Maintenance robot and maintenance robot control method

Abstract

Embodiments of the present application provide an operation and maintenance robot and an operation and maintenance robot control method. The operation and maintenance robot comprises a support frame, a plugging mechanism, a driving mechanism and a controller. The driving mechanism comprises a mounting frame and a first driving device. The mounting frame is connected with the support frame. The first driving device comprises a first driving assembly and a second driving assembly. The first driving assembly and the second driving assembly are arranged at intervals along a first direction on the mounting frame. The controller is used to acquire an angle of the plugging mechanism relative to the first direction and an offset value of the plugging mechanism along a second direction, and determine a first displacement value and a second displacement value according to the angle and the offset value. The first driving assembly and the second driving assembly are both electrically connected with the controller. The first driving assembly drives the plugging mechanism to move the first displacement value. The second driving assembly drives the plugging mechanism to move the second displacement value. The efficiency of the driving mechanism driving the plugging mechanism to move is higher in the operation and maintenance robot provided by the embodiments of the present application.

Description

Technical Field

[0001] This application relates to the field of computing technology, and in particular to an operation and maintenance robot and a method for controlling the operation and maintenance robot. Background Technology

[0002] With the development of big data, cloud computing, and artificial intelligence (AI), the frequency of installing and debugging computing devices is increasing, and computing devices need to be frequently put into or taken out of the cabinet.

[0003] Computing devices can be racked and unracked using maintenance robots. The maintenance robot consists of a drive mechanism and a plug-in / plug-out mechanism. When the maintenance robot moves to the cabinet, the drive mechanism aligns the plug-in / plug-out mechanism with the corresponding slot in the cabinet, allowing the computing device to be racked into or unracked.

[0004] The efficiency of the drive mechanism in the related technology for moving the insertion and extraction mechanism is relatively low. Summary of the Invention

[0005] This application provides an operation and maintenance robot and an operation and maintenance robot control method, wherein the drive mechanism drives the plugging and unplugging mechanism to move with high efficiency.

[0006] In a first aspect, embodiments of this application provide an operation and maintenance robot, including: a support frame, a plug-in mechanism, a drive mechanism, and a controller. The drive mechanism includes: a mounting frame and a first drive device, the mounting frame being connected to the support frame; the first drive device includes a first drive component and a second drive component, the first drive component and the second drive component being spaced apart on the mounting frame along a first direction; the controller is used to acquire the angle of the plug-in mechanism relative to the first direction and the offset value of the plug-in mechanism along a second direction, and to determine a first displacement value and a second displacement value based on the angle and the offset value; wherein, both the first drive component and the second drive component are electrically connected to the controller, the first drive component is used to drive the plug-in mechanism to move along the second direction by the first displacement value; the second drive component is used to drive the plug-in mechanism to move along the second direction by the second displacement value.

[0007] The maintenance robot provided in this application embodiment, by setting up a controller, a first drive component, and a second drive component, converts the tilt angle and offset value of the plug-in mechanism into a first displacement value of the first drive component along a second direction and a second displacement value of the second drive component along a second direction through the controller. The first drive component drives the plug-in mechanism to move along the second direction by the first displacement value, and the second drive component drives the plug-in mechanism to move along the second direction by the second displacement value. Compared with the related technology, which requires rotating the plug-in mechanism first and then moving it, this application embodiment can align the plug-in mechanism with the target slot by driving the plug-in mechanism along the second direction through the first drive component and the second drive component. This reduces the number of steps required for the first drive device to drive the plug-in mechanism to move, and increases the efficiency of the drive mechanism in driving the plug-in mechanism to move.

[0008] In one possible implementation, the maintenance robot provided in this application includes a plug-in / plug-out mechanism comprising a first transmission member and a second transmission member. The plug-in / plug-out mechanism has a first end and a second end opposite to each other along a first direction, with the first transmission member disposed near the first end and the second transmission member disposed near the second end. A first driving component is used to drive the first transmission member to move along a second direction, thereby driving the first end of the plug-in / plug-out mechanism to move by a first displacement value along the second direction. A second driving component is used to drive the second transmission member to move along the second direction, thereby driving the second end of the plug-in / plug-out mechanism to move by a second displacement value along the second direction. The first driving component and the second driving component drive the plug-in / plug-out mechanism to move in the same way, which simplifies the structure of the driving mechanism and the connection between the driving mechanism and the plug-in / plug-out mechanism.

[0009] In one possible implementation, the maintenance robot provided in this application has a first transmission component as a first rack and a second transmission component as a second rack. The first and second racks extend along a second direction, with the first rack positioned near a first end and the second rack positioned near a second end. A first drive assembly includes a first gear that meshes with the first rack to drive the first end of the insertion / removal mechanism to move a first displacement value along the second direction. A second drive assembly includes a second gear that meshes with the second rack to drive the second end of the insertion / removal mechanism to move a second displacement value along the second direction. The meshing of the gears and racks simplifies the process of the first drive device driving the movement of the insertion / removal mechanism.

[0010] In one possible implementation, the maintenance robot provided in this application includes a first drive component that further comprises a first motor connected to a first gear, and a second drive component that further comprises a second motor connected to a second gear. Both the first and second motors are disposed on the side of the mounting bracket opposite to the insertion / removal mechanism. The first and second motors are disposed on the same side of the mounting bracket. Therefore, the spaces occupied by the first and second motors along the third direction overlap, resulting in a smaller space occupied by the first drive device along the third direction Z.

[0011] In one possible implementation, the maintenance robot provided in this application includes a mounting frame with a first slide rail and a second slide rail, both extending along a second direction. The first slide rail is positioned near a first drive component, and the second slide rail is positioned near a second drive component. The insertion / removal mechanism includes a first slider and a second slider. The first slider is aligned with the first slide rail along a third direction and is movable on the first slide rail. The second slider is aligned with the second slide rail along a third direction and is movable on the second slide rail. This restricts the movement trajectory of the first rack relative to the first gear and also restricts the movement trajectory of the second rack relative to the second gear.

