Operation and maintenance robot and operation and maintenance robot control method

Abstract

The embodiment of the invention provides an operation and maintenance robot and an operation and maintenance robot control method. The operation and maintenance robot comprises a supporting frame, a plugging mechanism, a driving mechanism and a controller, the driving mechanism comprises a mounting frame and a first driving device, and the mounting frame is connected with the supporting frame; the first driving device comprises a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly are arranged on the mounting frame in a spaced mode in the first direction; the controller is used for acquiring an angle of the plugging mechanism relative to the first direction and a deviation value of the plugging mechanism along the second direction, and determining a first displacement value and a second displacement value according to the angle and the deviation value; the first driving assembly and the second driving assembly are electrically connected with the controller, and the first driving assembly drives the plugging mechanism to move by a first displacement value; the second driving assembly drives the plugging mechanism to move by a second displacement value. According to the operation and maintenance robot provided by the embodiment of the invention, the efficiency of driving the plugging mechanism to move by the driving mechanism is relatively high.

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 and an operation and maintenance robot control method. 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 increasing, and computing equipment needs to be frequently installed in or removed from cabinets.

[0003] Computing devices can be loaded and unloaded using an operation and maintenance robot. The operation and maintenance robot includes a drive mechanism and a plug-in / plug-out mechanism. The robot moves to the cabinet, where the drive mechanism aligns the plug-in / plug-out mechanism with the corresponding slot in the cabinet, allowing the computing device to be loaded or unloaded.

[0004] The efficiency of the driving mechanism in the related art in driving the plugging and unplugging mechanism to move is low. Summary of the Invention

[0005] The embodiments of the present application provide an operation and maintenance robot and an operation and maintenance robot control method, and the driving mechanism drives the plugging and unplugging mechanism to move with high efficiency.

[0006] In the first aspect, an embodiment of the present application provides an operation and maintenance robot, comprising: a support frame, a plug-in mechanism, a drive mechanism and a controller, the drive mechanism comprising: a mounting frame and a first drive device, the mounting frame being connected to the support frame; the first drive device comprising a first drive assembly and a second drive assembly, the first drive assembly and the second drive assembly being spaced apart on the mounting frame along a first direction; the controller being used to obtain the angle of the plug-in mechanism relative to the first direction and the offset value of the plug-in mechanism along the second direction, and to determine the first displacement value and the second displacement value based on the angle and the offset value; wherein the first drive assembly and the second drive assembly are both electrically connected to the controller, the first drive assembly being used to drive the plug-in mechanism to move the first displacement value along the second direction; the second drive assembly being used to drive the plug-in mechanism to move the second displacement value along the second direction.

[0007] The operation and maintenance robot provided in the embodiment of the present application is provided with a controller, a first drive component and a second drive component. The controller converts the inclination angle and offset value of the plug-in mechanism into a first displacement value of the first drive component along the second direction and a second displacement value of the second drive component along the second direction. The first drive component drives the plug-in mechanism to move the first displacement value along the second direction, and the second drive component drives the plug-in mechanism to move the second displacement value along the second direction. Compared with the related art that requires rotating the plug-in mechanism first and then moving the plug-in mechanism, the embodiment of the present application drives the plug-in mechanism along the second direction by the first drive component and the second drive component to align the plug-in mechanism with the target slot, so that the first drive device drives the plug-in mechanism to move in fewer steps, and the drive mechanism drives the plug-in mechanism to move in a higher efficiency.

[0008] In one possible embodiment, the operation and maintenance robot provided in the embodiment of the present application has a plug-in mechanism including a first transmission member and a second transmission member, the plug-in mechanism having a first end and a second end opposite to each other along a first direction, with the first transmission member disposed proximate to the first end and the second transmission member disposed proximate to the second end; the first drive assembly is configured to drive the first transmission member to move in the second direction, thereby driving the first end of the plug-in mechanism to move a first displacement value in the second direction; the second drive assembly is configured to drive the second transmission member to move in the second direction, thereby driving the second end of the plug-in mechanism to move a second displacement value in the second direction. The first drive assembly and the second drive assembly drive the plug-in mechanism to move in the same manner, thereby simplifying the structure of the drive mechanism and simplifying the method of connecting the drive mechanism to the plug-in mechanism.

[0009] In one possible embodiment, in the operation and maintenance robot provided in an embodiment of the present application, the first transmission member is a first rack, and the second transmission member is a second rack. The first rack and the second rack extend in a second direction, with the first rack positioned near the first end and the second rack positioned near the second end. The first drive assembly includes a first gear that meshes with the first rack to drive the first end of the plug-in mechanism to move a first displacement value in the second direction. The second drive assembly includes a second gear that meshes with the second rack to drive the second end of the plug-in mechanism to move a second displacement value in the second direction. The meshing of the gears and racks simplifies the process of the first drive device driving the plug-in mechanism to move.

[0010] In one possible embodiment, the operation and maintenance robot provided in the embodiment of the present application, the first drive assembly further includes a first motor connected to the first gear, and the second drive assembly further includes a second motor connected to the second gear; the first motor and the second motor are both arranged on a side of the mounting frame facing away from the plug-in mechanism. The first motor and the second motor are arranged on the same side of the mounting frame. As a result, the space occupied by the first motor and the second motor along the third direction overlaps, so that the space occupied by the first drive device along the third direction Z is smaller.

[0011] In one possible embodiment, the operation and maintenance robot provided in the embodiment of the present application has a first slide rail and a second slide rail provided on the mounting frame, both of which extend in the second direction, with the first slide rail provided near the first drive assembly and the second slide rail provided near the second drive assembly; and a first slider and a second slider provided on the plug-in mechanism, with the first slider aligned with the first slide rail along a third direction and capable of moving on the first slide rail, and the second slider aligned with the second slide rail along the third direction and capable of moving on the second slide rail. In this way, the movement trajectory of the first rack relative to the first gear can be restricted, and the movement trajectory of the second rack relative to the second gear can be restricted.

[0012] In a possible embodiment, the operation and maintenance robot provided in the embodiment of the present application further includes a positioning module, which includes a first detection component and a second detection component; the first detection component and the second detection component are both electrically connected to the controller; the first detection component is used to determine the angle of the plug-in mechanism relative to the first direction, and the second detection component is used to determine the offset value of the plug-in mechanism along the second direction; the controller is used to determine the first displacement value based on the angle, the offset value, and the distance between the first drive component and the target object, and is used to determine the second displacement value based on the angle, the offset value, and the distance between the second drive component and the target object.

[0013] In one possible embodiment, the operation and maintenance robot provided by the embodiment of the present application, the first detection component includes a first ranging sensor and a second ranging sensor; the plug-in mechanism includes a third end and a fourth end opposite to each other along a second direction, the first ranging sensor is arranged near the third end, and the first ranging sensor is used to measure a first distance between the first ranging sensor and the target object; the second ranging sensor is arranged near the fourth end, and the second ranging sensor is used to measure a second distance between the second ranging sensor and the target object; and the controller is used to determine the angle based on the first distance and the second distance.

[0014] In one possible embodiment, the operation and maintenance robot provided in the embodiment of the present application, the second detection component includes a camera, the camera is used to detect a third distance between the target position and the marked position of the camera along the second direction, the target position is used to indicate the positioning reference when the plug-in mechanism is aligned with the target object, the marked position is used to indicate the shooting reference of the camera, and the controller is used to determine the offset value according to the third distance.

[0015] In one possible embodiment, for the operation and maintenance robot provided in an embodiment of the present application, the first displacement value is the sum of the product of the distance between the first drive component and the target object multiplied by the tangent value of the angle and the offset value, and the second displacement value is the sum of the product of the distance between the second drive component and the target object multiplied by the tangent value of the angle and the offset value.

[0016] In one possible implementation, the operation and maintenance robot provided in the embodiment of the present application has a first gap between the target position and the side of the target object facing the operation and maintenance robot, and the offset value is equal to the third distance minus the product of the first gap and the tangent value of the angle.

[0017] In one possible implementation, the operation and maintenance robot provided in the embodiment of the present application has a controller configured to control the first drive assembly and the second drive assembly to move synchronously, thereby further reducing the time required for the drive mechanism to drive the plugging and unplugging mechanism to move.

