Operation and maintenance robot

Abstract

The embodiment of the invention provides an operation and maintenance robot. The operation and maintenance robot comprises a robot body and an operation device. The operation device comprises a first-stage driving mechanism, a floating assembly, a second-stage driving mechanism and an execution part. The first-stage driving mechanism is connected with the robot body, the first-stage driving mechanism is used for driving the execution part to push the computing device to a first position in the cabinet body, and the first-stage driving mechanism is provided with a floating area; the floating assembly is movably connected with the first-stage driving mechanism, and the floating assembly can move in the floating area; the secondary driving mechanism is connected with the floating assembly and can rotate relative to the floating assembly; the execution part is connected with the secondary driving mechanism, and the secondary driving mechanism can drive the execution part to rotate relative to the cabinet body when rotating relative to the floating assembly so as to push the computing device to a second position in the cabinet body. The operation device in the operation and maintenance robot provided by the embodiment of the invention can have a simple structure and relatively low control cost at the same time.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computing technology, and in particular to an operation and maintenance robot. Background Art

[0002] With the development of big data, cloud computing and artificial intelligence (AI), the frequency of installation and debugging of computing equipment is getting higher and higher, and computing equipment needs to be frequently put on or taken off the cabinet.

[0003] The computing device can be put on and taken off the shelf by the operation and maintenance robot. The operation and maintenance robot usually includes a first motor and a second motor. When the second motor starts to move, a follower mechanism is set between the first motor and the second motor so that the first motor can move with the second motor. In this way, the load of the second motor increases, thereby increasing the cost of the second motor; in addition, the structural complexity of the operating device is increased.

[0004] In the related art, it is difficult for the operating device of the operation and maintenance robot to have both a simple structure and a low control cost. Summary of the invention

[0005] An embodiment of the present application provides an operation and maintenance robot that can have both a simple structure and low control cost.

[0006] In a first aspect, an embodiment of the present application provides an operation and maintenance robot, comprising: a robot body and an operating device, wherein the operating device is arranged on the robot body, and the operating device comprises: a primary drive mechanism, a floating component, a secondary drive mechanism and an actuator; the primary drive mechanism is connected to the robot body, and the primary drive mechanism is used to drive the actuator to push a computing device to a first position in a cabinet along a first direction, and the primary drive mechanism has a floating area; the floating component is movably connected to the primary drive mechanism, and the floating component is movable within the floating area; the secondary drive mechanism is connected to the floating component and is rotatable relative to the floating component; the actuator is connected to the secondary drive mechanism, and when the secondary drive mechanism rotates relative to the floating component, it can drive the actuator to rotate relative to the cabinet, so as to push the computing device to a second position in the cabinet.

[0007] The operation and maintenance robot provided by the embodiment of the present application is provided with a robot body and an operating device, and the operating device includes: a primary drive mechanism, a floating component, a secondary drive mechanism and an actuator. The primary drive mechanism is connected to the robot body, and the primary drive mechanism is used to drive the actuator to push the computing device to the first position in the cabinet along the first direction, and the primary drive mechanism has a floating area; the floating component is movably connected to the primary drive mechanism, and the floating component can move in the floating area; the secondary drive mechanism is connected to the floating component and can rotate relative to the floating component; the actuator is connected to the secondary drive mechanism, and the secondary drive mechanism can drive the actuator to rotate relative to the cabinet when the secondary drive mechanism rotates relative to the floating component. When the secondary drive mechanism rotates, the secondary drive mechanism will drive the floating component to move in the floating area, and the floating area provides an independent moving space for the secondary drive mechanism relative to the primary drive mechanism. The movement of the floating component in the floating area can meet the travel requirements of the second stage of the computing device. Therefore, the primary drive mechanism does not need to move with the movement of the secondary drive mechanism, so that the operating device in the operation and maintenance robot can have a simple structure and a low control cost at the same time.

[0008] In a possible embodiment, the operation and maintenance robot provided in the embodiment of the present application, the first-level driving mechanism includes a first driving member and a transmission assembly, the first driving member can drive the transmission assembly to move along a first direction, and the floating area is arranged on the transmission assembly; a mounting portion extending along the first direction is provided on the transmission assembly, and a sliding portion is provided on the floating assembly, and the sliding portion can move on the mounting portion so that the floating assembly moves along the first direction within the floating area relative to the transmission assembly.

[0009] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application has a mounting portion that is a sliding shaft, a sliding portion that is a mounting hole, and a sliding shaft that is inserted into the mounting hole. In this way, the floating component is movably connected to the transmission component, and the floating component can move relative to the transmission component in the floating area along a first direction.

[0010] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application further includes an elastic member, and limiting plates are provided at both ends of the transmission assembly along the first direction, and the area between the limiting plates opposite to each other along the first direction forms a floating area; the first elastic end of the elastic member abuts against the limiting plate, and the second elastic end of the elastic member abuts against the floating assembly.

[0011] In the first stage, the floating assembly, the secondary drive mechanism and the actuator move with the movement of the primary drive mechanism. The resilience of the elastic member can make the position of the floating assembly in the floating area relatively stable to avoid unnecessary movement of the floating assembly, the secondary drive mechanism and the actuator.

[0012] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application, the elastic member includes a first elastic member and a second elastic member, the first elastic member and the second elastic member are respectively arranged on both sides of the floating component along the first direction, and the first elastic member and the second elastic member are both sleeved on the mounting portion. The first elastic member is located between one side of the floating component and a limiting plate; the second elastic member is located between the other side of the floating component and another limiting plate.

[0013] Thus, the installation method of the elastic member is relatively simple and the elastic member occupies a smaller space along the first direction, which can make the structure of the operating device more compact. By providing two elastic members, both sides of the floating assembly can be in elastic contact with the limit plate to avoid collision between the floating assembly and the limit plate.

[0014] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application, the floating component includes an arc-shaped guide rail having a first tooth portion; the secondary drive mechanism includes a second drive member and a gear connected to the second drive member, the second drive member is connected to the actuator, the gear has a second tooth portion, and the second tooth portion is meshed with the first tooth portion, so that the second drive member can rotate relative to the arc-shaped guide rail and can drive the actuator to rotate.

[0015] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application has an arc-shaped guide rail with an arc-shaped slide rail, and the second driving member can slide along the arc-shaped slide rail. In this way, the floating assembly can move on the arc-shaped slide rail to limit the movement trajectory of the second driving member.

[0016] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application further includes a controller, and the first drive member is electrically connected to the controller; when the size of the floating area along the first direction is smaller than the stroke of the floating component, the controller controls the first drive member to drive the transmission component to move along the first direction; wherein the stroke of the floating component is used to represent the distance from the first position to the second position. The first drive member can be controlled by the controller to move so that the first drive member drives the transmission component to move along the first direction, and the area between the position after the transmission component moves and the position before the movement can be used as the stroke of the floating component. In this case, the transmission component moves from the position before the movement to the position after the movement, and accordingly, the actuator can enable the computing device to move from the first position to the second position in the cabinet. Thus, the stroke requirement of the floating component can be met while reducing the size of the operating device along the first direction.