[0012] In one possible implementation, the maintenance robot provided in this application further includes a positioning module, which includes a first detection component and a second detection component. Both the first and second detection components are electrically connected to a controller. The first detection component is used to determine the angle of the insertion / removal mechanism relative to a first direction, and the second detection component is used to determine the offset value of the insertion / removal mechanism along a second direction. The controller is used to determine a first displacement value based on the angle, the offset value, and the distance between the first drive component and the target object, and to determine a 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 implementation, the maintenance robot provided in this application includes a first detection component comprising a first ranging sensor and a second ranging sensor; a plugging / unplugging mechanism comprising a third end and a fourth end opposite to each other along a second direction, wherein the first ranging sensor is disposed near the third end and is used to measure a first distance between the first ranging sensor and a target object; the second ranging sensor is disposed near the fourth end and is used to measure a second distance between the second ranging sensor and the target object; and a controller is used to determine an angle based on the first distance and the second distance.

[0014] In one possible implementation, the maintenance robot provided in this application embodiment includes a second detection component including a camera. The camera is used to detect a third distance between the target position and the marked position of the camera along a second direction. The target position is used to indicate the positioning reference when the plugging and unplugging mechanism is aligned with the target object. The marked position is used to indicate the shooting reference of the camera. The controller is used to determine the offset value based on the third distance.

[0015] In one possible implementation, the maintenance robot provided in this application has a first displacement value that is the sum of the product of the distance between the first driving component and the target object multiplied by the tangent of the angle and the offset value, and a second displacement value that is the sum of the product of the distance between the second driving component and the target object multiplied by the tangent of the angle and the offset value.

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

[0017] In one possible implementation, the maintenance robot provided in this application embodiment has a controller used to control the synchronized operation of the first drive component and the second drive component. This can further reduce the time it takes for the drive mechanism to drive the insertion and removal mechanism to move.

[0018] In one possible implementation, the maintenance robot plug-in / plug mechanism provided in this 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 component is fixedly connected to the first adapter plate, and a second transmission component is fixedly connected to the second adapter plate. This avoids jamming during the movement of the plug-in / plug mechanism when the first displacement value and the second displacement value are different.

[0019] In one possible implementation, the maintenance robot provided in this application includes a first bearing and a second bearing in its plug-in mechanism. One of the outer and inner rings of the first bearing is connected to a first adapter plate, and the other is connected to a mounting plate. Similarly, one of the outer and inner rings of the second bearing is connected to a second adapter plate, and the other is connected to the mounting plate. This bearing connection allows the first adapter plate (or second adapter plate) to be rotatably connected to the mounting plate, which is a simple method. Furthermore, the bearing's dimension along the third direction is small, resulting in a smaller space occupied by the plug-in mechanism along the third direction Z.

[0020] In one possible implementation, the maintenance robot provided in this application embodiment further includes a third adapter plate in its plug-in / plug-out mechanism. The third adapter plate is located between the second adapter plate and the mounting plate. One of the outer and inner rings of the second bearing is connected to the second adapter plate, and the other of the outer and inner rings of the second bearing is connected to the mounting plate via the third adapter plate. The third adapter plate is movable relative to the mounting plate along a first direction. By providing the third adapter plate, which 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 along the first direction.

[0021] In one possible implementation, the maintenance robot provided in this application embodiment has a third slide rail on the mounting plate, the third slide rail extending along a first direction, and a third slider on the third adapter plate, the third slider being aligned with the third slide rail and capable of moving 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 one possible implementation, the maintenance robot provided in this application further includes two actuators connected to a plug-in mechanism; the plug-in mechanism includes a second drive device, which includes a third drive component and a fourth drive component, the third drive component being used to drive one actuator to move along a first direction, and the fourth drive component being used to drive the other actuator to move along the first direction; the actuators are used to clamp at both ends of the computing device along the second direction.

[0023] In one possible implementation, the maintenance robot provided in this application has two drive mechanisms, which are arranged along a second direction and both are connected to a support frame; the drive mechanisms and the plug-in / plug-out mechanisms are arranged in a one-to-one correspondence. By providing two plug-in / plug-out mechanisms, when the two plug-in / plug-out mechanisms are not aligned along a third direction, one of the plug-in / plug-out mechanisms can be moved along the third direction, thereby facilitating independent control of the plug-in / plug-out mechanisms.

[0024] In one possible implementation, the maintenance robot provided in this application embodiment has an actuator and a plug-in mechanism that are configured in a one-to-one correspondence. The two actuators are used to clamp the two ends of the computing device along the second direction. The distance that one actuator moves along the first direction and the distance that the other actuator moves along the first direction are both the product of half the distance between the two actuators along the second direction and the tangent of the angle.

[0025] In one possible implementation, the maintenance robot provided in this application includes a positioning module comprising two second detection components, each corresponding to one of the two plug-in / plug-out mechanisms. By using two second detection components to detect the offset values ​​of the two plug-in / plug-out mechanisms relative to the cabinet along a second direction, the detection results of the offset values ​​of the two plug-in / plug-out mechanisms are made more accurate.

[0026] Secondly, embodiments of this application provide a method for controlling an operation and maintenance robot, including:

[0027] Obtain the angle of the insertion / removal mechanism relative to the first direction and obtain the offset value of the insertion / removal mechanism along the second direction;

[0028] The first and second displacement values ​​are determined based on the angle and offset values.

[0029] The first end of the insertion / removal mechanism is controlled to move along the second direction by a first displacement value, and the second end of the insertion / removal mechanism is controlled to move along the second direction by a second displacement value. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the data center structure;

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

[0032] Figure 3 This is a schematic diagram of the operation and maintenance robot handling and computing device provided in the embodiments of this application;

[0033] Figure 4 A schematic diagram of the mounting frame, drive mechanism, and plug-in / plug-out mechanism in the maintenance robot provided in this application embodiment;

[0034] Figure 5 for Figure 4 An explosion diagram;

[0035] Figure 6 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in this application embodiment. Figure 1 ;

[0036] Figure 7 This application provides a schematic diagram of the structure of the drive mechanism and the plug-in mechanism in the maintenance robot.

