;

[0227] The control module 940 is configured to control the grabbing component 15 to make a first rotating motion relative to the rotating component 14, so that the grabbing component 15 is aligned with the server 01 placed on the lifting frame 13;

[0228] The control module 940 is further configured to control the grabbing component 15 to make a first telescopic motion relative to the rotating component 14, so as to clamp the server 01;

[0229] The control module 940 is further configured to control the grabbing component 15 to make a second rotating motion relative to the rotating component 14, so that the grabbing component 15 is aligned with the grid of the cabinet 20, and the rotating directions of the first rotating motion and the second rotating motion are different;

[0230] The control module 940 is further configured to control the grabbing component 15 to make a second telescopic motion relative to the rotating component 14, so as to push the server 01 into the grid of the cabinet 20.

[0231] Optionally, the rotating assembly 14 comprises a rotating motor 141 and a rotating reducer 142; the control module 940 is configured to control the rotating motor 141 to drive the rotating reducer 142 to make a first rotating motion, and the rotating reducer 142 drives the grabbing assembly 15 to make a first rotating motion to align the server 01; the control module 940 is further configured to control the rotating motor 141 to drive the rotating reducer 142 to make a second rotating motion, and the rotating reducer 142 drives the grabbing assembly 15 to make a second rotating motion to align the grid of the cabinet 20.

[0232] Optionally, the mobile chassis 11 is provided with at least one positioning sensor, and the driving module 920 is configured to acquire first position information of the maintenance robot 10 relative to the cabinet 20 through the at least one positioning sensor; and according to the first position information, the mobile chassis 11 is controlled to travel to the periphery of the cabinet 20.

[0233] Optionally, the rotating assembly 14 is provided with a camera on the periphery thereof, and the driving module 920 is further configured to acquire second position information of the grabbing assembly 15 relative to the grid of the cabinet 20 through the camera; and according to the second position information, the grabbing assembly 15 is controlled to align the grid of the cabinet 20.

[0234] Optionally, the driving module 920 is configured to drive the second frame body of the lifting frame 13 to slide upward or downward until the grabbing assembly 15 aligns the grid of the cabinet 20, in the case that the vertical height of the grid of the cabinet 20 is different from the vertical height of the grabbing assembly 15.

[0235] Optionally, the grabbing assembly 15 comprises a first clamping jaw 151 and a second clamping jaw 152; the control module 940 is configured to control the grabbing assembly 15 to make a first telescopic motion relative to the rotating assembly 14, so that the first clamping jaw 151 and the second clamping jaw 152 extend out and clamp the server 01; and the control module 940 is further configured to control the grabbing assembly 15 to make a second telescopic motion relative to the rotating assembly 14, so that the first clamping jaw 151 and the second clamping jaw 152 extend out and push the server 01 into the grid of the cabinet 20.

[0236] Figure 10 A structural block diagram of an electronic device 1000 provided by an example embodiment of the present application is shown.

[0237] The electronic device 1000 can be a portable mobile terminal such as an electronic device for implementing control of the maintenance robot 10, a smartphone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a notebook computer, or a desktop computer. The electronic device 1000 can also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names. In the embodiments of the present application, the electronic device 1000 can be implemented as a control device part in a robot.

[0238] In general, the electronic device 1000 includes a processor 1001 and a memory 1002.

[0239] The processor 1001 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1001 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 1001 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 1001 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed on a display screen. In some embodiments, the processor 1001 can further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0240] The memory 1002 can include one or more computer-readable storage media. The computer-readable storage media can be non-transitory. The memory 1002 can also include high-speed random access memory and can include nonvolatile memory, such as one or more magnetic disk storage devices, optical storage devices, flash memory devices, or other nonvolatile solid-state storage devices. In some embodiments, the non-transitory computer-readable storage medium of the memory 1002 is used to store at least one instruction for execution by the processor 1001 to implement the operation and maintenance robot control method provided by the method embodiments of the present application.

