Automatic location exchange device and method for it hardware nodes at it hardware racks

Abstract

Apparatus and method for position exchange of IT hardware nodes at IT hardware racks. The apparatus and method are particularly suitable for various different IT hardware rack configurations. The apparatus comprises a mount, a body supported at the mount, a gripper movably attached to the body, and an engagement member disposed on the gripper, wherein the gripper is configured to enable insertion and / or withdrawal of an IT hardware node at an IT hardware rack.

Description

Technical Field

[0001] This disclosure relates to an apparatus and method for automatic location switching of IT hardware nodes at an IT hardware rack. Background Technology

[0002] A data center is a building or dedicated space within a building that houses computer systems and related components. The operation and maintenance of data centers typically require human intervention. In particular, the operation and maintenance of IT hardware nodes stored in IT hardware racks often involve tasks that are normally performed manually.

[0003] The massive increase in data volume and the faster pace of business operations mean that manual monitoring and processing of different tasks within the data center is neither agile nor repeatable enough, putting businesses at risk. As the need to manage larger numbers of servers grows, the ongoing demand for automation and efficiency improvements in the data center industry is also increasing.

[0004] Data center automation is the process of managing and executing routine workflows and procedures (such as scheduling, monitoring, maintenance, or application delivery) in a data center with minimal or no human intervention. Data center automation improves agility and operational efficiency. Several attempts have been made to automate the data center industry. Examples include miniature modular data centers designed to house immersion cooling baths / tanks. These systems feature robotic manipulators customized to lock onto servers, remove them from the immersion tank, and place them into a secondary enclosure.

[0005] However, existing systems lack the configuration and compatibility for integration into existing data center facilities. These existing systems are specifically designed to be self-contained and implemented as independent modular units. Data center configurations vary widely, from vertical rack configurations to more complex storage solutions presenting horizontal configurations (such as immersion cooling baths / tanks). Therefore, the relocation of IT hardware nodes across different types of hardware racks remains an issue.

[0006] Therefore, there is a need for a system that provides a universal, integrated solution for the location exchange of IT hardware nodes across different types of IT hardware racks and data center facilities. Summary of the Invention

[0007] The purpose of this invention is to provide an apparatus and method for accurate, efficient, and reliable location switching of IT hardware nodes at an IT hardware rack. Another specific purpose of this invention is to provide an adaptable apparatus and method for universally integrating location switching of IT hardware nodes at one or more IT hardware racks. Yet another purpose of this invention is to provide an adaptable apparatus and method for location switching of IT hardware nodes, whose integration and use are compatible with any IT hardware node and / or different and varied configurations of IT hardware racks.

[0008] According to a first aspect of this disclosure, an apparatus for automatic position exchange of IT hardware nodes at an IT hardware rack is provided, the apparatus comprising: a mounting member attachable to a main engagement device for position exchange of the IT hardware node; a body supported at the mounting member and movable relative to the mounting member in a first direction; a clamp movably attached to the body and movable laterally relative to the body and the first direction, at least in a second direction; and engagement members respectively disposed at the clamp to releasably engage the IT hardware node via the lateral movement of the clamp; wherein the body is configured to insert and / or withdraw the IT hardware at the IT hardware rack via the movement in the first direction. This configuration provides independent movement of the body relative to the support member in the first direction to maximize alignment and accuracy. Independently controlled movement of the clamp relative to the body (and the first direction) in the second direction provides secure locking, insertion, and / or withdrawal of the node at the IT hardware rack for safe and reliable transport. Furthermore, the independently controlled lateral movement of the gripper provides compatibility and construction for joining different types of IT hardware nodes with different component parts and sizes.

[0009] Optionally, the device further includes an actuator coupled to the body and the mounting member to enable the body to move along the mounting member in the first direction. Optionally, the device further includes at least one actuator coupled to the gripper and the body to enable the gripper to move on the body in the second direction. Optionally, the first direction and the second direction are inclined to or perpendicular to each other.

[0010] Optionally, the device includes two grippers coupled to the body via respective actuators, enabling the two grippers to move toward and away from each other along the body in the second direction. This configuration contributes to the lateral movement of the grippers relative to the body (and the first direction) in the second direction, providing a secure locking for the insertion and / or removal of IT hardware at an IT hardware rack. Furthermore, the independently controlled lateral movement of the grippers provides compatibility and construction for the engagement of different IT hardware node types with different component parts and sizes.

[0011] Optionally, the actuators are configured to operate independently of each other. Optionally, each actuator includes a corresponding motor to drive the gripper to move in the second direction.

[0012] Optionally, the device includes at least one first guide rail extending along the mounting member in the first direction and positioned between the mounting member and the body to support movement of the body in the first direction. This configuration provides support, guidance, and alignment for movement of the body along the mounting member in the first direction.

[0013] Optionally, the device includes at least one second guide rail extending across the body in the second direction and positioned between the gripper and the body to support movement of the gripper in the second direction.

[0014] Optionally, the coupling is positioned at a corresponding clamp at a different interval from the body.

[0015] Optionally, the coupling protrudes laterally inward from the respective gripper, such that the couplings of laterally adjacent grippers are positioned approximately opposite each other and are capable of laterally moving in the second direction to close together and engage with the IT hardware node.

[0016] Optionally, each of the engaging members includes a corresponding lug projecting laterally from the corresponding clamping finger. Optionally, each of the engaging members includes a corresponding lug projecting laterally inward from the corresponding clamping finger. Optionally, each of the engaging members includes a corresponding lug projecting laterally outward from the corresponding clamping finger.

[0017] Optionally, each lug includes a pair of shoulders and a head positioned furthest from the corresponding gripper relative to the shoulders.