[0017] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application, the transmission assembly includes a transfer block, a force sensor and a transmission block connected in sequence, the floating area is set on the transmission block, and the force sensor is electrically connected to the controller; the controller is set with a preset force value interval, and when the force sensor detects that the force applied by the transmission block exceeds the force value interval, the controller controls the first driving member to drive the transmission assembly to move in the first direction. The force sensor detects the pressure value applied to the force sensor by the transmission block, and by comparing the pressure value with the preset force value interval, the position of the floating assembly in the floating area can be determined, thereby judging whether the size of the floating area meets the travel requirements of the floating assembly.

[0018] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application is provided with position sensors at both ends of the floating component along the first direction, and the position sensors are electrically connected to the controller; a detection block is provided on the transmission component, and the detection block is located in the floating area. When the floating component moves to the area where the detection block exceeds the two position sensors, the controller controls the first driving member to drive the transmission component to move along the first direction. Position sensors are provided at both ends of the floating component along the first direction, and a detection block is provided in the floating area. The position of the floating component in the floating area can be determined based on whether the position sensor detects the detection block, thereby judging whether the size of the floating area meets the travel requirements of the floating component.

[0019] In a possible implementation, the operation and maintenance robot provided in the embodiment of the present application has a linear slide rail extending along a first direction on the robot body, and the transmission assembly and the floating assembly can both move along the linear slide rail, thereby reducing the number of slide rails on the mounting plate.

[0020] In a possible implementation, in the operation and maintenance robot provided in the embodiment of the present application, the primary drive mechanism also includes a transmission belt, the first drive member and the transmission assembly are connected by the transmission belt, and the first drive member drives the transmission assembly to move in the second direction through the transmission belt.

[0021] In a possible implementation, in the operation and maintenance robot provided in the embodiment of the present application, the secondary driving mechanism can drive the actuator to rotate relative to the cabinet when rotating relative to the floating component, so as to unlock the computing device from the cabinet; the primary driving mechanism is used to drive the actuator to move the computing device out of the cabinet along the first direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a data center;

[0023] Figure 2 It is a schematic diagram of the structure in which the computing device is installed on the cabinet;

[0024] Figure 3 It is a structural diagram of the cabinet;

[0025] Figure 4 A schematic diagram of an operation and maintenance robot transporting a computing device provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the structure of the mounting plate and the operating device in the operation and maintenance robot provided in an embodiment of the present application;

[0027] Figure 6 for Figure 5 Another angle of view;

[0028] Figure 7 A schematic diagram of the coordination between the operating device and the computing device in the operation and maintenance robot provided in an embodiment of the present application;

[0029] Figure 8 for Figure 7 The enlarged view of point A in the middle;

[0030] Fig. 9 A schematic diagram of the structure of an operating device in an operation and maintenance robot provided in an embodiment of the present application;

[0031] Fig.10 for Fig. 9 Explosion diagram of

[0032] Fig.11 for Fig.10 Another angle of view;

[0033] Fig.12 A schematic diagram of the structure of a computing device;

[0034] Fig.13 A schematic diagram of the structure of a handle in a computing device;

[0035] Fig.14 When the computing device is in a locked state, Fig.13 Schematic diagram of the cross section of the middle BB surface;

[0036] Fig.15 When the computing device is unlocked, Fig.13 Schematic diagram of the cross section of the middle BB surface;

[0037] Fig.16a Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 1 ;

[0038] Fig.16b Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 2 ;

[0039] Fig.16c Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 3 ;

[0040] Fig.17a A schematic diagram of the structure of the operating device removing the computing device from the operation and maintenance robot provided in the embodiment of the present application Figure 1 ;

[0041] Fig.17b A schematic diagram of the structure of the operating device removing the computing device from the operation and maintenance robot provided in the embodiment of the present application Figure 2 ;

[0042] Fig.18 Another structural schematic diagram of the operating device in the operation and maintenance robot provided in an embodiment of the present application;

[0043] Fig.19 for Fig.18 Explosion diagram of

[0044] Fig. 20 This is another structural schematic diagram of the operating device in the operation and maintenance robot provided in an embodiment of the present application;

[0045] Fig.21 for Fig. 20 Explosion diagram of

[0046] Fig. 22 Schematic diagram of the cooperation between the controller and the primary drive mechanism in the operating device of the operation and maintenance robot provided in the embodiment of the present application Figure 1 ;

[0047] Fig.23 Schematic diagram of the cooperation between the controller and the primary drive mechanism in the operating device of the operation and maintenance robot provided in the embodiment of the present application Figure 2 .

[0048] Description of reference numerals:

[0049] 10. Operation and maintenance robot;

[0050] 100, robot body; 110, track; 120, mounting plate; 121, linear slide rail;

[0051] 200, operating device;

[0052] 210, primary driving mechanism;

[0053] 211. Floating area;

[0054] 212, limit plate; 2121, first limit plate; 2122, second limit plate;

[0055] 213, first driving member;

[0056] 214, transmission assembly; 2141 sliding shaft; 2142, mounting plate; 2143, first slider; 2144, adapter block; 2145, force sensor; 2146, transmission block; 2147, detection block;

[0057] 215. Transmission belt;

[0058] 216, transmission wheel;

[0059] 220, floating components;

[0060] 221, mounting hole;

[0061] 222, arc-shaped guide rail; 2221, first tooth portion; 2222, arc-shaped slide rail;

[0062] 223, second slider;

[0063] 224, connection block;

[0064] 225, position sensor; 2251, first position sensor; 2252, second position sensor;

[0065] 230, secondary drive mechanism;

[0066] 231, second driving member; 2311, mounting frame; 2312, third sliding block;

[0067] 232, gear; 2321, second tooth portion;

[0068] 240, actuator; 241, first end; 242, second end; 243, clamping portion;

[0069] 250, elastic member; 250a, first elastic end; 250b, second elastic end; 251, first elastic member; 252, second elastic member;

[0070] 300, controller;

[0071] 21, cabinet; 21a, first side; 21b, second side; 22, computing device; 22a, device body; 22b, handle; 22c, handle body; 22d, elastic sheet; 22f, snap-fit ​​protrusion; 22g, opening; 22h, cylindrical pin; 22i, groove;

[0072] 23. Support column; 24. Plate body; 24a. Accommodating groove; 24b. Support point; 25. First connector interface; 26. First liquid cooling interface;

[0073] 1000. Data Center;

[0074] X, first direction;

[0075] Y, second direction;

[0076] Z. Third direction. DETAILED DESCRIPTION

[0077] The terms used in the implementation method part of this application are only used to explain the specific embodiments of this application, and are not intended to limit this application. The implementation method of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0078] With the development of big data, cloud computing and AI, the frequency of installation and debugging of computing equipment is increasing.

[0079] Figure 1 This is a structural diagram of a data center; Figure 2 This is a schematic diagram of the structure in which the computing equipment is installed on the cabinet.

[0080] See also Figure 1 and Figure 2 As shown, the data center 1000 may include a computer room (not shown) and a plurality of cabinets 21 and a plurality of computing devices 22 arranged in the computer room. An operation and maintenance robot 10 is also arranged in the computer room, and the operation and maintenance robot 10 can move in the channel formed by two adjacent rows of cabinets 21 to put the computing device 22 on the cabinet 21 or remove it from the cabinet 21. The process in which the computing device 22 is pushed into the cabinet 21 and locked with the cabinet 21 is the putting on process, and the process in which the computing device 22 is unlocked from the cabinet 21 and removed from the cabinet 21 is the removing process.