[0241] In some embodiments, the electronic device 1000 can also optionally include a peripheral device interface 1003 and at least one peripheral device. The processor 1001, the memory 1002, and the peripheral device interface 1003 can be connected by a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 1003 through a bus, a signal line, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, a positioning assembly 1008, and a power supply 1009.

[0242] The peripheral device interface 1003 can be used to connect at least one peripheral device related to input / output (I / O) to the processor 1001 and the memory 1002. In some embodiments, the processor 1001, the memory 1002, and the peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1001, the memory 1002, and the peripheral device interface 1003 can be implemented on a separate chip or circuit board, and the present embodiment does not limit this.

[0243] The radio frequency circuit 1004 is configured to receive and send RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1004 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 1004 converts electrical signals into electromagnetic signals for transmission, or converts electromagnetic signals received into electrical signals. Optionally, the radio frequency circuit 1004 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 1004 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network, and / or a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 1004 can also include NFC (Near Field Communication) related circuitry, which is not limited in the present application.

[0244] The display screen 1005 is configured to display a UI (User Interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 1005 is a touch display screen, the display screen 1005 also has the ability to collect touch signals on or above the surface of the display screen 1005. The touch signals can be input as control signals to the processor 1001 for processing. At this time, the display screen 1005 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 1005 can be one, arranged on the front panel of the electronic device 1000; in other embodiments, the display screen 1005 can be at least two, arranged on different surfaces of the electronic device 1000 or in a folding design; in other embodiments, the display screen 1005 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device 1000. Even, the display screen 1005 can also be arranged in an irregular shape other than a rectangle, that is, a special-shaped screen. The display screen 1005 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.

[0245] The camera component 1006 is configured to capture images or videos. Optionally, the camera component 1006 includes a front-facing camera and a rear-facing camera. Generally, the front-facing camera is disposed on the front panel of the terminal, and the rear-facing camera is disposed on the back of the terminal. In some embodiments, the rear-facing camera is at least two, which is any one of a main camera, a depth-of-field camera, a wide-angle camera, and a long-focus camera, to realize the background blur function of the main camera and the depth-of-field camera, the panorama shooting and VR (Virtual Reality) shooting function of the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera component 1006 can also include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0246] The audio circuit 1007 can include a microphone and a speaker. The microphone is configured to capture sound waves of a user and an environment, and convert the sound waves into an electrical signal input to the processor 1001 for processing or to the radio frequency circuit 1004 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, disposed at different parts of the electronic device 1000. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is configured to convert an electrical signal from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker can be a traditional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert an electrical signal into a sound wave audible to humans, but also convert an electrical signal into an inaudible sound wave to humans for ranging purposes. In some embodiments, the audio circuit 1007 can also include a headphone jack.

[0247] The positioning component 1008 is configured to locate the current geographical position of the electronic device 1000 to realize navigation or LBS (Location Based Service). The positioning component 1008 can be a positioning component based on the GPS (Global Positioning System) of the United States, the Beidou system of China, or the Galileo system of Russia.

[0248] The power supply 1009 is configured to supply power to each component in the electronic device 1000. The power supply 1009 can be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power supply 1009 includes rechargeable batteries, the rechargeable batteries can be wired charging batteries or wireless charging batteries. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0249] In some embodiments, the electronic device 1000 further includes one or more sensors 1010. The one or more sensors 1010 include, but are not limited to, an acceleration sensor 1011, a gyroscope sensor 1012, a pressure sensor 1013, an optical sensor 1014, and a proximity sensor 1015.

[0250] The acceleration sensor 1011 can detect the acceleration magnitude in three coordinate axes of a coordinate system established by the electronic device 1000. For example, the acceleration sensor 1011 can be used to detect the components of the gravitational acceleration in three coordinate axes. The processor 1001 can control the display screen 1005 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signals collected by the acceleration sensor 1011. The acceleration sensor 1011 can also be used for game or user motion data collection.