[0018] In one possible implementation, the maintenance robot plug-in mechanism provided in the embodiments of the present application includes a mounting plate, a first adapter plate, and a second adapter plate, both of which are rotatably connected to the mounting plate; a first transmission member is fixedly connected to the first adapter plate, and a second transmission member is fixedly connected to the second adapter plate. This prevents the plug-in mechanism from getting stuck during movement when the first displacement value differs from the second displacement value.

[0019] In one possible embodiment, the operation and maintenance robot provided in an embodiment of the present application may further include a first bearing and a second bearing, wherein one of the outer ring and the inner ring of the first bearing is connected to the first adapter plate, and the other of the outer ring and the inner ring of the first bearing is connected to the mounting plate; one of the outer ring and the inner ring of the second bearing is connected to the second adapter plate, and the other of the outer ring and the inner ring of the second bearing is connected to the mounting plate. The bearing connection allows the first adapter plate (or the second adapter plate) to be rotatably connected to the mounting plate, thereby simplifying the rotatable connection between the first adapter plate (or the second adapter plate) and the mounting plate. Furthermore, the bearing has a smaller dimension along the third direction Z, thereby reducing the space occupied by the plugging and unplugging mechanism along the third direction Z.

[0020] In one possible embodiment, the operation and maintenance robot provided in an embodiment of the present application further comprises a third adapter plate in the plug-in mechanism, the third adapter plate being positioned between the second adapter plate and the mounting plate, one of the outer ring and the inner ring of the second bearing being connected to the second adapter plate, and the other of the outer ring and the inner ring of the second bearing being connected to the mounting plate via the third adapter plate; the third adapter plate being movable relative to the mounting plate in a first direction. By providing the third adapter plate so that it is connected to the second adapter plate via the second bearing, the third adapter plate can drive the second adapter plate to move relative to the mounting plate in the first direction.

[0021] In one possible embodiment, the operation and maintenance robot provided in the embodiment of the present application has a third slide rail provided on the mounting plate, the third slide rail extends along the first direction, and a third slider is provided on the third adapter plate, the third slider is aligned with the third slide rail and can move on the third slide rail, so that the third adapter plate can drive the second adapter plate to move relative to the mounting plate along the first direction.

[0022] In a possible embodiment, the operation and maintenance robot provided in the embodiment of the present application further includes two actuators, which are connected to the plug-in mechanism; the plug-in mechanism includes a second drive device, the second drive device includes a third drive assembly and a fourth drive assembly, the third drive assembly is used to drive one actuator to move along the first direction, and the fourth drive assembly is used to drive another actuator to move along the first direction; the actuator is used to clamp at both ends of the computing device along the second direction.

[0023] In one possible embodiment, the operation and maintenance robot provided in the embodiments of the present application has two drive mechanisms, the two drive mechanisms being arranged along the second direction and both being connected to the support frame; the drive mechanisms and the plugging mechanisms being provided in a one-to-one correspondence. By providing two plugging mechanisms, when the two plugging mechanisms are misaligned along the third direction, one of the plugging mechanisms can be moved along the third direction, thereby facilitating independent control of the plugging mechanisms.

[0024] In one possible embodiment, in the operation and maintenance robot provided in the embodiment of the present application, the actuators and the plug-in mechanisms are arranged in a one-to-one correspondence, and the two actuators are used to clamp at both ends of the computing device along the second direction; the distance moved by one actuator along the first direction and the distance moved by the other actuator along the first direction are both: the product of half of the distance between the two actuators along the second direction and the tangent value of the angle.

[0025] In one possible embodiment, the positioning module of the operation and maintenance robot provided in an embodiment of the present application includes two second detection assemblies, each corresponding to the two plug-in mechanisms. By providing the two second detection assemblies to respectively detect the offset of the two plug-in mechanisms relative to the cabinet along the second direction, the detection results of the offset of the two plug-in mechanisms are more accurate.

[0026] In a second aspect, an embodiment of the present application provides a method for controlling an operation and maintenance robot, comprising:

[0027] Acquire an angle of the plug-in mechanism relative to the first direction and acquire an offset value of the plug-in mechanism along the second direction;

[0028] Determine a first displacement value and a second displacement value according to the angle and the offset value;

[0029] The first end of the plug-in mechanism is controlled to move a first displacement value along the second direction, and the second end of the plug-in mechanism is controlled to move a second displacement value along the second direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural diagram of a data center;

[0031] Figure 2 A schematic diagram of the structure in which the computing equipment is installed on the cabinet;

[0032] Figure 3 A schematic diagram of an operation and maintenance robot transporting computing equipment provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the structure of the mounting frame, drive mechanism, and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application;

[0034] Figure 5 for Figure 4 Explosion diagram of

[0035] Figure 6 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 1 ;

[0036] Figure 7 A schematic diagram of the structure of the drive mechanism and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application;

[0037] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0038] Figure 9 for Figure 7 Schematic diagram of the cooperation between the driving mechanism and the plug-in mechanism;

[0039] Figure 10 A schematic structural diagram of the side of the mounting frame facing the plug-in mechanism provided in an embodiment of the present application;

[0040] Figure 11 A schematic diagram of the structure of the positioning module and the support frame in the operation and maintenance robot provided in an embodiment of the present application;

[0041] Figure 12 A schematic diagram of the electrical connection relationship between the positioning module and the first drive device in the operation and maintenance robot provided in the embodiment of the application;

[0042] Figure 13 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 2 ;

[0043] Figure 14 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 3 ;

[0044] Figure 14a for Figure 14 Enlarged view of point B in the middle;

[0045] Figure 15 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 4 ;

[0046] Figure 15a for Figure 15 Enlarged view of point C in the middle;

[0047] Figure 16 A schematic diagram of the structure of the plug-in and pull-out mechanism of the operation and maintenance robot provided in an embodiment of the present application;

[0048] Figure 17 for Figure 16 Explosion diagram of

[0049] Figure 18 for Figure 16 Schematic diagram of the connection between the middle mounting plate and the first adapter plate;

[0050] Figure 19 for Figure 16 A schematic diagram of the structure of the second adapter plate;

[0051] Figure 20 for Figure 19 Explosion diagram of

[0052] Figure 21 for Figure 16 Schematic diagram of the connection between the middle mounting plate and the second adapter plate;

[0053] Figure 22 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 4 ;

[0054] Figure 23 A schematic diagram of the structure of the plug-in structure and actuator of the operation and maintenance robot provided in an embodiment of the present application;

[0055] Figure 24 Another structural diagram of the mounting frame, drive mechanism, and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application;

[0056] Figure 25 for Figure 24 Explosion diagram of

[0057] Figure 26 This is a structural diagram of two plug-in and pull-out mechanisms in the operation and maintenance robot provided by an embodiment of the present application that are misaligned along a third direction;

[0058] Figure 27 This is a schematic structural diagram of two actuators in the operation and maintenance robot provided by an embodiment of the present application that are misaligned along a first direction X;

[0059] Figure 28 A flow chart of the operation and maintenance robot control method provided in an embodiment of the present application.

[0060] Description of reference numerals:

[0061] 10. Operation and maintenance robots;

[0062] 100. Robot body; 110. Track;

[0063] 200, support frame; 210, bottom plate; 220, side plate;

[0064] 300, driving mechanism; 300a, first driving mechanism; 300b, second driving mechanism;

[0065] 310, mounting frame; 311, first through hole; 312, second through hole; 313, first slide rail; 314, second slide rail;

[0066] 320, first driving device;

[0067] 321. First drive assembly; 3211. First gear; 3212. First motor;

[0068] 322, second drive assembly; 3221, second gear; 3222, second motor;

[0069] 330, positioning module;

[0070] 331, first detection component; 3311, first distance measuring sensor; 3312, second distance measuring sensor;

[0071] 332, second detection component;

[0072] 333, controller;

[0073] 400, plug-in mechanism; 400a, first end; 400b, second end; 400c, third end; 400d, fourth end; 400e, first plug-in mechanism; 400f, second plug-in mechanism;

[0074] 411, first rack; 412, second rack;

[0075] 421, first slider; 422, second slider;

[0076] 430, mounting plate; 430a, first mounting plate; 430b, second mounting plate;

[0077] 431, first connecting portion; 432, second connecting portion; 433, third slide rail;

[0078] 440, first adapter plate; 450, second adapter plate;

[0079] 461, first bearing; 4611, first outer ring; 4612, first inner ring;

[0080] 462, second bearing; 4621, second outer ring; 4622, second inner ring;

[0081] 470, third adapter plate; 471, third slider;

[0082] 480, second drive device;

[0083] 481. Third drive assembly; 4811. Motor; 4812. Belt; 4813. Rotating wheel;

[0084] 482, fourth drive assembly;

[0085] 500, executive component; 500a, first executive component; 500b, second executive component;

[0086] 510, fourth slider;

[0087] 20. Cabinet; 21. Slot;

[0088] 30. Computing equipment;

[0089] 1000, data center;

[0090] α, angle; A1, target position; A2, marker position;

[0091] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0092] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0093] With the development of big data, cloud computing, and artificial intelligence (AI), the frequency of installation and debugging of computing equipment is increasing, and computing equipment needs to be frequently installed in or removed from cabinets.