[0081] The computing device can be a desktop server, a blade server, a rack server, a high-density server, or a server node, a switch node, or a power node in a whole cabinet server.

[0082] The cabinet 21 serves as a supporting component for the computing device 22. For details, please continue to refer to Figure 2 As shown, the cabinet 21 includes a first direction X, a second direction Y and a third direction Z, wherein the first direction X may be the depth direction of the cabinet 21, the second direction Y may be the width direction of the cabinet 21, and the third direction Z may be the height direction of the cabinet. A plurality of computing devices 22 are sequentially arranged in the cabinet 21 along the third direction Z.

[0083] Figure 3 It is a structural diagram of the cabinet.

[0084] See also Figure 2 and Figure 3 As shown, the cabinet 21 includes a support column 23 and a plate 24. Figure 2 The middle plate 24 is arranged outside the support column 33 to shield the support column 23. Figure 3The cabinet 21 includes a first side 21a and a second side 21b which are arranged opposite to each other along the first direction X.

[0085] Various first interfaces are also provided on the second side 21b of the cabinet 21, and the first interface may be a first connector interface 25 or a first liquid cooling interface 26. The computing device 22 has a second interface, and the second interface may be a second connector interface (not shown in the figure) or a second liquid cooling interface (not shown in the figure). When the computing device 22 is inserted into the cabinet, the second connector interface in each computing device 22 is plugged into the first connector interface 25 at the corresponding position, and the second liquid cooling interface in each computing device 22 is plugged into the first liquid cooling interface 26 at the corresponding position. Taking the racking process of the computing device 22 as an example, a small force is applied to the computing device 22, and the computing device 22 is partially inserted into the cabinet 21. At this time, the second connector interface is about to be plugged into the first connector interface 25 at the corresponding position, and the second liquid cooling interface is about to be plugged into the first liquid cooling interface 26 at the corresponding position. Then, a large force is applied to the computing device 22 to overcome the resistance when the first interface and the second interface are plugged together, and the second interface in the computing device 22 is plugged into the first interface. In order to prevent the second interface in the computing device 22 from being loosened from the first interface on the cabinet 21, the computing device 22 and the cabinet 21 need to be locked. The process of removing the computing device 22 from the cabinet 21 is the opposite of the process of putting it on the cabinet, and will not be described in detail here.

[0086] An embodiment of the present application provides an operation and maintenance robot, and an operating device of the operation and maintenance robot can have both a simple structure and a low control cost.

[0087] Figure 4 A schematic diagram of an operation and maintenance robot transporting a computing device provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of the mounting plate and the operating device in the operation and maintenance robot provided in an embodiment of the present application; Figure 6 for Figure 5 Another angle of view; Figure 7 A schematic diagram of the coordination between the operating device and the computing device in the operation and maintenance robot provided in an embodiment of the present application; Figure 8 for Figure 7 The enlarged view of point A in the middle; Fig. 9 A schematic diagram of the structure of an operating device in an operation and maintenance robot provided in an embodiment of the present application; Fig.10 for Fig. 9 Explosion diagram of Fig.11 for Fig.10 Another angle view of the Fig.10 and Fig.11 Only a portion of the primary drive mechanism 210 is shown.

[0088] See also Figures 4 to 11As shown, the operation and maintenance robot 10 provided in the embodiment of the present application includes a robot body 100 and an operating device 200. There may be two operating devices 200, and the two operating devices 200 are arranged on both sides of the robot body 100 along the second direction Y. The operating device 200 includes: a primary driving mechanism 210, a floating component 220, a secondary driving mechanism 230 and an actuator 240. The primary driving mechanism 210 is connected to the robot body 100. The primary driving mechanism 210 is used to drive the actuator 240 to push the computing device 22 to a first position in the cabinet 21 along a first direction X. The primary driving mechanism 210 has a floating area 211; the floating component 220 is movably connected to the primary driving mechanism 210, and the floating component 220 can move within the floating area 211; the secondary driving mechanism 230 is connected to the floating component 220 and can rotate relative to the floating component 220; the actuator 240 is connected to the secondary driving mechanism 230. When the secondary driving mechanism 230 rotates relative to the floating component 220, it can drive the actuator 240 to rotate relative to the cabinet 21 to push the computing device 22 to the second position in the cabinet 21.

[0089] The first direction X, the second direction Y and the third direction Z of the operation and maintenance robot 10 are the same as the first direction X, the second direction Y and the third direction Z of the cabinet 21. The actuator 240 is used for connecting with the computing device.

[0090] Please continue to see Figure 4 As shown, the robot body 100 is used to support the operating device 200. A moving part (not shown) is provided at the bottom of the robot body 100, and the moving part can drive the robot body 100 to move so that the robot body 100 can move to different computing devices 20. The moving part can be a universal wheel or a crawler. Figure 4 In the figure, the computing device 22 is located on the operation and maintenance robot 10, and the operation and maintenance robot 10 is moving the computing device 22.

[0091] Please continue to see Figure 4 As shown, the robot body 100 is provided with a track 110, and the track 110 extends along the third direction Z. Figures 4 to 6 As shown, the robot body 100 further includes a mounting plate 120, which is disposed on the track 110 and can move along the third direction Z on the track 110 to align with the position of the computing device 22 in the cabinet 21 where the computing device 22 needs to be put on or taken off. The operating device 200 is connected to the mounting plate 120. When the computing device 22 is put on the shelf, the operating device 200 can push the computing device 22 into the cabinet 21 and lock the computing device 22 with the cabinet 21. When the computing device 22 is taken off the shelf, the operating device 200 can unlock the computing device 22 from the cabinet 21 and move the computing device 22 out of the cabinet 21.

[0092] See also Figure 5 and Figure 6 As shown, there are two operating devices 200, and the two operating devices 200 are connected to both sides of the mounting plate 120 along the second direction Y. The two operating devices 200 cooperate with both ends of the computing device 22 along the second direction Y.

[0093] The primary drive mechanism 210 in each operating device 200 is connected to the mounting plate 120 of the robot body 100. The mounting plate 120 can be a whole plate, and the primary drive mechanisms 210 in the two operating devices 200 are both connected to the mounting plate 120. Alternatively, there can be two mounting plates 120, and the primary drive mechanism 210 in each operating device 200 is respectively connected to one of the mounting plates 120. Figure 5 and Figure 6 Two mounting plates 120 are shown in the figure. It should be noted that the movement of the two mounting plates 120 along the third direction Z is synchronous. The primary driving mechanism 210 can be connected to the actuator 240 via the floating assembly 220 and the secondary driving mechanism 230. The primary driving mechanism 210 can provide power for the actuator 240 to move along the first direction X.

[0094] Please continue to see Fig.10 and Fig.11 As shown, the side of the primary driving mechanism 210 facing the secondary driving mechanism 230 includes two limit plates 212, and the two limit plates 212 are arranged at intervals along the first direction X. The space between the two limit plates 212 is the floating area 211, and the spacing between the two limit plates 212 is the moving range of the secondary driving mechanism 230 relative to the primary driving mechanism 210.