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

[0038] Figure 9 for Figure 7 A schematic diagram showing the interaction between the drive mechanism and the insertion / removal mechanism.

[0039] Figure 10 This is a schematic diagram of the mounting bracket facing the insertion / removal mechanism, provided in an embodiment of this application.

[0040] Figure 11 This is a structural diagram of the positioning module and support frame in the maintenance robot provided in the embodiments of this application;

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

[0042] Figure 13 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in this application embodiment. Figure 2 ;

[0043] Figure 14 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in this application embodiment. Figure 3 ;

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

[0045] Figure 15 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 4 ;

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

[0047] Figure 16 This is a schematic diagram of the plug-in / plug-out mechanism in the maintenance robot provided in the embodiments of this application;

[0048] Figure 17 for Figure 16 An explosion diagram;

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

[0050] Figure 19 for Figure 16 Schematic diagram of the structure at the second adapter plate;

[0051] Figure 20 for Figure 19 An explosion diagram;

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

[0053] Figure 22 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 4 ;

[0054] Figure 23 This is a schematic diagram of the plug-in structure and actuator in the maintenance robot provided in the embodiments of this application;

[0055] Figure 24 Another structural schematic diagram of the mounting frame, drive mechanism, and plug-in / plug-out mechanism in the maintenance robot provided in the embodiments of this application;

[0056] Figure 25 for Figure 24 An explosion diagram;

[0057] Figure 26 This is a schematic diagram of the structure of the maintenance robot provided in this application, showing that the two plug-in mechanisms are not aligned along a third direction;

[0058] Figure 27 This is a schematic diagram of the structure of an operation and maintenance robot provided in this application where two actuators are not aligned along the first direction X;

[0059] Figure 28 This is a flowchart illustrating the operation and maintenance robot control method provided in an embodiment of this application.

[0060] Explanation of reference numerals in the attached figures:

[0061] 10. Maintenance robots;

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

[0063] 200. Support frame; 210. Base plate; 220. Side plate;

[0064] 300, Drive mechanism; 300a, First drive mechanism; 300b, Second drive mechanism;

[0065] 310. Mounting bracket; 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 ranging sensor; 3312, Second ranging sensor;

[0071] 332. Second detection component;

[0072] 333. Controller;

[0073] 400, Insertion / Removal Mechanism; 400a, First End; 400b, Second End; 400c, Third End; 400d, Fourth End; 400e, First Insertion / Removal Mechanism; 400f, Second Insertion / Removal 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 part; 432. Second connecting part; 433. Third slide rail;

[0078] 440. First adapter board; 450. Second adapter board;

[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 unit;

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

[0084] 482. Fourth drive component;

[0085] 500, Executable; 500a, First Executable; 500b, Second Executable;

[0086] 510. The fourth slider;

[0087] 20. Cabinet body; 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 Implementation

[0092] The terminology used in the implementation section of this application is only for explaining specific embodiments of this application and is 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 installing and debugging computing devices is increasing, and computing devices need to be frequently put into or taken out of the cabinet.

[0094] Figure 1 This is a schematic diagram of the data center structure; Figure 2 This is a schematic diagram of the structure of a computing device mounted on a cabinet.

[0095] See Figure 1 and Figure 2As shown, the data center 1000 may include a server room (not shown in the figure) and multiple cabinets 20 and multiple computing devices 30 set in the server room. The server room may also be equipped with an operation and maintenance robot 10, which can move within the aisle 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, or high-density servers. They can also be server nodes, switch nodes, and power supply nodes within a rack-mount server.

[0097] The cabinet 20 serves as a support component for the computing device 30. Please continue reading... Figure 2 As shown, the cabinet 20 has a first direction X, a second direction Y, and a third direction Z, where 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 has multiple slots arranged along the third direction Z, each slot can be used to install one computing device 30, and multiple computing devices 30 are arranged along the third direction Z. The slot where the computing device 30 needs to be inserted and removed is the target slot 21 (in...). Figure 2 The target slot 21 is schematically shown in the middle with a dashed line.

[0098] Figure 3 This is a schematic diagram of the operation and maintenance robot handling and computing device provided in the embodiments of this application.

[0099] See Figure 3 As shown, the maintenance robot 10 includes a robot body 100. The first direction X, the second direction Y, and the third direction Z of the maintenance robot 10 are the same as those of the cabinet 20.

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

[0101] Please continue reading Figure 3As shown, the robot body 100 is provided with a track 110, which extends in the third direction Z. A support frame 200 is mounted on the track 110 and can move along the track 110 in the third direction Z to align with a target slot 21 in the cabinet 20, thereby enabling the loading or unloading of the computing device 30. The maintenance robot 10 also includes a drive mechanism 300 and a plug-in / unplug mechanism 400, the drive mechanism 300 being used to drive the plug-in / unplug mechanism 400 to further align with the target slot 21.

[0102] Figure 4 A schematic diagram of the mounting frame, drive mechanism, and plug-in / plug-out mechanism in the maintenance robot provided in this application embodiment; Figure 5 for Figure 4 An explosion diagram; Figure 6 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 1 .

[0103] See Figures 4 to 6 As shown, the maintenance robot 10 also includes a controller 333 ( Figure 12 The drive mechanism 300 includes a mounting frame 310 and a first drive device 320. The mounting frame 310 is connected to the support frame 200. The first drive device 320 includes a first drive component 321 and a second drive component 322, which are spaced apart on the mounting frame 310 along a first direction X. A controller 333 can be mounted on the robot body 100. The controller 333 is used to acquire the angle α of the insertion / removal mechanism 400 relative to the first direction X and the offset value of the insertion / removal mechanism 400 along the second direction Y, and to determine a first displacement value Y1 and a second displacement value Y2 based on the angle α and the offset value. The first drive component 321 and the second drive component 322 are both electrically connected to the controller 333. The first drive component 321 is used to drive the insertion / removal mechanism 400 to move along the second direction Y by a first displacement value Y1. The second drive component 322 is used to drive the insertion / removal mechanism 400 to move along the second direction Y by a second displacement value Y2.