[0094] Figure 1 This is a structural diagram of a data center; Figure 2 This is a structural diagram of the computing equipment installed on the cabinet.

[0095] See also Figure 1 and Figure 2As shown, the data center 1000 may include a computer room (not shown) and multiple cabinets 20 and multiple computing devices 30 disposed in the computer room. An operation and maintenance robot 10 may also be disposed in the computer room. The operation and maintenance robot 10 may move in a channel formed by two adjacent rows of cabinets 20 to move the computing devices 30 to the vicinity of the cabinets 20.

[0096] Computing devices can be desktop servers, blade servers, rack servers, high-density servers, server nodes, switch nodes, and power supply nodes in a rack-mounted server.

[0097] The cabinet 20 serves as a support component for the computing device 30. Figure 2 As shown, the cabinet 20 has a first direction X, a second direction Y, and a third direction Z, wherein the first direction X can be the depth direction of the cabinet 20, the second direction Y can be the width direction of the cabinet 20, and the third direction Z can be the height direction of the cabinet. The cabinet 20 is provided with a plurality of slots arranged along the third direction Z, each slot can be used to install a computing device 30, and a plurality of computing devices 30 are arranged along the third direction Z. The slot where the computing device 30 needs to be plugged in is the target slot 21 (in Figure 2 The target slot 21 is schematically shown by a dotted line in FIG.

[0098] Figure 3 Schematic diagram of an operation and maintenance robot transporting computing equipment provided in an embodiment of the present application.

[0099] See also Figure 3 As shown, the operation and maintenance robot 10 includes a robot body 100. 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 20.

[0100] Please continue to see Figure 3 As shown, the robot body 100 also includes a support frame 200. A moving part (not shown in the figure) is provided at the bottom of the robot body 100, which can drive the robot body 100 to move so that the robot body 100 can move to different cabinets 20, which are the target objects. The moving part can be a universal wheel or a crawler. Figure 3 In the figure, the computing device 30 is located on the operation and maintenance robot 10, and the operation and maintenance robot 10 is carrying the computing device 30.

[0101] Please continue to see Figure 3As shown, the robot body 100 is provided with a track 110 extending along a third direction Z. The support frame 200 is disposed on the track 110 and can move along the track 110 along the third direction Z to align with the target slot 21 in the cabinet 20, thereby loading or unloading the computing device 30. The operation and maintenance robot 10 also includes a drive mechanism 300 and an insertion and extraction mechanism 400. The drive mechanism 300 is used to drive the insertion and extraction mechanism 400 to further align with the target slot 21.

[0102] Figure 4 A schematic diagram of the structure of the mounting frame, drive mechanism, and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application; Figure 5 for Figure 4 Explosion diagram of Figure 6 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 1 .

[0103] See also Figures 4 to 6 As shown, the operation and maintenance robot 10 also includes a controller 333 ( Figure 12 ), the driving mechanism 300 includes: a mounting frame 310 and a first driving device 320, the mounting frame 310 is connected to the support frame 200; the first driving device 320 includes a first driving component 321 and a second driving component 322, the first driving component 321 and the second driving component 322 are arranged on the mounting frame 310 along the first direction X at intervals; the controller 333 can be set on the robot body 100, the controller 333 is used to obtain the angle α of the plug-in mechanism 400 relative to the first direction X and the offset value of the plug-in mechanism 400 along the second direction Y, and determine the first displacement value Y1 and the second displacement value Y2 according to the angle α and the offset value; the first driving component 321 and the second driving component 322 are both electrically connected to the controller 333, the first driving component 321 is used to drive the plug-in mechanism 400 to move the first displacement value Y1 along the second direction Y; the second driving component 322 is used to drive the plug-in mechanism 400 to move the second displacement value Y2 along the second direction Y.

[0104] The operation and maintenance robot 10 provided in the embodiment of the present application is provided with a controller 333, a first drive component 321 and a second drive component 322. The controller 333 converts the angle α and the offset value Y0 of the plug-in mechanism 400 into a first displacement value Y1 of the first drive component 321 along the second direction Y and a second displacement value Y2 of the second drive component 322 along the second direction Y. The first drive component 321 drives the plug-in mechanism 400 to move the first displacement value Y1 along the second direction Y, and the second drive component 322 drives the plug-in mechanism 400 to move the second displacement value Y2 along the second direction Y. Compared with the related art that requires rotating the plug-in mechanism first and then moving the plug-in mechanism, the embodiment of the present application drives the plug-in mechanism 400 along the second direction Y by the first drive component 321 and the second drive component 322, so that the plug-in mechanism 400 is aligned with the target slot 21, so that the first drive device 320 drives the plug-in mechanism 400 to move in fewer steps, and the drive mechanism 300 drives the plug-in mechanism 400 to move in a higher efficiency.

[0105] There may be two support frames 200, symmetrically arranged along the second direction Y. Each support frame 200 includes a bottom plate 210 and side plates 220, which may be L-shaped. The mounting frame 310 is connected to the side plates 220 on the side facing away from the bottom plate 210. A space is defined between the mounting frame 310 and the bottom plate 210, and the plugging mechanism 400 is located in the space between the mounting frame 310 and the bottom plate 210.

[0106] The first drive assembly 321 and the second drive assembly 322 can both be connected to the mounting bracket 310 by fasteners. The first drive assembly 321 and the second drive assembly 322 can be motor drive assemblies or cylinder drive assemblies. The first drive assembly 321 and the second drive assembly 322 are spaced apart along the first direction X. The first drive assembly 321 and the second drive assembly 322 contact the plug-in mechanism 400 at different positions along the first direction X. The end of the plug-in mechanism 400 facing the cabinet 20 is the first end 400a, and the end away from the cabinet 20 is the second end 400b. For example, the first drive assembly 321 can contact the side of the plug-in mechanism 400 close to the first end 400a. When the first drive assembly 321 is actuated, the first drive assembly 321 applies a force F on the plug-in mechanism 400 along the second direction Y, and the end of the plug-in mechanism 400 close to the cabinet 20 can move along the second direction Y. The second drive assembly 322 can contact the side of the plugging mechanism 400 near the second end 400b. When the second drive assembly 322 is actuated, the first drive assembly 321 applies a force F to the plugging mechanism 400 along the second direction Y, allowing the end of the plugging mechanism 400 away from the cabinet 20 to move along the second direction Y. When both the first drive assembly 321 and the second drive assembly 322 are actuated, the first drive assembly 321 and the second drive assembly 322 simultaneously apply a force F to the plugging mechanism 400 along the second direction Y, allowing the entire plugging mechanism 400 to move along the second direction Y.

[0107] Please continue to see Figure 6 As shown, in Figure 6 The dashed line in the figure shows the position where the plugging mechanism 400 is aligned with the cabinet 20 along the first direction X. This position is the alignment position for the plugging mechanism 400 to insert or remove the computing device 30 from the target slot 21. The angle α of the plugging mechanism 400 relative to the first direction X is α. The offset value of the plugging mechanism 400 refers to the offset along the second direction Y between the actual position of the plugging mechanism 400 and the aligned position of the plugging mechanism.