[0095] The floating assembly 220 can be connected to the mounting plate 120. The floating assembly 220 is located in the floating area 211, and the floating assembly 220 is movably connected to the primary driving mechanism 210. It can be understood that the floating assembly 220 is located between the two limiting plates 212 in the first direction X.

[0096] The secondary driving mechanism 230 is connected to the floating assembly 220, and the secondary driving mechanism 230 can also rotate relative to the floating assembly 220. The actuator 240 rotates relative to the cabinet 21 under the drive of the secondary driving mechanism 230. Specifically, when the secondary driving mechanism 230 rotates, it can provide power for the actuator 240 to move along the first direction X. While rotating, the secondary driving mechanism 230 also drives the floating assembly 220 to move within the floating area 211, thereby preventing the primary driving mechanism 210 from moving with the secondary driving mechanism 230.

[0097] Next, the structure of the computing device 22 will be described.

[0098] Fig.12A schematic diagram of the structure of a computing device.

[0099] join Fig.12 As shown, the computing device 22 includes a device body 22a and operating parts located on both sides of the device body 22a along the second direction Y. The operating parts may be, for example, handles 22b.

[0100] Fig.13 A schematic diagram of the structure of a handle in a computing device; Fig.14 When the computing device is in a locked state, Fig.13 Schematic diagram of the cross section of the middle BB surface; Fig.15 When the computing device is unlocked, Fig.13 Schematic diagram of the cross section of the BB surface.

[0101] join Figures 13 to 15 As shown, the handle 22b includes a handle body 22c and an elastic sheet 22d, wherein the elastic sheet 22d is located in the handle body 22c. One end of the elastic sheet 22d is rotatably connected to the handle body 22c. A clamping protrusion 22f is provided on the elastic sheet 22d, and an opening 22g is provided on the handle body 22c. The clamping protrusion 22f protrudes relative to the opening 22g ( Fig.12 and Fig.13 ), at which time the computing device 22 is locked with the cabinet 21. The locking protrusion 22f can also be retracted relative to the opening 22g ( Fig.14 ), at which time the computing device 22 is unlocked from the cabinet 21. The handle body 22c also includes a cylindrical pin 22h and a groove 22i.

[0102] Next, the process of mounting the computing device 22 by the operating apparatus 200 provided in the embodiment of the present application is described.

[0103] Specifically, Fig.16a Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 1 ; Fig.16b Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 2 ; Fig.16c Schematic diagram of the structure of the operating device on the rack computing device in the operation and maintenance robot provided in the embodiment of the present application Figure 3 Among them, Figures 16a to 16c Only the actuators 240 in two operating devices 200 are shown in the figure, so as to clearly illustrate the working process of the operating device 200 and the computing device 22.

[0104] See also Fig.10 , Fig.11 , Figures 16a to 16cAs shown, the actuator 240 has a first end 241 and a second end 242 opposite to each other, and a clamping portion 243 is provided between the first end 241 and the second end 242. The clamping portion 243 is arranged near the first end 241. The clamping portion 243 is clamped on the cylindrical pin 22h of the handle body 22c. Fig.16a As shown, the operating device 200 partially pushes the computing device 22 into the cabinet 21 along the first direction X. The plate 24 on both sides of the cabinet 21 along the second direction Y includes a receiving groove 24a and a fulcrum 24b.

[0105] Please continue to see Fig.16b As shown, the first end 241 of the actuator 240 abuts against the fulcrums 24b on both sides of the cabinet 21. A first force F1 is applied to the portion between the clamping portion 243 and the second end 242, and the first force F1 is a force that can move the second end 242 of the actuator 240 toward the computing device 22. At this time, the position of the fulcrum 24b remains stationary, and the fulcrum 24b, the clamping portion 243 and the application point of the first force F1 form a lever effect. The second end 242 rotates with the fulcrum 24b as the center. During the rotation, the clamping portion 243 moves along the first direction X while rotating around the cylindrical pin 22h. Among them, the clamping protrusion 22f on the elastic sheet 22d retracts under the pressure of the side wall of the cabinet 21.

[0106] Please continue to see Fig.16c As shown, the first force F1 continues to be applied to the actuator 240 until the computing device 22 moves along the first direction X into the cabinet 21 until the engaging protrusion 22f on the elastic sheet 22d protrudes from the opening 22g of the handle 22b and the receiving groove 24a, thereby locking the computing device 22 with the cabinet 21.

[0107] Next, the process of removing the computing device 22 by the operating apparatus 200 provided in the embodiment of the present application is described.

[0108] Fig.17a A schematic diagram of the structure of the operating device removing the computing device from the operation and maintenance robot provided in the embodiment of the present application Figure 1 ; Fig.17b A schematic diagram of the structure of the operating device removing the computing device from the operation and maintenance robot provided in the embodiment of the present application Figure 2 .

[0109] See also Fig.17aAs shown, the first end 241 of the actuator 240 extends into the groove 22i, and the engaging portion 243 of the actuator 240 is engaged with the cylindrical pin 22h. A second force F2 is applied to the portion between the engaging portion 243 and the second end 242 of the actuator 240. The second force F2 is opposite to the direction of the first force F1. The engaging portion 243 rotates with the cylindrical pin 22h of the handle 22b as the center. At this time, the first end 241 applies pressure to the elastic sheet 22d, and the engaging protrusion 22f on the elastic sheet 22d retracts relative to the receiving groove 24a of the cabinet 21 and the opening 22g of the handle 22b, so that the computing device 22 is unlocked from the cabinet. Fig.17b As shown, the operating device 200 pulls the computing device 22 out of the cabinet 21 along the first direction X.

[0110] The operation process of the primary driving mechanism 210 and the secondary driving mechanism 230 is explained by taking the loading process of the computing device 22 as an example.

[0111] Specifically, the process of mounting the computing device 22 on the cabinet 21 can be divided into a first stage and a second stage. Fig.16a As shown in FIG. 2 , the primary drive mechanism 210 sequentially applies a small force on the computing device 22 along the first direction X through the floating assembly 220, the secondary drive mechanism 230 and the actuator 240, and partially inserts the computing device 22 into the cabinet 21. At this time, the second connector interface is about to be plugged into the first connector interface 25 at the corresponding position, and the second liquid cooling interface is about to be plugged into the first liquid cooling interface 26 at the corresponding position. In the first stage, the primary drive mechanism 210 only needs to provide power for moving along the first direction X. In the first stage, the computing device 22 is partially pushed into the cabinet 21. At this time, the second interface in the computing device 22 is about to contact the first interface in the cabinet. This position of the computing device 22 in the cabinet 21 is the first position.

[0112] In the second stage (such as Fig.16b and Fig.16c As shown), the primary drive mechanism 210 stops. The secondary drive mechanism 230 can apply a first force F1 to the computing device 22 by driving the actuator 240 to rotate, so that the actuator 240 rotates with the fulcrum 24b of the cabinet 21 as the center, thereby overcoming the resistance when the first interface is plugged into the second interface, plugging the second interface in the computing device 22 into the first interface and locking the computing device 22 with the cabinet 21. At this time, the computing device 22 is completely located in the cabinet 21, and the position where the computing device 22 is completely located in the cabinet 21 is the second position. In the second stage, in addition to providing power for the actuator 240 to rotate around the fulcrum 24b, the secondary drive mechanism 230 also needs to provide power for the actuator 240 to move along the first direction X.