[0251] The gyroscope sensor 1012 can detect the body orientation and rotation angle of the electronic device 1000. The gyroscope sensor 1012 can work with the acceleration sensor 1011 to collect the 3D motion of the user to the electronic device 1000. The processor 1001 can implement the following functions according to the data collected by the gyroscope sensor 1012: motion sensing (e.g., changing the UI according to the user's tilt operation), image stabilization when shooting, game control, and inertial navigation.

[0252] The pressure sensor 1013 can be disposed on the side frame of the electronic device 1000 and / or the lower layer of the display screen 1005. When the pressure sensor 1013 is disposed on the side frame of the electronic device 1000, the user's holding signal to the electronic device 1000 can be detected, and the left-hand or right-hand recognition or shortcut operation can be performed by the processor 1001 according to the holding signal collected by the pressure sensor 1013. When the pressure sensor 1013 is disposed on the lower layer of the display screen 1005, the processor 1001 can control the operable control on the UI interface according to the user's pressure operation to the display screen 1005. The operable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0253] The optical sensor 1014 is used to collect the ambient light intensity. In one embodiment, the processor 1001 can control the display brightness of the display screen 1005 according to the ambient light intensity collected by the optical sensor 1014. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1005 is increased; when the ambient light intensity is low, the display brightness of the display screen 1005 is decreased. In another embodiment, the processor 1001 can also dynamically adjust the shooting parameters of the camera assembly 1006 according to the ambient light intensity collected by the optical sensor 1014.

[0254] The proximity sensor 1015, also referred to as a distance sensor, is usually arranged on the front panel of the electronic device 1000. The proximity sensor 1015 is used to collect the distance between the user and the front of the electronic device 1000. In an embodiment, when the proximity sensor 1015 detects that the distance between the user and the front of the electronic device 1000 gradually decreases, the display screen 1005 is switched from the bright screen state to the screen-off state under the control of the processor 1001; when the proximity sensor 1015 detects that the distance between the user and the front of the electronic device 1000 gradually increases, the display screen 1005 is switched from the screen-off state to the bright screen state under the control of the processor 1001.

[0255] Those skilled in the art can understand that the structure shown in the above embodiments is not a limitation on the electronic device 1000, and the electronic device 1000 can include more or fewer components than those shown in the figure, or combine certain components, or adopt a different component arrangement. Figure 10

[0256] The embodiment of the present application further provides a computer device, the computer device comprising a processor;

[0257] The processor is configured to drive the mobile chassis to travel to the periphery of the cabinet, control the grabbing assembly to make a first rotating motion relative to the rotating assembly so that the grabbing assembly is aligned with the server placed on the lifting frame, control the grabbing assembly to make a first telescopic motion relative to the rotating assembly so as to clamp the server, control the grabbing assembly to make a second rotating motion relative to the rotating assembly so that the grabbing assembly is aligned with the grid of the cabinet, the rotating directions of the first rotating motion and the second rotating motion being different, and control the grabbing assembly to make a second telescopic motion relative to the rotating assembly so as to push the server into the grid of the cabinet.

[0258] The embodiment of the present application further provides a computer readable storage medium, the storage medium storing a computer program, and the computer program is configured to be executed by a processor to implement the operation and maintenance robot control method.

[0259] The embodiment of the present application further provides a chip, the chip comprising a programmable logic circuit and / or program instructions, and when the chip is running, the programmable logic circuit and / or program instructions are configured to implement the operation and maintenance robot control method.

[0260] The embodiment of the present application further provides a computer program product or a computer program, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer readable storage medium, and a processor reads and executes the computer instructions from the computer readable storage medium to implement the operation and maintenance robot control method.

[0261] ​In the present application, it should be understood that the terms "first", "second" and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated.

[0262] All the optional technical solutions described above can be combined to form optional embodiments of the present application, which will not be described one by one here.