[0108] Figure 7 A schematic diagram of the structure of the drive mechanism and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application; Figure 8 for Figure 7 Enlarged view of point A in the middle; Figure 9 for Figure 7 Schematic diagram of the coordination between the driving mechanism and the plug-in mechanism.

[0109] See also Figures 7 to 9As shown, the plugging mechanism 400 includes a first transmission member and a second transmission member spaced apart along a first direction X. The first transmission member is disposed near the first end 400a, and the second transmission member is disposed near the second end 400b. The first drive assembly 321 is configured to drive the first transmission member to move along the second direction Y, thereby driving the first end 400a of the plugging mechanism 400 to move along the second direction Y by a first displacement value Y1. The second drive assembly 322 is configured to drive the second transmission member to move along the second direction Y, thereby driving the second end 400b of the plugging mechanism 400 to move along the second direction Y by a second displacement value Y2.

[0110] The first transmission member and the second transmission member can be a screw rod, a belt, or a rack. Figures 7 to 9 In the illustrated embodiment, description is made by taking the first transmission member being the first rack 411 and the second transmission member being the second rack 412 as an example.

[0111] Specifically, the first rack 411 and the second rack 412 both extend along the second direction Y, and the first rack 411 is arranged close to the first end 400a, and the second rack 412 is arranged close to the second end 400b; the first drive assembly 321 includes a first gear 3211, which is engaged with the first rack 411 to drive the first end 400a of the plug-in mechanism 400 to move a first displacement value Y1 along the second direction Y; the second drive assembly 322 includes a second gear 3221, which is engaged with the second rack 412 to drive the second end 400b of the plug-in mechanism 400 to move a second displacement value Y2 along the second direction Y.

[0112] The first drive assembly 321 may include a first motor 3212 and a first gear 3211. The first motor 3212 is mounted on the mounting bracket 310. The rotating shaft of the first motor 3212 is connected to the first gear 3211. When the rotating shaft of the first motor 3212 rotates, it can drive the first gear 3211 to rotate. The second drive assembly 322 may include a second motor 3222 and a second gear 3221. The second motor 3222 is mounted on the mounting bracket 310. The rotating shaft of the second motor 3222 is connected to the second gear 3221. When the rotating shaft of the second motor 3222 rotates, it can drive the second gear 3221 to rotate. The mounting frame 310 has a first through hole 311 and a second through hole 312. The first through hole 311 is aligned with the first drive assembly 321. The first gear 3211 is passed through the first through hole 311 on the side of the mounting frame 310 facing the plug-in mechanism 400. The second through hole 312 is aligned with the second drive assembly 322. The second gear 3221 is passed through the second through hole 312 on the side of the mounting frame 310 facing the plug-in mechanism 400.

[0113] The plug-in mechanism 400 includes two racks. The rack located near the first end 400a is a first rack 411, and the rack located near the second end 400b is a second rack 412. The first gear 3211 and the first rack 411 are aligned along the third direction Z and meshed with each other. The second gear 3221 and the second rack 412 are aligned along the third direction Z and meshed with each other.

[0114] When the first motor 3212 is in operation, the first motor 3212 drives the first gear 3211 to rotate, and the first rack 411 moves relative to the first gear 3211. When the first rack 411 moves, it can drive the area of ​​the plug-in mechanism 400 close to the first end 400a to move.

[0115] When the second motor 3222 is in operation, the second motor 3222 drives the second gear 3221 to rotate, and the second rack 412 moves relative to the second gear 3221. When the second rack 412 moves, it can drive the area of ​​the plug-in mechanism 400 close to the second end 400b to move.

[0116] Through the engagement of the gear and the rack, the movement process of the plug-in mechanism 400 driven by the first drive device 320 is relatively simple, and the first drive component 321 and the second drive component 322 in the first drive device 320 have the same structure, and the first drive component 321 and the second drive component 322 drive the plug-in mechanism 400 to move in the same way. Compared with the related art in which one drives the plug-in mechanism to rotate and the other drives the plug-in mechanism to move, the structure of the drive mechanism 300 is simple and the method of connecting the drive mechanism and the plug-in mechanism 400 is also simpler.

[0117] Please continue to see Figure 7 and Figure 9 As shown, the first motor 3212 and the second motor 3222 are both arranged on a side of the mounting frame 310 facing away from the plug-in mechanism 400 .

[0118] The first motor 3212 and the second motor 3222 are arranged on the same surface of the mounting frame 310 , whereby the spaces occupied by the first motor 3212 and the second motor 3222 along the third direction Z overlap, so that the space occupied by the first driving device 320 along the third direction Z is smaller.

[0119] Figure 10 This is a schematic structural diagram of the side of the mounting frame facing the plug-in mechanism provided in an embodiment of the present application.

[0120] See also Figures 7 to 10As shown, a first slide rail 313 and a second slide rail 314 are provided on the mounting frame 310, and the first slide rail 313 and the second slide rail 314 both extend along the second direction Y, the first slide rail 313 is arranged close to the first drive assembly 321, and the second slide rail 314 is arranged close to the second drive assembly 322; a first slider 421 and a second slider 422 are provided on the plug-in mechanism 400, the first slider 421 is aligned with the first slide rail 313 along the third direction Z and can move on the first slide rail 313 to limit the movement trajectory of the first rack 411 relative to the first gear 3211; the second slider 422 is aligned with the second slide rail 314 along the third direction Z and can move on the second slide rail 314 to limit the movement trajectory of the second rack 412 relative to the second gear 3221.

[0121] Next, the specific structure and working mode of the positioning module 330 are described.

[0122] Figure 11 This is a schematic structural diagram of the positioning module and support frame in the operation and maintenance robot provided in an embodiment of the present application.

[0123] See also Figure 4 、 Figure 5 and Figure 11 As shown, the positioning module 330 is also connected to the support frame 200. Figure 4 and Figure 5 As shown, the positioning module 330 may be disposed on a side of the base plate 210 facing away from the mounting bracket 310 .

[0124] Figure 12 Schematic diagram of the electrical connection relationship between the positioning module and the first drive device in the operation and maintenance robot provided in the application embodiment.

[0125] See also Figure 4 、 Figure 5 、 Figure 11 and Figure 12 As shown, the operation and maintenance robot 10 also includes a positioning module 330, which includes a first detection component 331 and a second detection component 332. The first detection component 331 and the second detection component 332 are both electrically connected to a controller 333. The first detection component 331 is used to determine an angle α of the plug-in mechanism 400 relative to the first direction X, and the second detection component 332 is used to determine an offset value Y0 of the plug-in mechanism 400 relative to the cabinet 20 along the second direction Y. The controller 333 is used to determine a first displacement value Y1 based on the angle α and the offset value Y0, as well as the spacing between the first drive component 321 and the cabinet 20, and to determine a second displacement value Y2 based on the angle α and the offset value Y0, as well as the spacing between the second drive component 322 and the cabinet 20.

[0126] The first detection component 331 may be an inclinometer, which can measure the angle α of the plug-in mechanism 400 relative to the first direction X and transmit the detected angle α to the controller 333. Figure 11 and Figure 12 In the embodiment shown, the first detection assembly 331 includes a first distance measuring sensor 3311 and a second distance measuring sensor 3312; Figure 5 As shown, the plugging and unplugging mechanism 400 includes a third end 400c and a fourth end 400d that are opposite each other along the second direction Y. A first distance measuring sensor 3311 is disposed near the third end 400c and is used to measure a first distance S1 between the first distance measuring sensor 3311 and the cabinet 20. A second distance measuring sensor 3312 is disposed near the fourth end 400d and is used to measure a second distance S2 between the second distance measuring sensor 3312 and the cabinet 20. The first and second distance measuring sensors 3311 and 3312 can transmit the first and second distances S1 and S2 measured by the first and second distance measuring sensors 3311 and 3312 to a controller 333. The controller 333 is configured to determine an angle α based on the first and second distances S1 and S2.

[0127] Figure 13 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 2 .