[0018] Optionally, the device further includes at least one sensor for sensing and / or determining the position of the connector relative to at least a portion of the IT hardware node. Optionally, the at least one sensor includes a contact or tactile sensor to determine the position of the connector relative to at least a portion of the IT hardware node and / or to determine the contact pressure between the connector and the IT hardware node. Optionally, the at least one sensor includes a sensing sensor to determine the proximity of the connector relative to at least a portion of the IT hardware node.

[0019] According to another aspect of this disclosure, an IT hardware system is provided, including at least one IT hardware rack; a plurality of IT hardware nodes supported within the IT hardware rack; and a device or apparatus as described herein for automatic position switching of the IT hardware nodes at the IT hardware rack, the device being configured to releasably engage and position switch the IT hardware nodes at the IT hardware rack.

[0020] Optionally, each IT hardware node includes at least one tab located at an edge, end, or side and engageable by the connector. Optionally, each tab includes at least one opening, the shape and size of which are approximately equal to the shape and size of each connector to allow each connector to be inserted into the opening.

[0021] According to another aspect of this disclosure, a method for automatic position exchange of an IT hardware node at an IT hardware rack is provided, comprising: moving a body toward an IT hardware node supported within an IT hardware rack in a first direction; laterally moving a gripper in a second direction relative to the body and / or the first direction to engage and clamp the IT hardware node via corresponding engagement members positioned at the gripper; and withdrawing the IT hardware node from the IT hardware rack by movement of the body in the first direction.

[0022] According to another aspect of this disclosure, a method for automatic position exchange of IT hardware nodes at an IT hardware rack is provided, comprising: moving a body toward the IT hardware node; laterally moving a gripper relative to the body in a second direction to engage and clamp the IT hardware node via corresponding couplings located at the gripper; and inserting the IT hardware node into the IT hardware rack by moving the body in the first direction.

[0023] Optionally, the step of moving the gripper in the second direction includes engaging a pair of opposing grippers together with one or two tabs disposed on the edge, end, or side of the IT hardware node. Alternatively, the step of moving the gripper in the second direction includes engaging a pair of opposing grippers respectively with one or two tabs disposed on the edge, end, or side of the IT hardware node.

[0024] Optionally, the movement of the body and the gripper includes the actuation of corresponding mechanical actuators. Optionally, the movement of the body and the gripper is actuated by a plurality of corresponding mechanical actuators, each of which is controlled by a control unit.

[0025] Optionally, the method further includes using at least one sensor to sense and / or determine the position of the coupling, the clamp, the body, and / or the IT hardware node.

[0026] Optionally, the method for automatic location switching of IT hardware nodes at an IT hardware rack further includes controlling the actuation of the actuator via a control unit, wherein the control unit is electrically coupled to the at least one sensor and responds to a signal received from the at least one sensor.

[0027] Optionally, the IT hardware rack includes an immersion cooling bath for containing liquid coolant, and the movement of the IT hardware node in the first direction is typically vertical.

[0028] In this specification, the reference to "IT hardware node" should be understood as any IT hardware component that may exist and / or be stored in an IT hardware rack and can be used to perform activities such as, but not limited to, computing tasks or power supply. Therefore, the term "IT hardware node" encompasses alternative terms such as: IT hardware component, IT hardware server, computer server, networking hardware, electronic device module, rack-mountable device, rack-mounted enclosure, shelf, or any other device designed to be placed in an IT hardware rack.

[0029] The reference to "IT hardware rack" in this specification should be understood as any frame or enclosure used to mount multiple electronic device modules or IT hardware nodes. In particular, but not limited to, the reference to IT hardware rack covers vertical configurations (such as the well-known 19-inch rack) and / or horizontal configurations (such as immersion cooling baths).

[0030] The reference to "tab" in this specification should be understood as any material that is attached, attachable, or protrudes from the edge, end, or side of an IT hardware node. The number of tabs provided in an IT hardware node, and the distance between them (if more than one is required), can vary depending on the user. For example, a user may have a Type I IT hardware node, such as a high-density sled. Due to its size, only one tab may be needed to perform clamping and engagement.

[0031] Another user can have a second type of IT hardware node, such as a full-width node. Due to the size of this node, the two tabs can be configured to have a specific spacing between them, and both tabs engage with this device. Another user can have a third type of IT hardware node, such as a full-width node presenting a different size than the alternative to the full-width node. Therefore, the lateral movement of each gripper enables the engagement of different IT hardware nodes with different component parts and / or sizes.

[0032] The use of the term "opening" in this specification covers alternative terms such as slot, slit, groove, cavity, or recess.

[0033] In this specification, the term "lug" refers to any protrusion, key, rib, projection, or adjacent part that can be accommodated in a corresponding opening, slot, or recess.

[0034] This equipment and method are configured to operate and integrate with all types of IT hardware cooling systems, specifically including traditional vertical rack cabinets and horizontal rack cabinets. In traditional vertical rack cabinets, nodes are mounted and oriented horizontally and arranged in a vertically stacked configuration, while in horizontal rack cabinets, nodes are mounted and oriented vertically and arranged in a horizontally stacked configuration. Such systems are typically air / fan cooled, water-cooled, and / or coolant-cooled. Suitable applications may include air-based cooling using traditional computer room air conditioning (CRAC) systems, air-based cooling using traditional computer room air processors (CRAH) systems, free-air cooling, in-rack heat exhaust systems, water-cooled racks and servers, direct immersion cooling systems, hermetically sealed liquid cooling, or "liquid to the chip" cooling systems, etc. Attached Figure Description

[0035] Specific embodiments of the invention will now be described by way of example only and with reference to the accompanying drawings, in which:

[0036] Figure 1 The components and units within a system for automatic location switching of IT hardware nodes at one or more IT hardware racks are schematically illustrated according to a specific embodiment.