[0104] The maintenance robot 10 provided in this application embodiment, by setting up a controller 333, a first drive component 321 and a second drive component 322, converts the angle α and offset value Y0 of the insertion and removal 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 insertion and removal mechanism 400 to move along the second direction Y by the first displacement value Y1, and the second drive component 322 drives the insertion and removal mechanism 400 to move along the second direction Y by the second displacement value Y2. Compared with the related technology, which requires rotating the insertion and removal mechanism first and then moving it, this application embodiment can align the insertion and removal mechanism 400 with the target slot 21 simply by driving the insertion and removal mechanism 400 along the second direction Y with the first drive component 321 and the second drive component 322. This reduces the number of steps required for the first drive device 320 to drive the insertion and removal mechanism 400 to move, and increases the efficiency of the drive mechanism 300 in driving the insertion and removal mechanism 400 to move.

[0105] There can be two support frames 200, which are symmetrically arranged along the second direction Y. Each support frame 200 includes a base plate 210 and a side plate 220, which can be L-shaped. A mounting bracket 310 is connected to the side plate 220 on the side opposite to the base plate 210. There is a space between the mounting bracket 310 and the base plate 210, and the insertion / removal mechanism 400 is located in the space between the mounting bracket 310 and the base plate 210.

[0106] Both the first drive assembly 321 and the second drive assembly 322 can be connected to the mounting bracket 310 via 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 a first direction X. The first drive assembly 321 and the second drive assembly 322 contact the insertion / removal mechanism 400 at different positions along the first direction X. The end of the insertion / removal 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 insertion / removal mechanism 400 near the first end 400a. When the first drive assembly 321 is activated, it applies a force F along the second direction Y to the insertion / removal mechanism 400, allowing the end of the insertion / removal mechanism 400 near the cabinet 20 to move along the second direction Y. The second drive assembly 322 can contact the side of the insertion / removal mechanism 400 near the second end 400b. When the second drive assembly 322 is activated, the first drive assembly 321 applies a force F to the insertion / removal mechanism 400 along the second direction Y, and the end of the insertion / removal mechanism 400 away from the cabinet 20 can move along the second direction Y. When both the first drive assembly 321 and the second drive assembly 322 are activated, the first drive assembly 321 and the second drive assembly 322 simultaneously apply a force F to the insertion / removal mechanism 400 along the second direction Y, and the entire insertion / removal mechanism 400 can move along the second direction Y.

[0107] Please continue reading Figure 6 As shown, in Figure 6 The dashed line indicates the alignment position of the insertion / removal mechanism 400 with the cabinet 20 along the first direction X. This position is used for the insertion / removal mechanism 400 to insert / remove the computing device 30 in the target slot 21. The angle of the insertion / removal mechanism 400 relative to the first direction X is α. The offset value of the insertion / removal mechanism 400 refers to the amount of offset along the second direction Y between the actual position of the insertion / removal mechanism 400 and its alignment position.

[0108] Figure 7 This application provides a schematic diagram of the structure of the drive mechanism and the plug-in mechanism in the maintenance robot. Figure 8 for Figure 7 Enlarged view of point A in the middle; Figure 9 for Figure 7 A schematic diagram showing the cooperation between the drive mechanism and the plugging / unplugging mechanism.

[0109] See Figures 7 to 9As shown, the insertion / removal 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. A first drive assembly 321 is used to drive the first transmission member to move along a second direction Y, thereby driving the first end 400a of the insertion / removal mechanism 400 to move by a first displacement value Y1 along the second direction Y. A second drive assembly 322 is used to drive the second transmission member to move along the second direction Y, thereby driving the second end 400b of the insertion / removal mechanism 400 to move by a second displacement value Y2 along the second direction Y.

[0110] The first and second transmission components can be lead screws, belts, or racks, etc. Figures 7 to 9 In the embodiment shown, the first transmission component is a first rack 411 and the second transmission component is a second rack 412, which will be used as an example for explanation.

[0111] Specifically, both the first rack 411 and the second rack 412 extend along the second direction Y, with the first rack 411 positioned near the first end 400a and the second rack 412 positioned near the second end 400b. The first drive assembly 321 includes a first gear 3211, which meshes with the first rack 411 to drive the first end 400a of the insertion / removal 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 meshes with the second rack 412 to drive the second end 400b of the insertion / removal 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, and the shaft of the first motor 3212 is connected to the first gear 3211. When the 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, and the shaft of the second motor 3222 is connected to the second gear 3221. When the shaft of the second motor 3222 rotates, it can drive the second gear 3221 to rotate. The mounting bracket 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 passes through the first through hole 311 on the side of the mounting bracket 310 facing the insertion and removal mechanism 400. The second through hole 312 is aligned with the second drive assembly 322. The second gear 3221 passes through the second through hole 312 on the side of the mounting bracket 310 facing the insertion and removal mechanism 400.

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

[0114] When the first motor 3212 is activated, 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 insertion and removal mechanism 400 to move towards the area of ​​the first end 400a.

[0115] When the second motor 3222 is activated, 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 insertion and removal mechanism 400 to move in the area close to the second end 400b.

[0116] The meshing of gears and racks makes the movement of the insertion and removal mechanism 400 driven by the first drive device 320 relatively simple. Furthermore, 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 insertion and removal mechanism 400 to move in the same way. Compared with the related technology in which one drives the insertion and removal mechanism to rotate and the other drives the insertion and removal mechanism to move, the structure of the drive mechanism 300 is simpler and the connection between the drive mechanism and the insertion and removal mechanism 400 is also simpler.

[0117] Please continue reading Figure 7 and Figure 9 As shown, the first motor 3212 and the second motor 3222 are both mounted on the side of the mounting bracket 310 away from the plug-in mechanism 400.

[0118] The first motor 3212 and the second motor 3222 are arranged on the same side of the mounting bracket 310. As a result, the space occupied by the first motor 3212 and the second motor 3222 along the third direction Z overlaps, making the space occupied by the first drive device 320 along the third direction Z smaller.