[0128] See also Figure 13 As shown, the first ranging sensor 3311 and the second ranging sensor 3312 are both disposed on a side of the computing device 30 close to the cabinet. The first ranging sensor 3311 may be a laser ranging sensor. The laser beam emitted by the first ranging sensor 3311 is perpendicular to the light-emitting surface of the first ranging sensor 3311. The distance between the light-emitting surface of the first ranging sensor 3311 and the cabinet 20 is marked as a first distance S1. The second ranging sensor 3312 may also be a laser ranging sensor. The laser beam emitted by the second ranging sensor 3312 is perpendicular to the light-emitting surface of the second ranging sensor 3312. The distance between the light-emitting surface of the second ranging sensor 3312 and the cabinet 20 is marked as a second distance S2.

[0129] It should be noted that when the plug-in mechanism 400 is tilted counterclockwise relative to the alignment position, the first spacing S1 is greater than the second spacing S2, at which point the angle α is positive, and the tilting direction of the plug-in mechanism 400 is the positive tilting direction. When the plug-in mechanism 400 is tilted clockwise relative to the alignment position, the first spacing S1 is less than the second spacing S2, at which point the angle α is negative, and the tilting direction of the plug-in mechanism 400 is the negative tilting direction. Figure 13 The positive tilt direction is used as an example for explanation.

[0130] The first distance measuring sensor 3311 transmits the first distance S1 to the controller 333, and the second distance measuring sensor 3312 transmits the second distance S2 to the controller 333. After obtaining the first distance S1 and the second distance S2, the controller 333 can calculate the angle α according to the following formula:

[0131]

[0132] Wherein, D1 is the distance between the first distance measuring sensor 3311 and the second distance measuring sensor 3312 along the second direction Y. It should be noted that the angle actually calculated according to the above formula is Figure 13 α1 in , where α1 is equal to the angle α, therefore, α1 is expressed as the angle α in the above formula.

[0133] Please continue to see Figure 11 and Figure 13 As shown, the second detection assembly 332 includes a camera, which is used to detect a third distance S3 between the target position A1 and the camera's marked position A2 along the second direction Y. The controller is used to determine the offset value Y0 based on the third distance S3 between the target position A1 and the marked position A2. The second detection assembly 332 can be installed at both ends of the plug-in mechanism 400 along the second direction Y, or it can be installed in the middle of the plug-in mechanism 400 along the second direction Y.

[0134] The target position A1 can be a structural member on the target slot 21, which is used as a positioning reference member. The mark position A2 is a mark point in the field of view of the camera. When the plug-in mechanism 400 is aligned with the cabinet 20 along the second direction Y, the target position A1 photographed by the camera coincides with the mark position A2. When the plug-in mechanism 400 is offset relative to the alignment position, there is a third distance S3 between the target position A1 photographed by the camera and the mark position A2, and the offset value Y0 can be determined based on the third distance S3. Figure 13 The upper part of the figure also schematically shows a schematic diagram of the field of view of the second detection component 332 in the shooting frame, wherein the small square represents the target position A1 and the cross represents the mark position A2.

[0135] It should be noted that when the plug-in mechanism 400 deviates to the right along the second direction Y relative to the alignment position, the offset value Y0 takes a positive value; when the plug-in mechanism 400 deviates to the left along the second direction relative to the alignment position, the offset value Y0 takes a negative value. Figure 13 In the description, the plug-in mechanism 400 is taken as an example in which it is offset to the right along the second direction Y relative to the alignment position.

[0136] The controller 333 can calculate the first displacement value Y1 that the first driving component 321 needs to drive the plugging mechanism 400 to move along the second direction Y, and the second displacement value Y2 that the second driving component 322 needs to drive the plugging mechanism 400 to move along the second direction Y based on the angle α and the offset value Y0.

[0137] The controller 333 transmits the first displacement value Y1 to the first driving component 321 , and transmits the second displacement value Y2 to the second driving component 322 .

[0138] Figure 13 The initial position of the plug-in mechanism 400 is shown in the figure, and the target position of the plug-in mechanism 400 is shown in the dotted line. After the first driving component 321 drives the plug-in mechanism 400 to move the first displacement value Y1 along the second direction Y, and the second driving component 322 drives the plug-in mechanism 400 to move the second displacement value Y2 along the second direction Y, the plug-in mechanism 400 and the target slot 21 of the cabinet 20 can be aligned more accurately.

[0139] That is to say, by setting a positioning module 330, a first drive component 321 and a second drive component 322, the positioning module 330 converts the angle α and the offset value Y0 of the plug-in mechanism 400 into a first displacement value Y1 of the first drive component 321 along the second direction Y and a second displacement value Y2 of the second drive component 322 along the second direction Y. The first drive component 321 drives the plug-in mechanism 400 to move the first displacement value Y1 along the second direction Y, and the second drive component 322 drives the plug-in mechanism 400 to move the second displacement value Y2 along the second direction Y. Compared with the related art that requires rotating the plug-in mechanism first and then moving the plug-in mechanism, the embodiment of the present application drives the plug-in mechanism 400 along the second direction Y by the first drive component 321 and the second drive component 322, so that the plug-in mechanism 400 is aligned with the target slot 21, so that the first drive device 320 drives the plug-in mechanism 400 to move in fewer steps, and the drive mechanism 300 drives the plug-in mechanism 400 to move in a higher efficiency.

[0140] Next, a specific manner in which the controller 333 determines the first displacement value Y1 and the second displacement value Y2 according to the angle α and the offset value Y0 is described.

[0141] The first displacement value Y1 is the sum of the product of the distance between the first driving component 321 and the cabinet 20 multiplied by the tangent value of the angle α and the offset value Y0. The second displacement value Y2 is the sum of the product of the distance between the second driving component 322 and the cabinet 20 multiplied by the tangent value of the angle α and the offset value Y0.

[0142] Specifically, the distance between the first driving assembly 321 and the cabinet 20 is the fourth distance S4, and the first displacement value Y1 of the first driving assembly 321 can be calculated by the following formula:

[0143]

[0144] The product of the fourth spacing S4 and tanα is the displacement required by the first drive assembly 321 to drive the plugging mechanism 400 due to the tilt of the plugging mechanism 400 relative to the first direction X. Y0 is the displacement required by the first drive assembly 321 to drive the plugging mechanism 400 due to the offset of the plugging mechanism 400 relative to the cabinet 20 along the second direction Y. The sum of the two is the first displacement Y1 required by the first drive assembly 321 to drive the plugging mechanism 400.

[0145] Specifically, the distance between the second driving assembly 322 and the cabinet 20 is the fifth distance S5, and the first displacement value Y1 of the first driving assembly 321 can be calculated by the following formula:

[0146]

[0147] The product of the fifth spacing S5 and tanα is the displacement required by the second drive assembly 322 to drive the plugging mechanism 400 due to the tilt of the plugging mechanism 400 relative to the first direction X. Y0 is the displacement required by the second drive assembly 322 to drive the plugging mechanism 400 due to the offset of the plugging mechanism 400 relative to the cabinet 20 along the second direction Y. The sum of the two is the second displacement Y2 required by the second drive assembly 322 to drive the plugging mechanism 400.

[0148] Therefore, the positioning module 330 can calculate the first displacement value Y1 that the first drive component 321 needs to drive the plug-in mechanism 400 along the second direction Y by measuring the angle α and the offset value Y0, and can calculate the second displacement value Y2 that the second drive component 322 needs to drive the plug-in mechanism 400 along the second direction Y. That is to say, through the measurement and calculation of the positioning module 330, the angle α and the offset value Y0 of the plug-in mechanism 400 can be converted into the displacement values ​​of the first drive component 321 and the second drive component 322 driving the plug-in mechanism 400 along the second direction Y, so that the first drive component 321 and the second drive component 322 can drive the plug-in mechanism 400 along the second direction Y. The connection method of the first drive component 321 and the second drive component 322 is consistent with the plug-in mechanism 400, so that the structure of the operation and maintenance robot 10 is relatively simple.

[0149] Figure 14 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 3 ; Figure 14a for Figure 14 Enlarged view of point B in the middle; Figure 15 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 4 ; Figure 15a for Figure 15 Enlarged view of point C in the middle.

[0150] join Figures 14 to 15a As shown, there is a first gap C between the target position A1 and the side of the cabinet 20 facing the operation and maintenance robot 10, and the offset value Y0 is equal to the third spacing S3 minus the product of the first gap C and the tangent value of the angle α.