[0037] Figure 2 It is configured to be used in Figure 1 A perspective view of the main and auxiliary engagement devices for inserting and removing IT hardware nodes at the IT hardware rack within the system;

[0038] Figure 3 yes Figure 2 A perspective view of an auxiliary bite device;

[0039] Figure 4 yes Figure 3 Another perspective view of the auxiliary bite device;

[0040] Figure 5 yes Figure 4 A plan view of the auxiliary bite device, in which selected parts have been removed for illustrative purposes;

[0041] Figure 6 yes Figure 5 A plan perspective view of the front part of the auxiliary bite device, in which selected parts have been removed for illustrative purposes;

[0042] Figure 7 This is an enlarged perspective view of the gripper, which has features for removably (or releaseably) engaging IT hardware nodes and forming... Figures 3 to 6 A connecting piece that is part of the auxiliary bite device;

[0043] Figure 8 This is a side perspective view of the relative gripper, which is set at... Figures 3 to 6 The front area of ​​the auxiliary bite device is used for removably engaging IT hardware nodes;

[0044] Figure 9 It is a perspective view of a first type of IT hardware node with a pair of mating tabs;

[0045] Figure 10 It is a perspective view of a second type of IT hardware node with a single engageable tab;

[0046] Figure 11 yes Figure 9 An enlarged perspective view of the right protrusion of the IT hardware node;

[0047] Figure 12 yes Figure 10 A magnified view of the protrusions of the IT hardware node;

[0048] Figure 13 yes Figures 3 to 6 A plan view of an auxiliary bite device, which is located in Figure 9 Near the IT hardware nodes, used for... Figure 8 The clamps can be detachably engaged;

[0049] Figure 14 According to specific embodiments Figure 1 A schematic flowchart illustrating the initial stage of the order in which IT hardware nodes are inserted in an IT hardware rack.

[0050] Figure 15 According to specific embodiments Figure 1 A schematic flowchart illustrating the final stage of the sequence in which IT hardware nodes are inserted in an IT hardware rack.

[0051] Figure 16 According to specific embodiments Figure 1 A schematic flowchart illustrating the initial stage of the sequence of removing IT hardware nodes from one of the IT hardware racks.

[0052] Figure 17 According to specific embodiments Figure 1 A schematic flowchart illustrating the final stage of the sequence of removing IT hardware nodes from one of the IT hardware racks.

[0053] Figure 18 yes Figures 3 to 16 A perspective view of an auxiliary bite device, which, for illustrative purposes, is mounted on a static support and positioned for use in... Figure 1 Inserting and removing IT hardware nodes in one of the IT hardware racks; and

[0054] Figure 19 yes Figures 3 to 6 A perspective view of an auxiliary bite device positioned for use in Figure 1 One of the locations in an IT hardware rack is where IT hardware nodes are inserted and removed. Detailed Implementation

[0055] Reference Figure 1 This apparatus and method provide a system for automatically switching the location of IT hardware nodes at one or more IT hardware racks. In this specification, the reference to IT hardware racks includes, in addition to liquid-immersion cooled IT hardware racks (also known as immersion cooling baths containing a dielectric coolant liquid)), fan- or air-cooled IT hardware storage cabinets. This system can be configured for full automation using operational control provided by software running / implemented on one or more computer units / servers located remotely to or near this apparatus. Such software for the computerized and electronic control of mechanical actuators (including electromechanical, electrohydraulic, electropneumatic, and / or electromagnetic actuators) will be familiar to those skilled in the art. This apparatus, method, and system can be configured for use with various types of software for the automatic control of such electronically controllable mechanical components and actuators.

[0056] This device includes a main articulator, generally indicated by reference numeral 10, which is sequentially mounted with an auxiliary articulator, generally indicated by reference numeral 11. The main articulator 10 and the auxiliary articulator 11 provide a unified mechanical engagement for the positional exchange of the IT hardware node, generally indicated by reference numeral 12. In this specification, references to IT hardware nodes include IT hardware servers or computers (to provide computing tasks), power units or nodes (such as power shelf units that provide power to other IT hardware nodes), and battery units and nodes that provide auxiliary or pre-set power to one or more nodes, server units, or IT hardware racks to prevent failure. As will be described, this device and method are compatible with a variety of different types, sizes, and shapes of IT hardware nodes, including nodes commonly referred to as “full-width nodes” (which occupy the full width of an IT hardware rack, container, or bath) and “high-density nodes” (which are narrower than full-width nodes and optionally can be mounted and / or have a chassis and / or slide plate (which can be inserted into the chassis)).

[0057] This system, apparatus, and method are advantageous for integration and / or operation with a variety of different types of IT hardware nodes and IT hardware racks through their components, sequences, and steps, in order to provide automatic location switching of nodes in existing IT hardware server systems, which may be fan / air-cooled (rack 13) and / or liquid-immersion cooled (rack 14).

[0058] This system includes a control unit 15 that communicates with the main bite 10 and the auxiliary bite 11 via wired or wireless communication. The control unit 15 can be implemented as a PC or other computer device including a machine control unit (MCU), PCB, processor, data storage, memory, and communication components and protocols. The control unit 15 is provided or configured for integration with a user interface 17 to allow user control, adjustment, and inquiry of the system via local or remote access. The user interface 17 may include one or more displays and input peripherals, such as a keyboard or touchscreen, as understood. The control unit 15 is configured via its communication components and protocols for bidirectional data communication with a cloud network (generally indicated by reference numeral 16). As will be described, the system includes various electromechanical components and operating sensors enabling automatic, semi-automatic, and / or manual position and engagement monitoring of various system components, specifically including engaging and disengaging IT hardware nodes 12 via the main bite 10 and the auxiliary bite 11 and / or inserting and removing IT hardware nodes at corresponding IT hardware racks 13, 14.