[0113] In the embodiment of the present application, by providing a floating area 211 on the primary drive mechanism 210, the secondary drive mechanism 230 and the floating assembly 220 can move in the floating area 211 when rotating, thereby preventing the primary drive mechanism 210 from moving with the secondary drive mechanism 230. The primary drive mechanism 210 does not need to move with the secondary drive mechanism 210, thereby avoiding the need to provide a follower mechanism between the primary drive mechanism 210 and the secondary drive mechanism 230, and avoiding the need to accurately control the primary drive mechanism 210 so that the movement of the primary drive mechanism 210 is precisely synchronized with the movement of the secondary drive mechanism 230, so that the operating device 200 in the operation and maintenance robot 10 can have a simple structure and a low control cost at the same time.

[0114] The operation and maintenance robot 10 provided in the embodiment of the present application is provided with a robot body 100 and an operating device 200, wherein the operating device 200 includes: a primary driving mechanism 210, a floating component 220, a secondary driving mechanism 230 and an actuator 240, wherein the primary driving mechanism 210 is connected to the robot body 100, and the primary driving mechanism 210 is used to drive the actuator 240 to push the computing device 22 to a first position in the cabinet 21 along a first direction X, and the primary driving mechanism 210 has a floating area 211; the floating component 220 is movably connected to the primary driving mechanism 210, and the floating component 220 can move within the floating area 211; the secondary driving mechanism 230 is connected to the floating component 220 and can rotate relative to the floating component 220; the actuator 240 is connected to the secondary driving mechanism The secondary driving mechanism 230 is connected with the primary driving mechanism 210, and the actuator 240 is used to be connected with the computing device 22. When the secondary driving mechanism 230 rotates relative to the floating component 220, it can drive the actuator 240 to rotate relative to the cabinet 21. When the secondary driving mechanism 230 rotates, the secondary driving mechanism 230 will drive the floating component 220 to move in the floating area 211. The floating area 211 provides an independent moving space for the secondary driving mechanism 230 relative to the primary driving mechanism 210. The movement of the secondary driving mechanism 230 in the floating area 211 can meet the travel requirement of the second stage of the computing device 22. Therefore, the primary driving mechanism 210 does not need to move with the movement of the secondary driving mechanism 210, so that the operating device 200 in the operation and maintenance robot 10 can have a simple structure and a lower control cost at the same time.

[0115] Next, the movement process of the floating assembly 220 in the floating area 211 is described.

[0116] Fig.18 Another structural schematic diagram of the operating device in the operation and maintenance robot provided in an embodiment of the present application; Fig.19 for Fig.18 Schematic diagram of the explosion. Fig.18 and Fig.19The first driving member 213 is omitted.

[0117] See also Fig. 9 , Fig.18 and Fig.19 As shown, the primary driving mechanism 210 includes a first driving member 213 and a transmission assembly 214. The first driving member 213 can drive the transmission assembly 214 to move along the first direction X, and the floating area 211 is located on the transmission assembly 214. The transmission assembly 214 is provided with a mounting portion extending along the first direction X. The floating assembly 220 is provided with a sliding portion, which can move on the mounting portion, so that the floating assembly 220 moves relative to the transmission assembly 214 along the first direction X in the floating area 211.

[0118] The mounting portion may be a slide rail, and the sliding portion may be a slider matched with the slide rail. The slider may move on the slide rail along the first direction X, so that the floating assembly 220 moves in the floating area 211 relative to the transmission assembly 214 .

[0119] The installation department can also Fig.18 and Fig.19 The sliding shaft 2141 shown, the sliding portion can be a mounting hole 221 matching the sliding shaft 2141. The sliding shaft 2141 is inserted into the mounting hole 221, so that the floating assembly 220 moves along the first direction X in the floating area 211 relative to the transmission assembly 214.

[0120] The first driving member 213 may be a driving motor or a driving cylinder. Fig. 9 The first driving member 213 shown in FIG. 1 is a driving motor.

[0121] Please continue to see Fig. 9 As shown, the primary drive mechanism 210 also includes a transmission member, which may be a rack, a ball screw, etc. Fig. 9 In the figure, the transmission member is schematically shown as a transmission belt 215, the first driving member 213 and the transmission assembly 214 are connected by the transmission belt 215, and the first driving member 213 drives the transmission assembly 214 to move along the first direction X through the transmission belt 215. Fig. 9 A portion of the drive belt 215 is shown in FIG.

[0122] Please continue to see Fig. 9 , Fig.18 and Fig.19The primary driving mechanism 210 further includes four transmission wheels 216, which can be fixed on the mounting plate 120. Two transmission wheels 216 form a group, one group of transmission wheels 216 is arranged near the floating assembly 220 along the first direction X, and the other group of transmission wheels 216 is arranged near the first driving member 213 along the first direction X. The rotating shaft of the first driving member 213 is connected to one of the transmission wheels 216, and the transmission belt 215 is sleeved on the four transmission wheels 216. The transmission assembly 214 is provided with a mounting plate 2142, and the transmission assembly 214 is connected to the transmission belt 215 through the mounting plate 2142. When the first driving member 213 rotates, the first driving member 213 drives the transmission assembly 214 to move along the first direction X through the transmission wheel 216 and the transmission belt 215.

[0123] Please continue to see Figure 6 , Fig.18 and Fig.19 As shown, the mounting plate 120 is also provided with a linear slide rail 121 extending along the first direction X, and the transmission assembly 214 of the primary drive mechanism 210 also includes a first slider 2143, which can move on the linear slide rail 121 to limit the movement trajectory of the transmission assembly 214. Fig.18 and Fig.19 Two sliding shafts 2141 are shown, one of which is blocked. The floating assembly 220 has two mounting holes 221 corresponding to the sliding shafts 2141, and the sliding shafts 2141 are inserted into the mounting holes 221, thereby connecting the floating assembly 220 to the transmission assembly 214 of the primary drive mechanism 210. The floating assembly 220, the secondary drive mechanism 230 and the actuator 240 are connected in sequence. Therefore, the actuator 240 can be driven to move along the first direction X by the primary drive mechanism 210, thereby pushing the computing device 22 to move along the first direction X by the actuator 240. It should be noted that in the first stage, the secondary drive mechanism 230 does not move.

[0124] Please continue to see Fig.18 and Fig.19 As shown, the operating device 200 further includes an elastic member 250 , a first elastic end 250 a of the elastic member 250 abuts against the limiting plate 212 , and a second elastic end 250 b of the elastic member 250 abuts against the floating assembly 220 .

[0125] The elastic member 250 may be a coil spring, an elastic sleeve, a disc spring or other types of elastic members. The elastic member 250 has a first elastic end 250a and a second elastic end 250b located at both ends thereof along the elastic force direction. The first elastic end 250a abuts against the floating assembly 220, and the second elastic end 250b abuts against the limiting plate 212. The elastic member 250 is in a compressed state.