[0151] For details, please refer to Figure 14 and Figure 14a As shown, the target position A1 detected by the second detection component 332 is usually located on the target slot 21. The target slot 21 and the side of the cabinet 20 facing the operation and maintenance robot 10 usually have a first gap C. Due to the existence of the first gap C, when the plug-in mechanism 400 is tilted relative to the first direction X, there is still a pre-offset value Y3 between the mark position A2 and the target position A1. The pre-offset value Y3 is equal to the product of the first gap C and the tangent value of the angle α, that is:

[0152] Y3=C×tanα

[0153] Wherein, the angle used according to the above formula is Figure 14 and Figure 15a α2 in α2 is equal to the angle α, so α2 is expressed as the angle α in the above formula)

[0154] Please continue to see Figure 15 and Figure 15a As shown, when the plugging mechanism 400 is tilted relative to the first direction X and offset relative to the aligned position, the offset mark position is shown as A2'. The third distance S3 determined by the second detection assembly 332 is equal to the distance between A2' and the target position A1. Therefore, the actual offset value Y0 also needs to be calculated by subtracting the pre-offset value Y3 from the determined third distance S3, that is:

[0155] Y0=S3-Y3=S3-C×tanα

[0156] In a possible implementation, the controller 333 is configured to control the first drive assembly 321 and the second drive assembly 322 to move synchronously.

[0157] The controller 333 is used to control the synchronous action of the first drive component 321 and the second drive component 322, which means that after the controller 333 transmits the first displacement value Y1 and the second displacement value Y2 to the first drive component 321 and the second drive component 322 respectively, under the control of the controller 333, the time for the first drive component 321 to drive the plug-in mechanism 400 to move the first displacement value Y1 is the same as the time for the second drive component 322 to drive the plug-in mechanism 400 to move the second displacement value Y2. As a result, the time for the drive mechanism 300 to drive the plug-in mechanism 400 to move can be further reduced.

[0158] For example, when the plug-in mechanism 400 is offset along the second direction Y relative to the cabinet body 20 without tilting, the second displacement value Y2 is equal to the first displacement value Y1, and the controller 333 can control the first motor 3212 and the second motor 3222 to have the same rotational speed. At this time, the movement amount of the first rack 411 relative to the first gear 3211 is the same as the movement amount of the second rack 412 relative to the second gear 3221, so that the plug-in mechanism 400 is translated to align with the target slot 21 in the cabinet body 20 along the first direction X.

[0159] For example, when the plug-in mechanism 400 is tilted relative to the first direction X and offset along the second direction Y relative to the cabinet 20, the second displacement value Y2 is greater than the first displacement value Y1. The controller 333 can calculate the difference between the second displacement value Y2 and the first displacement value Y1, and adjust according to the difference so that the rotation speed of the second motor 3222 is greater than the rotation speed of the first motor 3212. As a result, the moving speed of the second rack 412 is greater than the moving speed of the first rack 411, so that the movement amount of the second end 400b of the plug-in mechanism 400 is greater than the movement amount of the first end 400a, so that the plug-in mechanism 400 moves along the first direction X to align with the target slot 21 in the cabinet 20.

[0160] Figure 16 A schematic diagram of the structure of the plug-in and pull-out mechanism of the operation and maintenance robot provided in an embodiment of the present application; Figure 17 for Figure 16 Explosion diagram of Figure 18 for Figure 16 Schematic diagram of the connection between the middle mounting plate and the first adapter plate.

[0161] See also Figures 16 to 18 As shown, the plug-in mechanism 400 includes a mounting plate 430, a first adapter plate 440 and a second adapter plate 450. The first adapter plate 440 and the second adapter plate 450 are both rotatably connected to the mounting plate 430; the first rack 411 is fixedly connected to the first adapter plate 440, and the second rack 412 is fixedly connected to the second adapter plate 450.

[0162] By rotatably connecting the first adapter plate 440 and the second adapter plate 450 to the mounting plate 430, when the second displacement value Y2 differs from the first displacement value Y1, the first rack 411 and the second rack 412 move at different speeds. The speed at which the first rack 411 drives the first adapter plate 440 on the first slide rail 313 differs from the speed at which the second rack 412 drives the second adapter plate 450 on the second slide rail 314. By rotatably connecting both the first adapter plate 440 and the second adapter plate 450 to the mounting plate 430, the plugging mechanism 400 rotates around the connection between the first adapter plate 440 and the mounting plate 430, or around the connection between the second adapter plate 450 and the mounting plate 430. This prevents the plugging mechanism 400 from getting stuck during movement when the first displacement value Y1 differs from the second displacement value Y2.

[0163] Please continue to see Figures 16 to 18 As shown, the plug-in mechanism 400 also includes a first bearing 461 and a second bearing 462. One of the outer ring and the inner ring of the first bearing 461 is connected to the first adapter plate 440, and the other of the outer ring and the inner ring of the first bearing 461 is connected to the mounting plate 430; one of the outer ring and the inner ring of the second bearing 462 is connected to the second adapter plate 450, and the other of the outer ring and the inner ring of the second bearing 462 is connected to the mounting plate 430.

[0164] The first bearing 461 includes a first outer ring 4611 and a first inner ring 4612. Figure 17 and Figure 18 In the illustrated embodiment, the first outer ring 4611 of the first bearing 461 is connected to the first adapter plate 440. A first connecting portion 431 is provided on the mounting plate 430 at a position opposite the first bearing 461. The first connecting portion 431 is inserted into the hollow structure of the first inner ring 4612 of the first bearing 461 to connect with the first inner ring 4612. The first inner ring 4612 of the first bearing 461 can rotate relative to the first outer ring 4611, allowing the mounting plate 430 to rotate about the first connecting portion 431. In other embodiments, the first inner ring 4612 of the first bearing 461 can also be connected to the first adapter plate 440, and the first outer ring 4611 of the first bearing 461 can also be connected to the mounting plate 430.

[0165] The second bearing 462 includes a second outer ring 4621 and a second inner ring 4622. Figure 17In the illustrated embodiment, the second outer ring 4621 of the second bearing 462 is connected to the second adapter plate 450. A second connecting portion 432 is provided on the mounting plate 430 at a position opposite the second bearing 462. The second connecting portion 432 is inserted into the hollow structure of the second inner ring 4622 of the second bearing 462 to connect with the second inner ring 4622. The second inner ring 4622 of the second bearing 462 can rotate relative to the second outer ring 4621, allowing the mounting plate 430 to rotate about the second connecting portion 432. In other embodiments, the second inner ring 4622 of the second bearing 462 can also be connected to the second adapter plate 450, and the second outer ring 4621 of the second bearing 462 can also be connected to the mounting plate 430.

[0166] The first adapter plate 440 (or the second adapter plate 450) is rotatably connected to the mounting plate 430 through a bearing connection, which makes the rotatable connection between the first adapter plate 440 (or the second adapter plate 450) and the mounting plate 430 relatively simple, and the size of the bearing along the third direction Z is small, so that the space occupied by the plug-in mechanism 400 along the third direction Z is small.

[0167] Figure 19 for Figure 16 A schematic diagram of the structure of the second adapter plate; Figure 20 for Figure 19 Explosion diagram of Figure 21 for Figure 16 Schematic diagram of the connection between the middle mounting plate and the second adapter plate.

[0168] Please continue to see Figures 19 to 21 As shown, the plug-in mechanism 400 also includes a third adapter plate 470, which is located between the second adapter plate 450 and the mounting plate. One of the outer ring and the inner ring of the second bearing 462 is connected to the second adapter plate 450, and the other of the outer ring and the inner ring of the second bearing 462 is connected to the mounting plate 430 through the third adapter plate 470; the third adapter plate 470 can move relative to the mounting plate 430 along the first direction.

[0169] Figure 22 Schematic diagram of the process of the driving mechanism driving the plugging and unplugging mechanism to move in the operation and maintenance robot provided in the embodiment of the present application Figure 4 .