[0059] Reference Figure 2The main engager 10 includes a main support 18. The support 18 is implemented as an Automated Guided Vehicle (AGV) having ground engagement wheels 92 mounted on a chassis 93. The support 18 includes components and configurations typically associated with an AGV, which includes one or more motors, electronic control units, batteries, and wired or wireless communications for remote control via a control unit 15, optionally via additional sub-control units (not shown). A bottom rail 20 is mounted on the upward-facing side of the support 18 and extends generally horizontally to the main engager 10, which is supported on a level surface. A post 23 extends upward and generally vertically from the support 18 and is slidably mounted on the rail 20 via a first pivot joint 21. Thus, the post 23 is configured to rotate about its longitudinal axis 22 at any location along the rail 20. The main engager also includes a beam 25 mounted to the post 23 and projecting laterally from the post 23 via a second pivot joint 26. Therefore, beam 25 is able to rotate about its longitudinal axis 24. Pivot joint 26 is mounted on column 23 via linear rails and / or guide rails similar to guide rail 20, so that beam 25 can move linearly along the length of column 23 between a raised or elevated position (at the upper end of column 23) and a lowered position near support 18 (at the lower end of column 23).

[0060] The main engagement 10 also includes a first linear actuator (not shown) and a second linear actuator (not shown). The first linear actuator connects a first pivot joint 21 to a guide rail 20 to provide linear translation of the post 23 along the guide rail 20. The second linear actuator connects a second pivot joint 26 to the post 23 to provide linear transport of the beam 25 along the length of the post 23. The main engagement 10 also includes a third pivot joint 90 connecting an auxiliary engagement member 11 to the beam 25. The third pivot joint 90 is configured to rotate about an axis 27 substantially perpendicular to the beam 25. The main engagement 10 also includes corresponding first, second, and third rotary actuators (not shown), respectively disposed at each of the first pivot joint 21, second pivot joint 26, and third pivot joint 90, to provide mechanical rotation of the components relative to each other. Each of pivot joints 21, 26, and 90, and the corresponding linear (not shown) and rotary actuators (not shown), may include one or more sensors to provide monitoring and responsive feedback on the relative positions of the components of the main engagement 10 and the auxiliary engagement 11 during position exchanges of the IT hardware node 12 at racks 13 and 14. Rails 20, columns 23, and / or beams 25 provide an integral manipulator, generally indicated by reference numeral 19, adapted for position exchanges of the IT hardware node 12.

[0061] The auxiliary bite device 11 comprises a size and construction generally smaller than the main bite device 10 so that it can be mounted on the main bite device 10 via beam 25, post 23, and guide rail 20. The auxiliary bite device 11 comprises a bite device body generally indicated by reference numeral 30, which supports a pair of opposing grippers generally indicated by reference numeral 29. Alternatively, each gripper may be referred to as a gripper finger and is adapted to move laterally toward and away from each other to releasably engage and positionally support IT hardware node 12 for insertion and removal of at least one of IT hardware racks 13 and 14. The auxiliary bite device 11 is adapted to be suspended and mounted at the end of the bite device arm 19 and configured to perform positioning movements independently of the main bite device 10. According to this system, the main bite device 10 is primarily adapted for large or “coarse” transport / translational movements, while the auxiliary bite device 11 is particularly adapted to grippers 29 and correspondingly adapted for “fine” or “limited” positional adjustment of node 12. In addition, the main bite 10 is configured, through its various linear and rotary actuators (as described), to provide “fine” or “limited” positional adjustment of the gripper 29, thereby minimizing the use of the auxiliary bite 11 when necessary.

[0062] As will be understood, any manipulator system used for the automatic insertion and removal of IT hardware nodes at one or more mating areas or slots (not shown) at racks 13 and 14 must be compatible with operations having a positional tolerance of approximately or less than 1 mm to avoid misalignment, damage, or malfunction of the system during removal, particularly during insertion of node 12 at racks 13 and 14. This system, particularly the auxiliary gripper 11, is especially well-suited for accuracy and repeatability during the exchange of IT hardware nodes. Furthermore, this device and system are adapted to securely grip node 12 during insertion and removal at racks 13 and 14 to prevent automated failure and / or damage to the nodes during transport.

[0063] The auxiliary gripper 11, via the support 18 and the manipulator 19, is configured to move toward and away from the racks 13 and 14 above the floor (in the horizontal plane) and is oriented and suspended at any position between horizontal and vertical, and at any tilt angle relative to the vertical or horizontal. Thus, the node 12, horizontally mounted within the rack 13, can be engaged by the gripper 29 and withdrawn from the rack 13 (by actuation of the auxiliary gripper 11, and then transported to the rack 14 by the main gripper 10 for subsequent insertion into the rack 14) as a final stage / sequence. The main support 18, implemented as an AGV, provides a convenient carrier for the automated positioning and transport of the node 12 between different storage locations on multiple different racks (racks 13, racks 14) (or other storage locations, cabinets, or workstations) having, for example, a horizontal storage orientation (rack 13) or a vertical storage orientation (rack 14). That is, the main engagement device 10 is adapted to manipulate the translation (e.g., substantially linearly) and rotation of the node 12 between insertion and removal operations at the respective racks 13 and 14. Therefore, the system can be configured to operate with various types of node storage units and can be configured for position exchange of the node 12 at different slots within the same rack 13 or rack 14 and / or position exchange of the node 12 to slots in different or separate racks 13 and rack 14.

[0064] Reference Figure 3 , Figure 4 and Figure 5 The auxiliary engagement device 11 includes an auxiliary support 28 implemented as a plate or "tray". The support 28 is elongated and has a main length extending along the Z-axis. A support channel 35 is recessed into the support 28 and extends along the Z-axis length of the support 28. A body 30 is movably mounted on the support 28 via a track 37 (also extending along the Z-axis and within the channel 35) and an actuator 39 (implemented as a motor) to driveably transport the body 30 along the track 37 along the Z-axis between a forward position / end and a rearward position / end of the support 28. The support 28 also includes a pair of guide rails 32 located on each lateral side of the support 28. The guide rails 32 are adapted to contact and provide physical support to the node 12 when engaged by the grippers 29, 29b and when transported along the Z-axis via the movement of the body 30 relative to the support 28. Therefore, guide rail 32 provides stable and reliable movement of nodes 12, ensuring that they do not slip, shift or deflect during linear transport on the Z-axis.