[0126] In the first stage, the floating assembly 220, the secondary driving mechanism 230 and the actuator 240 need to move with the movement of the driving mechanism 210, and the resilience of the elastic member 250 can make the position of the floating assembly 220 in the floating area 211 relatively stable to avoid unnecessary movement of the floating assembly 220, the secondary driving mechanism 230 and the actuator 240. It should be noted that in the second stage, when the floating assembly 220, the secondary driving mechanism 230 and the actuator 240 move along the first direction X in the floating area 211, the elastic member 250 needs to be compressed to overcome the elastic force of the elastic member 250.

[0127] Please continue to see Fig.18 and Fig.19 As shown, in some implementations, the elastic members 250 are respectively arranged on both sides of the floating assembly 220 along the first direction X, and the two elastic members 250 are respectively a first elastic member 251 and a second elastic member 252. The first elastic member 251 and the second elastic member 252 can be the same or different. The limiting plate 212 includes a first limiting plate 2121 and a second limiting plate 2122. The first elastic member 251 is located between the first limiting plate 2121 and the floating assembly 220. The first elastic end 250a of the first elastic member 251 abuts against the floating assembly 220, and the second elastic end 250b of the first elastic member 251 abuts against the first limiting plate 2121. The second elastic member 252 is located between the second limiting plate 2122 and the floating assembly 220. The first elastic end 250a of the second elastic member 252 abuts against the floating assembly 220, and the second elastic end 250b of the second elastic member 252 abuts against the second limiting plate 2122. By providing two elastic members 250 , both sides of the floating assembly 220 can be in elastic contact with the limiting plate 212 , thereby preventing the floating assembly 220 from colliding with the limiting plate 212 .

[0128] exist Fig.18 and Fig.19 In the illustrated embodiment, the first elastic member 251 and the second elastic member 252 are exemplarily shown as coil springs, and the first elastic member 251 and the second elastic member 252 are both sleeved on the sliding shaft 2141. Therefore, the installation method of the first elastic member 251 and the second elastic member 252 is relatively simple, and the space occupied by the first elastic member 251 and the second elastic member 252 along the first direction X is relatively small, which can make the structure of the operating device 200 more compact.

[0129] Next, the structure of the floating assembly 220 and the connection method between the floating assembly 220 and the secondary driving mechanism 230 are described.

[0130] Fig. 20 This is another structural schematic diagram of the operating device in the operation and maintenance robot provided in an embodiment of the present application; Fig.21 for Fig. 20 Explosion diagram.

[0131] See also Fig. 20 and Fig.21 As shown, the floating assembly 220 includes an arc-shaped guide rail 222, and the arc-shaped guide rail 222 has a first tooth portion 2221. The secondary driving mechanism 230 includes a second driving member 231 and a gear 232 connected to the second driving member 231, and the second driving member 231 is connected to the actuator 240. The gear 232 has a second tooth portion 2321, and the second tooth portion 2321 is meshed with the first tooth portion 2221, so that the second driving member 231 can rotate relative to the arc-shaped guide rail 222 and can drive the actuator 240 to rotate.

[0132] The second driving member 231 may be a driving motor, and the rotating shaft of the second driving member 231 is connected to the gear 232. When the rotating shaft of the second driving member 231 rotates, the gear 232 can be driven to rotate. The outer ring of the gear 232 has a second tooth portion 2321.

[0133] The floating assembly 220 further includes a second slider 223, which can slide on the mounting plate 120 along the first direction X. Specifically, the second slider 223 can also move along the linear slide rail 121 on the mounting plate 120 to limit the moving track of the floating assembly 220. Thus, the second slider 223 and the first slider 2143 share the linear slide rail 121, which can reduce the number of slide rails on the mounting plate 120.

[0134] The floating assembly 220 further includes a connecting block 224, which is connected to the second slider 223. The arc guide rail 222 and the second slider 223 are arranged on opposite sides of the connecting block 224 along the third direction Z, so that the second driving member 231 is movably connected to the arc guide rail 222 on one side, and the second slider 223 on the other side is convenient to move along the linear guide rail 121. The mounting hole 221 is arranged on the connecting block 224.

[0135] In some implementations, the inner ring of the arc-shaped guide rail 222 has a first tooth portion 2221. When the second driving member 231 rotates, the second driving member 231 can drive the gear 232 to rotate, and the second tooth portion 2321 on the gear 232 meshes with the first tooth portion 2211 on the arc-shaped guide rail 222, so that the gear 232 can move along the track formed by the inner ring of the arc-shaped guide rail 222 while rotating, and the movement of the gear 232 can drive the second driving member 231 to move along the track formed by the inner ring of the arc-shaped guide rail 222.

[0136] The second driving member 231 is provided with a mounting frame 2311, and the actuator 240 is connected to the mounting frame 2311. In this way, the actuator 240 is fixedly connected to the second driving member 231. Therefore, the second driving member 231 can drive the actuator 240 to move along the track formed by the inner circle of the arc-shaped guide rail 222. When the actuator 240 moves along the track formed by the inner circle of the arc-shaped guide rail 222, the actuator 240 also drives the floating assembly 220 to move along the first direction X through the secondary driving mechanism 230.

[0137] Next, the principle of the actuator 240 driving the floating assembly 220 to move along the first direction X through the secondary driving mechanism 230 is described.

[0138] See also Figure 8 , Fig.16b , Fig.16c and Fig.19 As shown, the second driving member 231 drives the actuator 240 to rotate along the arc guide 222, and the center of the arc guide 222 is aligned with the clamping portion 243 of the actuator 240 along the third direction X, that is, the center of the arc guide 222 is coaxial with the clamping portion 243 of the actuator 240. The clamping portion 243 of the actuator 240 is clamped on the cylindrical pin 22h of the handle 22b. When the second driving member 231 drives the actuator 240 to rotate, the center of rotation of the actuator 240 is the clamping portion 243 (cylindrical pin 22h). When the actuator 240 rotates around the clamping portion 243, the fulcrum 24b of the cabinet 21 remains stationary, so the first end 241 abutting against the fulcrum 24b also remains stationary, and the first end 241 of the actuator 240 abuts against the fulcrum 24b of the cabinet 21 to form a lever effect. While the actuator 240 rotates around the clamping portion 243, the clamping portion 243 also moves into the cabinet 21 to push the computing device 22 to move into the cabinet 21. That is, the clamping portion 243 moves along the first direction X, thereby driving the secondary driving mechanism 230 that rotates the actuator 240 to also move along the first direction X along with the movement of the actuator 240. The secondary driving mechanism 230 is connected to the floating assembly 220, and the floating assembly 220 also moves along the first direction X. Therefore, while the secondary driving mechanism 230 drives the actuator 240 to rotate, the secondary driving mechanism 230 and the actuator 240 also form a stroke along the first direction X. In the embodiment of the present application, by providing a floating area 211 in the primary driving mechanism 210, the floating assembly 220 and the secondary driving mechanism 220 connected to the floating assembly 220 can move in the floating area 211, thereby preventing the primary driving mechanism 210 and the secondary driving mechanism 230 from following the movement. It should be noted that the travel of the floating assembly 220 , the secondary driving mechanism 230 and the actuator 240 along the first direction X corresponds to the distance from the first position to the second position.