[0263] The above is only optional embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An operation and maintenance robot (10), characterized in that, The operation and maintenance robot (10) comprises a mobile chassis (11), a storage rack (12), a lifting frame (13), a rotating assembly (14), a grabbing assembly (15), a material frame (16) and a positioning assembly (17), wherein the positioning assembly (17) comprises a positioning frame (171), a fixed support (172) and an adjusting part (173); The storage rack (12) is fixed on the mobile chassis (11), and a driving unit is arranged in the mobile chassis (11) and used to drive the mobile chassis (11) to move; The first frame body of the lifting frame (13) is fixedly connected with the storage rack (12), one side of the storage rack (12) facing the lifting frame (13) is provided with an opening, and at least one storage grid is arranged on the storage rack (12); The second frame body of the lifting frame (13) is fixedly connected with the rotating assembly (14), the rotating assembly (14) is movably connected with the grabbing assembly (15), the grabbing assembly (15) is at least one of rotating and telescoping relative to the rotating assembly (14), and the rotating axis of the grabbing assembly (15) is perpendicular to the telescoping direction of the grabbing assembly (15); The positioning assembly (17) is movably connected with the material frame (16), and the positioning assembly (17) is used to drive the material frame (16) to make translational motion and / or rotational motion relative to the rotating assembly (14) during the motion of the material frame (16), so that the material frame (16) is positioned at a target working position; The positioning frame (171) is matched with the discharging port of the material frame (16), the fixed support (172) is fixedly arranged above the positioning frame (171), the adjusting part (173) is movably arranged between the fixed support (172) and the material frame (16), in the case that the positioning frame (171) is subjected to external force, the fixed support (172) drives the material frame (16) to make translational motion and / or rotational motion relative to the rotating assembly (14) through the adjusting part (173), or in the case that the positioning frame (171) is not subjected to external force, the adjusting part (173) drives the material frame (16) to return to the initial state.

2. The operational maintenance robot (10) according to claim 1, characterized in that The rotating assembly (14) comprises a rotating motor (141) and a rotating reducer (142); The rotating motor (141) is fixedly connected with the second frame body of the lifting frame (13), and is used to drive the rotating reducer (142) to make rotational motion relative to the rotating motor (141); One end of the rotating reducer (142) is electrically connected with the rotating motor (141), and the other end of the rotating reducer (142) is fixedly connected with the grabbing assembly (15).

3. The operational machine robot (10) according to claim 2, characterized in that The operation and maintenance robot (10) further comprises a rotating connecting piece (161); The rotating reducer (142) is fixedly buckled with the grabbing assembly (15) through the rotating connecting piece (161).

4. The operation and maintenance robot (10) according to any one of claims 1 to 3, characterized in that, the grabbing assembly (15) is arranged in the material frame (16), the material frame (16) is movably connected with the rotating assembly (14), and the grabbing assembly (15) performs telescopic movement relative to the material frame (16).

5. The operation and maintenance robot (10) according to claim 1, characterized in that, The adjusting part (173) further comprises a fixed block (1741), a first compression spring (1742) and a second compression spring (1743). The fixed block (1741) is fixed with the material frame (16) and the positioning frame (171) respectively, the rod of the fixed support (172) passes through the middle perforation of the fixed block (1741), and the fixed support (172) performs translational movement relative to the fixed block (1741). The first compression spring (1742) and the second compression spring (1743) are movably sleeved on the rod of the fixed support (172), and the first compression spring (1742) and the second compression spring (1743) are located on the two sides of the fixed block (1741) respectively.

6. The operational machine robot (10) according to claim 5, characterized in that The adjusting part (173) further comprises a guide rail (1744) and a sliding block (1745). The guide rail (1744) is fixed on the material frame (16); The sliding block (1745) is fixedly connected with the fixed support (172), and the sliding block (1745) performs translational movement on the guide rail (1744) relative to the fixed block (1741).

7. The robot (10) of claim 1, wherein, The adjusting part (173) further comprises a rotation center (1751), a first tension spring (1752) and a second tension spring (1753). The rotation center (1751) is fixed on the fixed support (172), the rotation center (1751) is movably connected with the positioning frame (171), and the positioning frame (171) drives the rotation center (1751) to perform rotational movement relative to the fixed support (172); The first ends of the first tension spring (1752) and the second tension spring (1753) are fixedly connected with the positioning frame (171), the second ends of the first tension spring (1752) and the second tension spring (1753) are fixedly connected with the material frame (16), and the first tension spring (1752) and the second tension spring (1753) are located on the two sides of the rotation center (1751) respectively.