[0170] See also Figure 22As shown, when the plug-in mechanism 400 rotates with the first connection part 431 as the center, the rotation radius of the plug-in mechanism 400 at the second connection part 432 is the distance between the first connection part 431 and the second connection part 432. Due to the restriction of the slide rail on the movement trajectory, the movement trajectory of the second connection part 432 is not an arc (the path of L1 in the figure), but a straight line movement along the second direction Y (the path of L2 in the figure). Therefore, the distance between the second connection part 432 and the first connection part 431 is gradually reduced. Therefore, the second adapter plate 450 needs to move relative to the mounting plate 430 along the first direction X. By providing the third adapter plate 470, so that the third adapter plate 470 is connected to the second adapter plate 450 through the second bearing 462, the third adapter plate 470 can drive the second adapter plate 450 to move relative to the mounting plate 430 along the first direction X.

[0171] Specifically, the second outer ring 4621 of the second bearing 462 is connected to the second adapter plate 450, and the second connecting portion 432 is provided on the third adapter plate 470. The second connecting portion 432 is inserted into the hollow structure of the second inner ring 4622 of the second bearing 462, so that the third adapter plate 470 is connected to the second adapter plate 450 through the second bearing 462. In other embodiments, the second inner ring 4622 of the second bearing 462 may also be connected to the second adapter plate 450, and the second outer ring 4621 of the second bearing 462 may also be connected to the third adapter plate 470.

[0172] A third slide rail 433 is provided on the mounting plate 430, and the third slide rail 433 extends along the first direction X. A third slider 471 is provided on the third adapter plate 470, and the third slider 471 is aligned with the third slide rail 433 and can move on the third slide rail 433, so that the third adapter plate 470 can drive the second adapter plate 450 to move along the first direction X relative to the mounting plate 430.

[0173] Figure 23 This is a schematic diagram of the plug-in structure and actuator structure of the operation and maintenance robot provided in the embodiment of the present application. Figure 23 The side of the plug-in mechanism facing away from the mounting bracket 310 is shown.

[0174] See also Figure 17 and Figure 23 As shown, the operation and maintenance robot 10 also includes two actuators 500, which are connected to the plug-in mechanism 400. The plug-in mechanism 400 includes a second drive device 480, and the second drive device 480 includes a third drive component 481 and a fourth drive component 482. The third drive component 481 is used to drive one actuator 500 to move along the first direction X, and the fourth drive component 482 is used to drive another actuator 500 to move along the first direction X. The actuator 500 is used to clamp at both ends of the computing device 30 along the second direction Y.

[0175] The computing device 30 has handles at both ends (not shown in the figure), and the two actuators 500 are respectively clamped on the handles at both ends of the computing device 30. The two actuators 500 include a first actuator 500a and a second actuator 500b. Take the way in which the third drive component 481 drives the first actuator 500a as an example for explanation. The third drive component 481 may include a motor 4811, a belt 4812 and a pulley 4813, and the first actuator 500a includes a fourth slider 510. The belt 4812 extends along the first direction X, one end of the belt 4812 is connected to the motor 4811 through the pulley 4813, and the other end of the belt 4812 is connected to the fourth slider 510 on the actuator 500 through the pulley 4813. When the motor 4811 rotates, the actuator 500 can be driven to move along the first direction X through the belt 4812.

[0176] The manner in which the fourth drive assembly 482 drives the second actuator 500b to move relative to the second mounting plate 430b of the second plug-in mechanism 400f is the same as the manner in which the third drive assembly 481 drives the first actuator 500a to move relative to the first mounting plate 430a of the first plug-in mechanism 400e, and will not be repeated here.

[0177] The first actuator 500a and the second actuator 500b are respectively clamped on the handles at both ends of the computing device 30, so that the computing device 30 can be inserted into or pulled out from the cabinet 20 under the drive of the third drive component 481 and the fourth drive component 482, so as to put the computing device 30 on the cabinet 20 or remove it from the cabinet 20.

[0178] Figure 24 Another structural diagram of the mounting frame, drive mechanism, and plug-in mechanism of the operation and maintenance robot provided in an embodiment of the present application; Figure 25 for Figure 24 Explosion diagram.

[0179] See also Figure 24 and Figure 25 As shown, there are two drive mechanisms 300, which are arranged along the second direction Y and are both connected to the support frame 200. The drive mechanisms 300, the plug-in mechanisms 400, and the actuators 500 are provided in a one-to-one correspondence; the third drive assembly 481 is used to drive one actuator 500 to move relative to the plug-in mechanism 400 corresponding to the one actuator 500 along the first direction X; and the fourth drive assembly 482 is used to drive another actuator 500 to move relative to the plug-in mechanism 400 corresponding to the other actuator 500 along the first direction X.

[0180] The two driving mechanisms 300 include a first driving mechanism 300 a and a second driving mechanism 300 b . The first driving mechanism 300 a and the second driving mechanism 300 b are respectively connected to the side plates 220 of the two support frames 200 .

[0181] The two plug-in mechanisms 400 are a first plug-in mechanism 400e and a second plug-in mechanism 400f. The mounting plate 430 of the first plug-in mechanism 400e is a first mounting plate 430a, while the mounting plate 430 of the second plug-in mechanism 400f is a second mounting plate 430b. The first mounting plate 430a and the second mounting plate 430b are not connected, making the first plug-in mechanism 400e and the second plug-in mechanism 400f form two independently movable parts. The actuator 500 connected to the first mounting plate 430a is the first actuator 500a, and the actuator 500 connected to the second mounting plate 430b is the second actuator 500b.

[0182] The first drive mechanism 300a and the second drive mechanism 300b both include a first drive assembly 321 and a second drive assembly 322. The first drive mechanism 300a is used to drive the first plug-in mechanism 400e to move, and the second drive mechanism 300b is used to drive the second plug-in mechanism 400f to move. The first drive mechanism 300a drives the first plug-in mechanism 400e to move, and the second drive mechanism 300b drives the second plug-in mechanism 400f to move. Figure 4 In the embodiment shown, the driving mechanism 300 drives the plugging mechanism 400 to move in the same manner, that is, the tilt and offset adjustment manner of the first plugging mechanism 400e and the second plugging mechanism 400f is the same as that of the first plugging mechanism 400e and the second plugging mechanism 400f. Figure 4 In the illustrated embodiment, the offset and tilt adjustment methods of the plug-in mechanism 400 are the same and will not be described in detail here.

[0183] Figure 26 This is a structural schematic diagram of the two plug-in and pull-out mechanisms in the operation and maintenance robot provided in an embodiment of the present application that are misaligned along the third direction.

[0184] See also Figure 26 As shown, by providing two plugging mechanisms 400 , when the two plugging mechanisms 400 are misaligned along the third direction Z, one of the plugging mechanisms 400 can be moved along the third direction Z, thereby facilitating independent control of the plugging mechanisms 400 .

[0185] Figure 27 This is a schematic structural diagram of two actuators in the operation and maintenance robot provided in an embodiment of the present application that are misaligned along the first direction X.

[0186] See also Figure 27As shown, the distance that the third drive assembly 481 drives one actuator 500 to move along the first direction X and the distance that the fourth drive assembly 482 drives another actuator 500 to move along the first direction X are both: the product of half of the distance between the third drive assembly 481 and the fourth drive assembly 482 along the second direction Y and the tangent value of the angle α.

[0187] The third drive assembly 481 can drive the first actuator 500a to move away from the third drive assembly 481 along the first direction X, and the fourth drive assembly 482 can drive the second actuator 500b to move along the first direction X toward the fourth drive assembly 482. Thus, the two actuators 500 can move toward each other at the same time by the same distance, so that the two actuators 500 can be aligned along the second direction Y.

[0188] The spacing between the third drive assembly 481 and the fourth drive assembly 482 along the second direction Y is the sixth spacing S6 (the spacing between the first actuator 500a and the second actuator 500b along the second direction Y is equal to the sixth spacing S6, and the positions of the third drive assembly 481 and the fourth drive assembly 482 are relatively fixed, which is convenient for measurement. Therefore, the spacing between the third drive assembly 481 and the fourth drive assembly 482 is used as an example for description). The distance that the third drive assembly 481 drives the first actuator 500a to move along the first direction X (or the distance that the fourth drive assembly 482 drives the second actuator 500b to move along the first direction X) is the seventh spacing S7. The seventh spacing S7 can be calculated by the following formula:

[0189]

[0190] Please continue to see Figure 24 and Figure 25 As shown, the positioning module 330 includes two second detection components 332 , and the two second detection components 332 are arranged in a one-to-one correspondence with the two plug-in mechanisms 400 .