[0065] The auxiliary bite device 11 includes a pair of grippers 29, comprising a left gripper 29a and a right gripper 29b, which are spaced apart and movable relative to each other along the X-axis. Each of the grippers 29a, 29b is supported via corresponding left front support rails 33a and right front support rails 33b extending across the body 30 for linear lateral movement along the X-axis. Each gripper 29a, 29b includes a corresponding engagement member, generally indicated by reference numerals 31a, 31b. According to a specific embodiment, the engagement members 31a, 31b are implemented as further referenced. Figure 7 The corresponding lugs are described. Each engagement 31a, 31b provides the first half of the mechanical lock, and the second half of the lock is provided at each node 12, particularly at one or more node tabs 54a, 54b. Figures 9 to 13 Each clamp 29a, 29b also includes a recess or opening 36a, 36b, which is formed to have a corresponding slot with a shape and size corresponding to the shape and size of each engagement piece 31a, 31b. Thus, each opening 36a, 36b is adapted to receive alternating engagement pieces 31b, 31a when the clamps 29a, 29b are actuated toward each other to engage with a single tab 54c of node 12c (see...). Figure 10 That is, each opening 36a, 36b allows the grippers 29a, 29b to contact the side 95 of the tab 54c while avoiding fouling.

[0066] Reference Figure 5 and Figure 6 Each gripper 29a, 29b is coupled to a corresponding actuator via a chain drive (not shown) extending along each support rail 34a, 34b (inside or near the support rail), which is implemented as an electric motor 38 (only one electric motor is shown). Each motor 38 is independently controlled and operated to provide independent lateral movement of the grippers 29a, 29b relative to the body 30 and the support member 28 in the X-axis. The lateral transport of each of the grippers 29a and 29b is also supported by corresponding left rear support rails 34a and right rear support rails 34b, which are positioned rearward along the Z-axis from the front support rails 33a, 33b. The front support rails 33a and 33b are mechanically connected to the rear support rails 34a and 34b via corresponding left end frames 40a and right end frames 40b to provide a robust and rigid frame that supports the slidable mounting of the clamps 29a and 29b along the X-axis.

[0067] Each gripper 29a, 29b is coupled and slidably mounted along its respective guide rails 33a, 33b, 34a, 34b via a corresponding left rear slide plate 41a and a right rear slide sleeve 41b. Additionally, each gripper 29a, 29b is also coupled to its corresponding front guide rail in the front guide rails 33a, 33b via a corresponding front mounting piece 94 (only the right mounting piece 94 is shown). Thus, the grippers 29a, 29b are slidably mounted along their respective guide rails when independently actuated by each motor 38. The lateral displacement of the grippers 29a, 29b is driven by a chain driver (not shown) coupled to the motor 38 and the respective gripper 29a, 29b. The auxiliary bite device 11 also includes flexible cable grommet 42 and flexible cable grommet 43 to accommodate suitable cables for electronic control of the slidable mechanical components described herein associated with the lateral drive of the grippers 29a, 29b. According to a further embodiment, the auxiliary bite device 11 may include a pair or a single pair of guide rails (33a, 33b, 34a, 34b).

[0068] Therefore, in use, the main body 30 is adapted to linearly transport the grippers 29a, 29b along the Z-axis during insertion and removal of the nodes 12 at the respective racks 13, 14. The nodes 12 can be engaged and disengaged by this automated device via lateral movement of the grippers 29a, 29b along the X-axis (across the main body 30). As will be understood, engagement of the nodes 12 is provided by movement of the respective grippers 29a, 29b in a direction toward each other, while disengagement is provided by movement in the opposite direction. The grippers 29a, 29b are also configured, via the actuating motor 38, to coordinate lateral displacement in the same direction to provide corresponding lateral adjustment of the nodes 12. This configuration facilitates “fine” positioning of the nodes 12 during removal, particularly during insertion and mating with electronic docking points / slots (not shown) provided at the respective racks 13, 14, to electronically couple the nodes 12 to the electronic motherboard or other electronic components (not shown) at the respective racks 13, 14.

[0069] The engagement members will now be described with reference to the right engagement member 31b. According to this device, engagement members 31a and 31b are configured to engage the same tab or different tabs of the engagement node. According to a further embodiment, each engagement member 31a and 31b may include different shapes and / or sizes to provide further locking and keying configurations, such that the left engagement member 31a is adapted to specifically engage the corresponding left tab or the left side face of the tab, and different corresponding configurations are provided at the right engagement member 31b. According to this embodiment, engagement member 31b is formed as a lug projecting along the X-axis from the side 95 of the gripper 29b. Engagement member 31b includes a generally rhomboid lug 47 having a length extending along the Z-axis, the lug 47 being provided with a front shoulder 48a (positioned closest to the foremost / front end or edge 53 of the gripper 29b) and a rear shoulder 48b, the rear shoulder 48b being positioned furthest from the front edge 53. Thus, the lug 47 includes a front end 49a and a rear end 49b. The head 46 protrudes laterally from the lug 47 and includes a generally dome-shaped or conical profile. The head 46 terminates at a tip 50 located laterally furthest from the lug 47, which represents the innermost laterally portion of each corresponding gripper 29. The head 46 is enlarged relative to the lug 47 on the Y-axis so as to hang over the lug 47.

[0070] Each gripper 29 also includes corresponding openings 36a, 36b. Each opening 36a, 36b includes a central region 51 of a groove with a shape profile corresponding to the shape profile of the head 46, a front region 52a of a groove with a shape profile corresponding to the shape profile of the front shoulder 48a, and a rear region 52b of a groove with a shape profile corresponding to the rear shoulder 48b. Therefore, when the left gripper 29a and the right gripper 29b are brought together to touch or nearly touch in contact on the X-axis, the corresponding engaging parts 31a, 31b are accommodated within the alternating openings 36b, 36a.