[0139] Please continue to see Fig. 20 and Fig.21 As shown, the arc-shaped guide rail 222 has an arc-shaped slide rail 2222 , and the second driving member 231 slides along the arc-shaped slide rail 2222 .

[0140] The arc-shaped slide rail 2222 may be located at the outer ring of the arc-shaped guide rail 222, and the second driving member 231 includes a third slider 2312, which may move on the arc-shaped slide rail 2222 to limit the moving track of the second driving member 231. In other words, the position of the third slider 2312 on the arc-shaped slide rail 2222 is synchronized with the moving position of the gear 232 on the first tooth portion 2221.

[0141] Fig. 22 Schematic diagram of the cooperation between the controller and the primary drive mechanism in the operating device of the operation and maintenance robot provided in the embodiment of the present application Figure 1 .in, Fig. 22 The secondary driving mechanism 230 and the actuator 240 are omitted.

[0142] See also Fig. 22 As shown, the operation and maintenance robot 10 further includes a controller 300. The controller 300 can be disposed on the robot body 100. The first driving member 213 is electrically connected to the controller 300; when the size of the floating area 211 along the first direction X is smaller than the moving range of the floating assembly 220, the controller 300 controls the first driving member 213 to drive the transmission assembly 214 to move along the first direction X.

[0143] In some implementations, the size of the floating area 211 along the first direction X may be greater than or equal to the stroke of the floating assembly 220 along the first direction X to meet the stroke requirement of the floating assembly 220 along the first direction X.

[0144] In other implementations, in order to reduce the space occupied by the operating device 200 along the first direction X, the size of the floating area 211 along the first direction X may be smaller than the stroke of the floating assembly 220 along the first direction X. For example, as the secondary driving mechanism 230 moves, the floating assembly 220 moves on the sliding shaft 2141 toward the second limit plate 2122 until the compression of the second elastic member 252 reaches the upper limit, at which time the floating assembly 220 can no longer move toward the second limit plate 2122. At this time, the computing device 22 has not yet reached the second position.

[0145] In this case, the controller 300 can be used to control the first driving member 213 to move, so that the first driving member 213 drives the transmission assembly 214 to move along the first direction X, and the area between the position after the transmission assembly 214 moves and the position before the movement can be used as the stroke of the floating assembly 220. In this way, the stroke requirement of the floating assembly 220 can be met while reducing the size of the operating device 200 along the first direction X. The specific position of the floating assembly 220 in the floating area 211 can be measured by a sensor to confirm whether the transmission assembly 214 needs to move.

[0146] Please continue to see Fig. 22 As shown, in a possible embodiment, the transmission assembly 214 includes a transfer block 2144, a force sensor 2145 and a transmission block 2146 connected in sequence, the floating area 211 is located on the transmission block 2146, and the force sensor 2145 is electrically connected to the controller 300; a preset force value range is set in the controller 300, and when the force sensor 2145 detects that the force applied by the transmission block 2146 exceeds the preset force value range, the controller 300 controls the first driving member 213 to drive the transmission assembly 214 to move along the first direction X.

[0147] Specifically, the first slider 2143 is connected to the adapter block 2144, and the adapter block 2144 can be slidably connected to the linear guide rail 121 through the first slider 2143 ( Figure 6 and Fig.19 As shown in FIG. 21 ). The force sensor 2145 is connected between the adapter block 2144 and the transmission block 2146. The limit plate 212 is disposed on the transmission block 2146, and the area between the two limit plates 212 is the floating area 211. The first limit plate 2121 is close to the force sensor 2145.

[0148] When the floating component 220 moves along the first direction X until the floating component 220 is close to the first limit plate 2121, and the size of the floating area 211 along the first direction X cannot meet the stroke requirement of the floating component 220, the pressure between the floating component 220 and the first elastic member 251 increases, and the floating component 220 transfers the pressure to the first limit plate 2121 through the first elastic member 251. The force sensor 2145 detects the pressure value applied by the first limit plate 2121 and transfers the pressure value to the controller 300.

[0149] When the pressure value is greater than the upper limit of the preset force value range, the controller 300 controls the first driving member 213 to move, and the first driving member 213 drives the transmission assembly 214 to move along the first direction X toward the first driving member 213 (at Fig. 22The first limit plate 2121 moves to the left in the middle of the floating assembly 220, so that the distance between the first limit plate 2121 and the floating assembly 220 increases. The area formed by the increased distance can be used for the floating assembly 220 to further move toward the first driving member 213 along the first direction X. It should be noted that as the distance between the first limit plate 2121 and the floating assembly 220 increases, the pressure applied by the transmission block 2146 on the force sensor 2145 decreases. When the pressure decreases to a range within a preset force value interval, the controller 300 controls the first driving member 213 to stop moving and the transmission assembly 214 stops moving.

[0150] When the floating component 220 moves along the first direction X until the floating component 220 is close to the second limit plate 2122, and the size of the floating area 211 along the first direction X cannot meet the stroke requirement of the floating component 220, the pressure between the floating component 220 and the first elastic member 251 decreases, and the floating component 220 transfers the pressure to the first limit plate 2121 through the first elastic member 251. The force sensor 2145 detects the pressure value applied by the first limit plate 2121 and transfers the pressure value to the controller 300.

[0151] When the pressure value is less than the lower limit of the preset force value range, the controller 300 controls the first driving member 213 to move, and the first driving member 213 drives the transmission assembly 214 to move away from the first driving member 213 along the first direction X (in Fig. 22 The first driving member 2145 moves to the right in the middle of the second limit plate 2122, so that the distance between the second limit plate 2122 and the floating assembly 220 increases. The area formed by the increased distance can be used for the floating assembly 220 to further move away from the first driving member 213 along the first direction X. It should be noted that as the distance between the first limit plate 2121 and the floating assembly 220 decreases, the pressure applied by the transmission block 2146 on the force sensor 2145 increases. When the pressure increases to a preset force value range, the controller 300 controls the first driving member 213 to stop moving and the transmission assembly 214 stops moving.

[0152] The transmission assembly 214 is provided with a transfer block 2144, a force sensor 2145 and a transmission block 2146 connected in sequence. The force sensor 2145 detects the pressure value applied by the transmission block 2146. By comparing the pressure value with the preset force value range, the position of the floating assembly 220 in the floating area 211 can be determined, thereby judging whether the size of the floating area 211 meets the travel requirement of the floating assembly 220. When the size of the floating area 211 does not meet the travel requirement of the floating assembly 220, the controller 300 controls the first driving member 213 to drive the transmission assembly 214 to move, thereby, the transmission assembly 214 can release part of the space along the first direction X to meet the travel requirement of the floating assembly 220. In addition, by providing the pressure sensor 2145, the force value during the process of putting the computing device 22 on the shelf can also be monitored in real time.

[0153] Fig.23 Schematic diagram of the cooperation between the controller and the primary drive mechanism in the operating device of the operation and maintenance robot provided in the embodiment of the present application Figure 2 .

[0154] See also Fig.23 As shown, in another possible embodiment, the floating component 220 is provided with position sensors 225 at both ends along the first direction X, and the position sensors 225 are electrically connected to the controller 300; a detection block 2147 is provided on the transmission component 214, and the detection block 2147 is located in the floating area 211. When the floating component 220 moves to the area where the detection block 2147 exceeds the two position sensors 225, the controller 300 controls the first driving member 213 to drive the transmission component 214 to move along the first direction X.