[0191] The second detection assembly 332 corresponding to the first plugging mechanism 400e is used to detect the offset value Y0 of the first plugging mechanism 400a relative to the cabinet 20 along the second direction Y. The second detection assembly 332 corresponding to the second plugging mechanism 400f is used to detect the offset value Y0 of the second plugging mechanism 400b relative to the cabinet 20 along the second direction Y. By providing two second detection assemblies 332 to respectively detect the offset value Y0 of the two plugging mechanisms 400 relative to the cabinet 20 along the second direction Y, the detection results of the offset value Y0 of the two plugging mechanisms 400 are more accurate.

[0192] Figure 28 A flow chart of the operation and maintenance robot control method provided in an embodiment of the present application.

[0193] See also Figure 28 As shown, the embodiment of the present application also provides an operation and maintenance robot control method, including:

[0194] S101 , obtaining an inclination angle α of the tilting and plugging mechanism 400 relative to a first direction and obtaining an offset value Y0 of the plugging mechanism 400 along a second direction.

[0195] The first detection component 331 in the positioning module 330 can obtain the angle α of the plugging mechanism 400 relative to the first direction X, and the second detection component 332 in the positioning module 330 can obtain the offset value Y0 of the plugging mechanism 400 relative to the cabinet 20 along the second direction Y.

[0196] S102 , determining a first displacement value Y1 and a second displacement value Y2 according to the angle α and the offset value Y0 .

[0197] The controller 333 may calculate and determine the first displacement value Y1 and the second displacement value Y2 according to the angle α and the offset value Y0 .

[0198] S103 , controlling the first end 400 a of the plugging mechanism 400 to move along the second direction by a first displacement value Y1 , and controlling the second end 400 b of the plugging mechanism 400 to move along the second direction by a second displacement value Y2 .

[0199] The first driving assembly 321 can drive the first end 400a of the plugging mechanism 400 to move along the second direction Y by a first displacement value Y1, and the second driving assembly 322 can drive the second end 400b of the plugging mechanism 400 to move along the second direction Y by a second displacement value Y2.

[0200] In other words, through three steps, the plugging mechanism 400 can be aligned with the target slot 21 of the cabinet 20 and parallel to the target slot 21. This reduces the number of steps for the first driving device 320 to drive the plugging mechanism 400 to move, and the efficiency of the driving mechanism 300 in driving the plugging mechanism 400 to move is higher.

[0201] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, an indirect connection via an intermediate medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on specific circumstances.

[0202] 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, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with 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: include: Support frame, Plug-in mechanism, A driving mechanism, the driving mechanism comprising: A mounting frame connected to the supporting frame; A first driving device, the first driving device comprising a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly being spaced apart along a first direction on the mounting frame; and A controller, the controller being used to obtain an angle of the plugging mechanism relative to the first direction and an offset value of the plugging mechanism along a second direction, and to determine a first displacement value and a second displacement value according to the angle and the offset value; Wherein, the first drive component and the second drive component are both electrically connected to the controller, the first drive component is used to drive the plug-in mechanism to move the first displacement value along the second direction; the second drive component is used to drive the plug-in mechanism to move the second displacement value along the second direction.

2. The operation and maintenance robot according to claim 1, characterized in that: The plug-in mechanism comprises a first transmission member and a second transmission member, the plug-in mechanism has a first end and a second end opposite to each other along the first direction, and the first transmission member is arranged close to the first end, and the second transmission member is arranged close to the second end; The first driving assembly is used to drive the first transmission member to move along the second direction, so as to drive the first end of the plugging and pulling mechanism to move along the second direction by the first displacement value; The second driving assembly is used to drive the second transmission member to move along the second direction, so as to drive the second end of the plugging and pulling mechanism to move along the second direction by a second displacement value.

3. The operation and maintenance robot according to claim 2, characterized in that: The mounting frame is provided with a first slide rail and a second slide rail, the first slide rail and the second slide rail both extend along the second direction, the first slide rail is provided close to the first driving assembly, and the second slide rail is provided close to the second driving assembly; The plug-in mechanism is provided with a first slider and a second slider. The first slider is aligned with the first slide rail along a third direction and can move on the first slide rail; the second slider is aligned with the second slide rail along the third direction and can move on the second slide rail.

4. The operation and maintenance robot according to any one of claims 1 to 3, characterized in that: It also includes a positioning module, the positioning module includes a first detection component and a second detection component; the first detection component and the second detection component are both electrically connected to the controller; The first detection assembly is used to determine the angle of the plugging mechanism relative to the first direction, and the second detection assembly is used to determine the offset value of the plugging mechanism along the second direction; The controller is used to determine the first displacement value according to the angle, the offset value, and the distance between the first drive component and the target object, and is used to determine the second displacement value according to the angle, the offset value, and the distance between the second drive component and the target object.

5. The operation and maintenance robot according to claim 4, characterized in that: The first detection assembly includes a first distance measuring sensor and a second distance measuring sensor; The plug-in mechanism includes a third end and a fourth end opposite to each other along the second direction; the first ranging sensor is arranged near the third end, and the first ranging sensor is used to measure a first distance between the first ranging sensor and the target object; the second ranging sensor is arranged near the fourth end, and the second ranging sensor is used to measure a second distance between the second ranging sensor and the target object; and the controller is used to determine the angle according to the first distance and the second distance.

6. The operation and maintenance robot according to claim 4, characterized in that: The second detection component includes a camera, which is used to detect a third distance between a target position and a mark position of the camera along the second direction, the target position is used to indicate a positioning reference when the plug-in mechanism is aligned with the target object, the mark position is used to indicate a shooting reference of the camera, and the controller is used to determine the offset value according to the third distance.

7. The operation and maintenance robot according to any one of claims 2 to 6, characterized in that: The plug-in mechanism comprises a mounting plate, a first adapter plate and a second adapter plate, wherein the first adapter plate and the second adapter plate are both rotatably connected to the mounting plate; The first transmission member is fixedly connected to the first adapter plate, and the second transmission member is fixedly connected to the second adapter plate.

8. The operation and maintenance robot according to claim 7, characterized in that: The plug-in mechanism also includes a first bearing and a second bearing, one of the outer ring and the inner ring of the first bearing is connected to the first adapter plate, and the other of the outer ring and the inner ring of the first bearing is connected to the mounting plate; one of the outer ring and the inner ring of the second bearing is connected to the second adapter plate, and the other of the outer ring and the inner ring of the second bearing is connected to the mounting plate.

9. The operation and maintenance robot according to claim 8, characterized in that: The plug-in mechanism further includes a third adapter plate, the third adapter plate is located between the second adapter plate and the mounting plate, one of the outer ring and the inner ring of the second bearing is connected to the second adapter plate, and the other of the outer ring and the inner ring of the second bearing is connected to the mounting plate through the third adapter plate; The third adapter plate can move relative to the mounting plate along the first direction.

10. The operation and maintenance robot according to claim 9, characterized in that: The mounting plate is provided with a third slide rail, the third slide rail extending along the first direction, the third adapter plate is provided with a third slider, the third slider is aligned with the third slide rail and can move on the third slide rail.

11. The operation and maintenance robot according to claim 1, characterized in that: The number of the driving mechanisms is two, the two driving mechanisms are arranged along the second direction and both are connected to the support frame; the driving mechanisms and the plug-in mechanisms are arranged in a one-to-one correspondence.

12. The operation and maintenance robot according to claim 11, characterized in that: It also includes two actuators, which are arranged in a one-to-one correspondence with the plug-in mechanism, and the two actuators are used to clamp at both ends of the computing device along the second direction; the distance moved by one actuator along the first direction and the distance moved by the other actuator along the first direction are both: the product of half of the distance between the two actuators along the second direction and the tangent value of the angle.

13. A maintenance robot control method, characterized in that: include: Acquire an angle of the plug-in mechanism relative to a first direction and acquire an offset value of the plug-in mechanism along a second direction; Determine a first displacement value and a second displacement value according to the angle and the offset value; The first end of the plugging and pulling mechanism is controlled to move the first displacement value along the second direction, and the second end of the plugging and pulling mechanism is controlled to move the second displacement value along the second direction.

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