[0071] Reference Figure 8 The left and right engaging members 31a and 31b are eccentrically mounted at their respective holders 29a and 29b. Specifically, the axis 44 (extending along the X-axis) bisecting the left engaging member 31a is offset along the Z and Y axes from the corresponding axis 45 (extending along the X-axis) bisecting the right engaging member 31b. The lateral displacement of each engaging axis 44 and 45 corresponds to the lateral displacement of each holder opening 36a and 36b. That is, opening 36b is aligned and centered on the same axis 44 of the left engaging member 31a, while opening 36a is aligned and centered on the axis 45 of the right engaging member 31b.

[0072] Reference Figure 9The full-width node 12 includes a pair of laterally spaced tabs, specifically a right tab 54a and a left tab 54b. Node 12 has a generally plate-like shape profile, corresponding to a typical IT server unit for detachable installation and swapping in racks 13, 14. Tabs 54a, 54b are located at the front longitudinal ends of node 12, and one or more electronic ports 97 are located at the opposite longitudinal ends and configured to mate with corresponding electronic receiving ports in each individual slot of the IT hardware racks 13, 14. (See reference...) Figure 10 The high-density node 12c comprises a body with a significantly reduced size compared to the full-width node 12. Therefore, a single tab 54c is provided at the opposite leading longitudinal end relative to the rear electronic port 97.

[0073] Reference Figure 11 and Figure 12 Each tab 54a, 54b, 54c includes a pair of openings 55, 56, representing the second half of the engagement lock, which provides a releasable (or removable) lock to node 12 via grippers 29a, 29b. Specifically, each opening 55, 56 is formed as an elongated slot with a generally diamond-shaped profile. Specifically, the size and shape of each opening 55, 56 corresponds to the size and shape of openings 56a, 56b provided at the respective grippers 29a, 29b, which are configured to receive engagement members 31a, 31b. Specifically, each opening 55, 56 (referring to the foremost or leading edge 96 of each tab 54a, 54c) includes a front region 58 (located closest to the foremost edge 96 on the Z-axis), a rear region 57, and a central region 59. The openings 55, 56 (along the Z-axis) at the corresponding front region 58 and rear region 57 are tapered 60, 63 (with decreasing width on the Y-axis), decreasing in size from the central region 59 toward the corresponding front end 62 and rear end 64. The openings 55, 56 widen at the central region 59 to include an arcuate (partially circular) opening 61, the curvature of which corresponds to the outer periphery of the dome head 46 of each of the joints 31a, 31b.

[0074] The thickness of each engagement lug 47 is approximately equal to the thickness (along the X-axis) of each tab 54a, 54b, 54c, such that the lugs 47 of each engagement 31a, 31b can be substantially accommodated and received within each opening 55, 56. Since the engagement head 46 protrudes from the lug 47, the head 46 protrudes laterally inward from each opening 55, 56. As each engagement 31a, 31b is inserted into the corresponding tab opening 55, 56, the lower surface of each head 46 is configured to be positioned opposite and opposed to the side surface 98 of the tabs 54a, 54b, 54c. Specifically, the length of each engagement 31a, 31b in the Z (and Y) axis direction is slightly less than the corresponding length of each opening 55, 56 in the Z (and Y) axis direction, in order to allow small, limited longitudinal displacement of each engagement 31a, 31b within the corresponding slot / opening 55, 56. As the main body 30 moves relative to the auxiliary support 28 via linear transport along the Z-axis, each engagement member 31a, 31b undergoes a small positional shift (when nodes 12, 12c are pushed or pulled during insertion and withdrawal), causing the head 46 to slightly overlap with the corresponding front region 58 and rear region 57. In this position, the lower surface adjacent to the face 98 of each head 46 is positioned, and each engagement member 31a, 31b can be withdrawn laterally (on the X-axis) from each opening 55, 56. Therefore, nodes 12, 12c are releasably locked and held by the auxiliary engagement member 11 via the grippers 29a, 29b. The releasable locking of nodes 12 and 12c via grippers 29a and 29b is also provided by the lateral engagement and position locking / lateral clamping of grippers 29a and 29b, which are moved by the action of lateral displacement motor 38 to close touching contact with the surfaces 98 of the corresponding tabs 54a and 54c.

[0075] According to a further embodiment, each of the couplings 31a, 31b may not include the dome-shaped head 46, such that the locking action is specifically performed by the grippers 29a, 29b via a reference. Figure 6 The motor 38 is provided with actuation locking position on the corresponding tabs 54a, 54b, 54c to provide a clamping / clamping position. In this further embodiment, the size and shape of the couplings 31a, 31b may be the same as the openings 55, 56 to allow the lugs 47 to be tightly inserted and received into the openings 55, 56.

[0076] Reference Figure 7 and Figure 13Each gripper 29a, 29b includes a contact / tactile sensor 99 to provide monitoring and feedback on tactile contact between the engagement members 31a, 31b and the corresponding tabs 54a, 54b, 54c. Each of the grippers 29a, 29b also includes a sensing sensor 100 configured to monitor and provide feedback on the proximity of each engagement member 31a, 31b relative to each opening 55, 56. Such electronic sensors 99, 100 are also adapted to provide positional motion sensing of each gripper 29a, 29b relative to each other and any other mechanical or electronic components forming part of the system. As shown, the device may include additional electronic sensors to monitor the corresponding movements (including linear translation and rotation) of various mechanical and electronic components of the system associated with the main bite 10 and / or auxiliary bite 11.