[0119] Figure 10 This is a schematic diagram of the mounting bracket facing the insertion / removal mechanism, provided in an embodiment of this application.

[0120] See Figures 7 to 10As shown, the mounting bracket 310 is provided with a first slide rail 313 and a second slide rail 314. Both the first slide rail 313 and the second slide rail 314 extend along the second direction Y. The first slide rail 313 is located near the first drive component 321, and the second slide rail 314 is located near the second drive component 322. The insertion and removal mechanism 400 is provided with a first slider 421 and a second slider 422. 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] The specific structure and working method of the positioning module 330 will be explained below.

[0122] Figure 11 This is a structural diagram of the positioning module and support frame in the maintenance robot provided in the embodiments of this application.

[0123] See 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 can be set on the side of the base plate 210 away from the mounting bracket 310.

[0124] Figure 12 This is a schematic diagram of the electrical connection between the positioning module and the first drive device in the maintenance robot provided in the application embodiment.

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

[0126] The first detection component 331 can be an inclinometer, which can measure the angle α of the insertion / removal 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 illustrated embodiment, the first detection component 331 includes a first ranging sensor 3311 and a second ranging sensor 3312; please continue reading Figure 5 As shown, the insertion / removal mechanism 400 includes a third end 400c and a fourth end 400d opposite each other along the second direction Y. A first ranging sensor 3311 is disposed near the third end 400c and is used to measure a first distance S1 between the first ranging sensor 3311 and the cabinet 20. A second ranging sensor 3312 is disposed near the fourth end 400d and is used to measure a second distance S2 between the second ranging sensor 3312 and the cabinet 20. The first ranging sensor 3311 and the second ranging sensor 3312 can transmit their measured distances S1 and S2 to a controller 333. The controller 333 is used to determine an angle α based on the first distance S1 and the second distance S2.

[0127] Figure 13 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 2 .

[0128] See Figure 13 As shown, both the first ranging sensor 3311 and the second ranging sensor 3312 are located on the side of the computing device 30 closest to the cabinet. The first ranging sensor 3311 can be a laser ranging sensor, and 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 the first distance S1. The second ranging sensor 3312 can also be a laser ranging sensor, and 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 the second distance S2.

[0129] It should be noted that when the insertion / removal mechanism 400 is tilted counterclockwise relative to the alignment position, the first gap S1 is greater than the second gap S2, and the angle α is positive, with the tilt direction of the insertion / removal mechanism 400 being the positive tilt direction. When the insertion / removal mechanism 400 is tilted clockwise relative to the alignment position, the first gap S1 is less than the second gap S2, and the angle α is negative, with the tilt direction of the insertion / removal mechanism 400 being the negative tilt direction. Figure 13 The following explanation uses the positive tilt direction as an example.

[0130] The first ranging sensor 3311 transmits the first distance S1 to the controller 333, and the second ranging 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] Where D1 is the distance between the first ranging sensor 3311 and the second ranging sensor 3312 along the second direction Y. It should be noted that the angle actually calculated according to the above formula is... Figure 13 In the formula above, α1 is represented by angle α, where α1 is equal to angle α.

[0133] Please continue reading Figure 11 and Figure 13 As shown, the second detection component 332 includes a camera. The camera is used to detect a third distance S3 between the target position A1 and the marked position A2 of the camera along the second direction Y. The controller is used to determine an offset value Y0 based on the third distance S3 between the target position A1 and the marked position A2. The second detection component 332 can be provided at both ends of the insertion / removal mechanism 400 along the second direction Y, or it can be provided at the middle position of the insertion / removal mechanism 400 along the second direction Y.

[0134] Target position A1 can be a structural component on target slot 21, which serves as a positioning reference. Marker position A2 is a marker point in the camera's field of view. When the insertion / removal mechanism 400 is aligned with the cabinet 20 along the second direction Y, the target position A1 captured by the camera coincides with the marker position A2. When the insertion / removal mechanism 400 shifts relative to the alignment position, a third distance S3 exists between the target position A1 captured by the camera and the marker position A2, and the offset value Y0 can be determined based on the third distance S3. Figure 13 Above the image, a schematic diagram of the field of view in the shooting frame of the second detection component 332 is also shown, where the small square represents the target position A1 and the cross represents the marker position A2.

[0135] It should be noted that when the insertion / removal mechanism 400 shifts to the right relative to the alignment position along the second direction Y, the offset value Y0 is positive; when the insertion / removal mechanism 400 shifts to the left relative to the alignment position along the second direction Y0, the offset value Y0 is negative. Figure 13 The following example illustrates how the insertion / removal mechanism 400 is offset to the right relative to the alignment position along the second direction Y.

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

[0137] The controller 333 transmits the first displacement value Y1 to the first drive component 321 and the second displacement value Y2 to the second drive 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 figure with a dashed line. After the first drive assembly 321 drives the plug-in mechanism 400 to move a first displacement value Y1 along the second direction Y, and the second drive assembly 322 drives the plug-in mechanism 400 to move a 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] In other words, by setting up a positioning module 330, a first driving component 321, and a second driving component 322, the positioning module 330 converts the angle α and offset value Y0 of the insertion / removal mechanism 400 into a first displacement value Y1 of the first driving component 321 along the second direction Y and a second displacement value Y2 of the second driving component 322 along the second direction Y. The first driving component 321 drives the insertion / removal mechanism 400 to move by the first displacement value Y1 along the second direction Y, and the second driving component 322 drives the insertion / removal mechanism 400 to move by the second displacement value Y2 along the second direction Y. Compared with the related technology, which requires rotating the insertion / removal mechanism first and then moving it, the embodiment of this application can align the insertion / removal mechanism 400 with the target slot 21 simply by driving the insertion / removal mechanism 400 along the second direction Y using the first driving component 321 and the second driving component 322. This reduces the number of steps required for the first driving device 320 to drive the insertion / removal mechanism 400, and increases the efficiency of the driving mechanism 300 in driving the insertion / removal mechanism 400.