8. The operational maintenance robot (10) according to claim 7, characterized in that The first tension spring (1752) and the second tension spring (1753) are distributed in a V-shaped angle.

9. The robot (10) of claim 1, wherein, The adjusting part (173) further comprises a wedge-shaped block (176); The wedge-shaped block (176) is fixedly arranged on the positioning frame (171), and the wedge-shaped block (176) is used for bearing external force received by the positioning frame (171).

10. The operational maintenance robot (10) according to any one of claims 1 to 3, characterized in that At least one positioning sensor is arranged on the mobile chassis (11); The positioning sensor is electrically connected with the driving unit, and the positioning sensor is used for providing the driving unit with first position information of the operation and maintenance robot (10) relative to the cabinet (20).

11. The operational maintenance robot (10) according to any one of claims 1 to 3, characterized in that A camera is arranged on the side of the rotating assembly (14). The camera is electrically connected with the driving unit, and the camera is configured to provide the driving unit with second position information of the grabbing assembly (15) relative to a grid of the cabinet (20).

12. The operational maintenance robot (10) according to any one of claims 1 to 3, characterized in that The grabbing assembly (15) comprises a first clamping jaw (151) and a second clamping jaw (152). The first clamping jaw (151) and the second clamping jaw (152) are telescopically arranged below the rotating assembly (14).

13. The operational maintenance robot (10) according to any one of claims 1 to 3, characterized in that The moving chassis (11) is in a two-step shape. The storage rack (12) is fixed to the high step of the moving chassis (11). The extension direction of the grabbing assembly (15) is parallel to the moving chassis (11), and the grabbing assembly (15) is above the low step of the moving chassis (11) in the vertical direction.

14. An operation and maintenance robot control method, characterized by, The method is applied to the operation and maintenance robot (10) as claimed in any one of claims 1 to 13, and the method comprises: Driving the moving chassis (11) to travel to the periphery of the cabinet (20); Controlling the grabbing assembly (15) to make a first rotating motion relative to the rotating assembly (14) so that the grabbing assembly (15) is aligned with the server (01) placed on the lifting frame (13); Controlling the grabbing assembly (15) to make a first extension motion relative to the rotating assembly (14) so as to clamp the server (01); Controlling the grabbing assembly (15) to make a second rotating motion relative to the rotating assembly (14) so that the grabbing assembly (15) is aligned with the grid of the cabinet (20), the rotating directions of the first rotating motion and the second rotating motion being different; Controlling the grabbing assembly (15) to make a second extension motion relative to the rotating assembly (14) so as to push the server (01) into the grid of the cabinet (20).

15. The method of claim 14, wherein, The rotating assembly (14) comprises a rotating motor (141) and a rotating reducer (142). The control of the grabbing assembly (15) to make a first rotating motion relative to the rotating assembly (14) so that the grabbing assembly (15) is aligned with the server (01) placed on the lifting frame (13) comprises: The rotating motor (141) controls the rotating reducer (142) to make the first rotating motion, and the rotating reducer (142) drives the grabbing assembly (15) to make the first rotating motion to align with the server (01); The control of the grabbing assembly (15) to make a second rotating motion relative to the rotating assembly (14) so that the grabbing assembly (15) is aligned with the grid of the cabinet (20) comprises: The rotating motor (141) controls the rotating reducer (142) to make the second rotating motion, and the rotating reducer (142) drives the grabbing assembly (15) to make the second rotating motion to align with the grid of the cabinet (20).

16. The method according to claim 14 or 15, characterized in that At least one positioning sensor is arranged on the moving chassis (11), and the driving of the moving chassis (11) to travel to the periphery of the cabinet (20) comprises: The at least one positioning sensor acquires first position information of the operation and maintenance robot (10) relative to the cabinet (20); According to the first position information, the mobile chassis (11) is controlled to travel to the periphery of the cabinet (20).