[0077] Reference Figure 13 , Figure 14 and Figure 15 This describes an embodiment of the device and system for placing or inserting nodes 12, 12c into slots (not shown) within any of IT racks 13, 14. At stage 65, with node 12 already engaged and held by auxiliary bites 11 via grippers 29a, 29b and node tabs 54a, 54b, the device is adapted to insert the node into racks 13, 14. Precise and efficient matching of node 12 with grippers 29a, 29b is partially facilitated by sensors 99, 100. Node 12 may have already been conveyed by the main bite 10 (particularly the AGV / support 18 (remotely controlled by control unit 15)). At stage 66, node 12 is aligned with slots (not shown) at racks 13, 14. This may include lateral displacement of grippers 29a, 29b along the X-axis to allow for limited positional adjustment of the docking of port 97. Then, in stage 67, the body 30 moves linearly along the Z-axis of the support 28 to insert the node 12 into the slot. In stage 68, via suitable electronic sensors, the control unit 15 is configured to determine whether the node 12 and, in particular, the port 97, are properly aligned with the base / side of the IT racks 13, 14 to ensure accurate and effective matching with the desired electronic mating parts / slots (not shown) within the racks 13, 14a. In stage 69, if the sensor determines that the node 12 is improperly aligned or misaligned, the control unit 15 is configured to issue further position translation adjustments or error messages. Such adjustments may include adjustments to settings such as referenced... Figures 2 to 6 Specific and independent control of the various actuators at the main bite forceps 10 and / or auxiliary bite forceps 11. (Refer to...) Figure 15In stage 72, the grippers 29a and 29b move laterally outward along the X-axis of the body 30 away from each other, disengaging the tabs 54a and 54b. The releasable lock is correspondingly released. In stage 73, the control unit 15 identifies the release of node 12 via appropriate sensors. If no release is detected by the sensors, either of the actuators associated with the main bite 10 and the auxiliary bite 11 is actuated. Additionally, in stage 74, an error can be reported to the user via the user interface 17 and the cloud network 16. Manual intervention may be required. If disengagement is detected by electronic sensors in stage 73, the body 30 moves along the Z-axis along the support 28 in stage 75 to retract the auxiliary bite 11 from node 12. In stage 76, the insertion process is confirmed and completed accordingly.

[0078] Reference Figure 16 and Figure 17The reverse withdrawal sequence is described. As will be understood, in stage 77, as controlled by control unit 15, auxiliary bite 11 is brought to the position of adjacent node 12 by the movement of main bite 10 (via movement of AGV support 18). In stage 78, grippers 29a and 29b are conveyed toward each other along the transverse X-axis. In stage 79, bite body 30 advances along support 28 toward node 12 (mounted within IT racks 13, 14) on the Z-axis. In stage 80, grippers 29a, 29b are actuated on the X-axis by moving toward each other to properly engage engagement members 31a, 31b into corresponding openings 55, 56. In stage 81, control unit 15 is configured, via electronic sensors, to identify the desired physical engagement and locking of each engagement member lug 47 into openings 55, 56. Then, at stage 81, control unit 15 can operate to further adjust the position of grippers 29a, 29b to provide engagement. Alternatively, at stage 82, an error can be reported to the user via user interface 17 and cloud network 16. At stage 83, grippers 29a and 29b are adjusted along the lateral X-axis to attempt and achieve locking engagement with tabs 54a, 54b. At stage 84, control unit 15 is configured to re-check / identify the desired physical engagement and locking of each engagement lug 47 into openings 55, 56 via electronic sensors. At stage 85, if incorrect engagement is identified, further error messages can be reported to the user via user interface 17 and cloud network 16, and / or the main bite 10 and auxiliary bite 11 can be controlled via either of the electronically controlled actuators for further position adjustments. In stage 86, if the desired match between the two connecting locking parts of the auxiliary engagement device 11 and node 12 is determined, the control unit 15 performs a withdrawal action in which the body 30 withdraws along the support 28 on the Z-axis to remove node 12 from the frames 13, 14 by linear displacement along the Z-axis. The withdrawal sequence terminates in the final stage 87. The extracted node 12 can then be transported from the frames 13, 14 via the AGV support 18.

[0079] Figure 18 and Figure 19 Partial connections between the auxiliary engagement device 11 and racks 13 and 14 are shown. Specifically, node 12 can be inserted and removed from rack 13 while maintaining it in a generally horizontal orientation. IT rack 13 can be a conventional IT hardware rack with a fan / air cooling system. (Refer to...) Figure 19This device and method are also applicable to immersion-cooled IT hardware baths, wherein coolant liquid is contained within an immersion cooling bath chamber 88 forming part of the immersion cooling bath. In this embodiment, node 12 is typically suspended and vertically supported within chamber 88, such that the auxiliary engager 11 operates with a generally vertically aligned Z-axis. Thus, the removal of node 12 occurs against gravity, while insertion is performed under the influence of gravity. The releasable locking mechanism (including engagements 31a, 31b and openings 55, 56) is adapted for releasable engagement and orientation adjustment of node 12 between two mounting positions: fan- or air-cooled IT hardware rack 13 and immersion liquid-cooled rack / tank 14. As shown, the manipulator arm 19 and various pivot joints 21, 26, 90; linear actuators and rotary actuators (not shown) are configured via control unit 15 to reorient node 12 between horizontal and vertical mountings at different types of racks 13, 14.

[0080] This system specifically includes laterally engaging grippers 29a and 29b, making it compatible with all types of IT hardware nodes and rack facilities. In particular, the system can be retrofitted for all forms of existing IT hardware facilities utilizing different types, sizes, and shapes of IT hardware racks 13 and 14 and hardware nodes 12 and 12c. Specifically, grippers 29a and 29b are configured, through their independent lateral actuation, to provide secure retention while nodes 12 rotate and / or transport between different positions and in different orientations. The system is suitable for limited and precise positional adjustments of nodes 12 and 12c via various linear and rotary actuators operating on multiple different rotational and linear axes, allowing mating tolerances of approximately 1 mm and less than 1 mm. Furthermore, the system provides safe and reliable retention of nodes 12 and 12c during all parts / steps of the node operation sequence through the releasable locking action of engagements 31a and 31b with tabs 54a, 54b, and 54c.