[0140] The following describes the specific method by which the controller 333 determines the first displacement value Y1 and the second displacement value Y2 based on the angle α and the offset value Y0.

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

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

[0143]

[0144] Wherein, the product of the fourth spacing S4 and tanα is the displacement value that the first drive assembly 321 needs to drive the insertion / removal mechanism 400 to move due to the tilt of the insertion / removal mechanism 400 relative to the first direction X, and Y0 is the displacement value that the first drive assembly 321 needs to drive the insertion / removal mechanism 400 to move due to the offset of the insertion / removal mechanism 400 relative to the cabinet 20 along the second direction Y. Therefore, the sum of the two is the first displacement value Y1 that the first drive assembly 321 needs to drive the insertion / removal mechanism 400 to move.

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

[0146]

[0147] Wherein, the product of the fifth spacing S5 and tanα is the displacement value that the second drive assembly 322 needs to drive the insertion / removal mechanism 400 to move due to the tilt of the insertion / removal mechanism 400 relative to the first direction X, and Y0 is the displacement value that the second drive assembly 322 needs to drive the insertion / removal mechanism 400 to move due to the offset of the insertion / removal mechanism 400 relative to the cabinet 20 along the second direction Y. Therefore, the sum of the two is the second displacement value Y2 that the second drive assembly 322 needs to drive the insertion / removal mechanism 400 to move.

[0148] Therefore, by measuring the angle α and the offset value Y0, the positioning module 330 can calculate the first displacement value Y1 that the first drive component 321 needs to drive the insertion and removal mechanism 400 along the second direction Y, and can also calculate the second displacement value Y2 that the second drive component 322 needs to drive the insertion and removal mechanism 400 along the second direction Y. In other words, through the measurement and calculation of the positioning module 330, the angle α and the offset value Y0 of the insertion and removal mechanism 400 can be converted into the displacement values ​​of the first drive component 321 and the second drive component 322 driving the insertion and removal mechanism 400 along the second direction Y, so that the first drive component 321 and the second drive component 322 can drive the insertion and removal mechanism 400 along the second direction Y. The connection method of the first drive component 321 and the second drive component 322 with the insertion and removal mechanism 400 is the same, which makes the structure of the maintenance robot 10 relatively simple.

[0149] Figure 14 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 3 ; Figure 14a for Figure 14 Enlarged view of point B in the middle; Figure 15 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 4 ; Figure 15a for Figure 15 A magnified 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 maintenance robot 10, and the offset value Y0 is equal to the third gap S3 minus the product of the first gap C and the tangent of the angle α.

[0151] For details, please continue to see 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 maintenance robot 10 usually have a first gap C. Due to the existence of the first gap C, when the insertion and removal mechanism 400 is tilted relative to the first direction X, there is still a pre-offset value Y3 between the marked 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 of the angle α, that is:

[0152] Y3=C×tanα

[0153] The angle used in the above formula is: Figure 14 and Figure 15a In the formula above, α2 is equal to angle α, therefore, angle α represents α2.

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

[0155] Y0 = S3 - Y3 = S3 - C × tanα

[0156] In one possible implementation, the controller 333 is used to control the first drive component 321 and the second drive component 322 to operate synchronously.

[0157] The controller 333 is used to control the synchronous operation of the first drive component 321 and the second drive component 322. This 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 insertion and removal mechanism 400 to move the first displacement value Y1 is the same as the time for the second drive component 322 to drive the insertion and removal mechanism 400 to move the second displacement value Y2. This can further reduce the time for the drive mechanism 300 to drive the insertion and removal mechanism 400 to move.

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

[0159] For example, when the plug-in / plug-out mechanism 400 is tilted relative to the first direction X and offset relative to the cabinet 20 along the second direction Y, 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 it according to the difference so that the speed of the second motor 3222 is greater than the 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 moving amount of the second end 400b of the plug-in / plug-out mechanism 400 is greater than the moving amount of the first end 400a, so that the plug-in / plug-out mechanism 400 moves to align with the target slot 21 in the cabinet 20 along the first direction X.

[0160] Figure 16 This is a schematic diagram of the plug-in / plug-out mechanism in the maintenance robot provided in the embodiments of this application; Figure 17 for Figure 16 An explosion diagram; Figure 18 for Figure 16 A schematic diagram showing the connection method between the middle mounting plate and the first adapter plate.

[0161] See Figures 16 to 18 As shown, the insertion and removal mechanism 400 includes a mounting plate 430, a first adapter plate 440 and a second adapter plate 450. Both the first adapter plate 440 and the second adapter plate 450 are 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 moving speeds of the first rack 411 and the second rack 412 differ. The moving speed of the first rack 411 driving the first adapter plate 440 on the first slide rail 313 differs from the moving speed of the second rack 412 driving 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 insertion / removal mechanism 400 will rotate around the connection point between the first adapter plate 440 and the mounting plate 430, or it will rotate around the connection point between the second adapter plate 450 and the mounting plate 430. This avoids the insertion / removal mechanism 400 from jamming during movement when the first displacement value Y1 differs from the second displacement value Y2.

[0163] Please continue reading Figures 16 to 18 As shown, the insertion and removal 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 to 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 as the center. 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 to 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 as the center. 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) and the mounting plate 430 are rotatably connected by bearings. This method of rotatably connecting the first adapter plate 440 (or the second adapter plate 450) and the mounting plate 430 is relatively simple. Furthermore, the bearing has a small dimension along the third direction Z, which reduces the space occupied by the insertion and removal mechanism 400 along the third direction Z.

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

[0168] Please continue reading Figures 19 to 21 As shown, the insertion and removal 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 inner ring of the second bearing 462 is connected to the second adapter plate 450, and the other of the outer ring and inner ring of the second bearing 462 is connected to the mounting plate 430 via the third adapter plate 470. The third adapter plate 470 is movable relative to the mounting plate 430 in a first direction.