17. The method of claim 14 or 15, wherein, The periphery of the rotating assembly (14) is provided with a camera, and the method further comprises: obtaining second position information of the grabbing assembly (15) relative to the grid of the cabinet (20) through the camera; According to the second position information, the grabbing assembly (15) is controlled to align with the grid of the cabinet (20).

18. The method of claim 17, wherein, The control of the grabbing assembly (15) to align with the grid of the cabinet (20) comprises: In the case that the vertical height of the grid of the cabinet (20) is different from the vertical height of the grabbing assembly (15), the second frame body of the lifting frame (13) is driven to slide upward or downward until the grabbing assembly (15) aligns with the grid of the cabinet (20).

19. The method of claim 16, wherein, The grabbing assembly (15) comprises a first clamping jaw (151) and a second clamping jaw (152); The control of the grabbing assembly (15) to make a first extension and contraction motion relative to the rotating assembly (14) so as to clamp the server (01) comprises: The control of the grabbing assembly (15) to make the first extension and contraction motion relative to the rotating assembly (14) so that the first clamping jaw (151) and the second clamping jaw (152) extend out, and the first clamping jaw (151) and the second clamping jaw (152) clamp the server (01); The control of the grabbing assembly (15) to make a second extension and contraction motion relative to the rotating assembly (14) so as to push the server (01) into the grid of the cabinet (20) comprises: The control of the grabbing assembly (15) to make the second extension and contraction motion relative to the rotating assembly (14) so that the first clamping jaw (151) and the second clamping jaw (152) extend out, and the first clamping jaw (151) and the second clamping jaw (152) push the server (01) into the grid of the cabinet (20).

20. An operation and maintenance robot control device applied to the operation and maintenance robot (10) according to any one of claims 1 to 13, characterized in that, The device comprises: a driving module for driving the mobile chassis (11) to travel to the periphery of the cabinet (20); a control module for controlling the grabbing assembly (15) to make a first rotation motion relative to the rotating assembly (14) so that the grabbing assembly (15) aligns with the server (01) placed on the lifting frame (13); The control module is further used for controlling the grabbing assembly (15) to make a first extension and contraction motion relative to the rotating assembly (14) so as to clamp the server (01); The control module is further used for controlling the grabbing assembly (15) to make a second rotation motion relative to the rotating assembly (14) so that the grabbing assembly (15) aligns with the grid of the cabinet (20), and the rotation directions of the first rotation motion and the second rotation motion are different; The control module is further used for controlling the grabbing assembly (15) to make a second extension and contraction motion relative to the rotating assembly (14) so as to push the server (01) into the grid of the cabinet (20).

21. A computer device applied to the operation and maintenance robot (10) of any one of claims 1 to 13, characterized in that, The computer device comprises a processor; the processor is used for driving the mobile chassis (11) to travel to the periphery of the cabinet (20); Controlling the grabbing component (15) to make a first rotating motion relative to the rotating component (14) so that the grabbing component (15) is aligned with the server (01) placed on the lifting frame (13); Controlling the grabbing component (15) to make a first stretching motion relative to the rotating component (14) so as to clamp the server (01); Controlling the grabbing component (15) to make a second rotating motion relative to the rotating component (14) so that the grabbing component (15) is aligned with the grid of the cabinet (20), the rotating directions of the first rotating motion and the second rotating motion being different; Controlling the grabbing component (15) to make a second stretching motion relative to the rotating component (14) so as to push the server (01) into the grid of the cabinet (20).

22. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to be executed by a processor to implement the operation and maintenance robot control method in any one of claims 14 to 19.

23. A chip, characterized by The chip includes a programmable logic circuit and / or program instructions, and when the chip is running, the programmable logic circuit and / or program instructions are used to implement the operation and maintenance robot control method in any one of claims 14 to 19.

24. A computer program product, characterised in that, The computer program product includes computer instructions stored in a computer readable storage medium, and a processor reads and executes the computer instructions from the computer readable storage medium to implement the operation and maintenance robot control method in any one of claims 14 to 19.

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