[0155] Two position sensors 225 are arranged on both sides of the connection block 224 of the floating assembly 220 along the first direction X, and the two position sensors 225 are respectively a first position sensor 2251 and a second position sensor 2252. The first position sensor 2251 is arranged close to the first limit plate 2121, and the second position sensor 2252 is arranged close to the second limit plate 2122. A detection block 2147 is arranged on the transmission block 2146 of the transmission assembly 214.

[0156] When the floating assembly 220 moves along the first direction X until the floating assembly 220 is close to the first limit plate 2121, the second position sensor 2252 can detect the detection block 2147 (at this time, the size of the floating area 211 along the first direction X still cannot meet the travel requirement of the floating assembly), and the information detected by the second position sensor 2252 is transmitted to the controller 300, and the controller 300 controls the first driving member 213 to move, and the first driving member 213 drives the transmission assembly 214 to move along the first direction X toward the first driving member 213 as a whole (at Fig.23 The first limit plate 2121 moves to the left in the middle of the floating assembly 220, so that the distance between the first limit plate 2121 and the floating assembly 220 increases, and the area formed by the increased distance can be used for the floating assembly 220 to further move toward the first driving member 213 along the first direction X. It should be noted that when the transmission assembly 214 moves toward the first driving member 213 to the position where the second position sensor 2252 cannot detect the detection block 2147, the controller 300 controls the first driving member 213 to stop moving, and the transmission assembly 214 stops moving.

[0157] When the floating assembly 220 moves along the first direction X until the floating assembly 220 is close to the second limit plate 2121, the first position sensor 2251 can detect the detection block 2147 (at this time, the size of the floating area 211 along the first direction X still cannot meet the travel requirement of the floating assembly), and the information detected by the first position sensor 2251 is transmitted to the controller 300, and the controller 300 controls the first driving member 213 to move, and the first driving member 213 drives the transmission assembly 214 to move away from the first driving member 213 as a whole along the first direction X (at this time). Fig.23 The second limit plate 2122 moves to the right in the middle of the floating assembly 220, so that the spacing between the second limit plate 2122 and the floating assembly 220 increases, and the increased spacing stroke area can be used for the floating assembly 220 to further move away from the first driving member 213 along the first direction X. It should be noted that when the transmission assembly 214 moves away from the first driving member 213 to the position where the first position sensor 2251 cannot detect the detection block 2147, the controller 300 controls the first driving member 213 to stop moving, and the transmission assembly 214 stops moving.

[0158] The floating assembly 220 is provided with position sensors 225 at both ends along the first direction X, and a detection block 2147 is provided in the floating area 211. The position of the floating assembly 220 in the floating area 211 can be determined according to whether the position sensor 225 detects the detection block 2147, thereby judging whether the size of the floating area 211 meets the travel requirement of the floating assembly 220. When the size of the floating area 211 does not meet the travel requirement of the floating assembly 220, the controller 300 controls the first driving member 213 to drive the transmission assembly 214 to move, thereby the transmission assembly 214 can release part of the space along the first direction X to meet the travel requirement of the floating assembly 220.

[0159] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An operation and maintenance robot, characterized in that: It includes a robot body and an operating device, wherein the operating device is arranged on the robot body, and the operating device includes a primary driving mechanism, a floating component, a secondary driving mechanism and an actuator; The primary driving mechanism is connected to the robot body, and is used to drive the actuator to push the computing device to a first position in the cabinet along a first direction, and the primary driving mechanism has a floating area; The floating assembly is movably connected to the primary driving mechanism, and the floating assembly is movable within the floating area; The secondary driving mechanism is connected to the floating assembly and is rotatable relative to the floating assembly; The actuator is connected to the secondary driving mechanism. When the secondary driving mechanism rotates relative to the floating assembly, it can drive the actuator to rotate relative to the cabinet to push the computing device to a second position in the cabinet.

2. The operation and maintenance robot according to claim 1, characterized in that: The primary driving mechanism includes a first driving member and a transmission assembly, the first driving member can drive the transmission assembly to move along the first direction, and the floating area is arranged on the transmission assembly; The transmission component is provided with a mounting portion extending along the first direction, and the floating component is provided with a sliding portion, and the sliding portion can move on the mounting portion so that the floating component moves along the first direction within the floating area relative to the transmission component.

3. The operation and maintenance robot according to claim 2, characterized in that: The mounting portion is a sliding shaft, the sliding portion is a mounting hole, and the sliding shaft is inserted into the mounting hole.

4. The operation and maintenance robot according to claim 2 or 3, characterized in that: It also includes an elastic member, and limiting plates are provided at both ends of the transmission assembly along the first direction, and the area between the limiting plates opposite to each other along the first direction forms the floating area; the first elastic end of the elastic member abuts against the limiting plate, and the second elastic end of the elastic member abuts against the floating assembly.

5. The operation and maintenance robot according to claim 4, characterized in that: The elastic member includes a first elastic member and a second elastic member, the first elastic member and the second elastic member are respectively arranged on both sides of the floating assembly along the first direction, and the first elastic member and the second elastic member are both sleeved on the mounting portion; The first elastic member is located between one side of the floating assembly and one of the limiting plates; The second elastic member is located between the other side of the floating assembly and the other limiting plate.

6. The operation and maintenance robot according to any one of claims 1 to 4, characterized in that: The floating assembly comprises an arc-shaped guide rail, and the arc-shaped guide rail has a first tooth portion; The secondary driving mechanism includes a second driving member and a gear connected to the second driving member, the second driving member is connected to the actuator, the gear has a second tooth portion, the second tooth portion is meshed with the first tooth portion, so that the second driving member can rotate relative to the arc guide rail and can drive the actuator to rotate.

7. The operation and maintenance robot according to any one of claims 2 to 6, characterized in that: The operation and maintenance robot further includes a controller, and the first driving member is electrically connected to the controller; When the size of the floating area along the first direction is smaller than the stroke of the floating assembly, the controller controls the first driving member to drive the transmission assembly to move along the first direction; The stroke of the floating component is used to indicate the distance from the first position to the second position.

8. The operation and maintenance robot according to claim 7, characterized in that: The transmission assembly comprises a transfer block, a force sensor and a transmission block connected in sequence, the floating area is arranged on the transmission block, and the force sensor is electrically connected to the controller; The controller is provided with a preset force value interval. When the force sensor detects that the force applied by the transmission block exceeds the preset force value interval, the controller controls the first driving member to drive the transmission assembly to move along the first direction.

9. The operation and maintenance robot according to claim 7, characterized in that: Position sensors are provided at both ends of the floating assembly along the first direction, and the position sensors are electrically connected to the controller; The transmission assembly is provided with a detection block, and the detection block is located in the floating area. When the floating assembly moves to an area where the detection block exceeds the area between the two position sensors, the controller controls the first driving member to drive the transmission assembly to move along the first direction.

10. The operation and maintenance robot according to any one of claims 2 to 6, characterized in that: The robot body is provided with a linear slide rail, and both the transmission component and the floating component can move along the linear slide rail.

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