[0169] Figure 22 This illustration shows the process of the drive mechanism driving the plugging and unplugging mechanism to move in the maintenance robot provided in the embodiments of this application. Figure 4 .

[0170] See Figure 22As shown, when the insertion / removal mechanism 400 rotates around the first connecting part 431, the rotation radius of the insertion / removal mechanism 400 at the second connecting part 432 is the distance between the first connecting part 431 and the second connecting part 432. Due to the limitation of the sliding rail on the movement trajectory, the movement trajectory of the second connecting part 432 is not arc-shaped (path L1 in the figure), but moves in a straight line along the second direction Y (path L2 in the figure). Therefore, the distance between the second connecting part 432 and the first connecting part 431 gradually decreases. As a result, the second adapter plate 450 needs to move relative to the mounting plate 430 along the first direction X. By providing a third adapter plate 470, which 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 part 432 is disposed on the third adapter plate 470. The second connecting part 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] The mounting plate 430 is provided with a third slide rail 433, which extends along the first direction X. The third adapter plate 470 is provided with a third slider 471, which 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 relative to the mounting plate 430 along the first direction X.

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

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

[0175] The computing device 30 has handles (not shown in the figure) at both ends, and 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. Taking the method of driving the first actuator 500a by the third drive assembly 481 as an example, the third drive assembly 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, it can drive the actuator 500 to move along the first direction X through the belt 4812.

[0176] The way in which the fourth drive assembly 482 drives the second actuator 500b to move relative to the second mounting plate 430b of the second insertion / removal mechanism 400f is the same as the way in which the third drive assembly 481 drives the first actuator 500a to move relative to the first mounting plate 430a of the first insertion / removal mechanism 400e, and will not be described in detail 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 as to insert the computing device 30 into the cabinet 20 or pull it out of the cabinet 20 under the drive of the third drive assembly 481 and the fourth drive assembly 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 schematic diagram of the mounting frame, drive mechanism, and plug-in / plug-out mechanism in the maintenance robot provided in the embodiments of this application; Figure 25 for Figure 24 An explosion diagram.

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

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

[0181] The two insertion / removal mechanisms 400 are designated as a first insertion / removal mechanism 400e and a second insertion / removal mechanism 400f. The mounting plate 430 of the first insertion / removal mechanism 400e is designated as a first mounting plate 430a, and the mounting plate 430 of the second insertion / removal mechanism 400f is designated as a second mounting plate 430b. The first mounting plate 430a and the second mounting plate 430b are not connected, thus forming two independently movable parts. An actuator 500 connected to the first mounting plate 430a is designated as a first actuator 500a, and an actuator 500 connected to the second mounting plate 430b is designated as a second actuator 500b.

[0182] Both the first drive mechanism 300a and the second drive mechanism 300b include a first drive component 321 and a second drive component 322. The first drive mechanism 300a drives the first insertion / removal mechanism 400e to move, and the second drive mechanism 300b drives the second insertion / removal mechanism 400f to move. The manner in which the first drive mechanism 300a drives the first insertion / removal mechanism 400e to move and the manner in which the second drive mechanism 300b drives the second insertion / removal mechanism 400f to move are the same as... Figure 4 In the embodiment shown, the driving mechanism 300 drives the insertion / removal mechanism 400 to move in the same way. That is, the tilting and offset adjustment methods of the first insertion / removal mechanism 400e and the second insertion / removal mechanism 400f are the same. Figure 4 In the embodiments shown, the offset and tilt adjustment methods of the insertion and removal mechanism 400 are the same, and will not be described in detail here.

[0183] Figure 26 This is a schematic diagram of the structure of the maintenance robot provided in this application, in which two plug-in mechanisms are not aligned along a third direction.

[0184] See Figure 26 As shown, by setting two plug-in mechanisms 400, when the two plug-in mechanisms 400 are not aligned along the third direction Z, one of the plug-in mechanisms 400 can be moved along the third direction Z, thereby facilitating the independent control of the plug-in mechanism 400.

[0185] Figure 27 This is a schematic diagram of the structure of the maintenance robot provided in the embodiment of this application, in which two actuators are not aligned along the first direction X.

[0186] See 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 the distance between the third drive assembly 481 and the fourth drive assembly 482 along the second direction Y and the tangent 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 towards the fourth drive assembly 482 along the first direction X. Thus, the two actuators 500 can move towards each other by the same distance at the same time, so that the two actuators 500 can be aligned along the second direction Y.

[0188] The distance between the third drive assembly 481 and the fourth drive assembly 482 along the second direction Y is the sixth distance S6 (the distance between the first actuator 500a and the second actuator 500b along the second direction Y is equal to the sixth distance 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 distance between the third drive assembly 481 and the fourth drive assembly 482 is used as an example for explanation). 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 distance S7. The seventh distance S7 can be calculated by the following formula:

[0189]

[0190] Please continue reading 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 configured to correspond one-to-one with the two insertion and removal mechanisms 400.

[0191] A second detection component 332, corresponding to the first insertion / removal mechanism 400e, is used to detect the offset value Y0 of the first insertion / removal mechanism 400a relative to the cabinet 20 along the second direction Y. A second detection component 332, corresponding to the second insertion / removal mechanism 400f, is used to detect the offset value Y0 of the second insertion / removal mechanism 400b relative to the cabinet 20 along the second direction Y. By setting two second detection components 332 to detect the offset values ​​Y0 of the two insertion / removal mechanisms 400 relative to the cabinet 20 along the second direction Y, the detection results of the offset values ​​Y0 of the two insertion / removal mechanisms 400 are made more accurate.

[0192] Figure 28 This is a flowchart illustrating the operation and maintenance robot control method provided in an embodiment of this application.

[0193] See Figure 28 As shown in the embodiments of this application, a method for controlling an operation and maintenance robot is also provided, including:

[0194] S101. Obtain the tilt angle α of the tilting insertion mechanism 400 relative to the first direction and obtain the offset value Y0 of the insertion mechanism 400 along the second direction.