Claims

1. A device for automatic location switching of IT hardware nodes at an IT hardware rack, comprising: Mounting component, which can be attached to a master latch for location switching of the IT hardware node; A main body, supported at the mounting and movable relative to the mounting in a first direction, the main body being configured to insert and / or remove the IT hardware node at the IT hardware rack via the movement in the first direction; A plurality of grippers, the plurality of grippers being movably attached to the body and capable of laterally moving relative to the body and at least in a second direction in the first direction; At least one frame, the at least one frame extending laterally across the body in the second direction and positioned between the gripper and the body to support lateral movement of the gripper across the body in the second direction; At least one actuator for laterally moving the plurality of grippers along at least one frame at the body; as well as Engagements, each disposed at the gripper, are designed to releasably engage one or more tabs at the IT hardware node via the lateral movement of the gripper. The engagement members are positioned opposite each other and are capable of lateral movement in the second direction via the rack and the grippers. The at least one actuator is used to move the plurality of grippers by: (i) moving the plurality of grippers toward each other and in opposite directions to engage and disengage the IT hardware node; and (ii) coordinating the lateral displacement of the plurality of grippers in the same direction to provide fine positional adjustment of the IT hardware node after clamping.

2. The device of claim 1, further comprising an actuator coupled to the body and the mounting member to enable the body to move along the mounting member in the first direction.

3. The device according to claim 1, wherein, The first direction and the second direction are inclined or perpendicular to each other.

4. The device according to claim 1, wherein, The device includes two grippers coupled to the body via respective actuators, enabling the two grippers to move toward and away from each other along the body in the second direction.

5. The device according to claim 4, wherein, The actuators are configured to operate independently of each other.

6. The device according to claim 5, wherein, Each actuator includes a corresponding motor to drive the gripper to move in the second direction.

7. The device according to any one of claims 1 to 6, wherein, The device includes at least one first guide rail extending along the mounting member in the first direction and positioned between the mounting member and the body to support movement of the body in the first direction.

8. The device according to any one of claims 1 to 7, wherein, The coupling is positioned at the corresponding clamp at a corresponding interval distance from the body.

9. The device according to any one of claims 1 to 8, wherein, The coupling protrudes laterally inward from the respective gripper, such that the couplings of laterally adjacent grippers are positioned relative to each other and are capable of moving laterally in the second direction to close together and engage with the IT hardware node.

10. The device according to any one of the preceding claims, wherein, Each of the couplings includes a corresponding lug that projects laterally from the corresponding clamp.

11. The device according to claim 10, wherein, Each lug includes a pair of shoulders and a head positioned furthest from the corresponding gripper relative to the shoulders.

12. The device according to any one of claims 1 to 11, further comprising at least one sensor for sensing and / or determining the position of the connector relative to at least a portion of the IT hardware node.

13. The device according to claim 12, wherein, The at least one sensor includes a contact or tactile sensor to determine the position of the connector relative to at least a portion of the IT hardware node and / or to determine the contact pressure between the connector and the IT hardware node.

14. The device according to claim 12 or 13, wherein, The at least one sensor includes a sensing sensor to determine the proximity of the connector relative to at least a portion of the IT hardware node.

15. An IT hardware system, comprising: At least one IT hardware rack; Supporting multiple IT hardware nodes within the IT hardware rack; The device according to any one of claims 1 to 14, the device being configured to releasably engage and position-swap the IT hardware node at the IT hardware rack.

16. The system according to claim 15, wherein, Each IT hardware node includes at least one tab located at an edge, end, or side and which can be engaged by the connector.

17. The system according to claim 16, wherein, Each tab includes at least one opening, the shape and size of which correspond to the shape and size of each engagement piece to allow each engagement piece to be inserted into the opening.

18. A method for automatic location switching of IT hardware nodes at an IT hardware rack, comprising: The main body moves toward the IT hardware node via a mounting component; wherein the mounting component can be attached to a main engagement device for location exchange of the IT hardware node; A gripper is provided, the gripper being movably attached to the body and movable via at least one frame, the at least one frame extending laterally across the body in a second direction and positioned between the gripper and the body to support lateral movement of the gripper across the body in the second direction; The gripper is laterally moved relative to the body in the second direction to engage and clamp the IT hardware node via corresponding engagement members positioned at the gripper; wherein moving the gripper includes moving the gripper using the at least one actuator in such a way as: (i) moving a plurality of grippers toward each other in opposite directions to close them together and engage with one or more tabs at the IT hardware node, and moving them in the opposite direction to disengage them from the IT hardware node; and (ii) coordinating the lateral displacement of the plurality of grippers in the same direction to provide fine positioning adjustment of the IT hardware node after clamping; and The IT hardware node is inserted into and / or removed from the IT hardware rack by moving the main body in the first direction.

19. The method according to claim 18, wherein, The step of moving the gripper in the second direction includes engaging a pair of opposing grippers together with one or two tabs disposed on the edge, end or side of the IT hardware node.

20. The method according to claim 18 or 19, wherein, The movement of the body and the gripper includes the actuation of corresponding mechanical actuators.

21. The method according to any one of claims 18 to 20, wherein, The movement of the body and the gripper is actuated by a plurality of corresponding mechanical actuators, each of which is controlled by a control unit.

22. The method according to any one of claims 18 to 21, further comprising using at least one sensor to sense and / or determine the position of the coupling, the clamp, the body, and / or the IT hardware node.

23. The method of claim 21 or 22, the method comprising controlling the actuation of the actuator via a control unit, wherein, The control unit is electrically coupled to the at least one sensor and responds to signals received from the at least one sensor.

24. The method according to any one of claims 19 to 23, wherein, The IT hardware rack includes an immersion cooling bath for containing liquid coolant, and the movement of the IT hardware node in the first direction is vertical.

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