[0195] The first detection component 331 in the positioning module 330 can obtain the angle α of the plug-in 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 plug-in mechanism 400 relative to the cabinet 20 along the second direction Y.

[0196] S102. Determine the first displacement value Y1 and the second displacement value Y2 based on the angle α and the offset value Y0.

[0197] The controller 333 can calculate and determine the first displacement value Y1 and the second displacement value Y2 based on the angle α and the offset value Y0.

[0198] S103. Control the first end 400a of the insertion / removal mechanism 400 to move a first displacement value Y1 along the second direction, and control the second end 400b of the insertion / removal mechanism 400 to move a second displacement value Y2 along the second direction.

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

[0200] In other words, the insertion / removal mechanism 400 can be aligned with the target slot 21 of the cabinet 20 and made parallel to the target slot 21 through three steps. This reduces the number of steps required for the first drive device 320 to drive the insertion / removal mechanism 400, resulting in higher efficiency for the drive mechanism 300 in moving the insertion / removal mechanism 400.

[0201] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0202] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An operation and maintenance robot, characterized in that, include: support frame The insertion and removal mechanism includes a first transmission member and a second transmission member. The insertion and removal mechanism has a first end and a second end opposite to each other along a first direction. The first transmission member is disposed near the first end, and the second transmission member is disposed near the second end. The insertion and removal mechanism also includes a mounting plate, a first adapter plate, and a second adapter plate. Both the first adapter plate and the second adapter plate are rotatably connected to the mounting plate. The first transmission component is fixedly connected to the first adapter plate, and the second transmission component is fixedly connected to the second adapter plate; The drive mechanism includes: Mounting frame, which is connected to the support frame; A first driving device, comprising a first driving component and a second driving component, wherein the first driving component and the second driving component are spaced apart on the mounting bracket along a first direction; and A controller is configured to acquire the angle of the insertion / removal mechanism relative to a first direction and the offset value of the insertion / removal mechanism along a second direction, and to determine a first displacement value and a second displacement value based on the angle and the offset value. Both the first driving component and the second driving component are electrically connected to the controller. The first driving component is used to drive the first transmission member to move along the second direction, so as to drive the first end of the insertion and removal mechanism to move along the second direction by the first displacement value. The second driving component is used to drive the second transmission member to move along the second direction, so as to drive the second end of the insertion and removal mechanism to move along the second direction by the second displacement value. The first direction intersects with the second direction.

2. The operation and maintenance robot according to claim 1, characterized in that, The mounting bracket is provided with a first slide rail and a second slide rail, both of which extend along the second direction. The first slide rail is located close to the first drive component, and the second slide rail is located close to the second drive component. The insertion / removal 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 a third direction and can move on the second slide rail. The first direction, the second direction, and the third direction intersect each other.

3. The operation and maintenance robot according to any one of claims 1 or 2, c h a r a c t e r i z e d b y It also includes a positioning module, which comprises a first detection component and a second detection component; both the first detection component and the second detection component are electrically connected to the controller; The first detection component is used to determine the angle of the insertion / removal mechanism relative to the first direction, and the second detection component is used to determine the offset value of the insertion / removal mechanism along the second direction; The controller is configured 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 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.

4. The operation and maintenance robot according to claim 3, characterized in that, The first detection component includes a first ranging sensor and a second ranging sensor; The plug-in mechanism comprises a third end and a fourth end opposite in the second direction, the first distance sensor is arranged close to the third end, and the first distance sensor is configured to measure a first distance between the first distance sensor and the target object; the second distance sensor is arranged close to the fourth end, and the second distance sensor is configured to measure a second distance between the second distance sensor and the target object; and the controller is configured to determine the angle according to the first distance and the second distance.

5. The operation and maintenance robot according to claim 3, characterized in that, The second detection assembly comprises a camera, the camera is configured to detect a third distance between a target position and a mark position of the camera along the second direction, the target position is configured to indicate a positioning reference when the plug-in mechanism is aligned with the target object, and the mark position is configured to indicate a shooting reference of the camera; and the controller is configured to determine the offset value according to the third distance.

6. The operation and maintenance robot according to any one of claims 1 or 2, c h a r a c t e r i z e d b y The plug-in mechanism further comprises a first bearing and a second bearing, one of the outer ring and the inner ring of the first bearing is connected with the first adapter plate, and the other of the outer ring and the inner ring of the first bearing is connected with the mounting plate; one of the outer ring and the inner ring of the second bearing is connected with the second adapter plate, and the other of the outer ring and the inner ring of the second bearing is connected with the mounting plate.

7. The operation and maintenance robot according to claim 6, characterized in that, The plug-in mechanism further comprises 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 with the second adapter plate, and the other of the outer ring and the inner ring of the second bearing is connected with the mounting plate through the third adapter plate. The third adapter plate is movable relative to the mounting plate along the first direction.

8. The operation and maintenance robot according to claim 7, characterized in that, The mounting plate is provided with a third sliding rail extending along the first direction, and the third adapter plate is provided with a third sliding block aligned with the third sliding rail and movable on the third sliding rail.

9. 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 the two driving mechanisms are both connected with the support frame; the driving mechanisms and the plug-in mechanism are arranged one by one.

10. The operation and maintenance robot according to claim 9, characterized in that, Two execution members are further included, the execution members are arranged one by one with the plug-in mechanism, and the two execution members are used to be clamped at two ends of the computing device along the second direction; the distance of one execution member moving along the first direction and the distance of the other execution member moving along the first direction are both the product of half of the distance between the two execution members along the second direction and the tangent value of the angle.

11. An operation and maintenance robot control method, characterized by, The operation and maintenance robot control method is applied to the operation and maintenance robot as claimed in any one of claims 1 to 10, and the operation and maintenance robot control method comprises: An angle of the plug-in mechanism relative to the first direction is obtained, and an offset value of the plug-in mechanism along the second direction is obtained; First and second displacement values are determined according to the angle and the offset value; A first end of the plug-in mechanism is controlled to move along the second direction by the first displacement value, and a second end of the plug-in mechanism is controlled to move along the second direction by the second displacement value.

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